JP4429285B2 - Torque excitation device - Google Patents

Description

  The present invention relates to a torque exciter that can acquire a transmission characteristic by torque excitation about an axis in a plane.

  In a conventional torque exciter, for example, a driving body and a coil to which an alternating current is supplied are arranged between a pair of exciting magnets, and the interaction between the magnetic flux generated by the coil and the magnetic flux generated by the exciting magnet is achieved. The driving body is driven around the axis, and torque around one axis is generated. As a method of inputting torque excitation in the plane using this, torque can be generated in the plane by intentionally causing dynamic imbalance in the rotating body. However, in this case, torque around multiple axes is always excited. Furthermore, since the torque is generated by the rotation of the rotating body, the magnitude of the generated torque cannot be changed with respect to the excitation frequency unless the magnitude of dynamic imbalance is changed.

JP 2003-126776 A

  Conventional torque exciters can be input by torsional excitation in order to generate torque around the rotating shaft by directly connecting the drive unit of the torque exciter and the test object. When it is desired to perform torque excitation inside, there is a problem that torque excitation cannot be easily performed by attaching a vibration device to a flat surface. Further, in the case of a method in which torque is generated in a plane by providing intentional dynamic balance imbalance in the rotating body, it is not possible to generate purely torque around one axis. Furthermore, a bearing such as a bearing is required on the rotating shaft of the rotating body, and because of the rolling bearing, a small but frictional force exists. In addition, bearing noise is generated with rotation, and there is a problem that torque of a plurality of frequency components is generated in addition to the frequency component to be input. In addition, there is a problem that if the rotational speed is fixed, the magnitude of the torque generated in that case cannot be changed.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a torque excitation device capable of obtaining torque excitation with respect to a plane.

The present invention provides a torque excitation device in which an excitation force is generated by driving the drive unit to a fixed unit that supports the drive unit, and torque is generated along with the excitation force.
A drive unit that rotates symmetrically about the rotation axis, a fixed unit that supports the drive unit in a rotatable state, and a drive unit and a fixed unit that are symmetrical with respect to the rotation axis. A first generator and a second generator, and a power supply for supplying current to the first and second generators,
The first generation unit and the second generation unit generate electromagnetic forces in opposite directions and the same magnitude on the rotation axis to drive the drive unit.

The torque excitation device according to the present invention is a torque excitation device in which an excitation force is generated by driving the drive unit to a fixed portion that supports the drive unit, and torque is generated along with the excitation force.
A drive unit that rotates symmetrically about the rotation axis, a fixed unit that holds the drive unit in a rotatable state, and a drive unit and a fixed unit that are symmetrical with respect to the rotation axis. A first generator and a second generator, and a power supply for supplying current to the first and second generators,
Since the first generating unit and the second generating unit generate electromagnetic forces in opposite directions and the same magnitude on the rotating shaft to drive the driving unit, the driving unit is driven by torque excitation around the axis in the plane. Transfer characteristics can be acquired.

Embodiment 1 FIG.
Embodiments of the present invention will be described below. In various products, there may be a problem that the design requirement cannot be satisfied due to vibrations caused by a driving object mounted inside. For example, in an artificial satellite, vibrations are generated by the excitation by force and torque from the installed equipment inside, and the vibration propagates through the structure of the artificial satellite, thereby affecting the measurement accuracy of the observation equipment, etc. The point is mentioned. As a method for evaluating this influence, there are a method of installing and operating a real machine of the on-board equipment, evaluating the influence, and a method of evaluating the influence by numerical analysis. If there is a real machine of the mounted device, it can be confirmed by the former method, but this method cannot be applied if there is no real machine. For this reason, it is necessary to confirm by the latter method. When performing vibration analysis evaluation by the latter, since it is generally not possible to analyze a plurality of excitation inputs by putting them in an analysis model, excitation is performed for each component, that is, for each torque around the X, Y, and Z axes. Input and evaluate the impact. At this time, since the analysis accuracy becomes a problem, it is necessary to increase the accuracy of fitting the structural model using the actual measurement value, and it is necessary to acquire the actual measurement data for each excitation condition from the viewpoint of evaluating the accuracy . Therefore, in such a case, the torque excitation device of the present invention that can generate this excitation is used.

  1 is a side view showing a configuration of a torque excitation device according to Embodiment 1 of the present invention, FIG. 2 is a top view of the torque excitation device shown in FIG. 1, and FIG. 3 is a torque excitation shown in FIG. 4 is a cross-sectional view showing the configuration of the AA ′ cross section of the device, FIG. 4 is a diagram showing the details of the first generator of the torque exciter shown in FIG. 1, and FIG. 5 is the torque application shown in FIG. It is a figure for demonstrating the arrangement position of the excitation force detection sensor in a vibration apparatus. In the figure, the configuration of the torque exciter of the first embodiment and the operation of the torque exciter will be described. In the torque excitation device, an excitation force is generated when the drive unit 1 is driven by a fixed unit 2 that supports the drive unit 1, and a torque is generated along with the excitation force. And the drive part 1 rotates symmetrically around the rotating shaft 3, and the fixing | fixed part 2 supports the drive part 1 in the state which can be rotated. Further, the first generator 4 and the second generator 5 disposed at the respective locations of the drive unit 1 and the fixed unit 2 that are symmetrical with respect to the rotation shaft 3, and the first and second generators 4 and 5, and a power supply unit 6 that supplies a current having a desired frequency to the first generation unit 4 and the second generation unit 5. The electromagnetic force is generated to drive the drive unit 1.

  The drive unit 1 is composed of a plate-like member, and both ends of the central portion are supported on the support column 23 of the fixed unit 2 by means of cross springs 21 and 22 having coaxial rotation axes serving as the rotation shaft 3. Further, the column portion 23 is formed of a plate-like member and can be disposed on the specimen 7 (vibration target) and is fixed on a fixed base 24 that transmits the vibration to the specimen 7. The fixing base 24 has bolt portions 2a, 2b, 2c, and 2d formed of bolt holes and bolts at four locations, respectively, and the specimen 7 has bolts in the bolt portions 2a, 2b, 2c, and 2d. It is fixed with a stopper. It should be noted that the method for fixing the fixing base 24 to the specimen 7 is not limited to bolting, and it is needless to say that the fixing base 24 can be fixed to the specimen 7 by other methods. A method of fixing with an adhesive can also be considered.

  And the 1st generation part 4 and the 2nd generation part 5 are comprised by the 1st and 2nd magnet part 41 and 51 for excitation which the fixed part side forms the magnetic flux around a fixed direction. The first and second exciting magnet portions 41 and 51 are formed in the shape of a vertical cross section U formed on left and right symmetrical positions around the rotation shaft 3 of the fixed base 24, and form a magnetic flux. First to fourth exciting magnets 41a, 41b, which are opposed to the left and right on the inner wall surfaces of the first and second holding portions 25, 26 made of an easy-to-use material, and are vertically paired, for example, permanent magnets. 41c, 41d and fifth to eighth exciting magnets 51a, 51b, 51c, 51d are fixedly configured. Here, the first, third, fifth, and seventh exciting magnets 41a, 41c, 51a, and 51c are N poles, and the second, fourth, sixth, and eighth exciting magnets 41b and 41d are used. , 51b, 51d are configured by S poles. Accordingly, the first generator 4 side will be described with reference to FIG. 4 as an example. A magnetic flux A is generated from the first exciting magnet 41a to the second exciting magnet 41b, and the third exciting magnet 41c. To the direction of the fourth exciting magnet 41d is generated, magnetic flux C and D are generated in the first holding portion 25, and the first exciting magnet portion 41 has a magnetic flux h around a certain direction. Will be formed. In the fifth to eighth exciting magnets 51a, 51b, 51c, 51d of the second exciting magnet unit 51, a magnetic flux in the same direction is generated as in the first exciting magnet unit 41. Therefore, the description thereof is omitted.

  Next, the drive unit side of the first and second generators 4 and 5 is disposed so as to intersect with the magnetic flux formed by the first and second exciting magnet units 41 and 51, respectively. The first and second coil portions 42 and 52 are configured. Further, here, the magnetic flux formed by the first and second exciting magnet portions 41 and 51 and the currents flowing through the first and second coil portions 42 and 53 are arranged so as to be orthogonal to each other. Yes. The first and second coil portions 42 and 52 extend in the lower direction at respective positions on the lower surface side of the position that is symmetrical with respect to the rotation shaft 3 of the drive unit 1. The first and second coils 43 and 53 are built in the fourth holding portions 11 and 12. A current is supplied from the power supply unit 6 to the first and second coils 43 and 53.

  In the first generator 4, as shown in FIG. 4, in the first coil 43, currents in opposite directions flow on the upper side 43a and the lower side 43b, respectively. Here, an example is shown in which current flows in the upper side 43a in the rear side direction on the paper surface, and in the lower side 43b, the current flows in the front side direction on the paper surface. Therefore, in this case, the downward electromagnetic according to the Fleming's left-hand rule from the current flowing in the upper and lower direction of the paper on the upper side 43a and the magnetic flux generated between the first and second exciting magnets 41a and 41b. Force, specifically downward Lorentz force, is generated. Further, since a current flowing in the opposite direction to the upper side 43a flows through the lower side 43b, the downward direction is similarly caused by Fleming's left-hand rule between the third and fourth exciting magnets 41c and 41d. Lorentz force is generated, and the first coil portion 42 generates a downward force as a whole as a whole.

  In the other second generation unit 5, the direction of magnetic flux is the same and the winding direction of the second coil 53 is opposite, that is, current flows in a direction different from that of the first coil 43 of the first generation unit 4. At this moment, the Lorentz force in the direction opposite to that of the first generation unit 4 is generated in the second generation unit 5. Therefore, it is possible to drive the drive unit 1 by causing the first generation unit 4 and the second generation unit 5 to generate electromagnetic forces in opposite directions and the same magnitude on the rotation shaft 3. Since the direction of the current flowing through the first and second coils 43 and 53 changes periodically, the direction of the Lorentz force generated at the symmetrical position of the rotating shaft 3, here at a fixed distance from side to side, is reversed. Therefore, the moment indicated by the arrow A, that is, the torque can be generated around the rotation shaft 3.

  At this time, since the Lorentz force is in the opposite direction on the rotating shaft 3, that is, in the opposite direction on the left and right, the force generated in the translational direction is canceled out, and is purely generated by the product of the Lorentz force and the moment arm around the rotating shaft 3. Only a torque component is generated. The pair of forces generated at this time is a couple, and the sum of moments is the same value at any position, and torque can be applied to the surface of the specimen 7 to which the fixed base 4 is fixed. And the direction of the electromagnetic force generated when an alternating current flows through the first and second coils 43 and 53 is periodically reversed. Thus, it is possible to generate a torque with a constant period. The Lorentz force generated in the first and second coils 43 and 53 also changes according to the frequency while the direction of the force between the first and second coils 43 and 53 is maintained at a direction different by 180 degrees.

  Further, an excitation force detection sensor 8 is installed on the inner lower surface of the first holding portion 25 as shown in FIG. The excitation force detection sensor 8 measures the distance between the first holding unit 25 and the third holding unit 11 including the first coil 43, and uses the signal to apply the excitation of the torque excitation device. Determine the direction of vibration. That is, it is possible to grasp the magnitude and phase relationship of the excitation torque. Note that even methods other than the detection shown here can be detected in the same manner as long as the direction of movement of the third holding unit 11 incorporating the first coil 42 can be grasped, and similar effects can be obtained. It becomes possible to play. The excitation force detection sensor 8 can be similarly installed in the following embodiments, and the description thereof will be omitted as appropriate.

  1 shows an example in which the torque exciter is arranged horizontally. For example, as shown in FIG. 6, when the specimen 70 exists vertically, the torque exciter is arranged in the vertical direction. It is also possible to do. In this case, for example, by adjusting the unbalance adjusting masses 9a and 9b arranged on the upper part of the driving body 1 to balance the driving unit 1 with respect to the upper and lower sides and the left and right sides of the rotating shaft 3 in FIG. Even when the vibration device is set up vertically, torque excitation can be performed in the same manner as in the horizontal state described above, and the same effect can be obtained.

  According to the torque exciter of the first embodiment configured as described above, the first and second generators are arranged at two symmetrical positions with the rotating shaft in between, thereby providing a constant period of torque. It is possible to generate a torque, and it is possible to purely excite a torque in only one axial direction on a plane. Further, since the driving force is generated between the fixed part and the driving part, the apparatus itself becomes compact. In addition, because the rotation of the fixed part and the drive part is supported by a cross spring, there is no friction and, for example, a small backlash or bearing caused by rotation that occurs when a bearing is used for the rotating shaft. It is possible to suppress the occurrence of bearing noise accompanying rotation, and it is possible to generate only a torque component having a substantially single frequency. Further, the first and second exciting magnet parts and the above-mentioned ones are arranged so that the magnetic flux formed by the first and second exciting magnet parts and the currents flowing through the first and second coil parts are orthogonal to each other. Since the first and second coil portions are disposed, the Lorentz force can be generated efficiently.

  Although not particularly shown in the first embodiment, it is movable as long as it is within the range where the fixed part side and the drive part side of the first and second generating parts are not in contact (within the shape restriction range). The angle can be changed. Further, within this non-contact range, the generated torque can be adjusted by changing the current level.

  Further, as shown in FIG. 7, unlike the above-described first embodiment, it is conceivable that the driving part side and the fixed part side of the first and second generating parts 4 and 5 are formed oppositely. . That is, the first and second holding portions 24 and 25 are disposed on the driving portion 1 side, and the third and fourth holding portions 11 and 12 are disposed on the fixed portion 2 side, respectively. First and second exciting magnet parts 41 and 51 that form a magnetic flux around a certain direction are formed on the drive part side of the generating parts 4 and 5, and the first and second generating parts 4 and 5 are fixed. The first and second coil parts 42 and 52 are arranged on the part side so as to intersect the magnetic fluxes formed by the first and second exciting magnet parts 41 and 51, respectively, and the power supply part 6 may be configured to be supplied with current. If comprised in this way, like the case shown in the said Embodiment 1, between the 1st exciting magnet part 41 and the 1st coil part 42, and the 2nd exciting magnet part 51, Lorentz force is generated between the second coil portion 52 and torque excitation is generated in the same manner as in the first embodiment, and the same effects as in the first embodiment can be obtained. In addition, when the drive part side and the fixed part side in the first and second generation parts can be formed in the opposite manner in this way, there are things that can be similarly performed in the following embodiments. Description is omitted as appropriate.

Embodiment 2. FIG.
FIG. 8 is a side view showing the configuration of the torque excitation device according to Embodiment 2 of the present invention. In the figure, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. In the first embodiment, an example is shown in which the winding directions of the left and right first and second coils 43 and 53 are formed in opposite directions, and magnetic fluxes around a certain direction intersecting are provided in the same rotational direction on both the left and right. In the second embodiment, as shown in FIG. 8, the arrangement of the fifth to eighth exciting magnets 51a, 51b, 51c, 51d of the second generating unit 2 is changed to change the first and second In the generating portions 4 and 5, the rotation direction of the magnetic flux h and g around the fixed direction is formed to be the reverse rotation direction on the left and right. Then, the second coil 53 a of the second coil portion 52 is changed in the same direction as the winding direction of the first coil 43. By doing this, the direction of the alternating current flowing through the first and second coils 43 and 53a is the same on both the left and right sides, and the direction of rotation of the magnetic flux is reversed, so that the operation is the same as in the first embodiment. Similar effects can be obtained.

Embodiment 3 FIG.
In each of the above embodiments, the mass of the drive unit 1 is not particularly shown. However, for example, a screw portion may be provided on the upper surface of the drive unit 1 to add the mass. The method of adding mass in the third embodiment is not particularly shown, and will be described with reference to FIG. If mass can be added in this way, the moment of inertia around the rotation shaft 3 can be increased, and even when the same torque magnitude is generated compared to when the moment of inertia is small, the drive unit 1 The rotation angle range can be kept small. That is, the torque generated by adding mass to the drive unit 1 without changing the clearance between the first and second exciting magnet units 41 and 51 and the first and second coil units 42 and 52. Can be increased. The reason is as follows. In general, when the electromagnetic force F and the distance l from the rotating shaft 3 are used, and the generated frequency f and time are t, the torque Tr can be expressed by Equation (1).

  On the other hand, in the case of the moment of inertia I of the drive unit 1, the relationship of Expression (2) is established.

  From this equation (2), the angular displacement θ around the rotation axis is expressed by the following equation (3).

  That is, in the case of the same torque, the angular displacement θ increases as the frequency f decreases. Therefore, when it is desired to generate a large torque even at a low frequency, it is possible to generate a large torque by adding a mass on the drive unit 1 so as to allow a sufficient rotation angle.

Embodiment 4 FIG.
FIG. 9 is a side view showing the configuration of the torque excitation device according to Embodiment 4 of the present invention. In the figure, the same parts as those in the above embodiments are denoted by the same reference numerals, and description thereof is omitted. In the figure, in each of the above-described embodiments, the first and second generators 4 and 5 are formed at positions symmetrical with respect to the rotating shaft 3, respectively. However, in the fourth embodiment of the present invention, FIG. The first and second generators 4 and 5 are disposed at point-symmetrical positions with respect to the rotation shaft 3. For this purpose, a housing part 27 is formed on the fixing base 24 of the fixing part 3, the first holding part 28 is formed on the upper part of the housing part 27, the second holding part 29 is provided on the fixing base 24, and the rotary shaft 3. On the other hand, the first and second holding portions 28 and 29 are formed at positions that are point-symmetric with respect to each other so that their inner walls are surfaces having the same curvature.

  Similarly to the first embodiment, the first to eighth exciting magnets 41a, 41b, 41c, 41d, 51a, 51b, 51c, 51d are respectively fixed and the first and second exciting magnet parts 41 are provided. , 51 are formed. The third and fourth holding portions 13 and 14 have the same curvature as the inner walls of the first and second holding portions 28 and 29 on the upper surface side of one end of the driving portion 1 and the lower surface side of the other end. Is formed at a position that is point-symmetric with respect to the rotation axis 3. Therefore, the first to eighth exciting magnets 41a, 41b, 41c, 41d, 51a, 51b, 51c, 51d are fixedly installed with the same curvature so as to be always parallel to the first and second coils 43, 53. The Rukoto. If comprised in this way, it will become possible to generate | occur | produce Lorentz force similarly to the said Embodiment 1, and there can exist an effect similar to the said Embodiment 1. FIG.

  In the fourth embodiment, in the first and second generators 4 and 5, the first to eighth exciting magnets 41a, 41b, 41c, 41d, 51a, 51b, 51c as shown in FIG. 51d and the first and second coils 42 and 52 are shown as examples, but the arrangement of the magnets and the coils for excitation that generate the Lorentz force in the opposite direction at the point-symmetrical position with respect to the rotation axis is shown. It goes without saying that the same effects as those of the fourth embodiment can be obtained even if other arrangements are employed.

Embodiment 5 FIG.
FIG. 10 is a side view showing the configuration of the torque excitation device according to Embodiment 5 of the present invention. In the figure, the same parts as those in the above embodiments are denoted by the same reference numerals, and description thereof is omitted. Other examples in which the first and second generators 4 and 5 are formed at symmetrical positions with respect to the rotation shaft 3 in the same manner as in the first embodiment will be described. In the fifth embodiment of the present invention, the first and second generators 4 and 5 are arranged on the fixing base 24 of the fixing unit 3 in order to install the first and second generating units 4 and 5 at positions symmetrical to the rotating shaft 3. The second holding portions 30 and 31 are formed in the shape of a longitudinal section C so that the end portions of the driving portion 1 can be inserted, respectively, and the first to eighth exciting magnets 41a as in the first embodiment. , 41b, 41c, 41d, 51a, 51b, 51c, 51d are opposed to the left and right of the respective inner walls, and two sets are fixedly installed at the upper and lower positions of the drive unit 1, and the first and second exciting magnet parts 41, 51 is formed.

  Further, both ends of the drive unit 1 and the other end of the drive unit 1 extend to the upper side and the lower side of the drive unit 1 along the inner walls of the first and second holding units 30 and 31 and rotate. Third and fourth holding portions 15 and 16 are formed at positions that are symmetrical with respect to the axis 3. The first and second coils 43 and 53 held by the third and fourth holding portions 15 and 16 intersect with the magnetic flux formed by the first and second exciting magnet portions 41 and 51, respectively. It is arranged to do. Further, here, the magnetic flux formed by the first and second exciting magnet parts 41 and 51 and the current flowing through the first and second coil parts 42 and 53 are arranged so as to be orthogonal to each other. . If comprised in this way, it will become possible to generate | occur | produce Lorentz force similarly to the said Embodiment 1, and there can exist an effect similar to the said Embodiment 1. FIG.

  In the fifth embodiment, in the first and second generators 4 and 5, the first to eighth exciting magnets 41a, 41b, 41c, 41d, 51a, 51b as shown in FIG. 10 are used. , 51c, 51d and the first and second coils 42, 52 are shown as examples, but an exciting magnet and a coil that generate a Lorentz force in the opposite direction at the left-right symmetrical position with respect to the rotation axis It goes without saying that the same effects as those of the fifth embodiment can be obtained with other arrangements.

Embodiment 6 FIG.
In each of the above-described embodiments, a case where a Lorentz force is generated as an electromagnetic force and this force is generated by being offset from the rotation shaft to generate a torque around the rotation shaft has been described. The case where an electromagnetic attraction force is used as the electromagnetic force will be described. FIG. 11 is a side view showing the configuration of the torque excitation device according to Embodiment 6 of the present invention. In the figure, the same parts as those in the above embodiments are given the same reference numerals, and the description thereof is omitted. First and second holding portions 32 and 33 are formed at symmetrical positions of the rotation shaft 3 of the driving portion 1 on the fixed base 24, respectively. And the 1st and 2nd coil 44a provided with the 1st and 2nd iron cores 44b and 45b as the 1st generation | occurrence | production part 4 in the 1st holding | maintenance part 32 in the up-and-down position of the end of the drive part 1. , 45a, the first and second coil portions 44, 45 are held and formed. The second holding part 33 has third and fourth coils provided with third and fourth iron cores 54b and 55b as the second generating part 5 at the upper and lower positions of the other end of the driving part 1. 3rd and 4th coil parts 54 and 55 which consist of 54a and 55a are hold | maintained and formed. A current is supplied from the power supply unit 6 to the first to fourth coils 44a, 45a, 54a, and 55a.

  Next, the operation of the torque excitation device according to the sixth embodiment configured as described above will be described. First, when a current is passed through the first and third coils 44a and 54a, a magnetic attractive force is generated between the first coil unit 44 and the drive unit 1 on the first generation unit 4 side. Working, the drive unit 1 rotates clockwise. Further, on the second generation unit 5 side, an electromagnetic attractive force acts between the third coil unit 54 and the drive unit 1, and the drive unit 1 generates torque in the clockwise direction of the rotary shaft 3. The direction of the magnetic flux generated at this time is as shown by a magnetic flux h shown in FIG. On the other hand, when a current is passed through the second and fourth coils 45a and 55a, the first generator 4 side is connected between the second coil unit 45 and the drive unit 1, and the second generator unit 5 side. In this case, a magnetic attractive force is generated between the fourth coil unit 55 and the drive unit 1, and torque can be generated counterclockwise around the rotation shaft 3. The direction of the magnetic flux generated at this time is as indicated by the magnetic flux shown in FIG. By combining the first to fourth coil portions 44, 45, 54, and 55 in this way, the first and second generators 4 and 5 can rotate periodically by passing a current alternately at a constant cycle. Torque can be generated. Therefore, the magnetic attractive force generated as in the sixth embodiment is opposite to the left and right of the rotating shaft, and the force in the translational direction is the same, as in the first embodiment. It is possible to generate a pure torque component around one axis.

  According to the sixth embodiment configured as described above, as in the first embodiment, the first and second generators are arranged at two symmetrical positions with the rotation axis in between, thereby providing a constant. Periodic torque can be generated, and it is possible to purely excite torque in only one axial direction on a plane. Further, since the driving force is generated between the fixed part and the driving part, the apparatus itself becomes compact. In addition, because the rotation of the fixed part and the drive part is supported by a cross spring, there is no friction and, for example, a small backlash or bearing caused by rotation that occurs when a bearing is used for the rotating shaft. It is possible to suppress the occurrence of bearing noise accompanying rotation, and it is possible to generate only a torque component having a substantially single frequency.

Embodiment 7 FIG.
FIG. 12 is a side view showing the configuration of the torque excitation device according to Embodiment 7 of the present invention. In the figure, the same parts as those in the above embodiments are denoted by the same reference numerals, and description thereof is omitted. In the seventh embodiment, inclined surfaces 1a, 1b, 1c, and 1d as shown in FIG. 12 are formed at the end of the drive unit 1, and the first to the first to the inclined surfaces 1a, 1b, 1c, and 1d are formed. The four coil portions 44, 45, 54, and 55 are disposed so as to be opposed to each other. With this configuration, magnetic flux is generated in the same manner as in the sixth embodiment, and the rotation angle range around the rotation shaft 3 of the drive unit 1 is formed as an inclined surface as compared with the sixth embodiment. It can be expanded as much as possible. Therefore, as can be seen from the above equation (3), a large torque can be generated by setting the rotation angle large.

It is a side view which shows the structure of the torque vibration apparatus in Embodiment 1 of this invention. FIG. 2 is a top view of the torque excitation device shown in FIG. 1. It is sectional drawing which showed the structure of the A-A 'cross section of the torque excitation apparatus shown in FIG. It is the figure which showed the detail of the 1st generation | occurrence | production part of the torque excitation apparatus shown in FIG. It is a figure for demonstrating the arrangement position of the excitation force detection sensor in the torque excitation apparatus shown in FIG. It is a side view which shows the other structure of the torque excitation apparatus in Embodiment 1 of this invention. It is a side view which shows the other structure of the torque excitation apparatus in Embodiment 1 of this invention. It is a side view which shows the structure of the torque vibration apparatus in Embodiment 2 of this invention. It is a side view which shows the structure of the torque vibration apparatus in Embodiment 3 of this invention. It is a side view which shows the structure of the torque vibration apparatus in Embodiment 4 of this invention. It is a side view which shows the structure of the torque vibration apparatus in Embodiment 5 of this invention. It is a side view which shows the structure of the torque vibration apparatus in Embodiment 6 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Drive part, 2 fixing | fixed part, 3 rotating shaft, 4 1st generation part, 5 2nd generation part,
6 Power supply unit, 7, 70 Specimen, 8 Excitation force detection sensor, 21, 22 Cross spring,
41 1st exciting magnet part, 42, 44 1st coil part, 51 2nd exciting magnet part,
52, 45 2nd coil part, 54 3rd coil part, 55 4th coil part.

Claims (5)

In a torque excitation device that generates an excitation force by driving the drive unit to a fixed unit that supports the drive unit and generates a torque in accordance with the excitation force,
The drive unit that rotates symmetrically about a rotation axis, the fixed unit that supports the drive unit in a rotatable state, the drive unit that is symmetric with respect to the rotation axis, and the fixed unit. A first generator and a second generator disposed at each location; and a power supply that supplies current to the first and second generators.
The first generation unit and the second generation unit generate electromagnetic forces in opposite directions and the same magnitude on the rotation shaft to drive the drive unit to generate torque. Torque excitation device. 2. The torque according to claim 1, wherein the support of the driving unit with respect to the fixed unit is supported so that the rigidity around the rotation shaft is lower than the rigidity around other shafts other than the rotation shaft. Excitation device. The fixed part side or the drive part side of the first and second generating parts are configured by first and second exciting magnet parts that form a magnetic flux around a certain direction, and the first and second generating parts The drive unit side or the fixed unit side of the first and second coil units are arranged so as to intersect with the magnetic fluxes formed by the first and second exciting magnet units, respectively. A current having a desired frequency is supplied from the power supply unit, and between the first excitation magnet unit and the first coil unit, and between the second excitation magnet unit and the second coil unit. The torque excitation device according to claim 1, wherein a Lorentz force is generated between the two. The fixed part side of the first and second generating parts is composed of first and second coil parts, and third and fourth coil parts, and a desired periodic current from the power supply part. Between the first and second coil sections and the drive section side of the first generator section, and between the third and fourth coil sections and the drive section side of the second generator section. The torque excitation device according to claim 1, wherein a magnetic attraction force is generated between each of the torque excitation devices. 5. The torque excitation device according to claim 1, further comprising an excitation force detection sensor that detects a magnitude of the excitation force and a direction of the excitation force.

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