JP5435576B2 - Inertial product measuring device and inertial product measuring method - Google Patents

Description

  The present invention relates to an inertial product measuring device and an inertial product measuring method for measuring an inertial product for a measured object such as a model ship.

  In order to grasp the motion characteristics of an object such as a ship or a vehicle, it is important to accurately measure parameters such as the position of the center of gravity, moment of inertia, and product of inertia. Therefore, there is a need for an apparatus and method that can measure the position of the center of gravity, the moment of inertia, and the product of inertia using a model such as a ship or a vehicle as a measurement object.

  For example, in Patent Document 1, the four end portions of the axle of a four-wheel vehicle are arranged so as to be on the same horizontal plane, and the distance between the four end portions and the reference point and the load of the vehicle body applied to the four end portions are measured. Technology that measures the tilt angle when the vehicle body is tilted about the diagonal line of the vehicle body and the load of the vehicle body applied to the four ends, and calculates the center of gravity position, inertia moment, and inertial product of the vehicle body based on these measurement data Is disclosed.

  Further, in Patent Document 2, a gantry is supported via a support shaft so that both ends thereof are freely swingable, and a measured object is placed on the gantry, and the tilt angle and oscillating cycle of the gantry are set. A technique for measuring and obtaining an inertial radius from the measured value is disclosed.

  Further, Patent Document 3 uses a rolling element that can perform measurement while fixing the direction of the measured object on the pedestal when measuring the inertial radius of the measured object such as a model ship. A technique relating to a conventional inertial radius measuring apparatus is disclosed.

JP-A-6-265433 JP-A-10-132699 JP 2008-58192 A

  However, in Patent Document 1, a large-scale measuring device that supports the four ends of the axle of a four-wheel vehicle is required to obtain the inertial product, and the inertial product can be obtained with a simpler device configuration. A measuring device is desired. Further, it is not disclosed how to obtain the inertial product for the measurement object having no axle. In Patent Documents 2 and 3, means for obtaining the inertial product itself is not disclosed.

  In view of the above problems, an object of the present invention is to provide an inertial product measuring device and an inertial product measuring method capable of obtaining an inertial product with a simple device configuration.

  An inertial product measuring device corresponding to claim 1 is provided with a gantry, rocking means for oscillating the gantry along a horizontal angle of 0 °, and on the gantry so as to be rotatable with respect to the gantry. Rotating the mounting table on which the object to be measured is placed and the above-described mounting table are rotated to set the object to be measured to the first horizontal angle α and the second horizontal angle (90 ° −α) different from the horizontal angle 0 ° Angle setting means, a first swing period obtained by swinging the gantry in a state in which the measured object is set in the direction of the first horizontal angle α, and the measured object is the second A second swing period obtained by swinging the gantry in a state set in the direction of a horizontal angle (90 ° -α), and measuring the first swing period and the second swing period from the second swing period It is possible to derive the product of inertia of the measured object. Thereby, the inertial product of the measured object can be accurately obtained with a simple device configuration.

  The inertial product measuring apparatus corresponding to claim 2 further includes a rotating means for rotating and swinging the mounting table with respect to the gantry, the measuring object is set to the horizontal angle of 0 °, and the measuring object is set to the measuring object. The elevation angle β when viewed from the horizontal angle 0 ° direction is set, and the third swing period obtained by swinging the measured object by the swinging means, and the measured object is rotated and swung by the rotating means. A fourth oscillation period obtained by the measurement, or setting the object to be measured to an elevation angle β when the object to be measured is viewed at the horizontal angle of 0 ° and the object to be measured from the direction of the horizontal angle of 90 °. Measuring a third swing period obtained by swinging the measured object by a moving means and a fourth swing period obtained by rotating and swinging the measured object by the rotating means; The inertial product of the measured object can be derived from the third oscillation cycle and the fourth oscillation cycle. It is preferred. Thereby, the inertial product in another direction of the measurement object can be accurately obtained with a simple device configuration.

  The inertial product measuring device corresponding to claim 3 further includes a rotating means for rotating and swinging the mounting table with respect to the gantry, the measuring object is set to a horizontal angle of 90 °, and the measuring object is set to the horizontal. A fifth oscillation period obtained by setting the elevation angle γ as seen from the angle 0 ° direction and causing the measurement object to be oscillated by the oscillating means, and rotating the oscillating object by the rotating means. The obtained sixth swing period, or set the measured body to a horizontal angle of 90 ° and the measured body to an elevation angle γ when viewed from the horizontal angle of 90 ° direction, and the swinging means A fifth swing period obtained by swinging the measured object and a sixth swing period obtained by rotating and swinging the measured object by the turning means are measured, and the fifth swing is measured. It is preferable that the inertial product of the measured object can be derived from the period and the sixth oscillation period. A. Thereby, the inertial product in another direction of the measurement object can be accurately obtained with a simple device configuration.

  The inertial product measuring device according to claim 4 is configured such that the swinging means includes a rolling element having an arcuate rolling surface that enables rolling along the horizontal angle of 0 °. Is preferred. By using the rolling element, the configuration of the inertial product measuring device can be further simplified.

  In the inertial product measuring apparatus corresponding to claim 5, it is preferable that the mounting table includes a turntable having a support surface of the object to be measured. By adopting a configuration in which the turntable is rotated and oscillated, the device configuration can be further simplified.

  The inertial product measuring apparatus according to claim 6, wherein the gantry or the mounting table includes a position adjusting unit that adjusts a position of the measured object or an elevation angle adjusting unit that adjusts an elevation angle of the measured object. Features. As a result, the object to be measured placed on the mounting table can be easily adjusted horizontally, and the elevation angle of the object to be measured can be easily adjusted.

  The inertial product measuring device corresponding to claim 7 sets the mounting table at the horizontal angle of 0 ° or the horizontal angle of 90 ° by the horizontal angle setting means, and the horizontal angle of the object to be measured is 0 ° or It is preferable to be able to derive the moment of inertia in the horizontal angle 90 ° direction. As a result, not only the inertial product but also the moment of inertia of the measured object can be obtained.

  It is preferable that the inertial product measuring apparatus corresponding to claim 8 further includes a swing period measuring means for measuring a swing period by the swing means. By measuring the oscillation period, the product of inertia and the moment of inertia can be directly calculated.

により慣性乗積Ｉｘｙを求めることを特徴とする。これにより、簡易な装置構成によって、被計測体の慣性乗積Ｉｘｙを正確に求めることができる。 According to an inertial product measuring method corresponding to claim 9, in a three-dimensional orthogonal coordinate system of XYZ, a mounting table on which a measurement object is placed is rotated in an XY plane so that the measurement object is X The first horizontal angle α is set in a direction from the shaft, and the first object is obtained based on the first oscillation period when the object to be measured is rocked along the XZ plane together with the mounting table using the rocking means. And the inertial moment Iyy _{(α) of the} measured object to be measured and the mounting table is rotated in the XY plane to set the measured object in a direction that forms a second horizontal angle (90 ° -α) from the X axis. The inertia moment Ixx _{(α) of the} measured object obtained based on the second swing period when the measured object is swung along the XZ plane together with the mounting table using the swinging means. And

The inertial product Ixy is obtained by the following. Thereby, the inertial product Ixy of the measured object can be accurately obtained with a simple device configuration.

により慣性乗積Ｉｙｚを求めることを特徴とする。これにより、簡易な装置構成によって、被計測体の慣性乗積Ｉｙｚを正確に求めることができる。 According to an inertial product measuring method corresponding to claim 10, in a three-dimensional orthogonal coordinate system of XYZ, the object to be measured placed on a mounting table is rotated on the YZ plane so that the object to be measured is rotated. The direction to make the elevation angle β from the Y axis and the direction to make the horizontal angle 0 ° on the XY plane are set, and the object to be measured is shaken along the XZ plane together with the mounting table using the swinging means. Obtained based on the moment of inertia Iyy _{(β) of the} measured object obtained based on the third oscillation period when moved, and the fourth oscillation period obtained when the mounting table is rotated about the Z axis. The measured inertial moment Izz _{(β) of the} measured object is used, or the measured object placed on the mounting table is rotated in the XZ plane so that the measured object is moved from the X axis to the elevation angle β. Set to the direction to make and the direction to make a horizontal angle of 0 ° on the XY plane, using the swinging means Third the obtained based on the swing cycle with the measurement object of the moment of inertia Iyy _(beta), the placing table Z axis when the measured object together with the mounting table is swung along the X-Z plane Using the moment of inertia Izz _{(β) of the} object to be measured obtained based on the fourth oscillation period when rotating around the circumference,

The inertial product Iyz is obtained by the following. Thereby, the inertial product Iyz of the measured object can be accurately obtained with a simple device configuration.

により慣性乗積Ｉｚｘを求めることを特徴とする。これにより、簡易な装置構成によって、被計測体の慣性乗積Ｉｚｘを正確に求めることができる。 According to an inertial product measuring method corresponding to claim 11, in a three-dimensional orthogonal coordinate system of XYZ, a measurement object placed on a mounting table is rotated on a YZ plane so that the measurement object is rotated. The direction to make an elevation angle γ from the Y axis and the direction to make a horizontal angle of 90 ° on the XY plane are set, and the object to be measured is shaken along the XZ plane together with the mounting table using the swinging means. Obtained based on the inertia moment Ixx _{(γ) of the} measured object obtained based on the fifth oscillation period when moved, and the sixth oscillation period obtained when the mounting table is rotated about the Z axis. Or the measured object moment of inertia Izz _(γ) of the object to be measured, or the object to be measured placed on the mounting table is rotated in the XZ plane so that the object to be measured has an elevation angle γ from the X axis. And the direction that makes a horizontal angle of 90 ° in the XY plane. There the moment of inertia Ixx fifth based on the swing cycle obtained the measured object when the measured object is swung along the X-Z plane _(gamma) with the mounting table previous, the mounting table Z Using the moment of inertia Izz _{(γ) of the} object to be measured obtained based on the sixth oscillation period when it is rotationally oscillated around the axis,

The inertial product Izx is obtained by the following. Thereby, the inertial product Izx of the measured object can be accurately obtained with a simple device configuration.

  In the inertial product measuring device and the inertial product measuring method of the present invention, characteristics of the measured object such as the inertial product and the moment of inertia of the measured object can be accurately obtained. In particular, it is possible to accurately obtain the characteristics of the measured object such as the inertial product and the moment of inertia of the measured object with a simpler apparatus configuration. For example, according to the inertial product measuring apparatus of the present invention, the inertial products Ixy, Iyz, and Izx can be obtained, respectively.

  Further, by using a rolling element, it is possible to obtain characteristics of the measured object such as an inertial product and an inertial moment with a simpler device configuration. Further, since there is no fixed shaft, there is no need to provide a support column, and the mounting table can be widely used.

  In addition, by using a turntable having a support surface of the measured object, the horizontal angle of the measured object can be maintained at a desired angle, and the measured object such as the inertial product and the inertial moment can be more easily obtained. Characteristics can be obtained. In addition, the inertial product can be obtained from the period of rotation of the turntable.

  In addition, by providing position adjustment means for adjusting the position of the measurement object and elevation angle adjustment means for adjusting the elevation angle of the measurement object on the gantry or mounting table, the measurement object can be easily adjusted horizontally or more easily. The characteristics of the measured object such as inertial product and moment of inertia can be obtained.

  Of course, it is possible to set the mounting table at a horizontal angle of 0 ° or a horizontal angle of 90 ° by the horizontal angle setting means, and to derive the moment of inertia of the measured object in the horizontal angle of 0 ° direction or the horizontal angle of 90 ° direction. .

It is a perspective view which shows the structure of the inertial product measuring device in embodiment of this invention. It is a side view which shows the structure of the inertial product measuring device in embodiment of this invention. It is a top view which shows the use condition of the inertial product measuring device in embodiment of this invention. It is a front view which shows the use condition of the inertial product measuring device in embodiment of this invention. It is a side view which shows the use condition of the inertial product measuring device in embodiment of this invention. It is a front view which shows the use condition of the inertial product measuring device in embodiment of this invention. It is a side view which shows the use condition of the inertial product measuring device in embodiment of this invention. It is a figure explaining the measuring method of the gravity center position by the inertial product measuring device in embodiment of this invention. It is a perspective view which shows the structure of another example of the inertial product measuring device in embodiment of this invention. It is a perspective view which shows the structure of another example of the inertial product measuring device in embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an overall configuration of an inertial product measuring apparatus 100 according to an embodiment of the present invention. In the following description, the description will be made using the XYZ three-dimensional orthogonal coordinate system shown in the drawing.

  As shown in FIG. 1, the inertial product measuring apparatus 100 includes a mounting table 10, a gantry 12, and a rolling element 14 as a basic configuration. Further, the inertial product measuring apparatus 100 includes a horizontal angle setting mechanism 20, an elevation angle setting mechanism 22, a position adjustment mechanism 24, a horizontal direction oscillation period sensor 26, an elevation direction oscillation period sensor 28, and a control unit 30. The

  The inertial product measuring apparatus 100 can obtain the moment of inertia and the inertial product of the measurement object 200 placed on the mounting table 10. In FIG. 1, the measured object 200 is indicated by a broken line in order to more clearly show the configuration of the inertial product measuring apparatus 100. In addition, some hidden components of the inertial product measuring apparatus 100 are indicated by broken lines. FIG. 2 is a schematic view of the inertial product measuring apparatus 100 as viewed from the Y-axis direction. In FIG. 2, the broken line shows the state when rocking is performed by the rolling element 14.

  The mounting table 10 is a component for mounting the measured object 200 during measurement. It is preferable that the mounting table 10 includes a turntable 10a on which the measurement target 200 is placed. The turntable 10a is a disk-shaped flat plate, for example. The turntable 10a may be provided with a fixture for fixing the measured object 200.

  The turntable 10a is attached to the gantry 12 so that the turntable 10a can be pivoted about the pivot shaft 10b. The rotating shaft 10b may be provided with a mechanism such as a bearing for smoothly rotating the turntable 10a. Further, as shown by a broken line in FIG. 1, the turntable 10a is provided so as to be able to rotate and swing around the rotation shaft 10b by a restoring force of an elastic member 40 such as a spring. The elastic member 40 is fixed to the turntable 10a and the gantry 12 and is in an initial state in which the turntable 10a is rotated around the rotation shaft 10b in a state where the horizontal angle is not fixed by the horizontal angle setting mechanism 20 described later. By releasing the turntable 10a, the turntable 10a is configured to rotate and swing around the rotation shaft 10b by the restoring force of the elastic member. The turntable 10a, the rotating shaft 10b, and the elastic member 40 constitute rotating means. If it is not necessary to rotate and swing the turntable 10a, the elastic member 40 may be removed or the engagement with at least one of the turntable 10a and the gantry 12 may be loosened. Good.

  Further, the mounting table 10 is configured such that the rotating shaft 10b of the turntable 10a faces in the Z-axis direction in a state where the swinging motion is not given by the rolling element 14.

  The gantry 12 is a member that attaches the mounting table 10 to the rolling element 14 and mechanically supports the mounting table 10. The gantry 12 is fixed to the mounting table 10 and is fixed to the rolling element 14 via a position adjusting mechanism 24 described later. Thereby, the swing of the rolling element 14 described later is transmitted to the mounting table 10.

  The rolling element 14 is a member that swings the mounting table 10 like a pendulum, and functions as a swinging means. For example, as shown in FIG. 1, the rolling element 14 may be a member having a shape obtained by cutting a cylinder by half or less of its diameter. In this case, the rolling element 14 has a planar upper surface 14a and a lower surface 14b serving as an arcuate rolling surface. A gantry 12 is attached to the side surface of the rolling element 14. As a result, the mounting table 10 and the gantry 12 can be swung along the X-axis direction (XZ plane with a horizontal angle of 0 °) using the lower surface 14b of the rolling element 14 as a rolling surface. By using such a rolling element 14, there is no fixed shaft, so there is no need to provide a support column, and the top of the mounting table 10 can be widely used. Note that the mount 12 may be attached to the upper surface instead of the side surface of the rolling element 14.

  The horizontal angle setting mechanism 20 is provided to set the turntable 10a to a predetermined horizontal angle with the rotation shaft 10b as a rotation center. As shown in FIG. 3, the horizontal angle setting mechanism 20 has a mechanism capable of adjusting and fixing the turntable 10a to an arbitrary horizontal angle α between at least 0 ° and 90 ° with the X-axis direction being 0 °. For example, a latch mechanism that fastens the rotating shaft 10b of the turntable 10a and fixes the turntable 10a to the gantry 12 in a state where the turntable 10a is maintained at a horizontal angle α between 0 ° and 90 ° may be provided. However, the horizontal angle setting mechanism 20 is not limited to this, and any mechanism that can adjust the angle between the turntable 10a and the gantry 12 may be used.

  The elevation angle setting mechanism 22 is provided for setting the measured object 200 at a predetermined elevation angle in the YZ plane and the XZ plane on the mounting table 10 (turntable 10a). As shown in FIGS. 4 (a) and 4 (b), the elevation angle setting mechanism 22 has an elevation angle of 0 ° when the mounting table 10 is in a horizontal state, and an YZ plane and an XZ plane with the X axis as an axis. It is assumed that the measurement object 200 placed on the mounting table 10 is held at the elevation angle β. For example, as shown in FIGS. 4A and 4B, a height adjusting unit 22a for tilting the measurement target 200 to the elevation angle β may be provided on the turntable 10a. Further, as shown in FIGS. 5 (a) and 5 (b), the elevation angle setting mechanism 22 is YZ with the X and Y axes as axes in the state where the turntable 10a is rotated at a horizontal angle of 90 °. It is assumed that the measured object 200 placed on the turntable 10a in the plane and the XZ plane is held at the elevation angle γ. For example, as shown in FIGS. 5A and 5B, a height adjustment unit 22b for tilting the measurement target 200 to the elevation angle γ may be provided on the turntable 10a. However, the elevation angle setting mechanism 22 is not limited to this, and is capable of adjusting the angle between the measurement target 200 placed on the mounting table 10 and the mounting table 10 (turn table 10a). That's fine.

  The position adjusting mechanism 24 is provided to adjust the mounting angle between the gantry 12 (mounting table 10) and the rolling element 14. For example, as shown in FIG. 1, the position adjustment mechanism 24 includes a rod-shaped shaft 24 a fixed to the gantry 12, and a cylindrical connecting portion 24 b that can be fitted to the shaft 24 a and is fixed to the rolling element 14. , Can be configured. What is necessary is just to comprise so that the axis | shaft 24a can be rotatably inserted in the cylinder of the connection part 24b, and the connection part 24b and the axis | shaft 24a can be fixed by fixing members (not shown), such as a screw | thread. Thus, after adjusting the mounting angle with the rolling element 14 so that the gantry 12 (mounting table 10) is in a horizontal state, the shaft 24a and the connecting portion 24b are connected so that the mounting angle is maintained during measurement. It can be fixed. However, the position adjustment mechanism 24 is not limited to this, and any mechanism that can adjust the mounting angle between the gantry 12 (the mounting table 10) and the rolling element 14 may be used.

  In addition, as the position adjustment mechanism 24, a three-dimensional stage that can adjust any of the positions in the X-axis direction, the Y-axis direction, and the Z-axis direction of the measurement target 200 placed on the mounting table 10 may be provided.

  The horizontal direction swing period sensor 26 is a sensor that detects the period of the rotational swing of the mounting table 10 (turntable 10a). The horizontal direction swing cycle sensor 26 is, for example, a rotation angle sensor that detects the rotation angle of the mounting table 10 (turn table 10a), and the rotation swing cycle is determined from the rotation angle of the mounting table 10 (turn table 10a) with respect to the gantry 12. What is necessary is just to detect. In addition, the horizontal direction oscillation cycle sensor 26 is, for example, a reflection plate attached to a part of the mounting table 10 (turn table 10a), and a reflection type optical sensor that rotates and swings the mounting table 10 (turn table 10a) with respect to the frame 12. The period may be detected. However, the horizontal direction swing cycle sensor 26 is not limited to these, and can detect the cycle of the rotational swing about the rotation shaft 10b of the mounting table 10 (turn table 10a). That's fine.

  The elevation direction oscillating period sensor 28 is a sensor that detects the period of oscillating along the X-axis direction (XZ plane where the horizontal angle is 0 °) of the rolling element 14. The elevation direction oscillation cycle sensor 28 may be, for example, an inclination sensor that detects the inclination angle of the rolling element 14 and may detect the oscillation period along the X-axis direction from the inclination angle of the rolling element 14. Further, the elevation angle direction oscillation cycle sensor 28 may be configured such that, for example, a reflection plate is attached to a part of the rolling element 14 and the oscillation period along the X-axis direction of the rolling element 14 is detected by a reflective optical sensor. Good. However, the elevation direction oscillation cycle sensor 28 is not limited to these, and any sensor that can detect the oscillation cycle of the rolling element 14 along the X-axis direction may be used.

  The control unit 30 controls each part of the inertial product measurement apparatus 100 in an integrated manner. The control unit 30 receives inputs of the swing period of the turntable 10a and the swing period of the rolling element 14 from the horizontal direction swing period sensor 26 and the elevation direction direction swing period sensor 28, and calculates the inertial multiplication from these measured values. Characteristic values of the measured object 200 such as product and moment of inertia are calculated. The calculated characteristic value may be presented to the user by output means such as a display or a printer, or may be output to a storage medium such as a semiconductor memory, a hard disk, or an optical disk.

  The control unit 30 can be realized by executing a measurement program in a general computer. Specifically, a measurement program for executing the processing described below is stored in the storage means of the computer, and the measurement program is executed by the CPU.

<Measurement process>
Hereinafter, an inertial product measurement method using the inertial product measurement apparatus 100 will be described.

  First, the measured object 200 is placed and fixed on the turntable 10a. In the following description, it is assumed that the measurement target 200 has a mass M. Further, when a model such as a ship is used as the measurement object 200, the center of gravity is adjusted according to the actual ship or the like. For example, a weight is arranged in the measured object 200 that is a model, and is adjusted to the position of the center of gravity of a real ship or the like.

Next, an inclination test is performed using the moving weight X of mass m, and the center of gravity position Gs of the measurement target 200 is obtained. As shown in FIG. 6, a moving weight X is installed at a position separated by a distance d from a perpendicular passing through the swing center point 0 of the rolling element 14 on the measured object 200 whose center of gravity is adjusted, and rolling at that time is performed. The inclination angle θ of the child 14 is measured. At this time, the center-of-gravity position Gs can be calculated by Equation (4).

  Next, an inertial product measurement process is started. In measuring the inertial product, a process for obtaining inertial products Ixy, Iyz, and Izx is performed. Hereinafter, processing for obtaining inertial products Ixy, Iyz, and Izx will be described.

(Inertial product Ixy)
With the center-of-gravity position Gs of the measured object 200 adjusted, as shown in FIG. 3, the turntable 10a is fixed at an angle shifted by the horizontal angle α with the X-axis direction set to 0 ° using the horizontal angle setting mechanism 20. To do. In this state, the rotator 14 as the oscillating means is oscillated along the X-axis direction (XZ plane having a horizontal angle of 0 °), and the elevation direction oscillating period sensor 28 detects the rotator 14. The first oscillation period Txx _(α) is measured. The control unit 30 acquires the measured first oscillation period Txx _(α) . In the control unit 30, the moment of inertia Ixx _(α) is calculated by the equation (5) using the first oscillation period Txx _(α) . Here, g is a gravitational acceleration.

Next, using the horizontal angle setting mechanism 20, the turntable 10a is fixed at an angle shifted by a horizontal angle of 90 ° −α. In this state, the rotator 14 as the oscillating means is oscillated along the X-axis direction, and the second oscillating period Tyy _(α) of the rotator 14 is measured by the elevation direction oscillating period sensor 28. . The control unit 30 acquires the measured second oscillation period Tyy _(α) . In the control unit 30, the moment of inertia Iyy _(α) is calculated by the equation (6) using the second oscillation period Tyy _(α) .

From the inertia moments Ixx _(α) and Iyy _(α) calculated as described above, the inertial product Ixy when the horizontal angle α is given to the measured object 200 is calculated according to Equation (7).

(Inertial product Iyz)
With the center-of-gravity position Gs of the measured object 200 adjusted, the measured object 200 placed on the turntable 10a of the mounting table 10 is set to Y using the elevation angle setting mechanism 22 as shown in FIG. Rotate in the −Z plane to fix the measured object 200 in a direction that forms an elevation angle β from the Y axis. In this state, the rotator 14 as the oscillating means is oscillated along the X-axis direction (XZ plane), and the third oscillating period Tyy of the rotator 14 is detected by the elevation direction oscillating period sensor 28. _(Β) is measured. The control unit 30 acquires the measured third oscillation cycle Tyy _(β) . In the control unit 30, the moment of inertia Iyy _(β) is calculated by the mathematical formula (8) using the third oscillation period Tyy _(β) .

Next, the turntable 10a is rotated and swung about the Z axis by using the rotating means, and the fourth swing period Tzz _(β) of the turntable 10a is measured by the horizontal swing period sensor 26. The control unit 30 acquires the measured fourth oscillation period Tzz _(β) . In the control unit 30, the moment of inertia Izz _(β) is calculated by Equation (9) using the fourth oscillation period Tzz _(β) .

From the inertia moments Iyy _(β) and Izz _(β) calculated as described above, the inertial product Iyz in the case where the elevation angle β is given to the measured object 200 is calculated according to Equation (10).

In addition, as shown in FIG. 4B, the measured object 200 placed on the turntable 10 a of the mounting table 10 using the elevation angle setting mechanism 22 with the center of gravity position Gs of the measured object 200 adjusted. Is rotated in the XZ plane, and the measured object 200 is fixed in the direction of the elevation angle β from the X axis. In this state, the rotator 14 as the oscillating means is oscillated along the X-axis direction (XZ plane), and the third oscillating period Tyy of the rotator 14 is detected by the elevation direction oscillating period sensor 28. _(Β) is measured, and the measured third oscillation period Tyy _(β) is acquired. In the control unit 30, the moment of inertia Iyy _(β) is calculated by the mathematical formula (8) using the third oscillation period Tyy _(β) . Further, the turn table 10a is rotated and swung about the Z axis by using the rotating means, and the fourth swing period Tzz _(β) of the turn table 10a is measured by the horizontal swing period sensor 26 and measured. The fourth oscillation period Tzz _(β) is acquired. In the control unit 30, the moment of inertia Izz _(β) is calculated by Equation (9) using the fourth oscillation period Tzz _(β) . Then, from the calculated moments of inertia Iyy _(β) and Izz _(β) , the product of inertia Iyz when the elevation angle β is given to the measured object 200 according to Equation (10) may be calculated.

(Inertial product Izx)
With the center of gravity position Gs of the measured object 200 adjusted, as shown in FIG. 5A, the horizontal angle setting mechanism 20 is used to turn the X axis direction to 0 ° and shift it to a horizontal angle of 90 °. While fixing the table 10a, using the elevation setting mechanism 22, the measured object 200 placed on the turntable 10a of the mounting table 10 is rotated on the YZ plane, and the measured object 200 is lifted from the Y axis. Fix in the direction of γ. In this state, the rotator 14 as the oscillating means is oscillated along the X-axis direction (XZ plane), and the fifth oscillating period Txx of the rotator 14 is detected by the elevation direction oscillating period sensor 28. Measure _(γ) . The control unit 30 acquires the measured fifth oscillation period Txx _(γ) . In the control unit 30, the moment of inertia Ixx _(γ) is calculated by the equation (11) using the fifth oscillation period Txx _(γ) .

Next, the turntable 10a is rotated and swung around the Z axis by using the rotating means, and the sixth swing period Tzz _(γ) of the turntable 10a is measured by the horizontal swing period sensor 26. The control unit 30 acquires the measured sixth oscillation period Tzz _(γ) . In the control unit 30, the moment of inertia Izz _(γ) is calculated by the equation (12) using the sixth oscillation period Tzz _(γ) .

From the inertia moments Ixx _(γ) and Izz _(γ) calculated as described above, the inertial product Izx in the case where the elevation angle γ is given to the measurement object 200 is calculated according to Equation (13).

Further, as shown in FIG. 5B, with the center-of-gravity position Gs of the measurement target 200 adjusted, the horizontal angle setting mechanism 20 is used to shift the angle by 90 degrees with the X-axis direction being 0 degrees. The measurement object 200 placed on the turntable 10a of the mounting table 10 is rotated on the XZ plane using the elevation angle setting mechanism 22 to fix the measurement object 200 to the X axis. Is fixed in a direction that forms an elevation angle γ. In this state, the oscillating means is used to oscillate the rotator 14 along the X-axis direction (X-Z plane), and the elevation oscillating period sensor 28 causes the oscillating element 14 to The period Txx _(γ) is measured. The control unit 30 acquires the measured fifth oscillation period Txx _(γ) . In the control unit 30, the moment of inertia Ixx _(γ) is calculated by the equation (11) using the fifth oscillation period Txx _(γ) . Next, the turntable 10a is rotated and swung around the Z axis by using the rotating means, and the sixth swing period Tzz _(γ) of the turntable 10a is measured by the horizontal swing period sensor 26. The control unit 30 acquires the measured sixth oscillation period Tzz _(γ) . In the control unit 30, the moment of inertia Izz _(γ) is calculated by the equation (12) using the sixth oscillation period Tzz _(γ) . Then, from the calculated moments of inertia Ixx _(γ) and Izz _(γ) , the product of inertia Izx when the elevation angle γ is given to the measured object 200 may be calculated by Equation (13).

  As described above, the inertial products Ixy, Iyz, and Izx can be obtained using the inertial product measuring apparatus 100. In particular, by providing the mounting table 10 having the turntable 10a that can be rotated and swung, the horizontal angle setting mechanism 20, and the elevation angle setting mechanism 22, the inertial product can be obtained with a simpler configuration and method than the conventional apparatus.

Note that by measuring the swing period Txx ₍₀₎ of the rolling element 14 while keeping the measured object 200 at the horizontal angle 0 ° by the horizontal angle setting mechanism 20 and the elevation angle 0 ° by the elevation angle setting mechanism 22, the mathematical expression (14 ) To obtain the moment of inertia Ixx.

Further, by measuring the swing period Tyy ₍₀₎ of the rolling element 14 while keeping the measured object 200 at the horizontal angle 90 ° by the horizontal angle setting mechanism 20 and at the elevation angle 0 ° by the elevation angle setting mechanism 22, the mathematical expression (15 ) To obtain the moment of inertia Iyy.

Furthermore, by measuring the swing period Tzz ₍₀₎ of the turntable 10a of the mounting table 10 while keeping the measured object 200 at the horizontal angle 0 ° by the horizontal angle setting mechanism 20 and the elevation angle 0 ° by the elevation angle setting mechanism 22. The moment of inertia Izz can also be obtained from Equation (16).

  In the above-described embodiment, the rolling element 14 is applied as the swinging means. However, the present invention is not limited to this, and the platform 12 (mounting table 10) is swung along the X-axis direction (XZ plane). Anything that can be moved is acceptable. For example, as shown in FIG. 7, the mounting table 10 is suspended from the shaft 32 by the suspension member 31, and the platform 12 (mounting table 10) is moved along the X-axis direction (XZ plane) with the shaft 32 as the rotation center. The inertial product measuring device 102 that swings in a swing shape may be used. Further, as shown in FIG. 8, a support column 36 that rotatably supports the gantry 12 by a shaft 34 is provided, and weights 38a and 38b that horizontally balance the gantry 12 are provided. It is good also as the inertial product measuring device 104 which rocks the mount frame 12 (mounting table 10) like a pendulum along (XZ plane). In these inertial product measuring apparatuses 102 and 104, the inertial product and the moment of inertia can be calculated in the same manner as described above.

  The above embodiments can be applied not only to measurement of ships and ship models, but also to other structures such as railway vehicles and automobiles.

  DESCRIPTION OF SYMBOLS 10 Mounting stand, 10a Turntable, 10b Rotating shaft, 12 Mount, 14 Roller, 14a Upper surface, 14b Lower surface, 20 Horizontal angle setting mechanism, 22 Elevation angle setting mechanism, 22a Adjustment part, 22b Adjustment part, 24 Position adjustment mechanism , 24a axis, 24b coupling part, 26 horizontal direction oscillation period sensor, 28 elevation angle direction oscillation period sensor, 30 control part, 31 suspension member, 32 axis, 34 axis, 36 column, 38a, 38b weight, 100, 102, 104 inertial product measuring device, 200 object to be measured.

Claims (11)

A frame,
Rocking means for rocking the gantry along a horizontal angle of 0 °;
A mounting table provided on the platform so as to be rotatable with respect to the platform;
Horizontal angle setting means for rotating the mounting table and setting the measured object at a first horizontal angle α and a second horizontal angle (90 ° −α) different from the horizontal angle of 0 °,
A first swing period obtained by swinging the gantry in a state in which the measurement object is set in the direction of the first horizontal angle α; and the second horizontal angle (90 ° −α) of the measurement object. Measuring a second swing period obtained by swinging the gantry in a state set in the direction of
An inertial product measuring apparatus characterized in that an inertial product of the measurement object can be derived from the first swing period and the second swing period. The inertial product measuring device according to claim 1,
A rotating means for rotating and swinging the mounting table with respect to the frame;
A third swing obtained by setting the measured body to the horizontal angle 0 ° and the measured body to an elevation angle β when viewed from the horizontal angle 0 ° direction, and swinging the measured body by the swinging means. Measuring a moving cycle and a fourth swinging cycle obtained by rotating and swinging the measured object by the turning means;
Or
A third swing obtained by setting the object to be measured to the horizontal angle of 0 ° and the object to be measured to an elevation angle β when viewed from the direction of the horizontal angle of 90 °, and swinging the object to be measured by the swinging means. Measuring a moving cycle and a fourth swinging cycle obtained by rotating and swinging the measured object by the turning means;
An inertial product measuring apparatus characterized in that an inertial product of the measurement object can be derived from the third swing period and the fourth swing period. The inertial product measuring device according to claim 1,
A rotating means for rotating and swinging the mounting table with respect to the frame;
A fifth swing period obtained by setting the measured object at a horizontal angle of 90 ° and the measured object at an elevation angle γ when viewed from the horizontal angle of 0 °, and swinging the measured object by the swinging means. And a sixth swing period obtained by rotating and swinging the measurement object by the turning means,
Or
A fifth swing period obtained by setting the object to be measured at a horizontal angle of 90 ° and the object to be measured at an elevation angle γ when viewed from the direction of the horizontal angle of 90 °, and swinging the object to be measured by the swinging means. And a sixth swing period obtained by rotating and swinging the measurement object by the turning means,
An inertial product measuring apparatus characterized in that an inertial product of the object to be measured can be derived from the fifth swing period and the sixth swing period. The inertial product measuring apparatus according to any one of claims 1 to 3,
The inertial product measuring device according to claim 1, wherein the rocking means includes a rolling element having an arcuate rolling surface that can roll along the horizontal angle of 0 °. An inertial product measuring device according to any one of claims 1 to 4,
The inertial product measuring apparatus according to the invention, wherein the mounting table includes a turntable having a support surface of the object to be measured. The inertial product measuring device according to any one of claims 1 to 5,
The inertial product measuring apparatus according to claim 1, wherein the gantry or the mounting table includes a position adjusting unit that adjusts a position of the measurement object or an elevation angle adjustment unit that adjusts an elevation angle of the measurement object. The inertial product measuring device according to any one of claims 1 to 6,
The horizontal angle setting means sets the mounting table at the horizontal angle of 0 ° or the horizontal angle of 90 ° so that the inertia moment of the measurement object in the horizontal angle of 0 ° direction or the horizontal angle of 90 ° direction can be derived. Inertial product measuring device characterized by that. The inertial product measuring device according to any one of claims 1 to 7,
The inertial product measuring device further comprising swing period measuring means for measuring a period of swing by the swing means. In the three-dimensional orthogonal coordinate system of XYZ,
The mounting table on which the measurement object is placed is rotated in the XY plane so that the measurement object is set in a direction that forms a first horizontal angle α from the X axis, and the measurement object is moved together with the mounting table using the swinging means. The moment of inertia Iyy _{(α) of the} measurement object obtained based on the first oscillation period when the measurement body is caused to swing along the XZ plane;
The mounting table is rotated in the X-Y plane so that the measured object is set in a direction that forms a second horizontal angle (90 ° -α) from the X axis, and the swinging means is used together with the mounting table. Using the moment of inertia Ixx _{(α) of the} measured object obtained based on the second oscillation period when the measurement body is caused to swing along the XZ plane,

An inertial product measuring method characterized in that the inertial product Ixy is obtained by: In the three-dimensional orthogonal coordinate system of XYZ,
The measurement object placed on the mounting table is rotated in the YZ plane, and the measurement object is set in a direction that forms an elevation angle β from the Y axis and a direction that forms a horizontal angle of 0 ° in the XY plane. , The moment of inertia Iyy _{(β) of the} measured object obtained based on the third swing period when the measured object is swung along the XZ plane together with the mounting table using the swinging means. ,
Using the moment of inertia Izz _{(β) of the} measured object obtained based on the fourth swing period when the mounting table is rotated and swung about the Z axis,
Or
The object to be measured placed on the mounting table is rotated in the XZ plane, and the object to be measured is set in a direction that forms an elevation angle β from the X axis and a direction that forms a horizontal angle of 0 ° in the XY plane. , The moment of inertia Iyy _{(β) of the} measured object obtained based on the third swing period when the measured object is swung along the XZ plane together with the mounting table using the swinging means. ,
Using the moment of inertia Izz _{(β) of the} measured object obtained based on the fourth swing period when the mounting table is rotated and swung about the Z axis,

An inertial product measuring method characterized in that an inertial product Iyz is obtained by: In the three-dimensional orthogonal coordinate system of XYZ,
The object to be measured placed on the mounting table is rotated in the YZ plane, and the object to be measured is set in a direction forming an elevation angle γ from the Y axis and in a direction forming a horizontal angle of 90 ° on the XY plane. , The inertia moment Ixx _{(γ) of the} measured object obtained based on the fifth swing period when the measured object is swung along the XZ plane together with the mounting table using the swinging means. ,
Using the moment of inertia Izz _{(γ) of the} measured object obtained based on the sixth swing period when the mounting table is rotated and swung about the Z-axis,
Or
The object to be measured placed on the mounting table is rotated in the XZ plane, and the object to be measured is set in a direction that forms an elevation angle γ from the X axis and a direction that forms a horizontal angle of 90 ° in the XY plane. , The inertia moment Ixx _{(γ) of the} measured object obtained based on the fifth swing period when the measured object is swung along the XZ plane together with the mounting table using the swinging means. ,
Using the moment of inertia Izz _{(γ) of the} measured object obtained based on the sixth swing period when the mounting table is rotated and swung about the Z-axis,

An inertial product measuring method characterized in that an inertial product Izx is obtained by:

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