JP4002339B2 - Excitation mechanism - Google Patents

Description

【００４２】
したがって、動電型アクチュエータ２４ａ，２４ｂにより第１及び第２永久磁石２６，２８をリニアガイド４０に沿って同一方向に周期的に往復移動させると、頂板１８は頂板１８に加えられた負荷とともに第１回転軸１４の回りを周期的に揺動する。
【００４３】
一方、（表２）に示されるように、動電型アクチュエータ２４ａにより第１永久磁石２６をリニアガイド４０に沿って−Ｙ軸方向に移動させると、第１及び第３永久磁石２６，３０の対向面積が増加することにより反発力が増加する。同時に、動電型アクチュエータ２４ｂにより第２永久磁石２８をリニアガイド４０に沿ってＹ軸方向に移動させると、第２及び第４永久磁石２８，３２の対向面積が増加することにより反発力が増加する。その結果、頂板１８は矢印Ｓ方向に揺動する。逆に、動電型アクチュエータ２４ａにより第１永久磁石２６をリニアガイド４０に沿ってＹ軸方向に移動させると、第１及び第３永久磁石２６，３０の対向面積が減少することにより反発力が減少する。同時に、動電型アクチュエータ２４ｂにより第２永久磁石２８をリニアガイド４０に沿って−Ｙ軸方向に移動させると、第２及び第４永久磁石２８，３２の対向面積が減少することにより反発力が減少する。その結果、頂板１８は−Ｓ方向（矢印Ｓの反対方向）に揺動する。
【表２】

【００４４】
したがって、動電型アクチュエータ２４ａ，２４ｂにより第１及び第２永久磁石２６，２８をリニアガイド４０に沿って反対方向に周期的に往復移動させると、頂板１８は頂板１８に加えられた負荷とともに第２回転軸１６の回りを周期的に揺動する。
【００４５】
すなわち、本発明にかかる加振機構Ｍは、同一磁極が対向する第１及び第３永久磁石２６，３０の対向面積と、同一磁極が対向する第２及び第４永久磁石２８，３２の対向面積を周期的に変化させることにより励振を発生し、異なる２軸のうち任意の１軸回りに周期的な振動を発生させることができる。
【００４６】
次に、上記構成の加振機構Ｍの制御について説明する。
駆動源２４ａ，２４ｂの駆動波としてｓｉｎ波あるいはランダム波等が使用され、駆動源を所定の位置や加速度に制御（フィードバック）するためには、図２４の機械モデルで示されるように、頂板１８の動きを感知するポテンショメータ等のセンサが必要となる。
【００４７】
すなわち、駆動波としてｓｉｎ波を使用するとともに、頂板１８の動きを感知し振幅制御を行う場合、ロータリエンコーダやポテンショメータ等の位置センサが必要となり、頂板１８の加速度を感知し加速度制御を行う場合、加速度センサが必要となる。また、駆動波としてランダム波を使用した場合、頂板１８の動きを感知するロータリエンコーダ等の位置センサが必要となる。
【００４８】
図２５は、駆動源２４ａ，２４ｂを図２６に示されるｓｉｎ波で駆動する場合のクローズドループ制御のブロック図を示している。
図２５において、ｓｉｎ波テーブル７６から所定のタイミング（例えば１ｍｓｅｃ毎）でＤ／Ａ（デジタルーアナログ変換器）７８にデータを出力し、その電圧値をＰＷＭ（パルス幅変調）制御アンプ８０に入力し、駆動源２４ａ，２４ｂを駆動する。駆動源２４ａ，２４ｂにはポテンショメータ８２が接続されており、ポテンショメータ８２の値と出力を比較器８４で比較するとともに、その差分をＤ／Ａ７８に出力して駆動源２４ａ，２４ｂを目的の位置まで駆動する。また、ｓｉｎ波テーブル７６を例えばパソコン等に接続し、パソコンからｓｔａｒｔコマンドを送信することによりｓｉｎ波テーブル７６から所定のｓｉｎ波を出力し、ｓｔｏｐコマンドあるいはｃｌｅａｒコマンドが送信されるまで出力し続けるようにすることもできる。
【００４９】
また、駆動波として図２７に示されるようなランダム波を使用することも可能で、パソコンから送信されるｓｔａｒｔコマンドに基づいて所定のタイミングでアンプ８０より振幅値を出力し、駆動源２４ａ，２４ｂが目的の位置に設定されるようクローズドループ制御を行うとともに、次のデータがアンプ８０から送信されるまでその出力を保持することができる。
【００５０】
なお、上記実施形態において、第１及び第２永久磁石２６，２８を一つのリニアガイド４０に沿ってＹ軸方向に摺動させる構成としたが、Ｘ軸方向に延びる別々のリニアガイドに沿って摺動させる構成とすることもできる。
【００５１】
また、上記実施形態において、回転軸を二つ設けたが、回転軸を一つだけ設ける構成とすることもできる。
【００５２】
【発明の効果】
本発明は、以上説明したように構成されているので、以下に記載されるような効果を奏する。
本発明によれば、同一磁極が対向する一対の永久磁石と、同一磁極が対向する別の一対の永久磁石の対向面積を変化させて反発力を変化させることにより頂板を第１回転軸回りに揺動させるようにしたので、加振機構を構成する部材の数が少なく、コンパクトで安価な加振機構を提供することができる。
【００５３】
また、同一磁極が対向する永久磁石同士は非接触なので、騒音が少なく、信頼性の高い加振機構を提供することができる。
【００５４】
さらに、第１回転軸と異なる方向に延在する第２回転軸を介して頂板を底板に揺動自在に取り付け、頂板を第１あるいは第２回転軸回りに選択的に揺動させるようにしたので、構成が簡素で自由度の高い加振機構を実現することができる。
【図面の簡単な説明】
【図１】 磁気バネにおいて二つの永久磁石の入力側と出力側の平衡位置を示した模式図である。
【図２】 図１の磁気バネにおいて、加えられた荷重と永久磁石の平衡位置からの変位量との関係を示す基本特性のグラフである。
【図３】 実測された荷重と変位量との関係を示すグラフである。
【図４】 永久磁石の端面上に磁荷が均一に分布していると仮定したチャージモデルにおける入出力の考え方を示す模式図であり、（ａ）は吸引を、（ｂ）は反発を、（ｃ）は（ｂ）とは異なる部位の反発をそれぞれ示している。
【図５】 同磁極を対向させた永久磁石において、一方を他方に対し移動させた（対向面積を変えた）場合の模式図である。
【図６】 図５に基づいて計算した場合のＸ軸移動量に対するＸ軸及びＺ軸方向の荷重を示すグラフである。
【図７】 図５の永久磁石の離間距離を一定に保持し、一方を他方に対し完全にずれた状態から完全にラップした状態まで移動し、さらにこの状態から完全にずれた状態まで移動させた時の変位量と荷重との関係を示すグラフである。
【図８】 同磁極を対向させた永久磁石において、一方を他方に対し回転させた（対向面積を変えた）場合の模式図である。
【図９】 図８に基づいて永久磁石を回転させた場合の対向面積に対する最大荷重を示すグラフである。
【図１０】 永久磁石としてネオジム系磁石を採用した場合の磁石間距離と荷重との関係を示すグラフである。
【図１１】 永久磁石の対向面積を変化させることにより幾何学的寸法を変化させるようにしたスライド型原理モデルの斜視図である。
【図１２】 図１１のスライド型原理モデルの応用例を示す本発明にかかる加振機構の斜視図である。
【図１３】 図１２の加振機構の側面図である。
【図１４】 図１２の加振機構の背面図である。
【図１５】 図１２の加振機構の平面図である。
【図１６】 図１２の加振機構の駆動源である動電型アクチュエータの斜視図である。
【図１７】 図１６の動電型アクチュエータの一部を切り欠いた平面図である。
【図１８】 図１６の動電型アクチュエータの部分断面側面図である。
【図１９】 図１６の動電型アクチュエータに設けられたコイルの結線図である。
【図２０】 図１６の動電型アクチュエータに設けられた磁気回路の概略側面図である。
【図２１】 動電型アクチュエータの変形例を示す斜視図である。
【図２２】 動電型アクチュエータの別の変形例を示す部分断面側面図である。
【図２３】 図１６の動電型アクチュエータに１Ａの電流を流した場合の推力分布を示すグラフである。
【図２４】 本発明にかかる加振機構の機械モデルを示す概略図である。
【図２５】 動電型アクチュエータをｓｉｎ波で駆動する場合のクローズドループ制御のブロック図である。
【図２６】 駆動波として使用されるｓｉｎ波を示すグラフである。
【図２７】 駆動波として使用されるランダム波を示すグラフである。
【符号の説明】
2,4,26,28,30,32,44 永久磁石
６ 基台
８ 直動スライダ
１０ Ｌ型アングル
１２ 底板
１４ 第１回転軸
１６ 第２回転軸
１８ 頂板
２４ａ，２４ｂ 動電型アクチュエータ
３４ ホルダ
３６ 磁気回路
７６ ｓｉｎ波テーブル
７８ デジタルーアナログ変換器
８０ アンプ
８２ ポテンショメータ
８４ 比較器
Ｍ 加振機構[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an excitation mechanism that generates vibration energy about one axis or two axes by using the repulsive force of a plurality of pairs of permanent magnets facing the same (repulsive) magnetic pole.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a vibration exciter that artificially generates vibration has been used in order to investigate vibration characteristics around a certain structure. Further, as an exciter, an electrodynamic type and an unbalanced mass or cam type are generally known.
[0003]
[Problems to be solved by the invention]
However, in a vibrator using a link mechanism such as a crank, a load is directly applied to the drive motor, so a relatively large drive motor is required, and in the case of an electrodynamic type, low frequency cannot be handled. there were.
[0004]
In addition, since the equipment itself is large-scale, not only the installation location and construction are necessary, but also the problem is that forced air cooling is necessary due to the large amount of heat generation, and abnormal noise evaluation cannot be performed due to exhaust noise from fans and the like. It was.
[0005]
Furthermore, since all of the above-described vibrators are complicated, heavy and expensive, a light and inexpensive one has been desired.
[0006]
The present invention has been made in view of such problems of the prior art, and by incorporating a plurality of permanent magnets, a compact, low noise, inexpensive and highly reliable vibration mechanism is provided. The purpose is to do.
[0007]
[Means for Solving the Problems]
To achieve the above object, the invention according to claim 1 among the present invention includes a bottom plate, a top plate mounted pivotally from the bottom plate at a predetermined distance apart at least a first axis of rotation, the First and second drive sources attached to the bottom plate, first and second permanent magnets slidably attached to the bottom plate, and the same magnetic pole as the first and second permanent magnets face each other. A third permanent magnet and a fourth permanent magnet fixed to the top plate, and the first and second permanent magnets are periodically reciprocated by the first and second drive sources, respectively. 4 is an excitation mechanism that swings the top plate around the first rotation axis by changing the repulsive force by changing the facing area to the permanent magnet .
[0008]
According to a second aspect of the present invention, the repulsive force of the first and third permanent magnets is increased by reciprocating the first and second permanent magnets periodically in the same direction, and at the same time, the second And the repulsive force of the fourth permanent magnet is decreased, while the repulsive force of the first and third permanent magnets is decreased and at the same time the repulsive force of the second and fourth permanent magnets is increased. To do.
[0009]
Furthermore, the invention described in claim 3 increases the repulsive force of the first and third permanent magnets by periodically reciprocating the first and second permanent magnets in opposite directions, and at the same time the second permanent magnet . and while increasing the repulsive force of the fourth permanent magnet, it reduces the repulsive force of the first and at the same time the decreasing the repulsive force of the third permanent magnet and the second and fourth permanent magnets, said first rotary shaft The top plate is swung around a second rotation axis extending in a different direction .
[0010]
According to a fourth aspect of the present invention, each of the first and second drive sources is constituted by an electrodynamic actuator, and the electrodynamic actuator is a holder to which the first or second permanent magnet is fixed. And a magnetic circuit provided on at least one side of the holder, and the first or second permanent magnet is periodically reciprocated by passing a pulse excitation current through the magnetic circuit. And
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In the case of a magnetic spring structure having at least two permanent magnets separated from each other and facing the same magnetic pole, the separated permanent magnets are not in contact with each other. It is output non-linearly on the same line as time (going) (return), and furthermore, by utilizing the degree of freedom peculiar to non-contact pairs and the instability of the levitation control system, a static magnetic field (magnet placement) with a small input It is easy to cause negative attenuation by changing.
[0012]
The present invention has been made paying attention to this fact, and the geometric dimension between two permanent magnets is changed on the input side (going) and the output side (returning) by an in-stroke mechanism or an external force, and the motion is changed. By converting the repulsive force in the system, the repulsive force on the output side is made larger than the repulsive force on the input side from the equilibrium position of the two permanent magnets.
[0013]
Hereinafter, the basic principle will be described.
FIG. 1 is a schematic diagram showing the equilibrium positions of two permanent magnets 2 and 4 on the input side and the output side. FIG. 2 shows the load applied to one of the permanent magnets and the balance between the two permanent magnets. The basic characteristic of the magnetic spring structure which showed the relationship with the displacement amount from a position is shown.
[0014]
As shown in FIG. 1, assuming that the input side equilibrium position and spring constant of the permanent magnet 4 with respect to the permanent magnet 2 are x ₀ and k ₁ , respectively, and the output side equilibrium position and spring constant are x ₁ and k ₂ , respectively. , X _{0 to} x ₁ , area conversion is performed, and the following relationship is established at each equilibrium position.
−k ₁ / x ₀ + mg = 0
−k ₂ / x ₁ + mg = 0
k ₂ > k ₁
[0015]
Accordingly, the static characteristics indicate negative damping characteristics as shown in FIG. 2, the potential difference at the position x ₁ and the position x ₀ can be considered as potential energy of oscillation.
[0016]
Moreover, when the model of FIG. 1 was manufactured and the relationship between the load and the displacement amount was actually measured while changing the load application time, a graph as shown in FIG. 3 was obtained. This is because a large repulsive force acts when the two permanent magnets 2 and 4 approach the closest position, and when the amount of displacement from the equilibrium position changes slightly, friction loss occurs due to the damper effect of the magnetic spring. Therefore, it is interpreted that the attenuation term appears.
[0017]
In FIG. 3, (a) is a graph when a constant load is applied, and the time for which the load is applied is shortened in the order of (a), (b), and (c). That is, the static characteristics differ depending on how the load is applied, and the impulse is larger as the time during which the load is applied is longer.
[0018]
In addition, the strength of magnetization of the rare earth magnet does not depend on the magnetic field. That is, since the internal magnetic moment is not easily affected by the magnetic field, the strength of magnetization hardly changes on the demagnetization curve, and the saturation magnetization strength value is maintained substantially. Therefore, in rare earth magnets, input / output can be considered using a charge model that assumes that the magnetic charge is uniformly distributed on the end face.
[0019]
FIG. 4 shows the concept, in which a magnet is defined as a set of magnets of a minimum unit, and the force relationship between each unit magnet is classified into three and calculated.
(A) Suction (Since both r and m are the same, two types are defined as one)
f ⁽¹⁾ = (m ² / r ² ) dx ₁ dy ₁ dx ₂ dy ₂
f _x ⁽¹⁾ = f ⁽¹⁾ cos θ
f _z ⁽¹⁾ = f ⁽¹⁾ sin θ
(B) repulsion ^{_{f x (2) = f (}} 2) cosθ
f _z ⁽²⁾ = f ⁽²⁾ sin θ
(C) Repulsion f _x ⁽³⁾ = f ⁽³⁾ cos θ
f _z ⁽³⁾ = f ⁽³⁾ sin θ
Therefore,
^{_{-F x = 2f x (1)}} -f x (2) -f x (3)
^{_{-F z = 2f z (1)}} -f z (2) -f z (3)
Here, Coulomb's law is expressed as follows,
F = k (q ₁ q ₂ / r ² ) r: distance q = MS q1, q2: magnetic charge (m) M (m): strength of magnetization
S: Area The above -f _x , -f _z can be integrated within the range of the size of the magnet to determine the force.
[0020]
As shown in FIG. 5, the opposing magnets are moved from the completely wrapped state (x-axis movement amount = 0 mm) to the state completely deviated (x-axis movement amount = 50 mm) for each magnetic gap. The calculated graph is shown in FIG. However, although it is defined that “the internal magnetic moment is constant”, when the magnetic gap is small, a disturbance occurs around the magnet, so that correction is made.
[0021]
The above calculation results are almost the same as the actually measured values, and the force to move from point a to b in FIG. 2 is expressed in the x-direction load, and the output is expressed in the z-direction load. The relationship is statically clear.
[0022]
Further, FIG. 7 shows that when the magnet separation distance shown in FIG. 5 is maintained at 3 mm, the magnet is moved from a completely displaced state to a completely wrapped state, and further moved from this state to a completely displaced state. It is a graph showing the relationship. This graph shows the characteristic that the absolute value of the load in the x direction is the same and the output direction is reversed, and when it approaches the complete lap state, it becomes resistance, that is, attenuation, and shifts from the complete lap state to a completely deviated state. The case shows that it will be accelerated.
[0023]
Further, as shown in FIG. 8, when the rotation angle of the opposing magnet was changed, a graph as shown in FIG. 9 was obtained. As a matter of course, when the facing area decreases, the maximum load decreases, indicating that the output can be changed through area conversion by applying a predetermined input.
[0024]
FIG. 10 is a graph showing the relationship between the distance between magnets and the load when a neodymium magnet is used as the permanent magnet, and the repulsive force increases with increasing mass. Here, the repulsive force F is
F∝Br ² × (geometric dimension) Br: Expressed by the strength of magnetization, and the geometric dimension is determined by the distance between the facing magnets, the facing area, the magnetic flux density, the strength of the magnetic field, etc. Means dimensions. When the magnet material is the same, the strength of magnetization (Br) is constant, so the repulsive force of the magnet can be changed by changing the geometric dimension.
[0025]
FIG. 11 shows a slide type principle model in which one of the permanent magnets 2 and 4 is slid with respect to the other to change the facing area to change the geometric dimension.
[0026]
As shown in FIG. 11, the permanent magnet 2 is slidably attached to the base 6, and the linear motion slider 8 is fixed to the base 6 and vertically erected upward. An L-shaped angle 10 is attached to the linear slider 8 so as to be movable up and down. The permanent magnet 4 is fixed to the lower surface of the L-shaped angle 10 with the same (repulsive) magnetic pole facing the permanent magnet 2. Has been.
[0027]
12 to 15 show a vibration mechanism M according to the present invention showing an application example of the slide type principle model.
The vibration mechanism M shown in FIGS. 12 to 15 includes a bottom plate 12 and a top plate 18 that is swingably attached to the bottom plate 12 via first and second rotating shafts 14 and 16. The first rotating shaft 14 is rotatably attached to a support member 20 that extends in the X-axis direction and is fixed to the bottom plate 12, while the second rotating shaft 16 extends in the Y-axis direction perpendicular to the X-axis. A U-shaped bracket 22 fixed to the top plate 18 is rotatably attached.
[0028]
On the bottom plate 12, two electrodynamic actuators 24a and 24b, which are driving sources, are attached adjacent to each other, and a holder (described later) constituting a part of each actuator 24a and 24b is attached to the first or second. 2 Permanent magnets 26 and 28 are fixed. Further, third or fourth permanent magnets 30, 32 that are spaced apart from the first or second permanent magnets 26, 28 by a predetermined distance and are opposed to the same (repulsive) magnetic poles are fixed to the top plate 18.
[0029]
FIGS. 16 to 18 show one of the two electrodynamic actuators 24 a and 24 b attached to the bottom plate 12. The holder 34 is fixed to the first permanent magnet 26, and is provided on both sides of the holder 34. Magnetic circuit 36, 36, a linear bearing 38 attached to the lower surface of the holder 34, and a linear guide 40 fixed to the bottom plate 12 and slidably attached in the Y-axis direction.
[0030]
The magnetic circuits 36, 36 are separated from the coils 42, 42 wound around both ends of the holder 34 by a predetermined distance in the vertical direction (direction perpendicular to the sliding surface of the holder 34) on each side of the holder 34. The plurality of permanent magnets 44,.
[0031]
The coils 42 and 42 are wound in two upper and lower stages at both ends of the holder 34. As shown in FIG. 19 , a single copper wire is connected in series. That is, in FIGS. 16 and 17 , the terminals A and B are connected, the lower left coil is formed from the upper left coil, the terminals C and D are sequentially connected, and then the upper right coil is formed from the lower right coil. Are connected in the order of terminals E and F.
[0032]
On the other hand, the permanent magnets 44, ..., 44, as shown in FIG. 20, left upper coil and the lower left coil in the coil 42 (FIG. 16 wound on each end of the holder 34 or the upper right coils and the lower right coil ), Two permanent magnets 44, 44 fixed to the lower surface of the upper wall of the casing 46 with the reverse magnetic pole facing downward, and the permanent state 44, 44 and the reverse magnetic pole are opposed to the casing 46. It consists of two permanent magnets 44 and 44 fixed to the upper surface of the bottom wall.
[0033]
When an exciting current is applied to the magnetic circuit having the above configuration as shown in FIG. 20 , a force F is applied to the coil 42 based on Fleming's left-hand rule, and the holder 34 moves along the linear guide 40 with the force F. Move in the direction. Therefore, when a pulse excitation current is passed through the coils 42, 42, the coils 42, 42 reciprocate integrally with the holder 34. That is, the electrodynamic actuator 24a converts electrical energy into mechanical energy.
[0034]
Incidentally, in the above-described first embodiment is configured by winding a coil 42, 42 at both ends of the holder 34 need not necessarily be wound on both ends, as shown in FIG. 21, one end of the holder 34 A configuration in which a coil is wound is also possible. In the electrodynamic actuator 24 a 1 shown in FIG. 21 , a coil 42 is formed by connecting one copper wire in series to one end of the holder 34.
[0035]
In the first embodiment, the two permanent magnets 44 are fixed to the lower surface of the upper wall and the upper surface of the bottom wall of the casing 46. However, one permanent magnet is provided for each of the lower surface of the upper wall and the upper surface of the bottom wall. A magnet 44 may be provided so that the reverse magnetic poles face each other.
[0036]
Further, as in the electrodynamic actuator 24a2 shown in FIG. 22 , one permanent magnet 44 may be attached only to the upper surface of the bottom wall of each casing 46 located at both ends of the holder 34.
[0037]
Here, in the embodiment of FIGS. 16 to 18 , four neodymium magnets (NEOMAX-42 manufactured by Sumitomo Special Metals) (11 mmH × 35 mmW × 42 mmL) are used on one side as the permanent magnets 44,. As the coils 42 and 42, flat type air-core coils each having 160 turns of a 0.77-EIW copper wire wound thereon were bonded and fixed in series on a resin bobbin. The direct current resistance at this time was 4.51Ω. The weight of the magnetic circuit was 1850 g × 2 = 3700 g, and the weight of the entire coil was 890 g.
[0038]
When the thrust distribution per 1 A of the electrodynamic actuator having the above specifications was measured, the result shown in FIG. 23 was obtained. According to the result of FIG. 23 , a thrust of 2.64 kgf / A (26 N / A) is obtained at the center of the stroke of 30 mm.
[0039]
The electrodynamic actuator 24b has a holder that is slidable in the Y-axis direction along the linear guide 40 in the same manner as the adjacent electrodynamic actuator 24a. Description is omitted.
[0040]
Next, the operation of the vibration mechanism M shown in FIGS. 12 to 15 will be described.
12 to 15 , when a load on the top plate 18 is applied, the load is such that the first and third permanent magnets 26 and 30 and the second and fourth permanent magnets 28 and 32 are opposed to the same magnetic pole. It is supported by the repulsive force.
[0041]
In this state, as shown in (Table 1), when the first and second permanent magnets 26 and 28 are moved in the Y-axis direction along the linear guide 40 by the electrodynamic actuators 24a and 24b which are driving sources. By reducing the opposing area of the first and third permanent magnets 26, 30 facing each other, the repulsive force is reduced, while the opposing area of the second and fourth permanent magnets 28, 32 facing each other is increased. The repulsive force increases, and the top plate 18 swings in the arrow R direction. Conversely, when the first and second permanent magnets 26 and 28 are moved along the linear guide 40 in the −Y axis direction (the opposite direction of the Y axis), the opposing areas of the first and third permanent magnets 26 and 30 are increased. While the repulsive force increases by increasing, the opposing area of the second and fourth permanent magnets 28 and 32 decreases, the repulsive force decreases, and the top plate 18 swings in the −R direction (the direction opposite to the arrow R). Move.
[Table 1]

[0042]
Therefore, when the first and second permanent magnets 26 and 28 are periodically reciprocated in the same direction along the linear guide 40 by the electrodynamic actuators 24 a and 24 b, the top plate 18 and the load applied to the top plate 18 become the first. It swings periodically around one rotation shaft 14.
[0043]
On the other hand, as shown in Table 2, when the first permanent magnet 26 is moved in the −Y-axis direction along the linear guide 40 by the electrodynamic actuator 24a, the first and third permanent magnets 26, 30 are moved. The repulsive force increases as the facing area increases. At the same time, when the second permanent magnet 28 is moved in the Y-axis direction along the linear guide 40 by the electrodynamic actuator 24b, the opposing area of the second and fourth permanent magnets 28 and 32 increases, thereby increasing the repulsive force. To do. As a result, the top plate 18 swings in the arrow S direction. Conversely, when the first permanent magnet 26 is moved in the Y-axis direction along the linear guide 40 by the electrodynamic actuator 24a, the opposing area of the first and third permanent magnets 26 and 30 is reduced, so that the repulsive force is increased. Decrease. At the same time, when the second permanent magnet 28 is moved in the −Y-axis direction along the linear guide 40 by the electrodynamic actuator 24b, the opposing area of the second and fourth permanent magnets 28 and 32 decreases, so that the repulsive force is increased. Decrease. As a result, the top plate 18 swings in the −S direction (the direction opposite to the arrow S).
[Table 2]

[0044]
Therefore, when the first and second permanent magnets 26 and 28 are periodically reciprocated in the opposite directions along the linear guide 40 by the electrodynamic actuators 24 a and 24 b, the top plate 18 is moved together with the load applied to the top plate 18. 2 oscillates around the rotating shaft 16 periodically.
[0045]
That is, the vibration mechanism M according to the present invention is configured so that the opposed areas of the first and third permanent magnets 26 and 30 facing the same magnetic pole, and the opposed areas of the second and fourth permanent magnets 28 and 32 facing the same magnetic pole. By periodically changing the frequency, excitation can be generated, and periodic vibration can be generated around any one of two different axes.
[0046]
Next, control of the vibration mechanism M having the above configuration will be described.
Drive source 24a, sin wave or random waves or the like as a drive wave 24b is used to control (feedback) the drive source at a predetermined position or acceleration, as indicated by the mechanical model of FIG. 24, top plate 18 A sensor such as a potentiometer that senses the movement of the camera is required.
[0047]
That is, when using a sine wave as a driving wave and detecting the movement of the top plate 18 and performing amplitude control, a position sensor such as a rotary encoder or a potentiometer is required. When detecting acceleration of the top plate 18 and performing acceleration control, An acceleration sensor is required. When a random wave is used as the driving wave, a position sensor such as a rotary encoder that senses the movement of the top plate 18 is required.
[0048]
Figure 25 shows a block diagram of a closed loop control in driving the drive source 24a, and 24b in sin wave as shown in FIG. 26.
In FIG. 25 , data is output from a sine wave table 76 to a D / A (digital-to-analog converter) 78 at a predetermined timing (for example, every 1 msec), and the voltage value is input to a PWM (pulse width modulation) control amplifier 80. Then, the drive sources 24a and 24b are driven. A potentiometer 82 is connected to the drive sources 24a and 24b. The value and output of the potentiometer 82 are compared by the comparator 84, and the difference is output to the D / A 78 to bring the drive sources 24a and 24b to the target positions. To drive. Further, the sine wave table 76 is connected to a personal computer, for example, and a start command is transmitted from the personal computer so that a predetermined sine wave is output from the sine wave table 76 and continues to be output until a stop command or a clear command is transmitted. It can also be.
[0049]
Also, a random wave as shown in FIG. 27 can be used as the drive wave, and an amplitude value is output from the amplifier 80 at a predetermined timing based on a start command transmitted from the personal computer, and the drive sources 24a and 24b. Is controlled so as to be set at the target position, and the output can be held until the next data is transmitted from the amplifier 80.
[0050]
In the above embodiment, the first and second permanent magnets 26, 28 are configured to slide in the Y-axis direction along one linear guide 40, but along separate linear guides extending in the X-axis direction. It can also be set as the structure made to slide.
[0051]
Moreover, in the said embodiment, although the two rotating shafts were provided, it can also be set as the structure which provides only one rotating shaft.
[0052]
【The invention's effect】
Since the present invention is configured as described above, the following effects can be obtained.
According to the present invention, the top plate is moved around the first rotation axis by changing the repulsive force by changing the facing area of a pair of permanent magnets facing the same magnetic pole and another pair of permanent magnets facing the same magnetic pole. Since it is made to oscillate, the number of members constituting the vibration mechanism is small, and a compact and inexpensive vibration mechanism can be provided.
[0053]
Further, since the permanent magnets facing the same magnetic pole are not in contact with each other, it is possible to provide a highly reliable vibration mechanism with less noise.
[0054]
Further, the top plate is swingably attached to the bottom plate via a second rotation shaft extending in a direction different from the first rotation shaft, and the top plate is selectively swung around the first or second rotation shaft. Therefore, a vibration mechanism with a simple configuration and a high degree of freedom can be realized.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing equilibrium positions on the input side and output side of two permanent magnets in a magnetic spring.
2 is a graph of basic characteristics showing a relationship between an applied load and a displacement amount from an equilibrium position of a permanent magnet in the magnetic spring of FIG.
FIG. 3 is a graph showing the relationship between actually measured load and displacement.
FIGS. 4A and 4B are schematic diagrams showing the input / output concept in the charge model assuming that the magnetic charge is uniformly distributed on the end face of the permanent magnet, where FIG. 4A shows attraction, FIG. 4B shows repulsion, (C) has shown the repulsion of the site | part different from (b), respectively.
FIG. 5 is a schematic diagram when one of the permanent magnets facing the same magnetic pole is moved relative to the other (the facing area is changed).
6 is a graph showing loads in the X-axis and Z-axis directions with respect to the X-axis movement amount when calculated based on FIG. 5. FIG.
7 keeps the distance between the permanent magnets of FIG. 5 constant, and moves one of the permanent magnets from a completely displaced state to the completely wrapped state, and further moves from this state to a completely displaced state. It is a graph which shows the relationship between the displacement amount at the time of a load, and a load.
FIG. 8 is a schematic diagram when one of the permanent magnets facing the same magnetic pole is rotated relative to the other (the facing area is changed).
FIG. 9 is a graph showing the maximum load with respect to the facing area when the permanent magnet is rotated based on FIG. 8;
FIG. 10 is a graph showing a relationship between a distance between magnets and a load when a neodymium magnet is used as a permanent magnet.
FIG. 11 is a perspective view of a slide-type principle model in which a geometric dimension is changed by changing a facing area of a permanent magnet.
12 is a perspective view of an excitation mechanism according to the present invention showing an application example of the slide-type principle model of FIG . 11. FIG .
13 is a side view of the vibration mechanism shown in FIG . 12. FIG.
14 is a rear view of the vibration mechanism shown in FIG . 12. FIG.
15 is a plan view of the vibration mechanism shown in FIG . 12. FIG.
16 is a perspective view of an electrodynamic actuator that is a drive source of the vibration mechanism in FIG . 12;
17 is a plan view in which a part of the electrodynamic actuator of FIG . 16 is cut away.
18 is a partial sectional side view of the electrodynamic actuator of FIG . 16. FIG.
FIG. 19 is a connection diagram of coils provided in the electrodynamic actuator of FIG . 16;
20 is a schematic side view of a magnetic circuit provided in the electrodynamic actuator of FIG . 16. FIG.
FIG. 21 is a perspective view showing a modification of the electrodynamic actuator.
FIG. 22 is a partial cross-sectional side view showing another modified example of the electrodynamic actuator.
FIG. 23 is a graph showing a thrust distribution when a current of 1 A is passed through the electrodynamic actuator of FIG.
FIG. 24 is a schematic view showing a mechanical model of the vibration exciting mechanism according to the present invention.
FIG. 25 is a block diagram of closed loop control when an electrodynamic actuator is driven by a sine wave.
FIG. 26 is a graph showing a sine wave used as a driving wave.
FIG. 27 is a graph showing a random wave used as a driving wave.
[Explanation of symbols]
2,4,26,28,30,32,44 Permanent magnet 6 Base 8 Linear motion slider 10 L-shaped angle 12 Bottom plate 14 First rotating shaft 16 Second rotating shaft 18 Top plate 24a, 24b Electrodynamic actuator 34 Holder 36 Magnetic circuit 76 Sine wave table 78 Digital-to-analog converter 80 Amplifier 82 Potentiometer 84 Comparator M Excitation mechanism

Claims (4)

A bottom plate, a top plate spaced apart from the bottom plate by a predetermined distance and attached to be swingable at least about the first rotation axis; first and second drive sources attached to the bottom plate; and slidably attached to the bottom plate First and second permanent magnets, and third and fourth permanent magnets fixed to the top plate so that the same magnetic poles as the first and second permanent magnets face each other, and the first and second permanent magnets By periodically reciprocating the first and second permanent magnets by a second driving source, the opposing area to the third and fourth permanent magnets is changed to change the repulsive force, thereby changing the top plate to the first. An excitation mechanism that swings around one rotation axis. By periodically reciprocating the first and second permanent magnets in the same direction, the repulsive forces of the first and third permanent magnets are increased and simultaneously the repulsive forces of the second and fourth permanent magnets are decreased. On the other hand, the vibration mechanism according to claim 1, wherein the repulsive forces of the first and third permanent magnets are decreased and simultaneously the repulsive forces of the second and fourth permanent magnets are increased. By periodically reciprocating the first and second permanent magnets in opposite directions, the repulsive forces of the first and third permanent magnets are increased and simultaneously the repulsive forces of the second and fourth permanent magnets are increased. On the other hand, a second rotating shaft extending in a direction different from the first rotating shaft by decreasing the repelling forces of the first and third permanent magnets and simultaneously reducing the repelling forces of the second and fourth permanent magnets. 2. The vibration mechanism according to claim 1, wherein the top plate is swung around . Each of the first and second drive sources is constituted by an electrodynamic actuator, and the electrodynamic actuator is provided on a holder to which the first or second permanent magnet is fixed and at least one side of the holder. The magnetic circuit according to claim 1, wherein the first or second permanent magnet is periodically reciprocated by passing a pulse excitation current through the magnetic circuit. Shaking mechanism.

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