JPH0724149A - Oscillation table device - Google Patents

Abstract

PURPOSE:To obtain a device in which its movable range is wide, and also, the whole device can be miniaturized by providing a link mechanism containing a movable link of a chevron shape, in the device which can execute three- dimensional oscillation and vibration of an oscillation table of a human dynamic characteristic measuring instrument, etc. CONSTITUTION:A pair of chevron-shape movable links 22, 23 are supported pivotally so as to be opposed on a base link 21 supported on a base 1, and a link mechanism 2 for forming a pentagon as a whole is constituted. Also, on the base 1, a fixed supporting part 3 is erected opposite the link mechanism 2 leaving a prescribed interval with it, and in its upper end part, one end side of an oscillation table 7 is supported pivotally 72 in freely oscillatable. Moreover, on the base link 21, motors 41, 42 connected to the lower end parts of each of movable links 22, 23 are provided, and also, between intermediate connecting shafts 223, 233 of each of movable links 22, 23 and the base link 21, spring mechanisms 61, 62 are provided and the movable links 22, 23 are energized upward and in the upper end parts of both the movable links 22, 23, the other end side of the oscillation table 7 is supported pivotally 71 in freely oscillatable.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a swing table which enables three-dimensional movement of a device or an object having a relatively large load, and more specifically, a human dynamic characteristic measuring device, a drive simulator, The present invention relates to a swing table device that enables three-dimensional swing and vibration of a swing table such as a flight simulator, a game machine, a work table device, or a high-load industrial robot.

[0002]

2. Description of the Related Art As shown in FIG. 13, a conventional rocking table device has a universal joint U interposed between a hexagonal base B having a triangular tip cut out called a Stuart platform, a rocking table T, and each point. 6
There is a book in which hydraulic cylinders C are arranged in parallel to oscillate the table, and there is a table which is used as a motion generator of a flight simulator or a large-sized game machine.

[0003]

In the conventional swing table device described above, the swing table T is swung by the six hydraulic cylinders C. Therefore, a linear structure actuator such as a hydraulic cylinder has a minimum cylinder. There is a problem that the length is about 60% of the maximum cylinder length, the dead space (60%) is large, and the movable range is about 40% narrower than the size of the entire device, so there is a problem to meet the required movable range. There was a problem that a large device was required.

Further, in the conventional device, six hydraulic cylinders C are arranged at each of the nodal points of the hexagonal rocking table T for rocking, so that the hydraulic cylinder having six coordinates of each nodal point is used. There is a problem that calculation and control for obtaining coordinates are difficult because they are determined by influencing each other.

Therefore, the present inventors further focused on the technical idea of the present invention that the table is supported by a dogleg-shaped movable link to enable the swing table to swing and vibrate, and further research and development are carried out. As a result of repeating the above, the present invention has achieved a wide range of movement and enables downsizing of the entire apparatus, and also achieves the objectives of easy coordinate calculation of the swing table and simple drive control. is there.

[0006]

A swing table device according to the present invention (a first invention according to claim 1) includes a base, a swing table to which swing and vibration are applied, and one end of the swing table device. At least one link mechanism in which a pair of dogleg-shaped movable links that are stopped and the other end of which is locked to the swing table are arranged side by side, and locked to at least one of the doglegged movable links And at least one drive device that enables the swing table to swing and vibrate by changing the angle of the movable link.

In the swing table device of the present invention (the second invention according to claim 2), a base, a swing table to which swing, lateral movement and vibration are applied, and one end of which is locked to the base. In addition, at least one link mechanism in which a pair of doglegged movable links whose other end is locked to the swing table via a joint is provided side by side, and at least one of the doglegged movable links is provided. And a drive device that is locked and that allows the swing table to swing, move laterally, and vibrate by changing the angle of one of the movable links.

The swing table device of the present invention (the third invention described in claim 3) comprises a base, a swing table to which three-dimensional movement and vibration are applied, and one end of each of which is at a fixed distance via a joint. At least one link mechanism in which a pair of dogleg-shaped movable links that are locked to a base of a distant portion and whose other end is locked to a swing table via a joint are provided; A pair of a pair of movable locks, which are locked between the lower movable link and the base of the character-shaped movable link, enable the three-dimensional movement and vibration of the swing table by independently changing the angle of each lower movable link. And a drive unit.

The rocking table device of the present invention (the fourth invention according to claim 4) is locked to the pair of dogleg-shaped movable links in comparison with the third invention, and the rocking table and the rocking table are provided. A spring mechanism is added to urge the device placed on the moving table in a direction to cancel its own weight.

[0010]

In the rocking table device of the first invention having the above structure, the drive device engages the other end of the doglegged movable link by changing the angle of one of the doglegged movable links. The oscillating and vibration are applied to the stopped oscillating table.

In the rocking table device of the second invention having the above structure, the drive device changes the angle of each one of the pair of dog-legged movable links so that the pair of dogleg-shaped movable links can be moved. The rocking table locked to the other end of the movable link via a joint is subjected to rocking, lateral movement and vibration.

In the rocking table device of the third invention having the above structure, the pair of drive devices having one end locked to the base independently change the angle of the movable link below the pair of doglegged movable links. As a result, three-dimensional movement and vibration are applied to the swing table locked to the other ends of the pair of doglegged movable links via the joint.

According to the rocking table device of the fourth aspect of the present invention, the spring mechanism locked to the pair of doglegged movable links is mounted on the rocking table and the rocking table. It urges in the direction of canceling its own weight.

[0014]

In the rocking table device of the first invention having the above-mentioned operation, since the rocking table is rocked and vibrated by the pair of doglegged movable links, the dogleg shape is provided. The movable range, which is the difference between the maximum length in which the movable link is straight and the minimum length in which the movable link is substantially parallel, is wide, and the device can be downsized, and the control can be simplified.

In addition to the effect of the first invention, the rocking table device of the second invention having the above-mentioned operation changes the angle of one of the pair of doglegged movable links of the link mechanism. As a result, there is an effect that the swing table can be moved laterally.

In addition to the effect of the first invention, the rocking table device of the third invention having the above-mentioned operation has the angle of the movable link below the pair of doglegged movable links of the link mechanism set at one end. By changing the angle independently by a pair of drive devices locked to the base, three-dimensional movement and vibration of the swing table are possible, and one end of the drive device is placed between the lower movable link and the base. Since it is locked, there is an effect that the moment of inertia of the movable link can be reduced.

In addition to the effect of the third invention, the rocking table device of the fourth invention having the above-described operation cancels the self-weight of the rocking table and the device mounted on the rocking table by the urging force of the spring mechanism. Therefore, there is an effect that it is possible to reduce the load of ascending drive of the swing table.

[0018]

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

(First Embodiment) As shown in FIGS. 1 to 4, a rocking table device according to a first embodiment includes a base 1 and a base link 21 locked on the base 1 via a joint 12. A link mechanism 2 forming a pentagonal shape composed of a pair of doglegged movable links 22 and 23 arranged in parallel on the base link 21 and a certain distance above the base 1 at a position facing the link mechanism 2. A pair of electric motors 41 constituting the fixed support portion 3 arranged and the drive device 4 fixedly mounted on the base link 21 and rotationally connected to the lower link members 221 and 231 of the pair of doglegged movable links 22 and 23. And 42, angle sensors 51 and 52 for detecting the rotation angles and angular velocities of the electric motors 41 and 42, and intermediate connecting shafts 223 and 23 of the pair of doglegged movable links 22 and 23. And the spring mechanism 61 and 62 interposed between the base link 21 and the base link 21, and fixed to the upper end portion 24 of the upper link members 222 and 232 of the pair of doglegged movable links 22 and 23 of the link mechanism 2 connected to each other. The swing table 7 is connected to the support portion 3 via joints 71 and 72.

The base link 21 is composed of an octagonal plate-shaped member, and is mounted on an L-shaped bracket 11 which is disposed on the base 1 composed of an I-shaped frame so as to face each other with a certain distance in the longitudinal direction of the base link 21. It is rotatably supported by a joint 12 composed of a shaft 13 having both ends supported and a pair of brackets 212 pivotally supported at both ends of the shaft 13.

A pair of doglegged movable links 22 and 2
As shown in FIGS. 1 and 3, 3 are arranged so as to face each other in line symmetry, and a great circle is formed on rotation shafts 220 and 230 rotatably arranged on both sides of the base link 21 with a certain distance therebetween. To the lower link members 221 and 231 and the lower link members 221 and 231 which are integrally formed with the lower end portions 221L and 231L and which are connected to the upper end portions 221U and 231U of the small circle portion by inclined straight portions. And rectangular upper link members 222 and 232 that are rotatably supported via intermediate connecting shafts 223 and 233.

U-shaped portions 224 and 234 are formed at the upper ends of the upper link members 222 and 232, and they are overlapped with each other while being offset by a plate thickness as shown in FIG. Two pins 715 are inserted.

As is clear from the above, the base link 21 and the pair of doglegged movable links 22 and 23 constitute a pentagonal link mechanism 2.

The joint 71 is composed of a three-degree-of-freedom three-axis joint, and as shown in FIG. 4, a shaft base 711 constituting a first axis supported by a bearing vertically inserted in the swing table 7. A U-shaped portion 712 integrally formed with the shaft base 711 and branched into a U-shape, an interposing member 713 interposed therebetween, and a U-shaped portion 712 disposed in an orthogonal relationship with the shaft base 711. A first pin 714 forming a second axis penetrating the insertion member 713; and a second pin 715 forming a third axis inserted in an orthogonal relationship to the first pin 714. The second pin 715 is provided with a U at the upper end of the upper link members 222 and 232 of the pair of doglegged movable links 22 and 23.
The character portions 224 and 234 are configured to be overlapped with each other and locked.

The joint 72 is composed of a two-degree-of-freedom two-axis joint and has a pin 721 which constitutes a second axis line which penetrates in the left and right direction in FIG. 1 (the direction orthogonal to the paper surface in FIG. 2) at the upper end of the fixed support portion 3. , An upper shaft portion 722 that comprises a U-shaped portion 722 that is locked at both ends thereof and an upper shaft portion 723 that is integrally formed with the U-shaped portion 722, and that constitutes the first axis.
3 is inserted in the rocking table 7 and is axially supported by a bearing 724 vertically inserted in the rocking table 7.

As shown in FIG. 2, the swing table 7 is supported by the pentagonal link mechanism 2 and the fixed support portion 3 via the joints 71 and 72 at two points separated by a certain distance, and the pentagonal link mechanism 2 is supported. Of the rocking table 7 with the fixed support portion 3 as a fulcrum by the vertical movement and lateral movement of the table.
Allows rocking, lateral movement and vibration.

The lower ends 221L and 231L of the great circles of the lower link members 221 and 231 are fixed to the output members of the speed reducers 43 and 44 arranged in series on the front surfaces of the electric motors 41 and 42 as shown in FIG. Therefore, the rotations of the electric motors 41 and 42 are decelerated at a predetermined reduction ratio and are taken out.

The angle sensors 51 and 52 are arranged at the rear of the electric motors 41 and 42 as shown in FIG. 4, and are constructed so as to detect the rotation angles and angular velocities of the rotary shafts 220 and 230 of the electric motors 41 and 42.

The electric motors 41 and 42 are connected to a drive circuit (not shown), and set values and angle sensors 51 and 52 are provided.
A drive signal is input based on the detection signal and the rotation angle and angular velocity according to the input drive signal.

The spring mechanisms 61 and 62 include piston rods 611 and 621 whose lower ends are fixed to a pair of brackets 212 fixed to the base link 21, and intermediate connecting shafts 223 of a pair of doglegged movable links 22 and 23. Cylinders 612 and 622 fixed at the upper end to 233
The cylinders 612 and 622 are filled with gas to form a gas spring mechanism that generates a constant spring force regardless of the stroke.

In the rocking table apparatus of the first embodiment having the above-mentioned structure, when the drive circuit outputs the independent drive signal, the electric motors 41 and 42 respectively perform the rotational movement, so that the output of the speed reducers 43 and 44 is output. Lower link members 221 and 231 and upper link member 2 of a pair of doglegged movable links 22 and 23 integrally fixed to the member.
22 and 232 rotate to a predetermined angle and move the swing table 7 in the vertical direction and the horizontal direction (lateral direction) in FIG. 1 via the joint 71 of the three axes, so that the fixed support portion 3 swings. The table 7 is oscillated, laterally moved, and vibrated.

In the rocking table device of the first embodiment having the above-mentioned operation, the pentagonal link mechanism 2 constituted by the base link 21 and the pair of doglegged movable links 22 and 23 is used to form the pentagonal plane. Since it swings, laterally moves, and vibrates the swing table 7 inside, the movable links 22 and 23 are movable up to the maximum length where they are aligned and the minimum length where they are substantially parallel. The range is wide, and the size of the entire device can be reduced with respect to the movable range, and the position of one point of the swing table 7 is controlled via the joint 71, so that the control can be simplified. Produce an effect.

Further, in the rocking table device of the first embodiment, when different drive signals are input to the electric motors 41 and 42, the electric motors 41 and 42 perform different rotational movements, so that a pair of doglegs are formed. The angles of the movable links 22 and 23 are different, and as a result, the joint 71 supporting the swing table 7 can be moved in the left-right direction in FIG. 1, and the swing table 7 can be moved in three dimensions with two degrees of freedom. Has the effect of doing.

Further, the swing table device of the first embodiment is
Since the spring mechanisms 61 and 62 are configured by the gas spring mechanism, even if the displacement d0 of the gas spring changes, the generated force F0 of the gas spring does not change and is constant, as shown in FIG. The weight of the device mounted on the moving table 7 is offset, the power for that is unnecessary, and a larger load can be driven.

That is, in the system shown in FIG.
A dogleg-shaped movable link 22 to which a gas spring mechanism is attached by offsetting L0 with respect to the rotation axes of 1 and 42.
Let F1 be the load applied to the upper end of the
The torque of the electric motors 41 and 42 required to support 1 is given by Equation 1.

[Equation 1]

On the other hand, the torque T generated by the gas spring mechanism
0 becomes the number 2, the number 3, and the number 4.

[Equation 2]

[Equation 3]

[Equation 4]

When proper gas spring force F0 and offset amount L0 are selected and T / T0 is calculated, T / T0≈1.0 as shown in FIG. 7, that is, a torque for compensating the load F1 is generated by the gas spring mechanism. It is clear that you can. It is constant regardless of the angle θ1 of the lower link member 221.

Further, in the swing table device of the first embodiment, the link mechanism 2 is constituted by the pentagonal link mechanism 2 in which the three-axis joint 71 is arranged at the upper end, so that each link member has an interlocking plane of the pentagonal link. Only the load in the upward direction acts, that is, only the bending load acts on the lower link members 221 and 231 and the base link 21, and only the axial load acts on the upper link members 222 and 232. As described above, since the direction of the load acting on each link member is limited and does not change, it is sufficient to design it so as to have sufficient rigidity and strength only in this direction, and the practical effect of realizing a lightweight and highly rigid structure. Play.

Furthermore, the swing table device of the first embodiment is
The base link 21 is locked to the base 1 through a joint 12 having an axis parallel to the plane of movement of the pentagonal link mechanism, and the heavy electric motors 41 and 42 and the speed reducers 43 and 44 are the most common to this joint 12. Since they are arranged close to each other, the moment of inertia of the pentagonal link with respect to the joint 12 can be made extremely small, and the effect on the motion of the swing table 7 can be minimized.

Further, in the rocking table device of the first embodiment, the three-axis joint 71 arranged at the upper end of the pentagonal link mechanism 2 is locked to the lower part of the rocking table 7 through the bearing, so that the rocking table device is rocked. There is an effect that the moving table 7 similarly enables the movement of two degrees of freedom according to the movement of the upper end which is the output end of the link mechanism 2.

Further, since the electric motors 41 and 42, which are rotary actuators, are used in the first embodiment, it is possible to control the position and speed with high accuracy, realize a low cost, and realize a hydraulic device. Hydraulic pressure source, cooling device,
There is an effect that no special device such as an oil leak processing device is required and it is not necessary to consider the compressibility of oil.

(Second Embodiment) As shown in FIG. 8, the swing table device of the second embodiment has a pair of joints 71 having three degrees of freedom at the upper end, instead of the fixed support portion 3 of the first embodiment. A link mechanism 25 similar to the pentagonal link mechanism 2 of the first embodiment, which is composed of a square-shaped movable link, is directly fixed to the base 1 by a bracket 16 in an orthogonal relationship without a joint 12.

The rocking table device of the second embodiment having the above-described structure realizes a four-degree-of-freedom motion space because the above-mentioned respective degrees of freedom do not overlap, in addition to the operational effects of the first embodiment. Is possible, and as a result, it is possible to generate more complicated motions as compared with the first embodiment.

(Third Embodiment) As shown in FIGS. 9 and 10, the swing table device according to the third embodiment has a pair of dog-legged shapes having a joint 71 with three degrees of freedom at the upper end of the first embodiment. Three pentagonal link mechanisms 2 each of which is composed of a movable link are arranged side by side on the base 1 via the joint 12 at intervals of approximately 120 degrees, and the detailed configurations of other elements are the same as those in the first embodiment. The description is omitted.

The swing table device of the third embodiment having the above-mentioned structure has 6 degrees of freedom because the degrees of freedom of the three pentagonal link mechanisms 2 do not overlap with each other in addition to the effects of the above-described embodiment. It is possible to realize a motion space of, and more complicated motion can be generated as compared with the above-mentioned embodiment, and all the degrees of freedom of the rocking table 7 can be arbitrarily controlled, so that the motion of the rocking table 7 can be controlled. The effect is that the rotation center and direction of can be set arbitrarily. Therefore, the swing table device of the third embodiment can be applied to a drive simulator and a flight simulator.

(Fourth Embodiment) As shown in FIG. 11, the swing table device of the fourth embodiment has a lower link member 2 of a square link mechanism 26 composed of a pair of doglegged movable links.
61 and 262 are respectively hydraulic piston cylinders 46
1 and 462 differ from the first embodiment only in that the angle is controlled by 1 and 462, and the same effects as the first embodiment are achieved.

(Fifth Embodiment) As shown in FIG. 12, the rocking table device of the fifth embodiment has a rectangular link mechanism 26 including a pair of doglegged movable links as in the fourth embodiment.
3 are arranged in parallel with each other at 120 degree intervals in the same arrangement as in the third embodiment (only one is typically shown in FIG. 12), the lower end 261 is fixed to the base 1, and the upper end 262 is the ball joint 76. Is connected to a roller 77 inserted in rails 78 radially formed on the swing table 7 at intervals of 120 degrees, and an intermediate connection shaft 263 of the link mechanism 26 has slots long left and right of the drive link 27. 271, 272,
The worm shaft 48 whose upper end is locked to the drive link 27 is moved up and down by the worm gear 47 fixed to the rotation shaft of the motor 46 to move the rocking table 7 up and down, and the lower end 261 and the upper end 262 of the link mechanism 26 are moved. A coil spring 66 for canceling the self-weight of the swing table 7 is inserted between them as a spring mechanism, and the swing table 7 can be moved up and down by arbitrarily moving the three points. This brings about the effect of enabling the rocking and vibration of 7.

In the fifth embodiment, since the lower end 261 of the square link mechanism 26 is fixed to the base 1,
The roller 77 moves along the rail 78 arranged on the swing table 7 in accordance with the vertical movement of the upper end 262.

The embodiments described above are merely examples for the purpose of explanation, and the present invention is not limited to them. Those skilled in the art will recognize from the claims, the detailed description of the invention and the description of the drawings. Modifications and additions can be made without departing from the technical idea of the present invention.

[Brief description of drawings]

FIG. 1 is a front view showing a first embodiment device of the present invention.

FIG. 2 is a side view showing the device of the first embodiment.

FIG. 3 is a front view showing a partial detailed structure of the pentagonal link mechanism of the first embodiment.

FIG. 4 is a side view showing a partial detailed structure of the pentagonal link mechanism of the first embodiment.

FIG. 5 is an explanatory diagram for explaining the characteristics of the gas spring mechanism of the first embodiment.

FIG. 6 is an explanatory diagram illustrating a geometrical relationship between the gas spring mechanism and the link mechanism according to the first embodiment.

FIG. 7 is a diagram showing the relationship between the torque generated by the gas spring mechanism of the first embodiment and the motor torque.

FIG. 8 is a side view showing a second embodiment device of the present invention.

FIG. 9 is a front view showing a device of a third embodiment of the present invention.

FIG. 10 is a plan view showing the device of the third embodiment.

FIG. 11 is a front view schematically showing the device of the fourth embodiment of the present invention.

FIG. 12 is a front view schematically showing the device of the fifth embodiment of the present invention.

FIG. 13 is a perspective view schematically showing a conventional device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Base 2, 25, 26 Link mechanism 3 Fixed support part 4 Drive device 7 Swing table 11 L type bracket 12 Joint 13 Shaft 16 Bracket 21 Base link 212 Bracket 22, 23 V-shaped movable link 220, 230 Rotating shaft 221, 231 lower link member 221L, 231L lower end portion 221U, 231U upper end portion 222, 232 upper link member 223, 233 intermediate connecting shaft 27 drive link 41, 42 electric motor 43, 44 reducer 46 motor 461, 462 hydraulic piston cylinder 47 worm gear 48 Worm shaft 51, 52 Angle sensor 61, 62 Spring mechanism 611, 621 Piston rod 612, 622 Cylinder 71, 72 Joint

Claims (4)

[Claims] 1. A base, a swing table to which swing and vibration are applied, and a pair of dogleg-shaped movable links having one end locked to the base and the other end locked to the swing table. At least one link mechanism provided and at least one movable link of the dogleg-shaped movable links, and at least one that enables the swing table to swing and vibrate by changing the angle of the movable link.
A rocking table device comprising two driving devices. 2. A base, a swing table to which swing, lateral movement and vibration are applied, one end of which is locked to the base and the other end of which is locked to the swing table via a joint. At least one link mechanism having a pair of parallel movable links and at least one movable link of the doglegged movable links respectively, and swinging by changing the angle of each one of the movable links A swing table device comprising a drive device that enables swing, lateral movement and vibration of the table. 3. A base, a swing table to which three-dimensional movement and vibration are applied, and one end of each of which is locked to a base at a portion separated by a joint through a joint, and the other end of which is through a joint. At least one link mechanism in which a pair of doglegged movable links locked to the rocking table are arranged side by side, and a pair of doglegged movable links is provided between the lower movable link and the base, respectively. A rocking table device comprising a pair of driving devices that are stopped and that enable three-dimensional movement and vibration of the rocking table by independently changing the angle of each lower movable link. 4. The apparatus according to claim 3, which is locked to the pair of doglegged movable links and urges the swing table and a device mounted on the swing table in a direction in which the weight of the swing table is canceled. An oscillating table device having a spring mechanism added.