JPH05294300A - Horizontal gravity-free device - Google Patents

Abstract

PURPOSE:To provide a horizontal gravity-free device which has the simple mechanism and carries out operation at a low cost. CONSTITUTION:An article 19 which is desired to perform a horizontal gravity- free movement is suspended through a plurality of long wires 8 an a horizontal shift device 7 which is shifted on a horizontal plane by driving devices 1, 3 and 5, and a pair of laser beam projectors 9 and 10 are installed on the article 19 and one between the horizontal shift devices 7, and a pair of laser beam receiving displacement detectors 11 and 12 are installed in correspondence on the article 19 and the other of the horizontal shift device 7. Further, a drive control device 13 which controls the position of the horizontal shift device 7 by driving the driving devices 1, 3, and 5 so that no deflection is generated for the detection value in the case when the detection signal 14 of each laser beam receiving displacement detector 11, 12 for detecting the laser beam supplied from each laser beam projector 9, 10 is still is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a horizontal weightless device.

[0002]

2. Description of the Related Art In recent years, various experiments have been carried out to create a horizontal weightless state on the earth. As a conventional horizontal weightless device, as shown in FIG. 4, a large number of small holes b for blowing air are formed in a bed a having a horizontal surface with high flatness.
The air bearing by the air c blown from the object d
Is levitated, and a horizontal force is applied to the object d to move the object d in the horizontal direction to realize a pseudo horizontal weightlessness.

[0003]

However, in the above-mentioned conventional apparatus, since it is necessary to construct a bed a having high flatness and it is necessary to hold the bed a correctly and horizontally for use. There has been a problem that an attempt to realize horizontal weightless motion within a plane which is wide to some extent results in a remarkably expensive device.

The present invention has been made in view of the above-mentioned conventional problems, and an object thereof is to provide a horizontal weightless device which has a simple mechanism and can be implemented at a relatively low cost.

[0005]

SUMMARY OF THE INVENTION According to the present invention, a horizontal moving device, which is moved by a driving device in a horizontal plane, is provided with an object to be subjected to horizontal weightless motion suspended by a plurality of long wires. And a pair of laser light projection devices on one of the horizontal moving device, and a pair of laser light receiving displacement detectors corresponding to the object and the other of the horizontal moving device, and from each of the laser light projecting device. A drive control device for controlling the position of the horizontal moving device by driving the drive device so that the detection signal of each laser light receiving displacement detector for detecting laser light does not deviate from the detection value at rest The present invention relates to a horizontal weightless device.

[0006]

When a force is laterally applied to an object suspended from a horizontal moving device through a long wire, the object tends to be displaced with respect to the horizontal moving device. Then, the detection signal of the laser light receiving displacement detector that detects the laser light from the laser light projection device causes a deviation from the detection value at rest. Therefore, the drive control device is arranged to eliminate this deviation. By driving the driving device to keep controlling the position of the horizontal moving device, the horizontal weightless motion can be realized.

[0007]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an example of a horizontal weightless device of the present invention.
The first arm 2 which is horizontally rotated by the driving device 1 and the base end is horizontally supported by the tip of the first arm 2 and is horizontally rotated by the second driving device 3. A horizontal movement device 7 including a second arm 4 and a support plate 6 supported by the tip of the second arm 4 so as to be horizontally rotatable and rotated by a third drive device 5 is provided. 2 in the figure
Reference numerals 1, 22, 23 indicate axes.

The horizontal moving device 7 is used to move an object 19 to be subjected to horizontal weightless motion by using three long wires 8 having the same length.
The laser beam projection devices 9 and 10 are installed at two points of the object 19, and the laser beam projection devices 9 and 10 on the support plate 6 of the horizontal moving device 7 are hung at three points. Two laser beam receiving displacement detectors 11 and 12 for receiving the laser beams from the laser beam projecting devices 9 and 10 are provided at the positions directly above the laser beam projectors 9 and 10, respectively. The laser beam receiving displacement detectors 11 and 12 are, for example, four-division type photosensors as shown in FIG.
It is possible to detect in which direction and how much the laser light from 10 is displaced. 24
Indicates a signal line. Further, contrary to the above-described embodiment, the support board 6 may be equipped with the laser light projection devices 9 and 10, and the object 19 may be equipped with the laser light reception displacement detectors 11 and 12.

Further, in the horizontal moving device 7 shown in the above-mentioned embodiment, the movement of the object 19 by the three rotational degrees of freedom (axes 21, 22, 23) and the two rotational degrees of freedom and the rotational one degree of freedom in the horizontal plane are followed. Although a mechanism is shown, a gantry type translational two-degree-of-freedom and one-degree-of-freedom mechanism may be combined, and depending on the purpose, the degree of freedom may be only one translational degree of freedom or one rotational degree of freedom. The mechanism may have only the degrees of freedom or the like, or may have a mechanism capable of realizing motions with more degrees of freedom.

The laser light receiving displacement detector 11, which detects the laser light from the laser light projectors 9 and 10,
A drive control device 1 for controlling the position of the horizontal moving device 7 by driving the drive devices 1, 3, 5 so that the detected value of 12 does not deviate from the detected value at rest.
3 is provided. As shown in FIG.
The laser light receiving displacement detectors 11 and 12 provided individually detect the input (disturbance) of the object 19 for the positional displacement in the X direction, the positional displacement in the Y direction, and the displacement at the horizontal rotation angle θ. The detection signals 14 from the light receiving displacement detectors 11 and 12 are guided to a comparator 16 so that X,
The deviation 17 is obtained by comparing with the detected values (0 reference signal) 15 of Y and θ, and the obtained deviation 17 is input to the control calculator (differential proportional integrator) 18 so that the deviation 17 becomes zero. The drive of each drive device 1, 3, 5 of the horizontal moving device 7 is controlled. As a result, the horizontal movement device 7 moves following the horizontal movement of the object 19, and the object 19 is in the same state as if it is performing horizontal weightless movement.

Next, the operation will be described.

In a stationary state in which no external force acts, the laser light from the laser light projectors 9 and 10 is set to be received by the central portions of the laser light receiving displacement detectors 11 and 12 for detection. The detection value at the time is set to the detection value at the standstill (0 reference signal) 15 in FIG.

When a force is laterally applied to the object 19 in this state, the object 19 suspended by the long wire 8 tends to be displaced with respect to the support plate 6 of the horizontal moving device 7. Then, the laser beams from the laser beam projectors 9 and 10 are shifted and incident on the laser beam reception displacement detectors 11 and 12, and therefore, the laser beams are received by the laser beam reception displacement detectors 11 and 12.
Detects and inputs the detection signal 14 to the drive control device 13. The detection signal 14 is compared by the comparator 16 with the detection value 15 in the stationary state to obtain the deviation 17 of X, Y and θ, and the control calculator 18 sets the driving device 1 so that the deviation 17 becomes zero. Since the positions of the horizontal moving device 7 are controlled by driving the motors 3 and 5, the horizontal weightless movement of the object 19 is realized by automatically and continuously performing this operation.

When the length of the wire 8 is L and the displacement amount between the object 19 and the support board 6 is dl, a force f generated in the horizontal direction is f.
Let f be the mass of the object 19 and f = (dl / L · g) M
Is.

That is, the disturbance acceleration is on the order of (dl / L) g. Actually, dl = 1 mm, L = 2000
Since it can be easily made to about mm, dl / L = 1/200
It becomes 0. This is comparable to the state in which the friction coefficient μ = 0.0005 is generated by the air bearing, as compared with the horizontal weightless movement using the conventional bed.

The present invention is not limited to the above-mentioned embodiment, and the number of wires is not limited as long as the wire can follow the rotation of the object. It goes without saying that various changes can be made in the above.

[0018]

According to the horizontal weightless device of the present invention described above, the object to be horizontally weighted is suspended from the horizontal moving device through the long wire, and the displacement when the object is moved laterally is provided. Is detected by the laser light projection device and the laser light receiving displacement detector, and the position of the horizontal movement device is controlled by driving the drive device by the drive control device so that the deviation from the detection value at rest becomes zero. As a result, the horizontal weightless movement can be realized easily and inexpensively with a simple structure as compared with the conventional method using the bed, and a device for performing the horizontal weightless movement on a large plane can be easily implemented. And, various excellent effects can be achieved.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a perspective view showing an example of a photo sensor.

FIG. 3 is a block diagram of a drive control device.

FIG. 4 is a sectional view showing an example of a conventional horizontal weightless device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 1st drive device (drive device) 3 2nd drive device (drive device) 5 3rd drive device (drive device) 7 Horizontal moving device 8 Wire 9 Laser light projection device 10 Laser light projection device 11 Laser light reception Displacement detector 12 Laser light receiving displacement detector 13 Drive control device 14 Detection signal 15 Detection value at rest 19 Object

Front Page Continuation (72) Kengo Kobayashi 3-15-1, Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Toji Technical Center (72) Fumikazu Iwamoto 3-1-1, Toyosu, Koto-ku, Tokyo No.15 Ishikawajima Harima Heavy Industries Co., Ltd. Toji Technical Center

Claims (1)

[Claims] 1. A horizontal moving device that is moved in a horizontal plane by a driving device, and an object to be horizontally weightlessly hung is provided by suspending it through a plurality of long wires, and one of the object and the horizontal moving device is paired. Laser light projection device is provided, and a pair of laser light receiving displacement detectors are provided corresponding to the other of the object and the horizontal movement device, and each laser light for detecting the laser light from each laser light projection device A horizontal weightlessness characterized by comprising a drive control device for controlling the position of the horizontal moving device by driving the drive device so that the detection signal of the light receiving displacement detector does not deviate from the detection value at rest. apparatus.