JP6690835B2 - 6-component force measuring device for measuring fluid force acting on an elongated model - Google Patents

Description

  The present invention relates to a measuring device used to measure a force and a moment (6 component force) in a fluid force measurement of an elongated model (hereinafter referred to as an elongated model) such as a hull or a vehicle with high accuracy. In addition, the fluid force measurement is performed by fixing the measuring device to an elongated model for a water tank test or a wind tunnel test, measuring the fluid force and moment when flowing the fluid, and applying the elongated model under the fluid flow. Including the case where force and moment are measured by forcibly exciting using a vibration mechanism. In the following description, the case of forced vibration will be mainly described.

Since a large vibration or shock is applied to the hull while the ship is sailing, it is necessary to perform a forced vibration test in advance to evaluate that it can withstand the vibration and shock during use. In railway vehicles, it is necessary to evaluate the impact fluid force due to cross wind. In the following description, for convenience of explanation, a model of a hull (hereinafter, also simply referred to as a hull) will be mainly described, and a model of a vehicle will be supplementarily described as appropriate.
For example, in a 6-component force measuring device in a forced vibration test of a hull, generally, a plurality of component force detectors are dispersedly arranged on the measuring device main body screwed to the bottom of the ship, and then the hull is forcibly excited by a vibrating mechanism. Then, at that time, the 6-component force applied to the hull is calculated based on the plurality of detected values of the output of the multi-component force detector (details will be described in the embodiments of the present invention).
The 6-component force measuring device in the above-mentioned forced vibration test of the ship has the following problems. That is, since the measuring device main body in which a plurality of multi-component force detectors are dispersedly arranged is fixedly installed on the ship's bottom, the deformation that occurs in the hull in the forced vibration state acts on the detection part of the multi-component force detector to measure There was a problem of causing errors in the original force and moment to be performed. The vehicle model also had similar problems.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a 6-component force in a fluid force measurement test (including a case of forced vibration) of the elongated model such as a hull or a vehicle. In the measuring device, it is intended to prevent the deformation of the elongated model from acting on the detecting portion of the component force detector when receiving the fluid force or the forced excitation force so as to improve the measurement accuracy.

In order to solve the above-mentioned problems, the 6-component force measuring device of the present invention is as follows. That is, when the measuring device main body is fixed to a slender model for a water tank test or a wind tunnel test and a fluid is allowed to flow, or when the slender model is forced to be excited under a fluid flow using a vibrating mechanism. , A 6-component force acting on the slender model (fluid forces F _x , F _y , F acting in the X, Y, Z directions) in the Cartesian coordinate system (X, Y, Z) whose origin is the rotational movement center of the slender model. _z, and, X, Y, moment _M x acting about the Z _axis, M y, measures the _{M z),} the 6-component measuring device for a fluid force measurement acting on the elongated model, the 6-component The measuring device includes a first link mechanism that supports the measuring device body with respect to the elongated model, a second link mechanism, and a third link mechanism, where each of the link mechanisms is , When the slender model is subjected to fluid force or forced excitation force A structure in which a universal joint and a bearing are combined is provided so that the force and the moment generated due to the deformation generated in the long model are not transmitted to the detection unit for measuring the 6-component force, and the first link is also provided. A three-component force detector (detector for detecting F _y1 , F _z1 , M _x ) is provided between the mechanism and the measuring device main body, and two component force is detected between the second link mechanism and the measuring device main body. A detector (for detecting F _y2 and F _z2 ), a 1-component force detector (a detector for detecting F _x ) between the third link mechanism and the elongated model, and further, Detection value of 3 component force detector (F _y1 , F _z1 , detector for M _x detection), detection value of 2 component force detector (detector for F _y2 , F _z2 detection), and 1 component force based on the detected value of the detector (F _x detection of the detector), the 6-component, Serial by 6 component force measuring device, characterized in that it comprises an arithmetic unit for obtaining by calculation, however, L is the distance between the centers of the X-axis direction between the first link mechanism and the second link mechanism.

_{F x = F x, F y} = F y1 + F y2, F z = F z1 + F z2 M x = M x, M y = (F z1 -F z2) × (L / 2), M z = (F y2 _-Fy1 ) x (L / 2)
According to the above-mentioned device, since the link mechanism having the configuration in which the universal joint and the bearing are combined is provided, the deformation caused in the elongated model, which is the cause of the measurement error in the case of the conventional measuring device, is probably the force detector. Can be prevented from acting on the detection unit, and a mechanically static state (statically stable structure) can be obtained, so that highly accurate measurement can be performed. The details of the reason will be specifically described later with reference to the drawings in the section of the embodiment for carrying out the invention, but for a general description of the statically determinable structure and its working principle, see FIGS. Based on the following.

  In the above description, the link mechanism and the universal joint are generally well-known terms, and the link mechanism means, for example, that "several rigid bodies are connected by a rotatable pin to move each part. The mechanism is designed to perform a motion (constrained relative motion) whose position is uniquely determined. " The universal joint is also called a universal joint, and in particular, the universal joint refers to a joint in which the angle at which two materials are joined freely changes. The basic concept comes from the gimbal. A gimbal is a type of rotating table that rotates an object around one axis. If the gimbals are installed so that their axes are orthogonal to each other, the orientation of the rotor mounted on the inner gimbal can be always kept constant.

  8 and 9 show an example of a commercially available universal joint. FIG. 8 shows an example having two bidirectional links (gimbals), and FIG. 9 has one bidirectional link (gimbals). Here is an example. In the present invention, a commercially available universal joint is not used as it is, but is combined with a bearing to adopt a configuration unique to the present invention. The configuration of the link mechanism is not limited to the embodiment described below, and various modified forms can be adopted according to the purpose.

  Next, the statically determinable structure and its working principle will be outlined with reference to FIGS. 11 to 15.

According to the literature of material mechanics, a two-dimensional description of the in-plane statically constrained constraint in the case where an external force acts on both-end support beams is given by the example of FIG. 11. According to this example, the rotational support points A and B are in-plane statically definite structures that act uniquely as F _x , F _z1 and F _z2 , and the fixed side structure and the structure of the specimen are modified. The structure not affected by is shown.

An example in which the above function is concretely configured by using a link mechanism is shown in FIGS. 12 and 13. In FIG. 12, two types of loads of reaction forces F _x and F _z1 against an external force act on the link at the point A, and a load of F _z2 acts on the link at the point B. In the example of FIG. 13, the load of F _z1 acts on the link of point A, the load of F _z2 acts on the link of point B, and the load of F _x acts on the link of point C. If a measuring device that detects the load is incorporated in each link, the whole device will be a force measuring device.

The example of FIG. 12 has a simpler structure than the example of FIG. However, _F x to the link at the point A in the example of FIG. _12, since the two load _{F z1} is applied, in the case towards the load _{F z1} than the load of _{F x} is rather large, _{F x} detector The load of F _z1 is more likely to be affected, and the interference thereof causes a large measurement error.

  In actual measurement, the load becomes three-dimensional, and it is often necessary to measure 6-component force. The present invention is for accurately measuring this type of 6-component force. However, it can be applied to measurement of small component force other than 6 component force measurement.

  14 and 15 show an example of a link mechanism for three-dimensional measurement. 14 shows the three-dimensional structure of FIG. 12, and FIG. 15 shows the three-dimensional structure of FIG. 14 and 15 show a statically-determined structure in three dimensions, and similar to FIGS. 12 and 13, even if the fixed-side structure and the structure of the specimen are slightly deformed, highly accurate measurement can be performed.

  For links that do not affect measurement, it is possible to omit them as appropriate. Further, the device according to the present invention can be applied to a normal water tank test and a wind tunnel test, instead of the forced vibration.

  The preferred embodiments of the invention of the present application are as follows.

  First, in the above-mentioned device of the present invention, the first link mechanism and the second link mechanism each have a one-way link provided parallel to the coordinate axis Y and a bearing device that allows the one-way link to freely rotate. And a bidirectional link located above the unidirectional link and capable of pivoting about an axis of two orthogonal directions perpendicular to the direction parallel to the unidirectional link.

  Further, the third link mechanism is provided in the measuring device main body with a shaft that is rotatable and that has a universal joint portion that extends in the coordinate axis X direction and that is composed of two bidirectional links. It is preferable to provide a bearing device capable of turning around X.

Further, on the side of the second link mechanism in the main body of the measuring device, a rolling effect suppressing link for suppressing occurrence of measurement error due to rolling generated in the elongated model when the elongated model is subjected to forced vibration. A mechanism is provided, and the rolling effect suppressing link mechanism includes a partial rotation shaft that can rotate about a coordinate axis X, a bearing device that allows the rotation shaft to rotate, and a sleeve that supports the bearing. Is preferred.
Moreover, in the apparatus of the invention described above, it is preferable that the elongated model is an elongated model for a hull.
Further, in order to solve the above-mentioned problems, the 6-component force measuring device of the present invention may be as follows. That is, when the measuring device main body is fixed to a slender model for a water tank test or a wind tunnel test and a fluid is allowed to flow, or when the slender model is forced to be excited under a fluid flow using a vibrating mechanism. , A 6-component force acting on the slender model (fluid forces F _x , F _y , F acting in the X, Y, Z directions) in the Cartesian coordinate system (X, Y, Z) whose origin is the rotational movement center of the slender model _z, and, X, Y, moment _M x acting about the Z _axis, M y, measures the _{M z),} the 6-component measuring device for a fluid force measurement acting on the elongated model, the 6-component The measuring device includes a fourth link mechanism for supporting the measuring device main body with respect to the elongated model, and a fifth link mechanism, wherein each of the link mechanisms has a fluid force of the elongated model. Or deformation that occurs in the slender model when subjected to forced excitation force A structure in which a universal joint and a bearing are combined is provided so that the force and moment generated therewith are not transmitted to the detection unit for measuring the 6-component force, and the fourth link mechanism and the measuring device body are provided. And a first three-component force detector (detector for detecting F _y1 , F _z1 , and M _x ), and a second three-component force detector between the fifth link mechanism and the measuring device body. A detector (for detecting F _x , F _y2 , F _z2 ), and further, a detection value of the first three-component force detector (detector for detecting F _y1 , F _z1 , M _x ), 2 of 3 component force detector based on the detection value of _{(F x, F y2, F} z2 detector for detection), the 6-component, characterized in that it comprises an arithmetic unit for determining by calculation by the following 6-component force measuring device, where L is a fourth link mechanism and a fifth link mechanism And the center distance in the X-axis direction.

F _x = F _x , F _y = F _y1 + F _y2 , F _z = F _z1 + F _z2
M _x = M _x , M _y = (F _z1 −F _z2 ) × (L / 2), M _z = (F _y2 −F _y1 ) × (L / 2) In the device of the invention, the elongated model is used. Is preferably an elongated model for vehicles.

  According to the 6-component force measuring device of the present invention, by providing a link mechanism having a configuration in which a universal joint and a bearing are combined, deformation occurring in the elongated model when subjected to a fluid force or a forced excitation force. Since it does not act on the detection part of the force detector and is in a statically dynamic state, it eliminates the conventional problems that cause errors in the original force and moment to be measured, and improves measurement accuracy. It can be planned.

It is a block diagram of the 6-component force measuring device which concerns on the Example of this invention, (a) is a top view, (b) is the side view which looked at (a) figure from the bottom, (c) shows (b). Side view seen from the right. FIG. 2 is a detailed enlarged view of a portion A on the left side of FIG. The detail partial cross-section enlarged view of the B section in the right side of FIG.1 (b). The expanded sectional view which follows the PP line in FIG.1 and FIG.3. The detail partial cross-section enlarged view of the C section in the center part of FIG.1 (b). It is a block diagram of the Example of the 6-component force measuring device provided with the oscillating mechanism, (a) is a RR arrow plane view in (b), (b) is a side view, (c) is (b). 9 is a sectional view taken along the line Q-Q in FIG. It is a conceptual schematic diagram explaining the effect of the link mechanism which concerns on this invention, (a) is a figure which shows the state without an oscillating load, (b) is a case where a measuring device is not equipped with a link mechanism. The figure which shows the deformation | transformation state of a measuring device at the time of a vibration load, (c) is based on this invention, When a measuring device is equipped with a link mechanism, a figure which shows the deformation | transformation state of a measuring device at the time of a vibration load. The figure which shows an example of the commercial item of the universal joint provided with two bidirectional links. The figure which shows an example of the commercial item of the universal joint provided with one bidirectional link. It is a figure which illustrates typically the embodiment at the time of applying this invention to a vehicle, (a) is a typical sectional view which saw the vehicle model in a cross section at right angles to the advancing direction, and (b) is (a). ) Is a schematic schematic top view seen from above the connection plate 75, and (c) is a schematic schematic side view seen from below in (b). 2D is a two-dimensional explanatory diagram of in-plane static constraint when an external force acts on both-end support beams. FIG. The figure which shows an example of the structure which applied the link mechanism to FIG. The figure which shows an example of a different structure which applied the link mechanism to FIG. FIG. 13 is an explanatory diagram of a three-dimensional static constraint for three-dimensional measurement and is a diagram corresponding to FIG. 12. FIG. 14 is an explanatory diagram of a three-dimensional static constraint for three-dimensional measurement and is a diagram corresponding to FIG. 13.

  An embodiment of a 6-component force measuring device for measuring a fluid force acting on an elongated model according to the present invention will be described below with reference to FIGS. 1 to 7 and 10. 1 to 7 show an embodiment in which the present invention is mainly applied to a hull, and in FIGS. 1 to 7, the same members or members having the same function are designated by the same reference numerals and detailed description thereof will be given. Omit it. Further, FIG. 10 shows an embodiment in which the present invention is mainly applied to a vehicle.

  According to the embodiment of the six-component force measuring device (1) of the present invention shown in FIG. 1 and FIG. 6, its basic configuration is as follows. That is, the measuring device body (60) is fixed to the ship bottom along the longitudinal direction of the hull via the mounting base (5), for example, by screwing. The 6-component force measuring device (1), when the hull is forcibly vibrated by using, for example, a pitching vibrating mechanism (51), a rectangular coordinate system (X, 6 component forces acting on the hull in (Y, Z) (fluid forces Fx, Fy, Fz acting in the X, Y, Z directions, and moments Mx, My, Mz acting about the X, Y, Z axes) measure.

  The pitching oscillating mechanism (51) has a main column (52) connected to a measuring device main body (60) via a column connecting device (53), and a vertical oscillating system connected via an oscillating rod connecting device (56). Pitching vibration is performed using the vibration rod (54). The vertical vibrating rod (54) receives vertical vibrating force by, for example, a hydraulic vibrating device (not shown).

In FIG. 1, the 6-component force measuring device (1) first supports the measuring device main body (60) with respect to the mounting base (5) via respective supporting bases (521, 531, 541). The link mechanism (21), the second link mechanism (31), and the third link mechanism (41). Details of the link mechanisms (21), (31) and (41) will be described later.
Further, a three-component force detector (detector for detecting Fy1, Fz1, Mx) (2) is provided between the first link mechanism (21) and the measuring device body (60), and the second link is provided. A two-component force detector (detector for detecting Fy2 and Fz2) (3) is provided between the mechanism (31) and the measuring device body (60), and the third link mechanism (41) and the support base ( 541) and a 1-component force detector (detector for Fx detection) (4), and further detection of the 3-component force detector (detector for Fy1, Fz1, Mx detection) (2). Based on the value, the detected value of the two-component force detector (detector for detecting Fy2, Fz2) (3), and the detected value of the one-component force detector (detector for Fx detection) (4), The 6-component force is calculated by the above-mentioned arithmetic expression using an arithmetic device (not shown).

Next, details of the embodiment of the 6-component force measuring device (1) of the present invention will be described with reference to FIGS.
FIG. 2 is a detailed enlarged view of part A on the left side of FIG. FIG. 2 shows the three-component force detector (2) connected to the first link mechanism (21) and the detector output connector (22). Further, a strain gauge (S) for measurement is schematically shown in the beam above the three-component force detector (2).

  The first link mechanism (21) in FIG. 2 has the same configuration as the second link mechanism (31), and details thereof are shown in FIG. FIG. 4 is an enlarged cross-sectional view taken along the line P-P in FIGS. 1 and 3. According to FIG. 4, the first link mechanism (21) and the second link mechanism (31) can freely connect the one-way link (10) provided parallel to the coordinate axis Y and the one-way link, respectively. A bearing device (B) that can be swung, and a swivel device that is above the one-way link (10) and can be swiveled about an axis in two orthogonal directions that are perpendicular to the direction parallel to the one-way link. A bidirectional link (11) with a bearing device (B). In FIG. 2, (12) and (13) are bearing supports.

Next, FIG. 5 will be described. FIG. 5 is a detailed partial cross-sectional enlarged view of the C portion in the central portion of FIG. According to FIG. 5, a 1-component force detector (detector for detecting F _x ) (4) is provided between the third link mechanism (41) and the support base (541), and further the third component The link mechanism (41) is rotatable within the measuring device body (60) and has a universal joint (U) extending in the coordinate axis X direction and having two bidirectional links (15). And a bearing device (B) that can rotate the shaft (15) around the coordinate axis X. (14) is a bearing support. Further, FIG. 5 shows the 1-component force detector output connector 42, and the 1-component force detector (detector for F _x detection) (4) is conceptually a strain gauge (S) for measurement. Shown in. According to the above configuration, the direction of the force acting in the coordinate axis X direction becomes constant without being affected by the deformation of the hull, and F _x can be accurately detected.

By the way, it is possible to incorporate the detection unit for detecting F _x into another component force detector (for example, the two component force detector (3)) as described later. The reason why the component force detector (4) is provided independently and its characteristics will be described below.

When the F _x detection unit is incorporated in another component force detection unit, the load of other component force also acts on the F _x detection unit. Therefore, the interference output due to the other component load is mixed with the output of the F _x detection unit to be measured. Then, the interference output causes an error with respect to the F _x measurement.

  When the other component force load is small, the interference component is also small, so it is possible to correct by linear correction. However, when the other component force load is large, the interference component also becomes large and the nonlinear component and There is a possibility that hysteresis will be introduced, and the measurement performance will deteriorate. In the worst case, this detector may be destroyed.

On the other hand, if the F _x detector is separated, if the link mechanism is manufactured with high precision, it becomes a highly accurate detection unit that is hardly affected by other component load.

Next, FIG. 3 will be described. FIG. 3 is a detailed partial cross-sectional enlarged view of the B portion on the right side of FIG. According to FIG. 3, on the side of the second link mechanism (31) of the measuring device body (60), it is possible to prevent a measurement error from occurring due to rolling that occurs in the hull when the hull is subjected to forced vibration. A rolling influence suppressing link mechanism (30) for controlling the rolling influence suppressing link mechanism (30) is provided, and the rolling effect suppressing link mechanism (30) is rotatable about a coordinate axis X and a partial rotation shaft (33) and the rotation shaft (33). A bearing device (B, NB) that can rotate the bearing and sleeves (34, 35) for supporting the bearing are provided. B is a ball bearing, and NB is a needle bearing. Further, FIG. 3 shows the two-component force detector (3) connected to the second link mechanism (31) and its detector output connector (32), similarly to FIG. In the beam below the detector (3), a strain gauge (S) for measurement is schematically shown. According to the above configuration, when rolling occurs in the hull and the hull is twisted about the coordinate axis X, the moment M _x generated on the right side of the hull is the M _x measurement value of the three-component force detector (2). Can be prevented from affecting.

  Next, FIG. 7 which is a conceptual schematic diagram for explaining the operation effect of the link mechanism according to the present invention will be described. FIG. 7 shows a mounting base (5) on the ship bottom, a measuring device body (60), a three-component force detector (2), a two-component force detector (3), and a first link mechanism (21). ) Corresponding parts, second link mechanism (31) equivalent parts, one-way link (10), two-way link (11) and the like are schematically shown.

  FIG. 7A is a diagram showing a state in which no vibration load is applied, and neither member nor force is generated and no deformation occurs. FIG. 7B is a diagram showing a deformed state of the measuring device when a vibration load (F) is applied when the measuring device does not include a link mechanism, and the deformation is exaggerated for convenience of explanation. Also, the force acting in the Z direction and the moment acting around the Y axis are shown. Note that, in FIG. 7B, although the mounting base (5) is deformed, the measuring device main body (60) is not deformed, but the same applies when the measuring device main body (60) is deformed. FIG. 7 (c) is a view showing a deformed state of the measuring device when a measuring device is provided with a link mechanism according to the present invention when a vibration load (F) is applied, and is similar to FIG. 7 (b). Shows the force acting in the Z direction and the moment acting around the Y axis.

In the case of FIG. 7B, F _z1 ≠ F _z2 ≠ 0, M _y1 ≠ M _y2 ≠ 0, and a load in the F _x direction occurs. On the other hand, in the case of FIG. 7C, no moment is generated in the first link mechanism (21) and the second link mechanism (31), and only tension and compression act. _{Then, F z1 '≠ F z2'} ≠ 0, M y1 '= M y2' = 0, it is also a load of _{F x-direction} does not occur.

Finally, FIG. 10 will be described. FIG. 10 is a diagram schematically illustrating an embodiment in which the present invention is applied to a vehicle, in which (a) is a schematic cross-sectional view of a vehicle model taken at a right angle to the traveling direction, (b) (A) is a schematic schematic top view seen from above the connection plate (75) in (a), and (c) is a schematic schematic side view seen from below in (b).
In FIG. 10, only the main members when applied to a vehicle are schematically shown, (2a) is a first three-component force detector, (3a) is a second three-component force detector, and (70) is A vehicle model dolly, (71) a vehicle model body, (72) a vehicle model wheel, and (75) a connecting plate. Further, although (81) shows a fourth link mechanism not shown and (91) shows a fifth link mechanism not shown, their centers are shown by P ₁ and P ₂ , respectively, and The distance between the centers of the fifth link mechanism in the X-axis direction is indicated by L. V is an image showing a side wind to the body of the vehicle model.

As described above, the 6-component force measuring device in FIG. 10 includes the fourth link mechanism (81) for supporting the measuring device main body with respect to the elongated model, and the fifth link mechanism (91), Here, in each of the link mechanisms, the force and the moment generated due to the deformation of the elongated model when the elongated model is subjected to the forced vibration are not transmitted to the detection unit for measuring the 6-component force. In addition, a structure in which a universal joint and a bearing are combined is provided, and a first third component force detector (F _y1 , F _z1 ) is provided between the fourth link mechanism (81) and the measuring device body. A detector for detecting M _x ) (2a), and a second three-component force detector (for detecting F _x , F _y2 , F _z2 ) between the fifth link mechanism (91) and the measuring device main body. The detector (3a) of The detection value of the first three-component force detector (F _y1 , F _z1 , M _x detection detector) (2a) and the second three-component force detector (F _x , F _y2 , F _z2 detection Based on the detection value of the detector) (3a), the 6-component force is calculated by the above-mentioned arithmetic expression using an arithmetic unit (not shown).
In addition, in the 6-component force measuring device in FIG. 10, the detection unit for independently detecting F _x shown in FIG. 1 is used as a second 3-component force detector (for detecting F _x , F _y2 , and F _z2) . (Detector) (3a).

  As described above, according to the present invention, deformation caused in a slender model such as a hull or a vehicle when subjected to a fluid force or a forced vibration force may not act on the detection portion of the force detector, and may be mechanically static. Since the state is constant, it is possible to solve the conventional problem that causes an error in the original force and moment to be measured, and improve the measurement accuracy.

  1: 6 component force measuring device, 2: 3 component force detector, 2a: first 3 component force detector, 3: 2 component force detector, 3a: second 3 component force detector, 4: 1 minute Force detector, 5: Mounting base on ship bottom, 10: One-way link, 11: Two-way link, 21: First link mechanism, 30: Rolling influence suppressing link mechanism, 31: Second link mechanism, 41 : Third Link Mechanism, 22, 32, 42: Detector Output Connector, 33: Partial Rotating Shaft, 34, 35: Sleeve, 51: Pitching Vibration Mechanism, 52: Main Post, 53: Post Connecting Device, 54 : Vertical vibration rod, 56: Vibration rod connecting device, 60: Measuring device main body, 70: Bogie, 71: Body, 72: Wheels, 75: Connection plate, 81: Fourth link mechanism, 91: Fifth Link mechanism, 521, 531, 541: support bases for the first, second, and third link mechanisms, : Bearing, L: center distance in the X-axis direction between the first link mechanism and the second link mechanism, or center in the X-axis direction between the fourth link mechanism and the fifth link mechanism Distance, NB: Needle bearing, S: Strain gauge, U: Universal joint part.

Claims (7)

In a slender model for a water tank test or a wind tunnel test, the measuring device main body is fixed, and when a fluid is allowed to flow, or when the slender model is forcedly excited by using a vibrating mechanism under flowing fluid, In the Cartesian coordinate system (X, Y, Z) with the center of rotation of the slender model as the origin, the six-component force acting on the slender model (fluid forces F _x , F _y , F _z acting in the X, Y, Z directions, and, X, Y, moment _M x acting about the Z _axis, M y, measures the _{M z),} the 6-component measuring device for a fluid force measurement acting on the elongated model,
The 6-component force measuring device includes a first link mechanism (21) that supports the measuring device body with respect to the elongated model, a second link mechanism (31), and a third link mechanism (41). Wherein each of the link mechanisms has a force and a moment generated by deformation of the slender model when the slender model is subjected to a fluid force or a forced excitation force, for measuring 6-component force. A universal joint and a bearing are combined so as not to be transmitted to the detection section of the measurement device, and a three-component force detector is provided between the first link mechanism (21) and the measuring device body (60). (F _y1 , F _z1 , M _x detection detectors) (2), and a two-component force detector (F _y2 , F _y2 , between the second link mechanism (31) and the measuring device body (60). F _z2 detector for detection) with a (3), Comprising a serial 1 component force detector between the elongate Model third link mechanism and (41) _{(F x} detection of the detector) (4), further, the 3 component force detector _(F y1, F _z1 , M _x detection detector) (2) detection value, 2 component force detector (F _y2 , F _z2 detection detector) (3) detection value, 1 component force detector (F _A detector for _x detection) (4), and a 6-component force measuring device characterized by comprising a computing device for computing the 6-component force by the following, where L is the first The center-to-center distance in the X-axis direction between the link mechanism (21) and the second link mechanism (31).
F _x = F _x , F _y = F _y1 + F _y2 , F _z = F _z1 + F _{z2
M x = M x, M y} = (F z1 -F z2) × (L / 2), M z = (F y2 -F y1) × (L / 2)   The device according to claim 1, wherein the first link mechanism (21) and the second link mechanism (31) are respectively a unidirectional link (10) provided parallel to the coordinate axis Y and the unidirectional link. And a bearing device (B) that can freely rotate, and swivel about an axis of two orthogonal directions that is above the one-way link (10) and is perpendicular to a direction parallel to the one-way link. A two-way link having a bearing device (B) that enables the device. The device according to claim 1 or 2 , wherein the third link mechanism (41) is rotatable in the measuring device body (60) and extends in the coordinate axis X direction to form two bidirectional links. An apparatus comprising a shaft (15) having a universal joint part (U) and comprising a bearing device (B) capable of rotating the shaft (15) around a coordinate axis X.   The apparatus according to any one of claims 1 to 3, wherein the elongated model is provided on the side of the second link mechanism (31) of the measuring device body (60) when the elongated model is subjected to forced vibration. A rolling influence suppressing link mechanism (30) is provided for suppressing the occurrence of a measurement error due to rolling that occurs in the roller. The rolling effect suppressing link mechanism (30) is capable of turning about a coordinate axis X as a partial rotation. A device comprising a shaft (33), a bearing device (B, NB) capable of rotating the rotating shaft (33), and a sleeve (34, 35) for supporting the bearing.   The device according to any one of claims 1 to 4, wherein the elongated model is an elongated model for a hull. In a slender model for a water tank test or a wind tunnel test, the measuring device main body is fixed, and when a fluid is allowed to flow, or when the slender model is forcedly excited by using a vibrating mechanism under flowing fluid, In the Cartesian coordinate system (X, Y, Z) with the center of rotation of the slender model as the origin, the six-component force acting on the slender model (fluid forces F _x , F _y , F _z acting in the X, Y, Z directions, and, X, Y, moment _M x acting about the Z _axis, M y, measures the _{M z),} the 6-component measuring device for a fluid force measurement acting on the elongated model,
The 6-component force measuring device includes a fourth link mechanism (81) and a fifth link mechanism (91) for supporting the measuring device main body with respect to the elongated model, where each of the link mechanisms is included. In order to prevent the force and the moment generated by the deformation of the slender model when the slender model is subjected to the fluid force or the forced excitation force from being transmitted to the detection unit for measuring the 6-component force, respectively. A structure in which a joint and a bearing are combined is provided, and a first three-component force detector (F _y1 , F _z1 , M _x detection is provided between the fourth link mechanism (81) and the measuring device body. detector) equipped with a (2a) of use, the fifth link mechanism (91) and the second three component force detector between the measuring unit _{(F x, F y2, F} z2 detector for detecting (3a), further comprising the first three-component force The detection value of the detector (detector for detecting F _y1 , F _z1 , M _x ) (2a) and the second three-component force detector (detector for detecting F _x , F _y2 , F _z2 ) (3a ), The 6-component force measuring device is provided with a computing device for computing the 6-component force by the following, where L is the fourth link mechanism (81) and the fifth component. The center-to-center distance in the X-axis direction with the link mechanism (91).
F _x = F _x , F _y = F _y1 + F _y2 , F _z = F _z1 + F _{z2
M x = M x, M y} = (F z1 -F z2) × (L / 2), M z = (F y2 -F y1) × (L / 2)   The apparatus according to claim 6, wherein the elongated model is an elongated model for vehicles.