JP5218264B2 - Oscillator - Google Patents

Description

  The present invention relates to a rocking device that applies vibration to a rocking table, and more particularly to a rocking device that supports a rocking table with a link mechanism.

  2. Description of the Related Art Conventionally, a swing device including a swing table that can swing three-dimensionally is widely known in order to impart a three-dimensional swing to an object. Such a rocking device is used for, for example, a human dynamic characteristic measuring device, a drive simulator, a flight simulator, an amusement device, a work table device, or an industrial robot.

  Some of these swinging devices impart swinging to the swinging table by deforming a link mechanism that supports the swinging table. For example, Patent Document 1 listed below discloses a swing table device configured to support a swing table with a plurality of link mechanisms. In this rocking table device, the upper end of a pentagonal link mechanism in which a pair of substantially “<”-shaped movable links are arranged in parallel is connected to the rocking table. Each movable link is driven and deformed by a motor coupled to the lower side of the movable link. The lower end of the link mechanism is connected to the base by a metal fitting that rotatably supports the entire movable link including the motor. By interposing this metal fitting, the link mechanism surface can be tilted and more various movements can be taken.

Japanese Patent Laid-Open No. 7-24149

  However, such a configuration has problems that it is difficult to cope with improvement in responsiveness and an increase in mass of an object to be oscillated while its movement is diversified. That is, in Patent Document 1, the motor is not fixed to the base but is slightly lifted from the base. The motor is connected to the movable link in this floating state, and is configured to rotate together with the link mechanism surface. Therefore, when a motor with a large mass is combined, the motor mass affects the response during high-speed operation, and it may be difficult to realize a desired swinging state. Further, in the configuration described in Patent Document 1, a bending moment is generated on the link surface by the gravity component applied to the motor. Naturally, the bending moment increases as the mass of the motor increases, and the stability of the apparatus and the control accuracy are likely to decrease. For this reason, in the configuration described in Patent Document 1, it is difficult to employ a high-power motor having a large mass, and consequently it is difficult to cope with an increase in the mass of the oscillating object.

  Therefore, an object of the present invention is to provide a swing device with high responsiveness regardless of the mass of the motor.

The swing device according to the present invention includes a base placed on a fixed floor surface, a swing table to which swing is applied, and an upper end of the swing member via a connecting member within a specified plane orthogonal to the base. A swing table support mechanism including a plurality of link mechanisms for supporting the table and imparting swing to the swing table, wherein the swing table support mechanism has each upper end position within the prescribed plane. A link mechanism that can be positioned at a position, and a rotation mechanism that is interposed between the link mechanism and the swing table, and that rotates about three axes perpendicular to the link mechanism of the swing table and a direction orthogonal to the prescribed plane. And a motor fixedly installed on the base for driving the link mechanism, and the link mechanism is a pair of arm bodies that can be bent into a "<" shape. Composed of It is characterized in.

In a preferred embodiment, prior to SL coupling member comprises a slide mechanism that allows the sliding movement of the swinging table, the slide mechanism, the swing of the top view, in a direction perpendicular to the plane of the prescribed It is installed to allow the table to move.

  In another preferred aspect, the slide mechanism is connected to the link mechanism via a rotation shaft that allows rotation about an axis parallel to the swing table, and is an axis orthogonal to the swing table. It is connected to the swing table via a rotation shaft that allows rotation around.

In another preferred aspect, when the number of the link mechanisms is 3 or more, all of the prescribed planes in each link mechanism are not parallel. In this case, the plurality of link mechanisms are installed so as to be arranged on the same line in the vicinity of both ends of the base in the long side direction, and are arranged so as to be parallel to each other, and the short side of the base installed near direction end portion, and it is desirable to include, and one link mechanism which is installed so as to Cartesian and with respect to the two link mechanisms.

  According to the present invention, since the motor is fixedly installed on the base, high responsiveness can be obtained regardless of the mass of the motor.

It is a schematic block diagram of the rocking | swiveling apparatus which is embodiment of this invention. It is a front view around a link mechanism. It is an image figure at the time of seeing the motion of each link mechanism from the upper surface. It is an image figure at the time of seeing the arrangement | positioning of a motor from an upper surface. It is a schematic block diagram of the rocking device which is other embodiment. It is a front view around a link mechanism. It is a figure which shows the other example of arrangement | positioning of a link mechanism. It is a figure which shows the other example of arrangement | positioning of a link mechanism.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram of a rocking device 10 according to an embodiment of the present invention. FIG. 2 shows link mechanisms 20_1, 20_2, and 20_3 used in the swing device 10 (hereinafter, unless otherwise distinguished, the subscripts are omitted and referred to as “link mechanism 20”. The same applies to other members hereinafter). FIG.

  The swing device 10 is a device used for a simulator such as a vehicle or an aircraft, a game device, a human dynamic characteristic measuring device, a work table device, etc. Further, a swing table support mechanism for supporting the swing table 14 and a base 12 on which the swing table support mechanism is installed are provided. The swing table support mechanism further controls the drive of the link mechanisms 20, a plurality of link mechanisms 20 that support the swing table 14, a connecting member interposed between the link mechanism 20 and the swing table 14, and the link mechanism 20. A control device (not shown) is provided.

  The swing table 14 is a table to which three-dimensional swing is applied. When performing a vehicle vibration test or the like, the swing table 14 is connected to a vehicle or the like that is a swing target. The shape of the swing table 14 is not particularly limited, but in the present embodiment, a substantially rectangular flat plate material is used as the swing table 14. Of course, for the purpose of weight reduction and the like, a plate material having a different thickness for each part may be used as the swing table 14.

  The base 12 is a plate material installed on a fixed surface such as a floor surface. The shape of the base 12 is not particularly limited, but in the present embodiment, a substantially rectangular plate material that is substantially the same shape as the swing table 14 is used as the base 12.

  A plurality (three in this embodiment) of link mechanisms 20 are installed on the base 12. The plurality of link mechanisms 20 all have the same configuration, and support the swing table 14 in cooperation with each other. In the present embodiment, the configuration around the link mechanism 20 is special in order to provide the swing device 10 with high response regardless of the mass of the motor 26. Hereinafter, the configuration around each link mechanism 20 will be described in detail.

  Each link mechanism 20 has the same configuration. Specifically, each link mechanism 20 is a substantially “<”-shaped arm body 31 a, 31 b that can be bent (hereinafter, unless otherwise distinguished, the subscript alphabet is omitted and referred to as “arm body 31”). This is a substantially pentagonal link mechanism configured by connecting two other members in a similar manner so that the letter “ku” faces each other. Each arm body 31 includes two arms, that is, an upper arm 34 and a lower arm 32.

  The lower end of the upper arm 34 is rotatably connected to the upper end of the lower arm 32 via an intermediate connecting shaft 38, and an angle formed by both arms 32 and 34 (that is, a bending angle of the "<"). Can be changed as appropriate. The upper end of the upper arm 34a of one arm body 31a is rotatably connected to the upper end of the upper arm 34b of the other arm body 31b via the upper end connecting shaft 40. Thus, the angle formed by one upper arm 34a and the other upper arm 34b can be changed as appropriate. A lower end of the lower arm 32 is connected to an output shaft of the motor 26 fixedly installed on the base 12 via a lower end connecting shaft 36. The lower arm 32 can be rotated about the lower end connecting shaft 36 as the motor 26 is driven and, as a result, the output shaft rotates.

  Here, the distance relationship between the connecting shafts 36, 38, and 40 is always constant because the arms 32 and 34 having the same length are connected. On the other hand, according to the driving of the motor 26, the rotation angle (inclination angle) of the lower arm 32 and, consequently, the position of the intermediate connecting shaft 38 provided at the tip of the lower arm 32 are appropriately changed. In order to maintain the distance relationship between the connecting shafts while allowing the displacement of the intermediate connecting shaft 38, when the lower arm 32 rotates, the upper arm 34 also rotates. As a result, the link mechanism 20 is appropriately deformed. The upper end position of the link mechanism 20 changes due to the shape deformation of the link mechanism 20. However, the change in the upper end position is a change in a vertical plane (hereinafter referred to as “link mechanism surface”) passing through the four arms 32 and 34 constituting the link mechanism 20. In other words, the upper end of the link mechanism 20 moves in the vertical direction and in the direction in which the two arm bodies 31a and 31b are arranged (the left-right direction in FIG. 2), but in the direction of the output shaft of the motor (see FIG. 2 in the direction perpendicular to the paper surface in FIG.

  A motor 26 is connected to each lower arm 32. The motor 26 functions as a drive source that drives (deforms) the link mechanism 20 and is provided for each lower arm 32. The output shaft of the motor 26 is connected to the lower end connecting shaft 36 directly or indirectly through a gear or the like, and the lower arm 32 is rotated in accordance with the driving of the motor 26, and as a result, The link mechanism 20 can be deformed in shape. In the present embodiment, the motor 26 is fixedly installed on the base 12 via a bracket such as a blanket. Therefore, the weight of the motor 26 is not applied as a load to the link mechanism 20. As a result, the responsiveness can be improved as a whole of the rocking device 10, which will be described in detail later. The drive of each motor 26 is controlled by a control device, and a detection value from an encoder attached to the motor 26 is input to this control device.

  The upper end of the link mechanism 20 is connected to the swing table 14 via a connecting member that allows the swing table to rotate and slide relative to the link mechanism. More specifically, the connecting member includes a rotary joint 24 and a slide mechanism 22. The rotary joint 24 is a rotary shaft having two degrees of freedom excluding the degree of freedom of rotation of the connecting shaft 40, that is, a joint having rotary shafts in the vertical and horizontal directions in FIG. The swing table 14 can rotate about the X, Y, and Z axes with respect to the link mechanism 20 and the base 12 by the action of the rotary joint 24 and the connecting shaft 40.

  A slide mechanism 22 is further provided between the rotary joint 24 and the swing table 14. The slide mechanism 22 is a mechanism for sliding the swing table 14 in the direction of the swing table surface, and includes a rail, a moving block, and the like. The rail is a member fixed to the bottom surface of the swing table 14. The moving block is a block body connected to the rotary joint 24 and eventually to the link mechanism 20. As the moving block moves relative to the rail (actually, the rail moves), the swing table 14 slides in the surface direction of the swing table 14. Here, the rail is installed so that its long axis and, as a result, the sliding direction by the sliding mechanism 22 are substantially orthogonal to the link mechanism surface in a top view. However, as a matter of course, when the swing table 14 is rotated around the Z-axis by the action of the rotary joint 24, the orthogonal relationship between the sliding direction and the link mechanism surface slightly changes.

  In the present embodiment, three link mechanisms 20 having the above configuration are provided. The first link mechanism 20_1 and the second link mechanism 20_2 are opposed to each other on the same line near both ends of the base in the X-axis direction so that the link mechanism surfaces are parallel to each other. The third link mechanism 20_3 is disposed in the vicinity of the end of the base 12 in the Y-axis direction so that the first link mechanism 20_1 and the second link mechanism 20_2 are substantially orthogonal to each other.

  Next, the operation of the oscillating device 10 will be described with reference to FIG. 1, FIG. 3, and FIG. FIG. 3 is an image view of the movement of each link mechanism 20, and FIG. 4 is an image view of the arrangement of the motor 26 when viewed from the upper surface of the rocking device 10. In FIG. 3, the broken arrow indicates the movable direction of each link mechanism 20, and the thick solid arrow indicates the movable direction of the slide mechanism 22. A thin solid arrow indicates the direction of rotation by the rotary joint 24. Although not shown in FIG. 3, the swing table 14 is allowed to rotate around the X axis and rotate around the Y axis by the action of the rotary joints 24 and the like.

  The oscillating device 10 of the present embodiment appropriately drives the motor 26 to oscillate the oscillating table 14 with six degrees of freedom, that is, linear motion in the X, Y, Z axis directions and X, Y, Z. A rotation around the axis can be imparted. Hereinafter, the giving of each swing will be described in detail. Here, in order to facilitate understanding, only the case where each swing is applied alone will be described. However, these swings may be applied in combination as appropriate.

  The linear motion in the X-axis direction is applied to the swing table 14 by driving the motor 26 corresponding to the third link mechanism 20_3 and moving the upper end of the third link mechanism 20_3 in the X-axis direction. This linear motion in the X-axis direction is allowed by the first slide mechanism 22_1 and the second slide mechanism 22_2. The linear motion in the Y-axis direction swings by driving the motors 26 corresponding to the first link mechanism 20_1 and the second link mechanism 20_2 and moving the upper ends of both link mechanisms 20_1 and 20_2 in the same direction in the Y-axis direction. It is given to the table. This linear movement in the Y-axis direction is allowed by the third slide mechanism 22_3. The linear movement in the Z direction is performed by driving the motors 26 corresponding to the three link mechanisms 20_1, 20_2, and 20_3 and moving the upper ends of the three link mechanisms 20_1, 20_2, and 20_3 in the same direction in the Z axis direction. It is given to the motion table 14.

  The rotation about the X axis is given to the swing table 14 by causing a height difference between the upper end of the first link mechanism 20_1 (or the second link mechanism 20_2) and the upper end of the third link mechanism 20_3. . Note that the rotary joint 24 and the like connected to each link mechanism rotate to allow the rotation about the X axis. The rotation about the Y axis is given to the swing table 14 by causing a height difference between the upper end of the first link mechanism 20_1 and the upper end of the second link mechanism 20_2. Note that the third link mechanism 20_3 also has its upper end height varied as appropriate to allow this rotation about the Y axis. Further, the rotation joint 24 and the like connected to the link mechanisms 20_1, 20_2, and 20_3 also rotate to allow the rotation about the Y axis. The rotation about the Z axis is given to the swing table by moving the upper ends of the first link mechanism 20_1 and the second link mechanism 20_2 in the opposite directions in the Y axis direction. For example, the rotation about the Z axis is realized by moving the upper end of the first link mechanism 20_1 to the Y axis direction plus side and the upper end of the second link mechanism 20_2 to the Y axis direction minus side. During the rotation about the Z axis, the third link mechanism 20_3 moves in the X direction to follow the rotation, and the swing table 14 slides along the third slide mechanism 22_3. Further, the rotation joint 24 and the like connected to the link mechanisms 20_1, 20_2, and 20_3 are also rotated so as to allow the rotation about the Z axis as appropriate.

  As described above, according to the oscillating device 10 of the present embodiment, it is possible to impart oscillating 6 degrees of freedom to the oscillating table 14. By the way, as is apparent from the above description, in this embodiment, the link mechanism 20 moves only within the link mechanism plane, and the rotation around each axis and the movement in the direction perpendicular to the link mechanism plane are the links. It is secured by a rotary joint 24 and a slide mechanism 22 connected to the upper end of the mechanism 20. In other words, in the present embodiment, the link mechanism 20 is deformed, but the installation position and the angle of the link mechanism surface are unchanged. Therefore, the position of the motor 26 that drives the link mechanism 20 can be fixed, and as a result, it is possible to improve the response and use a heavy motor.

  That is, in the prior art as described in Patent Document 1, the entire link mechanism is rotated around the horizontal axis. In other words, the angle of the link mechanism surface is variable. In order to allow the angle of the link mechanism surface to be varied, the motor that drives the link mechanism also rotates together with the link mechanism. From another viewpoint, in the prior art, the motor floats from the base and hangs on the link mechanism.

  In this case, naturally, the mass of the motor is added to the link mechanism as the moment of inertia around the horizontal axis. The mass of the motor affects the response when the link mechanism is operated at high speed, and it may be difficult to realize a desired swinging state. In the prior art, a bending moment is generated on the link surface due to the gravity component applied to the motor. Naturally, the bending moment increases as the mass of the motor increases, and the stability of the apparatus and the control accuracy are likely to decrease. For this reason, it is difficult for the conventional technology to employ a high-power motor that increases in mass, and it is therefore difficult to cope with the increase in mass of the swinging object.

  On the other hand, in the present embodiment, as described above, since the link mechanism 20 has the same installation position and angle of the link mechanism surface, the motor 26 that drives the link mechanism 20 can be fixed in position. When the motor 26 is fixed in position, it is not necessary to hang the motor 26 from the link mechanism 20 and can be fixedly installed on the base 12. By fixing the motor 26 to the base 12, the mass of the motor 26 does not act on the link mechanism 20 as a load, and as a result, the responsiveness of the link mechanism 20 can be improved. Further, since the motor 26 is supported by the base 12, even if the mass of the motor 26 increases, the link mechanism 20 is hardly adversely affected. For this reason, it is possible to adopt a high-power motor having a large mass, and as a result, a heavier article can be swung.

  The configuration described so far is an example, and there are two or more link mechanisms 20 and four degrees of freedom (rotations around the X, Y, and Z axes, interposed between each link mechanism 20 and the swing table 14. In addition, the other configuration may be appropriately changed as long as it includes a connecting member that moves in a direction perpendicular to the link mechanism surface.

  For example, in the above-described embodiment, the rail of the slide mechanism 22 is fixed to the swing table 14, but as illustrated in FIGS. 5 and 6, the rail between the slide mechanism 22 and the swing table 14 is interposed. A Z rotation shaft 24z that allows rotation around the Z axis may be interposed.

  In this case, the moving block of the slide mechanism 22 is connected to the upper end of the link mechanism via an X rotation shaft 24x that allows rotation about the X axis and a Y rotation shaft 24y that allows rotation about the Y axis. From another viewpoint, the slide mechanism 22 is allowed to rotate about the X axis and the Y axis with respect to the link mechanism 20. On the other hand, since the Z rotation shaft 24z that allows rotation about the Z axis is connected to the upper surface of the rail, the rail (slide mechanism 22) rotates about the Z axis with respect to the link mechanism 20. It is not possible. In other words, in this configuration, when viewed from above, the angular relationship between the sliding direction of the slide mechanism 22 and the link mechanism surface is always unchanged, and the two are always kept orthogonal to each other. As a result, it is possible to simplify the drive control of the link mechanism 20 at the time of imparting the swing as compared with the above-described embodiment, and thus it is possible to simplify the program related to the control.

  In the description so far, the first link mechanism 20_1 and the second link mechanism 20_2 are arranged on the same line, in other words, the slide shaft of the slide mechanism 22 is arranged on the same line. However, as illustrated in FIG. 7, the first link mechanism 20_1 and the second link mechanism 20_2 may be shifted so that the slide shaft of the slide mechanism 22 is not on the same line. With such a configuration, the space may be used more efficiently.

  That is, when the size of the motor 26 is increased with an increase in the weight of the oscillating object, it may be difficult to arrange the two motors 26 on the same line as illustrated in FIG. In such a case, as illustrated in FIG. 7, the first link mechanism 20_1 and the second link mechanism 20_2 may be shifted and arranged.

  In the above description, the first link mechanism 20_1 and the second link mechanism 20_2 are arranged so that the link mechanism surfaces thereof are substantially parallel. However, these link mechanism surfaces may be non-parallel. For example, as shown in FIG. 8, the three link mechanisms 20_1, 20_2, and 20_3 may be arranged at positions that are symmetrical by 120 degrees, in other words, the three link mechanism surfaces may be arranged so as to be sequentially different by 120 degrees. Further, if the link mechanism surfaces of the plurality of link mechanisms 20 are not all parallel (in other words, if there is at least one link mechanism 20 that is not parallel to another link mechanism 20), other arrangements may be used. It may be adopted. In any case, the space can be used more effectively by appropriately changing the arrangement of the link mechanism 20 according to the shape of the base 12, the size of the motor 26, and the like.

  In the description so far, only the case where three link mechanisms 20 are provided has been illustrated, but the number of link mechanisms 20 is not limited as long as it is two or more. In addition, no matter how many the link mechanisms 20 are, if the link mechanism surfaces of all the link mechanisms 20 are parallel, it is not possible to impart a swing of 6 degrees of freedom. Therefore, when the link mechanism 20 is 3 or more, it is necessary that all of the link mechanism surfaces are not parallel.

  10 oscillating device, 12 base, 14 oscillating table, 20 link mechanism, 22 slide mechanism, 24 rotary joint, 26 motor, 31 arm body, 32 lower arm, 34 upper arm, 36, 38, 40 connecting shaft.

Claims (5)

A base placed on a fixed floor;
A swing table to which swing is applied;
An oscillating table support mechanism including a plurality of link mechanisms that support the oscillating table at an upper end via a connecting member in a prescribed plane orthogonal to the base and impart oscillation to the oscillating table;
The swing table support mechanism includes:
A link mechanism capable of positioning each upper end position within the prescribed plane;
A connecting member that is interposed between the link mechanism and the swing table and allows the swing table to rotate around three axes orthogonal to the link mechanism and to move in a direction orthogonal to the specified plane. When,
A motor fixedly installed on the base for driving the link mechanism;
Equipped with a,
The link mechanism is composed of a pair of arm bodies that can be bent into a "<" shape.
An oscillating device characterized by that. The rocking device according to claim 1 ,
The connecting member includes a slide mechanism that allows sliding movement of the swing table;
The slide mechanism is installed so as to allow movement of the swing table in a direction orthogonal to the prescribed plane in a top view.
An oscillating device characterized by that. The rocking device according to claim 2 ,
The slide mechanism is connected to the link mechanism via a rotation shaft that allows rotation about an axis parallel to the swing table, and allows rotation about an axis orthogonal to the swing table. An oscillating device connected to the oscillating table via a rotating shaft. The rocking device according to any one of claims 1 to 3 ,
When the link mechanism is 3 or more,
An oscillating device characterized in that all of the prescribed planes in each link mechanism are not parallel. The rocking device according to claim 4 ,
The plurality of link mechanisms are:
Two link mechanisms installed so as to be aligned on the same line in the vicinity of both ends in the long side direction of the base, and installed so as to be parallel to each other;
One link mechanism installed near the short side direction end of the base and installed so as to be orthogonal to the two link mechanisms;
A rocking device comprising:

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