JPH0910689A - Vibration and oscillation generating device - Google Patents

Abstract

PURPOSE: To provide a generating device in which the level of a mount surface for an object to be vibrated is lowered. CONSTITUTION: A generating device is provided with a vibrating table 110 for mounting an object to be vibration 110, plural actuators 210, 220, 230 which are connected to both the vibrating table 110 and fixed parts 101, 102 above it and whose connected distances can be extended and contracted, and control means 710..., 720..., 730... for extending and contracting the actuators 210... in phase or in opposite phases.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration oscillating generator, and more particularly to a low-floor vibration oscillating generator suitable for recreational facilities that allow users to experience vibrations and the like, and simulated experience devices such as earthquakes.

[0002]

2. Description of the Related Art Conventionally, a vibration generator shakes a guest room, a viewer's seat or a game machine in accordance with the movement of a screen of a movie or the like to give a simulated experience of an earthquake in order to improve the sense of presence by simulating the audience. For this reason, it is used to vibrate the simulated room containing the experienced person up, down, left and right.

FIG. 4 is a schematic view of this device (signal lines are shown by broken lines). A vibration table 11 having an earthquake experience chamber 12 mounted on the upper surface, a head side fixed to a base 10 and a rod mounted on the base 10. Vertical hydraulic cylinders 22, 2 supporting the vibration table 11 from below via bearings 32, 33
3 and a horizontal hydraulic cylinder 21 whose head side is fixed vertically to the vertical wall surface of the base 10 and whose rod supports the vibration table 11 from the side via a bearing 31. The vibration table 11 is supported above the base 10. It is what

In addition, this device uses a position sensor 41 for detecting the position of the vibration table 11 in the x direction, ie, a horizontal direction, for drive control in the x direction, and a vibration pattern recording or simulating shaking of the earthquake in the x direction. Function generator (F.
G. FIG. ) 51, a differential amplifier circuit 61 that amplifies and outputs the difference between the target position signal X and the detected position of the position sensor 41, and a hydraulic servo valve 71 that drives the hydraulic cylinder 21 according to the output of the differential amplifier circuit 61. It is equipped with.

Further, this apparatus has a position sensor 42 for detecting the position of the vibration table 11 in the z direction, that is, a height direction for drive control in the z direction, and a vibration pattern for recording shaking of the earthquake in the z direction. A function generator 52 that generates a target position signal Z that is a signal, a differential amplifier circuit 62 that amplifies and outputs a difference between the target position signal Z and the detected position of the position sensor 42, and a differential amplifier circuit 62 Hydraulic servo valve 72 for driving the cylinders 22 and 23
It is provided with.

Under such a configuration, when the target position signal X is given by the function generator 51, the difference between the target position signal X and the detected position of the position sensor 41 is amplified by the differential amplifier circuit 61, and in response to this. The hydraulic cylinder 21 is driven by the hydraulic servo valve 71.
Then, the hydraulic cylinder 21 is driven until the target position and the detected position coincide with each other, and the rod moves in and out, which moves the vibration table 11 in the x direction via the bearing 31. As a result, the function generator 51
The vibration table 11 follows the target position signal X from
Move in the direction. Since the target position signal X is a signal corresponding to the shaking of the earthquake, the vibration table 11 has the bearing 3
It vibrates in the x direction while sliding on 2, 33.

Further, when the target position signal Z is given by the function generator 52, the target position signal Z
Difference between the position detected by the position sensor 42 and the position detected by the position sensor 42.
Amplified by the hydraulic servo valve 72
The hydraulic cylinders 22 and 23 are driven by. Then, similarly to the case of the x direction, the vibration table 11 is
The entire surface vibrates in the z direction while the side surface slides on the bearing 31.

In this way, the vibration table 11 is vibrated in the x direction by the hydraulic cylinder 21 and the earthquake experience room 1
Rolling is applied to the hydraulic cylinder 22,
The vibrating table 11 is vibrated in the z direction by 23, and vertical vibration is applied to the earthquake experience room 12. This allows
Those who are in the earthquake experience room 12 can experience the shaking of the earthquake.

[0009]

However, in such a conventional vibration generator, since the hydraulic cylinders for driving the vibration table in the z direction are erected on the base under the vibration table, the above apparatus is not provided. The height of the underfloor portion of the object to be vibrated, that is, the position of the vibration table is high.

Therefore, in consideration of the case where the vibration generator is mounted on a truck or the like to be moved or transported while the earthquake experience room or the like is attached, the height of the loaded object such as the truck is fixed due to road conditions. Since there is a limit, the height of the earthquake experience room is restricted by the height of the vibration table of the vibration generator.

Further, when the vibration oscillating generator is fixedly used in the building, the lower the vibration oscillating generator is, the lower the building can be. Alternatively, in a building having the same height, it becomes possible to vibrate a taller object to be vibrated as the vibration / oscillation generating device is lower. Therefore, also in this case, it is preferable that the position of the vibration table is lower.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a vibration / oscillation generating device in which the height of the surface on which an object to be excited is mounted is low.

[0013]

A vibration oscillating generator as a first solving means (as described in claim 1 at the beginning of the application) invented in order to achieve this object is (as shown in FIG. 1).
A vibration table (110) for mounting a vibration target (120) such as a game machine or a laboratory to be vibrated or rocked on the upper surface with or without being fixed, and a position above the vibration table Fixed parts such as frames and walls (101, 10)
2) and this vibration table are directly or indirectly connected to each other via a connecting rod or the like, and are preferably connected to a frame or the like located above the periphery of the vibration table and a peripheral portion of the vibration table. Connected vertically or in a state close to this,
A plurality of actuators (210, 220, 230) capable of performing an operation of expanding and contracting the connection distance between the connection points of the fixed portion and the vibration table, and (in a horizontal plane selectively provided as necessary) Means (310-312, 320-32) for limiting movement in undesired directions such as movement and rotation at
2), and) such that the plurality of actuators expand or contract in-phase or in anti-phase, ie, all in-phase or at least in part anti-phase, or in a superposition thereof. Control means (410-710, 42) for controlling
0-720, 430-720).

Here, "expanding and contracting in the same phase" means that each actuator extends in the same amount at the same speed with respect to the vertical component, or that each actuator contracts in the same amount at the same speed and contracts with respect to the vertical component. Say.

The term "expansion and contraction in reverse phase" means that any one of the actuators expands at a predetermined speed by a predetermined amount, and at least one of the other actuators is linked to the expansion of the one actuator. It means that the corresponding amount shrinks at the corresponding speed. In addition, "correspondence" in "contract corresponding amount at corresponding speed" basically means a relationship determined in proportion to the distance from the rotation or swing center of the vibration table to the connection point of each actuator, When the inclination of the actuator cannot be ignored, it means the relationship determined by adding the correction considering this.

The term "expansion / contraction in the superposed state" means that the expansion / contraction speed and expansion / contraction amount of each actuator can be decomposed into an in-phase component and an anti-phase component satisfying the above relationship. In other words, the control means controls each actuator so as not to break the relationship when expanding and contracting each actuator.

The actuator may be a reciprocating or single-acting actuator such as a hydraulic cylinder or a pneumatic cylinder, and the control means may be servo control, flow rate control or direction switching control. Further, as the connecting means, there are a hooking means and a locking means, specifically, a universal joint as well as a hinge and a hook.

[0018]

In the vibration oscillating generator of the first solving means, since the vibration table and the fixed portion above the vibration table are connected by the actuator, the vibration table is fixed via the actuator. Suspended in the department. As a result, the actuator is located above the vibration table, and it is not necessary to stand the actuator under the vibration table. Therefore, it is possible to lower the vibration table by the amount of the actuator that has been installed upright. Since this vibration table is for mounting the object to be excited, it is possible to reduce the height of the surface on which the object to be excited is mounted.

Further, the connecting distance between the fixed portion and the vibration table is expanded or contracted in-phase or in anti-phase by the actuator according to the control of the control means. When the connecting distance expands and contracts, the vibrating table moves, but by expanding and contracting in the same phase, the vibrating table moves up and down, while expanding and contracting in the opposite phase causes the vibrating table to swing. Thereby, the vibration target mounted on the vibration table can be vibrated and / or rocked.

In the case of the sensation device or the experience device, since the horizontal acceleration can be simulated by the rocking or tilting state, the vibration oscillating generator which does not directly generate the oscillating force in the horizontal direction. However, there is no inconvenience because it can be swung. Further, it can be originally applied to an application that originally requires rocking.

Therefore, according to the present invention, it is possible to realize the vibration / oscillation generating device in which the height of the surface on which the object to be excited is mounted is low.

[0022]

[Embodiment] The construction of an embodiment in which the vibration oscillating generator of the present invention is used for vibration in an earthquake experience room will be described. FIG.
[Fig. 3] is a schematic diagram showing its configuration. Further, FIG. 2 shows a state of being mounted on a vehicle as seen through, (a) is a side view thereof, and (b) is a rear view thereof. The signal line is shown by a broken line to distinguish it from the hydraulic line.

This device comprises a vibration table 110 for mounting an object to be excited, hydraulic cylinders 210, 220 and 230 as a plurality of expandable and contractible actuators, and balls as means for restricting movement in a horizontal plane. Bush 310 and rod 31
1 and a spherical bearing 312, a hinge 320 as a means for limiting rotation in a horizontal plane, a rod 321 and a hinge 322, and hydraulic cylinders 210, 22.
The hydraulic servo valves 710 etc., 720 etc., 730 etc. are provided as control means for expanding and contracting 0, 230 in the same phase or in the opposite phase.

The vibration table 110 has a substantially flat upper surface, and when the earthquake experience room 120 or the like is attached or simply placed on the upper surface, the vibration table 110 is vibrated and oscillated, so that the earthquake experience room is oscillated. It is designed to vibrate and swing 120 etc.

In the hydraulic cylinder 210, the head side is locked to the vibration table 110 at the y-direction negative side end and the x-direction center by a joint 212 such as a hinge or a universal joint, and the rod tip is fixed to the base 100. Frame 101
On the other hand, at a portion above the vibration table 110, a joint 211 such as a hinge or a hook is hooked, and the rod moves in and out according to the supplied hydraulic pressure, so that the connection distance between the joint 211 and the joint 212 is increased. Can be expanded and contracted.

In the hydraulic cylinder 220, the head side is locked to the vibration table 110 at the y-direction positive side end and the x-direction negative side end by a joint 222 such as a hinge or a universal joint, and the rod tip is fixed to the base 100. Fixed frame 10
2, a joint 221 such as a hinge or a hook is hooked at a position above the vibration table 110, and the rod moves in and out according to the supplied hydraulic pressure, thereby connecting the joint 221 and the joint 222. The distance can be expanded and contracted.

In the hydraulic cylinder 230, the head side is locked to the vibration table 110 at the y-direction positive side end and the x-direction positive side end by a joint 232 such as a hinge or a universal joint, and the rod tip is fixed to the frame 102. On the other hand, a portion above the vibration table 110 is hooked by a joint 231 such as a hinge or a hook, and the rod moves in and out according to the supplied hydraulic pressure, so that the connection distance between the joint 231 and the joint 232 is increased. It can be expanded and contracted.

These hydraulic cylinders 210, 220, 2
The vibration table 110 is hung and held by the frames 101 and 102 above the base 100 by the 30. In this state, a spherical bearing 312 is arranged in the center of the lower surface of the vibration table 110, and below the base 100. A ball bushing 310 is vertically fixed to the ball bushing 310, and a slide rod 311 having one end connected to the spherical surface portion of the spherical bearing 312 penetrates the ball bushing 310. The combination of the ball bush 310, the rod 311, and the spherical bearing 312 limits the movement of the vibration table 110 in the x direction and the y direction, that is, in the horizontal plane.

Further, a hinge 320 is fixed on the base 100, and a hinge 322 is fixedly provided on the lower surface of the vibration table 110 at a position away from the center. Rods 321 are connected to these hinges at both ends. Due to the combination of the rod 321 and the hinge 322, the vibration table 110 is also restricted from rotating about the z axis, that is, in the horizontal plane. Therefore, the vibration table 110 is only capable of vertical movement and swinging around the spherical bearing 312. Although the inclination of the rod 321 changes strictly in response to the vertical movement of the vibration table 110, etc., the rod 321 is sufficiently long so that the fluctuation of the horizontal component can be neglected in practical use.

The hydraulic servo valve 710 is of an electromagnetic control type, one output port is connected to the rod side port of the hydraulic cylinder 210 by a pipe or a flexible hose, and the other output port is the head of the hydraulic cylinder 210. It is connected to the side port by piping or a flexible hose and receives the output of the differential amplifier circuit 610 as a control input. Further, the differential amplifier circuit 610 is mainly composed of an operational amplifier and the like, and is attached to the hydraulic cylinder 210 and inverts the output of the position sensor 410 for detecting the moving amount of the rod, that is, the connection distance between the joint 231 and the joint 232. It receives as an input and receives the output of the arithmetic circuit 511 as a non-inverting input.

As a result, a feedback loop is formed, and the connection distance between the joint 231 and the joint 232 expands and contracts according to the output of the arithmetic circuit 511. That is, the joint 21 of the vibration table 110
The height of the two connection parts is changed according to the output of the arithmetic circuit 511. Since the hydraulic cylinder 220 has a small inclination, the joint 212 of the vibration table 110 is
The amount of change in the height of the connecting portion is practically sufficiently proportional to the connecting distance between the joint 231 and the joint 232.

The hydraulic servo valve 720 and the differential amplifier circuit 620 are the same as those described above, and are connected to the hydraulic cylinder 220 and the position sensor 420 in the same manner as described above to provide feedback. By forming a loop, the joint 2 of the vibration table 110
The height of the 22 connection part is changed according to the output of the arithmetic circuit 521. The description of the hydraulic servo valve 730 and the differential amplifier circuit 630 is omitted here, but similarly, the height of the joint 232 connection portion of the vibration table 110 is changed according to the output of the arithmetic circuit 531. .

The function generator 510 generates a function for generating a target position signal φX, which is a signal of a swing pattern corresponding to a rotation φx about the x-axis so that the experience person feels a feeling of shaking of the earthquake in the x-direction. It is a generator. Then, the target position signal φX is calculated by the arithmetic circuit 511.
Is input to the arithmetic circuit 521 and the arithmetic circuit 531 to be the subtraction target. As a result, when the value of the target position signal φX increases, the height of the joint 212 connecting portion of the vibration table 110 increases and the joints 222, 23 of the vibration table 110 increase.
2 The height of the connecting site is reduced. Conversely, when the value of the target position signal φX decreases, the joint 21 of the vibration table 110
2 The height of the connecting part is reduced and the vibration table 1
The height of the joints 222 and 232 of 10 joints increases. Therefore, since the y-direction negative side and the positive side of the vibration table 110 are drive-controlled in opposite phases, the function generator 510 and the like center the x-axis on the vibration table 110.
Is meant to rock.

Further, the function generator 520
Is a function generator which similarly generates a target position signal φY having a swing pattern corresponding to the rotation φy, and the target position signal φY is a subtraction target of the arithmetic circuit 521.
1 is added. As a result, the target position signal φY
The joint 2 of the vibration table 110 corresponding to the increase and decrease of
As the height of the 32 connection part increases or decreases, the height of the joint 222 connection part of the vibration table 110 decreases or increases.
Therefore, since the positive side and the negative side of the vibration table 110 in the x direction are drive-controlled in opposite phases, the function generator 520 or the like swings the vibration table 110 about the y axis.

Further, the function generator 53
0 is a function generator which similarly generates a target position signal Z of a vibration pattern in the z direction, and this target position signal Z is an addition target of the arithmetic circuits 511, 521, 531. As a result, the heights of the joints 212, 222, and 232 of the vibration table 110 are increased and decreased in accordance with the increase and decrease of the target position signal Z. Therefore, the vibration table 110
Since the respective parts are driven and controlled in the same phase, the function generator 530 and the like vibrate the vibration table 110 in the z direction.

With respect to the vibration fluctuation generator of this embodiment,
The operation will be described.

FIG. 2 (a) is a side view, partially transparent, showing a state in which the device mounted on the truck has stopped operating. FIG. 3 is a side view showing a state in which a device mounted on a truck is vibrating, as seen through a part thereof. FIG. 3A shows a state where the vibration table is moved upward (z +). (B) shows the state (swing state) when the vibration table is tilted clockwise (φx−).

When a truck equipped with the vibration / oscillation generator arrives at the demonstration site, stops at a predetermined location and completes a predetermined setup, the vibration / oscillation generator in a stopped state (see FIG. 2 (a)). ) Is activated.

Then, the function generator 53
When the target position signal Z having a predetermined value is given by 0, the target position signal Z is sent to the arithmetic circuits 511, 521, and 531 to be added as an input. Further, the difference between the output of the arithmetic circuit 511 and the detected position of the position sensor 410 is amplified by the differential amplifier circuit 610, and the hydraulic servo valve 710 corresponding thereto drives the hydraulic cylinder 210. At the same time, in the same manner, the arithmetic circuits 521 and 531 and the position sensor 42 are
0, 430, differential amplifier circuits 620, 630, and hydraulic servo valves 720, 730 for hydraulic cylinders 220, 2
30 is also driven. Then, the hydraulic cylinders 210, 22
The rods of 0,230 are pushed together.

As a result, the vibration table 110 is moved upward in parallel to the height corresponding to the predetermined value (FIG. 3).
(A)). In this state, when the function generator 530 outputs a signal corresponding to the shaking of the earthquake, especially the vertical shaking component, as the target position signal Z, the vibration table 110 moves up and down and vibrates following the signal. As a result, the earthquake experience room 120 placed on the vibration table 110 is vertically vibrated.

Further, the function generator 510
When a target value signal φX having a predetermined value, for example, a certain negative value, is given by this, it is sent to the arithmetic circuits 511, 521, 531 and used as the addition input of the arithmetic circuit 511 and the subtraction input of the arithmetic circuits 521, 531 It is said that Further, the difference between the output of the arithmetic circuit 511 and the detected position of the position sensor 410 is amplified by the differential amplifier circuit 610, and the hydraulic servo valve 710 corresponding thereto drives the hydraulic cylinder 210. At the same time, in the same manner, the arithmetic circuits 521, 531, the position sensors 420, 430, the differential amplifier circuits 620, 630, and the hydraulic servo valves 720, 73.
The hydraulic cylinders 220 and 230 are also driven by 0.
Then, the rods of the hydraulic cylinders 210 are pushed in, and the rods of the hydraulic cylinders 220, 230 are pushed out together.

As a result, the vibration table 110 rotates clockwise to the angle corresponding to the above predetermined value (see FIG. 3).
(B)). In this way, when a signal corresponding to the shaking of the earthquake, especially the y-direction lateral swing component is output by the function generator 510 as the target position signal φX, the vibration table 110 swings around the x-axis following this signal. . As a result, the earthquake experience room 120 placed on the vibration table 110 also swings around the x axis.

Further, the function generator 52
When the target position signal φY having a predetermined value is given by 0,
This is sent to the arithmetic circuits 521 and 531 and used as the subtraction input of the arithmetic circuit 521, while being used as the addition input of the arithmetic circuit 531. With this, in the same way as in the above case,
The vibration table 110 is moved to y up to the angle corresponding to the predetermined value.
Rotate around an axis. Then, when the function generator 520 outputs a signal corresponding to the shaking of the earthquake, particularly the horizontal shaking component in the x direction, as the target position signal φY, the vibration table 110 swings around the y axis following the signal. As a result, the earthquake experience room 120 placed on the vibration table 110 also swings around the y axis.

In this way, the vibration table 110 is vibrated in the z direction according to the target position signal Z, and the earthquake experience room 1
20 is vertically shaken, the vibration table 110 is swung around the x-axis in accordance with the target position signal φX, and the earthquake experience chamber 120 is horizontally shaken in the y direction. Further, according to the target position signal φY. The vibration table 110 is swung about the y-axis, so that the seismic experience room 120 is shaken in the x direction. As a result, the person in the earthquake experience room 120 can experience the shaking of the earthquake in a simulated manner.

The case where the vibration oscillation generator of the present invention is applied to a vehicle-mounted type earthquake experience device has been described above as an example, but the application of the present invention is not limited to this. For example, it is suitable for a stationary simulator, a game machine, and the like.
This is because the low vibration table helps alleviate not only the constraints during transportation, but also the constraints on the height due to the height of the ceiling and the steps between the experienced person and the experienced person.

In addition, the slide rod extending from the spherical bearing penetrates the ball bush in the base and projects downward, but if this is inconvenient, the spherical bearing is replaced with a pillow type bearing. Insert the ball bush into the, and make the rod stand upright on the base.
The ball bush may be slid by inserting the rod into the ball bush. In this case, since the rod penetrates the vibration table and protrudes upward, it is preferable to provide a cover at a relevant position on the upper surface of the vibration table.

Further, the position sensors 410, 420, 43
Zero does not have to be attached to the hydraulic cylinders 210, 220, 230, but may be attached to the base or frame so as to detect the height of the corresponding portion of the vibration table.

[0048]

As is apparent from the above description, in the vibration oscillating generator of the first solution of the present invention, by suspending the vibration table on the fixed portion via the actuator, It is no longer necessary to stand the actuator under the vibrating table. Therefore, there is an effect that the height of the mounting surface of the vibration target can be reduced.

[Brief description of the drawings]

FIG. 1 shows an embodiment of a vibration fluctuation generator of the present invention,
It is a schematic diagram which shows the structure.

FIG. 2 is a perspective view when mounted on a vehicle. (A) is a side view,
(B) is a rear view.

FIG. 3 is a side view, partially transparent, of a vehicle equipped with the device in a vibrating state. (A) is a state (vibration state) when moving upward (z +). (B) is a state (swing state) when tilted clockwise (φx−).

FIG. 4 is a schematic view of a conventional device.

[Explanation of symbols]

10 Base 11 Vibration Table 12 Earthquake Experience Room 21,22,23 Hydraulic Cylinder 31,32,33 Bearing (Bearing, Sliding Pair) 41,42 Position Sensor 51,52 Function Generator (FG,
Function generator) 61,62 Differential amplification circuit (following control circuit) 71,72 Hydraulic servo valve 100 Base (base) 101, 102 Frame (support frame, support column, wall) 110 Vibration table 120 Earthquake experience room ( Excitation object) 210 Hydraulic cylinder (actuator, actuator) 211,212 Joint (hinge, hook, universal joint) 220 Hydraulic cylinder (actuator, actuator) 221,222 Joint (hinge, hook, universal joint) 230 Hydraulic cylinder (Actuator, actuator) 231,232 Joint (hinge, hook, universal joint) 310 Ball bush (axial direction motion bearing) 311 Slide rod (linear motion rod) 312 Spherical bearing 320 Hinge 321 Rod 322 Hinge 410,420 Position sensor 510 Function Function generator (FG, function generator) 511 arithmetic circuit 520 function generator (FG, function generator) 521 arithmetic circuit 530 function generator (FG, function generator) 531 arithmetic circuit 610, 620 , 630 Differential amplifier circuit 710, 720, 730 Hydraulic servo valve

Claims (1)

[Claims] 1. A vibration table for mounting an object to be vibrated, a plurality of actuators which are connected to the vibration table and a fixed portion above the vibration table and which can be expanded and contracted by this connecting distance, and these actuators having the same phase. Alternatively, a vibration oscillating generator is provided with control means for expanding and contracting in a reverse phase.