JPH11218471A - Motion testing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus by which the motion function of a structure can be tested with high accuracy regarding all motions inside a two-dimensional plane and which is of a simple structure which does not require a high horizontality and a high flatness. SOLUTION: A motion testing apparatus is provided with a reference plate which is composed of a magnetic substance and whose rear surface is nearly horizontal, with a mover 300 which is brought into contact with the rear surface of the reference plate by a magnetic attractive force so as to be supported and which can be moved freely inside a two-dimensional plane along the rear surface and with a suspension wire 310 which is suspended downward from the mover 300 and which suspends and supports an object to be tested. The mover 300 is provided with a magnetic-field generation means 320 which generates a magnetic attractive force, with a contact holding means 330 which comes mechanically into contact with the rear surface of the reference plate, with a dislocation detection means 350 by which a relative dislocation amount is detected inside a plane parallel to the reference plate between the object to be tested and the mover 300 and with an active drive means 400 which drives the mover 300 along the rear surface of the reference plate in such a way that the dislocation amount detected by the dislocation detection means 350 becomes minimum.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the operation of a structure such as a deployable structure for mounting on a satellite which achieves its function by changing its shape or moving under a zero gravity environment. The present invention relates to a motion test device used for verifying and testing the deployment motion of a deployment structure such as a large deployment antenna or a solar battery paddle on the ground.

[0002]

2. Description of the Related Art FIG. 14 shows a document ("Ground Test Equipm
ent with Suspension Wires for AdaptiveStructure
s ”, by Saburo Matsunaga, Michihiro Natori, First J
oint US / Japan Conference on Adaptive Structures,
pp. 917-927 (1991)) is a diagram showing a motion test device according to a first prior art (in this document, a ground test device for a variable structure). In FIG. 14, 1 is a frame, 2 is a first rail supported by the frame 1, and 3 is a second rail orthogonal to the first rail 2 and movably mounted on the first rail 2. A rail 4 is a slider mechanism movably mounted on the second rail, 5 is a suspension wire, 6 is a test object suspended by the suspension wire 5, and in this example, a rod-shaped structure is rotated. It is a shape-variable structure connected in series by a hinge mechanism having a driving force. The test object 6 is assumed to be originally operated in a zero gravity state in a space environment.

The test object 6 changes the rotation angle of each hinge by the driving force of the hinge mechanism, and the respective rod-like structures move relative to each other in a horizontal plane to change various shapes. The suspension wire 5 suspends and supports the DUT 6 at the end of each rod-shaped structure or at the hinge mechanism, and the upper end thereof is connected to the slider mechanism 4. Each of the slider mechanisms 4 must follow the horizontal plane in accordance with the position in the horizontal plane of the lower end of the suspension wire 5 connected thereto. Because, if the following movement is not realized, the suspension wire 5 is tilted from the vertical direction, whereby a restraining force acts on the test object in a horizontal plane, which is called a simulation test of the movement in zero gravity. This is because the original purpose of the device cannot be sufficiently achieved. The following movement of the slider 4 includes relative movement of the slider 4 with respect to the second rail 3, relative movement of the second rail 3 with respect to the first rail 2, and movement of the first rail 2 with respect to the arc-shaped frame 1. This is achieved by a combination of rotational movements.

FIGS. 15 and 16 show Japanese Patent Application No. 8-1460.
FIG. 6 is a diagram showing a motion test device (gravity compensator in this patent) according to a second conventional technique described in Japanese Patent No. 64; In FIG. 15, an object 12 which is a test object
Is supported by a support 10 via a cable 19. At the same time, the support 10 is non-contact supported by the magnetic support control on the reference plate 11 vertically below the reference plate 11. The reference plate 11 is made of iron. FIG. 16 is an enlarged view of only the support 10. In FIG. 16, a non-contact type displacement sensor 13, an electromagnetic actuator 14 for generating a magnetic attractive force, a base plate 15, a cable 19, and a cable for fixing the displacement sensor 13 and the electromagnetic actuator 14 at predetermined positions are provided on a support body 10. A motor 16 for controlling the length of the motor 19, a brake 17 for fixing a rotating shaft of the motor 16, an encoder 18 for detecting a rotation angle of the motor 16, a load cell 22 for detecting a tension of the cable 19, a load cell 22 and a base plate Spherical joint 23 connecting circuit 15, circuit board 25 on which control circuit is mounted,
A fixed plate 24 for fixing the control circuit board 25, the load cell 22, and the motor 16 in a predetermined positional relationship is attached. The cable 19 is attached with a spring 20 for absorbing shock and a damper 21.

[0005] The object 12 is a truss-type deployment structure, and expands three-dimensionally by generating a driving force at a hinge portion connecting the truss. The cable 19 has the object 12 suspended at a plurality of points at one end, and is connected to the support 10 at the other end. The support 10 is supported by the magnetic support control in a non-contact manner with respect to the reference plate 11, and no horizontal force such as frictional force is generated in principle. Therefore, when the object 12 performs a two-dimensional movement in a horizontal plane, the support 10
Although passive, the cable 19 is always free to move vertically. That is, the two-dimensional movement of the object 12 is supported by the non-contact support of the support body 10 without restricting the movement. Further, the tension applied to the cable 19 always becomes a predetermined value by the active control system constituted by the load cell 22 and the motor 16. Therefore, when the object 12 moves in the vertical direction, the cable 19 is wound up or down by the motor 16 to maintain a predetermined tension. Therefore, the tension control of the cable 19 and the support 1
The non-contact support of 0 supports the object 12 without restricting the three-dimensional movement of the object 12.

In the second prior art, a three-dimensional motion of a test object in a zero-gravity space is simulated on the ground as described above.

[0007]

In the exercise test apparatus according to the first prior art as shown in FIG. 14, the order of the plurality of second rails 3 cannot be changed. Neither the order of the installed slider mechanisms 4 nor the order of the suspension wires 5 is interchangeable. Therefore, in the motion test apparatus according to the conventional technology, only the motion of the motion of the test object 6 that does not require the rearrangement of the order of the suspension wires 5 can be tested. Even if the structure in which the order of the second rail 3 can be changed is applied to the first rail 2, the suspension wire 5 prevents the change of the second rail 3. Not all movements in the horizontal plane can be tested.

In the prior art shown in FIG. 14, the DUT 6 is suspended by the suspension wire 5 at the end of each rod-shaped structure or at the hinge, so that the movement of the structure constituting the DUT in the horizontal plane ( That is, it can only follow the horizontal movement and the rotational movement around the vertical axis).
There is a problem that three-dimensional movement, for example, rotation about a horizontal axis cannot be allowed. Therefore, such a motion test apparatus has a problem that a motion test of a deployed structure that involves a rotational motion of a structure around a horizontal axis cannot be performed.

In the second prior art gravity compensator shown in FIGS. 15 and 16, the movement of each support 10 in a two-dimensional plane is completely passive, and the power supply line and the communication line are connected. These wirings become resistors,
It is difficult to maintain the load suspending cable 19 vertically with high precision. That the cable 19 cannot be kept vertical means that the three-dimensional movement of the test object in the zero-gravity space cannot be accurately simulated by the conventional apparatus shown in FIG. In addition, since the movement of the support 10 in a two-dimensional plane is passive, when the movement of the object 12 proceeds at a speed that cannot be regarded as quasi-static, the inertial force due to the mass of the support 10 can be ignored. Therefore, it is difficult to reproduce the motion behavior of the object 12 in a zero gravity environment with high accuracy. Furthermore, large electric power must be supplied in order to cause each support 10 to levitate in a non-contact manner by the magnetic support control.

Further, in the gravity compensating device according to the second prior art shown in FIGS. 15 and 16, the reference plate 11 needs to have high flatness and high horizontality. Because the support 10 is controlled so as to be parallel to the surface of the reference plate 11,
The reference plate 11 is slightly inclined from horizontal or the reference plate 1
If the surface of the substrate 1 has irregularities, a component parallel to the gravity reference plate 11 acting on the support 10 is generated. Then, the support 1
0 moves to the lower side of the reference plate 11 irrespective of the movement of the object 12, and the cable 19 is inclined from the vertical, so that the accuracy of gravity compensation of the object 12 deteriorates. Therefore, in the related art, the reference plate 11 needs high flatness and horizontality.

In consideration of these problems, the first aspect of the present invention
An object of the first prior art is to provide an apparatus capable of testing the movement function of a structure with high accuracy for all movements in a two-dimensional plane including replacement of hanging points in the first prior art, and to provide a simple and simple method that does not require high levelness or flatness. It is to provide by a simple structure.
A second object of the present invention is to provide an apparatus capable of testing not only a motion in a two-dimensional plane but also a motion including a three-dimensional rotational motion with high accuracy.

[0012]

According to a first aspect of the present invention, there is provided a motion test apparatus, comprising: a reference plate made of a magnetic material and having a substantially horizontal lower surface; A movable element that can freely move in a two-dimensional plane along the lower surface, and a suspension line that is suspended from the movable element and that suspends and supports the device under test;
A magnetic field generating unit that generates the magnetic attractive force, a contact holding unit that mechanically contacts the lower surface of the reference plate, and a plane parallel to the reference plate between the device under test and the mover. Displacement detection means for detecting the relative displacement, and active driving for driving the moving element along the lower surface of the reference plate so as to minimize the displacement detected by the displacement detection means. Means.

According to a second aspect of the present invention, in the exercise test apparatus according to the first aspect, the movable element controls a length of a suspension line, and a length of the suspension line. Suspension line length control means, suspension line suspension force detection means for detecting a force by which the suspension line suspends the device under test, and suspension line suspension force control means for controlling the suspension force of the suspension line It is.

According to a third aspect of the present invention, in the exercise test apparatus according to the second aspect, the suspension line length control means and the suspension force control means comprise a motor for adjusting the length of the suspension line and the suspension force. Is included.

According to a fourth aspect of the present invention, in the motion test apparatus according to any one of the first to third aspects, at least a permanent magnet is disposed as a magnetic field generating means on a surface of the movable member facing a lower surface of the reference plate; As the contact holding means, at least three free wheels which rotatably support a sphere in contact with the lower surface of the reference plate by the frictional force reducing means are arranged so as not to be aligned on the same straight line.

According to a fifth aspect of the present invention, in the motion test apparatus according to any one of the first to fourth aspects, the active drive means includes at least one drive wheel disposed vertically above the suspension line; A compression spring element for pressing the drive wheel against the lower surface of the reference plate; and a drive direction adjusting means for generating a force for driving the drive wheel in an arbitrary direction in a two-dimensional plane parallel to the lower surface of the reference plate. And

According to a sixth aspect of the present invention, in the motion test apparatus according to any one of the first to fifth aspects, the displacement detecting means is disposed on the movable member and detects the inclination of the suspension line with respect to the vertical direction. It is provided with a detection device.

According to a seventh aspect of the present invention, in the motion test apparatus according to any one of the first to fifth aspects, the displacement detection means is provided on an optical target provided on the device under test, and on a moving element, An optical monitoring device for detecting the position of the image of the optical target.

According to an eighth aspect of the present invention, in the motion test apparatus according to any one of the first to fifth aspects, the displacement detecting means is disposed on the movable element and detects a horizontal force acting on the suspension line. A horizontal force detecting device.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a diagram schematically showing an overall configuration of a motion test device according to an embodiment of the present invention. In FIG. 1, a device under test 100 such as a deployable antenna is supported by a plurality of movers 300 via a suspension line 310 such as a cable. At the same time, each mover 30
Numeral 0 is supported by a magnetic attraction force vertically below the support plate 200 with respect to the support plate 200 which is a reference plate formed of a magnetic material such as iron and having a substantially horizontal lower surface. Further, each movable element 300 is connected to an external control device 580 by an electric wire 590.

FIG. 2 is an enlarged perspective view of only the movable element 300. As shown in FIG. In FIG. 2, each moving element 300
Are magnetic field generating means 320 for generating a magnetic attraction force on the support plate 200, a free wheel 330 as a contact holding means for maintaining mechanical contact with the support plate 200, and in a plane parallel to the support plate 200. Displacement detecting means 350 for detecting the relative displacement between the moving element 300 and the DUT 100 coupled thereto, and the displacement detecting means 3
A driving wheel 400 is provided as active driving means for driving the moving element 300 along the lower surface of the supporting plate 200 so as to minimize the amount of displacement obtained from the moving element 50. A motor 430 for controlling the length of the suspension line 310 in the vertical direction is provided.
And the motor 43 so that the length of the suspension line 310 does not change.
0, a brake 431 for fixing the rotation axis, an encoder 420 for detecting the rotation angle of the motor 430 to detect the vertical length of the suspension line 310, and a load cell for detecting the tension of the suspension line 310, that is, the suspension force. 440. The motor 430 also serves as a suspension force control unit for the suspension line 310. Reference numeral 460 denotes an upper fixed plate for fixing the magnetic field generating means 320, the free wheel 330, and the drive wheel 400 at predetermined positions. Reference numeral 461 denotes a spherical joint that connects the upper fixed plate 460 and the load cell 440 so as to be relatively rotatable. . Reference numeral 500 denotes a control circuit board on which a control circuit described later is mounted. 470 is a lower fixing plate for fixing the control circuit board 500, the load cell 440, and the motor 430 in a predetermined positional relationship. A spring 311 for absorbing shock and a damper 312 are attached to one end of the suspension line 310 and connected to the DUT 100 via a hook 313. Catenary 310
The other end passes through the displacement detection means 350 and is wound on a pulley (not shown) attached to the shaft of the motor 430 via a pulley (not shown).

In the illustrated example, the upper fixing plate 460 has a substantially triangular shape, and three contact holding means (free rings) 330 are arranged close to the respective vertices of the triangular upper fixing plate 460.
The three magnetic field generating means 320 are respectively arranged at substantially intermediate positions of two contact holding means 330 adjacent to each other. The upper fixing plate 460 holds a predetermined distance from the lower surface of the supporting flat plate 200 by the three contact holding means 330, and substantially uniform magnetic attraction acts on the upper fixing plate 460 by the magnetic field generating means 320. Triangular upper fixing plate 4
An active driving means 400 is arranged at the center of 60,
The upper fixed plate 460, that is, the movable element 300 is driven along the lower surface of the supporting flat plate 200. One end of the load cell 440 is connected to the suspension line 310 via the lower fixing plate 470, and the other end is connected to the center of gravity of the upper fixing plate 460 via the spherical joint 461.

FIG. 3 is an enlarged sectional view of the magnetic field generating means 320. In FIG. 3, reference numeral 321 denotes a permanent magnet for generating a magnetic field, 322 denotes a magnetic flux generated by the permanent magnet 321, 325 denotes a yoke for passing the magnetic flux 322,
8 is a gap. The magnetic field generating means 320 includes a yoke 325 having a substantially inverted E-shape in longitudinal section and a cylindrical external appearance, and a disk-shaped permanent magnet 32 fixed to a central convex portion of the yoke 325.
And 1. Since the magnetic flux 322 flows in the magnetic circuit formed by the yoke 325, the support plate 200, and the minute gap 328, the magnetic flux 322 hardly leaks outside the magnetic field generating means 320. Therefore, the magnetomotive force generated by the permanent magnet 321 is efficiently converted to the magnetic attraction force in the gap 328. Generally, magnetic attraction force is magnetic flux 3
22 is a function of the magnitude, but does not depend on the orientation of the magnetic flux 322. That is, the polarity of the permanent magnet 321 may be either N or S on the support plate 200 side.

FIG. 4 is a sectional view showing the structure of the contact holding means 330. In FIG. 4, reference numeral 331 denotes a spherical free wheel, 332 denotes a holding base for holding the free wheel 331, 340.
Reference numeral denotes a bearing, for example, as a frictional force reducing means provided between the free wheel 331 and the holding base 332 so as to support the free wheel 331 so as to be freely rotatable about three axes, that is, rotatably.

FIGS. 5 and 6 are a horizontal sectional view and a vertical sectional view showing the structure of the displacement detecting means 350, respectively. 5 and 6, reference numeral 351 denotes a camera for detecting a displacement of the suspension line 310 in the x-axis direction, and reference numeral 352 denotes a suspension line 31.
A camera 314 for detecting a displacement in the y-axis direction of 0, 314 is a center line of the suspension line 310 when the suspension line 310 is inclined, 355 is a detection position of the suspension line 310 detected by the camera 351, 35
Reference numeral 3 denotes a displacement amount detected by the camera 351, and 359 denotes a displacement detector outer frame. The cameras 351 and 352 are attached to a displacement detector outer frame 359, and the displacement detector outer frame 359 is fixed to a lower fixing plate 470.

FIG. 7 is a sectional view schematically showing the structure of the active driving means 400. 7, reference numeral 401 denotes a driving wheel, 402 denotes a driving motor for applying a driving force to the driving wheel,
403 is a driving wheel holding base for holding the driving wheel 401 and the driving motor 402, 404 is a direction changing motor for rotating the driving wheel holding base 403, and 410 is a compression spring for always bringing the driving wheel 401 into contact with the support plate 200. .

Next, the operation of this embodiment will be described. First, in FIGS. 1 and 2, the moving element 300 tries to be attracted to the supporting plate 200 made of pure iron by three magnetic field generating means 320. However, since the moving element 300 is provided with three contact holding means 330 that are not on the same straight line, the moving element 300 and the supporting flat plate 200 are mechanically contacted by the three contact holding means 330, and the Generation means 3
A predetermined gap is always maintained between the support plate 20 and the support plate 200. As shown in FIG. 4, the contact holding means 330 can freely rotate in three axes, and furthermore, there is a small gap 328 between the magnetic field generating means 320 and the support flat plate 200. The user can freely move along the supporting plate 200 while maintaining a constant posture with respect to the supporting plate 200. The constant posture is, for example, a posture in which the two translation angles of the movable member 300 with respect to the support plate 200 are also maintained at zero while the vertical translation change of the movable member 300 is kept at zero.

When the shape of the DUT 100 changes, the suspension line 310 is inclined from the vertical. The inclination of the suspension line 310 is detected by the displacement detecting means 350 as follows. In FIGS. 5 and 6, the catenary 310 is always the camera 3
51 and the camera 352, and the
When 0 is inclined from the vertical and becomes like 311, the position of the suspension line 310 reflected on the cameras 351 and 352 changes. For example, in the detection of the displacement in the x-axis direction, the camera 351
, The detection position 355 is detected, and the displacement amount 353 is obtained. Similarly, the y-axis direction is detected by the camera 352.

The control command is calculated by the control circuit 500 so that the inclination of the suspension line 310 detected as described above becomes zero, and the active driving means 400 is driven. As shown in FIG. 7, the drive wheel 401 is always in contact with the support plate 200 by the compression spring element 410, and the drive motor 40
2, the driving wheel 401 rotates, and the moving element 30
0 moves. The direction of movement of the moving element 300 can be arbitrarily set by driving the direction changing motor 404. Accordingly, even when the shape of the device under test 100 changes, the movable element 300 keeps the suspension line 310 vertical so as to always maintain the suspension line 310 vertically.
Actively move along 00.

The active drive control of the moving element 300 will be described in more detail. FIG. 8 shows a block diagram of the active drive control of the moving element. In FIG. 8, reference numeral 600 denotes a test object 1.
A position 00 and a signal 601 indicate the position of the moving element 300, respectively. Reference numeral 510 denotes a displacement signal converter, and 553
Is the first compensator, 515 is the first amplifier, 301 is the mover 3
00 is the dynamic characteristic. The displacement 353 indicates that the DUT 100
Is the difference between the position 600 of the moving element 300 and the position 601 of the moving element 300,
This is detected by the displacement detection means 350. The detected displacement amount is converted by the displacement signal converter 510,
Further, stabilization compensation of active drive control of the moving element 300 is performed by the first compensator 553. The stabilized drive command is amplified by the first amplifier 515 and the active drive means 4
Drive 00. The moving element 300 driven by the active driving means 400 moves according to the dynamic characteristic 301 of the moving element 300, and the position 601 of the moving element 300 changes.

If the tension control for keeping the suspension force of the suspension line 310 at a predetermined value is performed simultaneously with the active movement of the movable element 300 in the two-dimensional plane, the shape of the DUT 100 becomes three-dimensional. Even if it changes, the DUT 100 can be supported without restricting the movement of the DUT 100. The suspension force control of the suspension line 310 is performed as follows.

FIG. 9 is a block diagram showing the control of the length of the suspension line of the movable element 300 and the suspension force. This control is a method of simultaneously controlling the length 611 of the suspension line 310 and the suspension force 621, and is “hybrid control of position and force”. In FIG. 9, reference numeral 610 denotes a suspension line length command value, 611 denotes a suspension line length, 620 denotes a suspension line suspension force command value, and 621 denotes a signal indicating a suspension line suspension force. 550 is a signal processing device, 551 is a first filter, 555 is a third compensator, 55
6 is a limiting device, 554 is a second compensator, 516 is a second amplifier, 511 is a suspension line length signal conversion device, 512 is a suspension line suspension force signal conversion device, and 552 is a second filter.

First, control of the length of the suspension line will be described. The suspension line length command value 610 and the suspension line suspension force command value 620 are sequentially updated from the external control device 580. The first filter 551 outputs only the low frequency component of the catenary length command value 610. The sum of the output of the first filter 551 and the control result of the difference between the suspension wire suspension force command value 620 and the suspension wire suspension force 621 controlled by the third compensator 555 is:
It becomes an equivalent command value for hybrid control. The upper limit value and the lower limit value of this equivalent command value are limited by the limiting device 556,
The detected value is compared with the detected value of the length of the catenary line 611, and the difference is compensated by the second compensator 554. Then, through the second amplifier 516, the motor 430, which is a means for controlling the suspension line length 611 and the suspension line suspension force 621, is driven. When the motor 430 rotates, the length 611 of the suspension line 310 changes. The change in the catenary length 611 is compared with the equivalent command value via the encoder 420 and the catenary length signal converter 511 and the limiter 556.

When the length of the suspension line 611 changes, the force for suspending the DUT 100 also changes. This suspension line length 611
And the suspension wire suspension force 621 changed by the rigidity 101 of the test object 100 are detected by the load cell 440, passed through the suspension wire suspension force signal converter 512 and the second filter 552, and output from the suspension wire suspension force command value 620. The difference is calculated. This difference is compensated for by the third compensator 555, and the sum with the catenary length command value 610 becomes the equivalent command value. This equivalent command value is input to the limiting device 556, where the equivalent command value is output after being restricted so as to fall within a predetermined range in order to limit the length of the catenary line to a predetermined range. Thus, the motor 430 is also driven by the change in the suspension force of the suspension line 310, and both the suspension line length control and the suspension force control are achieved. Here, the second compensator 554 performs PID compensation,
The third compensator 555 performs I (integral) compensation. In addition, the second filter 552 outputs only the input low-frequency component similarly to the first filter. When the test object 100 is incorporated into or removed from the exercise test apparatus, the suspension line 3
By controlling only the length of the suspension line 310 without controlling the suspension force of the test piece 10, the work of assembling and removing the DUT 100 can be easily performed. Further, in order to cancel the gravity of the DUT 100 with high accuracy, on the contrary, only the tension of the suspension line 310 need be controlled without controlling the length of the suspension line 310.

FIG. 1 shows the flow of signals around the control circuit 500.
0 is shown. 10, reference numeral 550 denotes a signal processing device;
60 is a memory for a signal processing procedure, 570 is a communication device, 58
0 is an external control device. The external control device 580 transmits (1) an active drive control start / stop command to the mobile device 300 via the communication device 570 provided in the mobile device 300, (2) a suspension line length control and Transmission of start / stop commands for suspension line suspension force control, (3) suspension line length command value 61
0 and the suspension line suspension force command value 620 are transmitted, and (4) the operation status of the mobile unit 300 is received. The operation of all the mobile units 300 can be collectively remotely controlled by the external control device 580, and the operation statuses of all the mobile units 300 can be collectively monitored. In this case, the communication device 570 is connected to the external control circuit 580.
0 communication device 570.

As described above, in the present embodiment, all the moving elements 300 independently and actively move in a two-dimensional plane parallel to the supporting plate 200 so that the suspension line 310 is always vertical. Thus, even if a support plate having low horizontality and flatness is used, the test object 100 is supported without restraining all two-dimensional movements of the test object 100 in a plane parallel to the support plate 200. be able to. Further, since the length and the suspension force of the suspension line 310 are detected and controlled, the test object 100 can be controlled without restricting the three-dimensional movement.
Can be supported. Further, by using the motor 430 for both the length control and the suspension force control of the suspension line 310, the number of parts can be reduced.

In order to prevent the suspension line 310 from being pulled out by the gravity of the device under test 100 when power is not supplied to the motor 430, a brake 431 for fixing the shaft of the motor 430 is attached. .

Further, since the spherical joint 461 is attached between the upper fixed plate 460 and the load cell 440 serving as the suspension line tension detecting means, even if the support plate 200 is not kept horizontal, the load cell 440 is not used. Since the vertically lower portion also keeps the attitude with respect to the horizontal plane, the inclination of the suspension line 310 from the vertical direction is accurately detected by the displacement detection means 350.

Further, a spring 311 is attached vertically below the suspension line 310, and the suspension load of the test object 100 suspended via the hook 313 changes suddenly or an unexpected external force is applied. Even if it does, the test object 100 can be loosely supported. Further, a damper 312 is attached to suppress the vibration of the spring 311.

Driving motor 402, rotating motor 40
4, motor 430, load cell 440, camera 351,
The camera 352 and the control circuit 500 require a power source, and this power source can be mounted on the movable element 300 as a battery, or can be supplied from outside by a wire 590.

A suspension line 310 is provided for a plurality of movable elements 300.
Is given from the external control device 580, so that the tension of the suspension line 310 can be changed in a time series according to the motion behavior of the DUT 100. In FIG. 1, the external control device 580 and the plurality of movable elements 300 are connected by the electric wire 590, but it is also possible to perform wireless communication.
Further, it is also possible to monitor the operation status of the mobile unit 300 by using an external computer using the same communication line.

According to the present embodiment, since the movable element 300 is actively driven by the active driving means 400, even if there is a power supply wire or a wired communication line, the movement resistance due to these wires is small. Offset.

By using the permanent magnet 321 for the magnetic field generating means 320, electric power for supporting the moving element on the supporting flat plate becomes unnecessary, but an electromagnet which generates a magnetic flux in the same direction as the permanent magnet 321 is also used. It is also possible to cope with the case where the gravity of the test object 100 becomes large without using a large design change such as replacing the permanent magnet 321 by using the electromagnet as an auxiliary.

Embodiment 2 In the first embodiment, the active driving means 400 is configured as shown in FIG.
The same effects can be obtained even if the configuration is shown in the vertical sectional view and the horizontal sectional view in (a) and (B), respectively. FIG.
, 405 is an x-axis drive motor, 406 is a y-axis drive motor, 407 is an x-axis drive rotor, 408 is a y-axis drive rotor, and 409 is a bearing. The x-axis drive rotor 407 is connected to the x-axis drive motor 405 and the y-axis drive rotor 4.
Reference numeral 08 is fixed to the y-axis driving motor 406, and the two motors 405 and 406 are fixed to the driving wheel holding base 403. Drive wheel 401
Has a spherical shape, and is fixed to the driving wheel holding base 403 via a bearing so that the center thereof does not move with respect to the driving wheel holding base 403. Two motors 405 and 40
6 can be driven independently, so that a driving force can be obtained in any direction.

Embodiment 3 In the first embodiment, the displacement detection means 350 is configured as shown in FIGS.
A similar effect can be obtained even if the configuration is as shown in FIG. FIG.
2, reference numeral 360 denotes an optical target attached to the device under test 100, and 370 denotes an optical monitoring device attached to the lower fixed plate 470 of the moving element 300. The optical monitoring device 370 always keeps the optical target 360 in its field of view, and when the device under test 100 is deformed, the optical target 360 moves together with the device under test 100, and the optical target 360 moves between the device under test 100 and the movable element 300. The displacement in the horizontal plane is detected by the optical monitoring device 370. By controlling the active driving device 400 based on the horizontal displacement between the test object 100 and the movable element 300 detected in this way, the movable element 300 is moved, and the suspension line 310 is kept vertical. The optical monitoring device 370 is positioned vertically above the hook 313 at the end of the suspension line 310, and the optical target 360 is positioned when the optical target 360 is mounted on the surface of the DUT 100 vertically below the hook 313. The deviation detection accuracy is the highest.

Embodiment 4 FIG. In the first embodiment, the displacement detection means 350 is configured as shown in FIGS.
A similar effect can be obtained even if the configuration is as shown in FIG. FIG.
In 3, 381 is a suspension line guide, 382 is an x-axis elastic body, 383 is a y-axis elastic body, 384 is an x-axis horizontal force detection device, 385 is a y-axis horizontal force detection device, and 359 is a position deviation detector outside It is a frame. The suspension line 310 is a suspension line guide 381.
, The inside diameter of the suspension line guide 381 and the outside diameter of the suspension line 310 coincide with each other with the accuracy of fitting. The suspension line guide 381 is connected to an x-axis horizontal force detector 384 and a y-axis horizontal force detector 385 via an x-axis elastic body 382 and a y-axis elastic body 383. When the suspension line 310 is inclined from the vertical, the suspension line guide 381 is displaced on the xy plane together with the suspension line 310, and the x-axis elastic members 382 and y
Since elastic deformation occurs in the shaft elastic body 383, the elastic deformation is detected as a force by the x-axis horizontal force detecting device 384 and the y-axis horizontal force detecting device 385. The displacement of the test object 100 and the moving element 300 in the horizontal direction is calculated from the force detected in this way, and the active element 400 is controlled to move the moving element 300 and maintain the suspension line 310 vertically. .
Note that the suspension line 310 in FIG.
If the load cell 440 for detecting the suspension force of the horizontal force detection device is a three-axis load cell capable of detecting the force of three orthogonal axes, the horizontal force detection device 3
An effect equivalent to that of the present embodiment can be obtained by omitting 84 and 385.

[0047]

As described above, according to the first invention, a reference plate made of a magnetic material and having a substantially horizontal lower surface is provided.
Contacted and supported on the lower surface of the reference plate by magnetic attraction,
A movable element that can freely move in a two-dimensional plane along the lower surface; and a suspension line that is suspended from the movable element and that suspends and supports the device under test. Magnetic field generating means, a contact holding means for mechanically contacting the lower surface of the reference plate, and a relative position in a plane parallel to the reference plate between the device under test and the mover. A displacement detecting means for detecting the displacement, and an active driving means for driving the movable element along the lower surface of the reference plate so as to minimize the displacement detected by the displacement detecting means. Therefore, by supporting the gravitational force between the moving element itself and the DUT while keeping the moving element in contact with the lower surface of the reference plate by the magnetic field generating means and the contact holding means, a predetermined distance is maintained between the moving element and the lower surface of the reference plate. Fine adjustment of magnetic attraction by electromagnet Ku may be, the power is not necessary because it is possible to use a permanent magnet. In addition, the movable element can freely move on the lower surface of the reference plate by following the movement of the device under test in a two-dimensional plane parallel to the lower surface of the reference plate by means of the displacement detection means and the active driving device. The test object can be supported without restricting two-dimensional movement in a plane parallel to the lower surface of the reference plate. Further, the flatness and the horizontality of the lower surface of the reference plate may be low.

According to a second aspect of the present invention, in the first aspect, the movable element comprises a suspension line length detecting means for detecting a length of the suspension line, and a suspension line length for controlling the length of the suspension line. Control means, a suspension wire suspension force detection means for detecting a force by which the suspension wire suspends the device under test, and a suspension wire suspension force control means for controlling the suspension force of the suspension wire. The test object can be supported without restricting the three-dimensional movement of the body.

According to a third aspect, in the second aspect, the suspension line length control means and the suspension force control means comprise:
Since a motor for adjusting the length of the suspension line and the suspension force is included as a component, both the adjustment of the suspension line length and the adjustment of the suspension force can be shared by the motor, and the number of parts can be reduced.

According to a fourth aspect of the present invention, in any one of the first to third aspects, at least a permanent magnet is disposed as a magnetic field generating means on a surface of the movable member facing a lower surface of the reference plate,
In addition, as the contact holding means, at least three free wheels that rotatably support a sphere in contact with the lower surface of the reference plate by the frictional force reducing means are arranged so as not to be aligned on the same straight line. Accordingly, the movable element can freely move along the lower surface of the reference plate while maintaining a constant posture with respect to the lower surface of the reference plate.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects of the present invention, the active drive means includes at least one drive wheel disposed vertically above the suspension line; And a driving direction adjusting means for generating a force for driving the driving wheel in an arbitrary direction within a two-dimensional plane parallel to the lower surface of the reference plate. Therefore, the driving force generated by the driving wheel to the lower surface of the reference plate is reliably transmitted by the compression spring element, and the driving force generated by the driving wheel by the driving direction adjusting means is all in the two-dimensional plane along the lower surface of the reference plate. In this case, the movable element can be reliably moved to an arbitrary position along the lower surface of the reference plate.

According to a sixth aspect of the present invention, in any one of the first to fifth aspects, the displacement detecting means is provided on the movable member and detects the inclination of the suspension line with respect to the vertical direction. Since the moving member is moved so as to minimize the detected inclination, the device under test can be supported without restraining the two-dimensional movement parallel to the lower surface of the reference plate of the device under test. .

According to a seventh aspect, in any one of the first to fifth aspects, the displacement detection means is provided on an optical target provided on the device under test, and on a movable element,
An optical monitoring device that detects the position of the image of the optical target is provided, so that the moving element is moved so as to minimize the positional deviation of the detected image, so that the lower surface of the reference plate of the device under test is moved. The test object can be supported without restraining the parallel two-dimensional movement.

According to an eighth aspect of the present invention, in any one of the first to fifth aspects, the displacement detecting means is provided on the movable member and detects a horizontal force acting on the suspension line. Since the detector is provided, the test piece is moved without restraining the two-dimensional movement parallel to the lower surface of the reference plate of the test piece by moving the moving element so as to minimize the detected horizontal component force. Can be supported.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall configuration of a motion test device according to a first embodiment of the present invention.

FIG. 2 is an enlarged perspective view showing a configuration of a moving element of the exercise test device according to the first embodiment of the present invention.

FIG. 3 is a sectional view showing a magnetic field generating means in the exercise test device according to the first embodiment of the present invention.

FIG. 4 is a sectional view showing a contact holding unit in the exercise test device according to the first embodiment of the present invention.

FIG. 5 is a horizontal cross-sectional view showing a displacement detecting unit in the exercise test device according to the first embodiment of the present invention.

FIG. 6 is a vertical sectional view showing a displacement detecting means in the exercise test device according to the first embodiment of the present invention.

FIG. 7 is a cross-sectional view schematically showing a configuration of active driving means in the exercise test device according to the first embodiment of the present invention.

FIG. 8 is a block diagram of active drive control in the exercise test device according to the first embodiment of the present invention.

FIG. 9 is a block diagram of control of a suspension line length and a suspension line suspension force in the exercise test device according to the first embodiment of the present invention.

FIG. 10 is a functional block diagram of a circuit board in the exercise test device according to the first embodiment of the present invention.

11A and 11B show a configuration of an active driving means in the exercise test device according to the second embodiment of the present invention, wherein FIG. 11A is a vertical sectional view, and FIG. 11B is a horizontal sectional view.

FIG. 12 is a schematic diagram showing a configuration of a displacement detection unit in the exercise test device according to the third embodiment of the present invention.

FIG. 13 is a perspective view showing a configuration of a displacement detecting unit in the exercise test device according to the fourth embodiment of the present invention.

FIG. 14 is a schematic view of a motion test apparatus according to a first prior art.

FIG. 15 is a schematic view of a motion test apparatus according to a second prior art different from FIG. 14;

FIG. 16 is an enlarged perspective view showing a main part of the exercise test device according to the second conventional technique shown in FIG.

[Explanation of symbols]

1 frame, 2 first rail, 3 second rail, 4 slider mechanism, 5 suspension wire, 6 DUT, 10 support, 11 reference plate,
12 object, 13 non-contact displacement sensor, 14
Electromagnetic actuator, 15 base plate, 1
6 motors, 17 brakes, 18 encoders,
19 cable, 20 spring, 21 damper,
22 load cell, 23 spherical joint, 24 fixing plate, 25 control circuit, 100 test object, 200
Reference plate, 300 mover, 310 suspension line, 31
1 spring, 312 damper, 313 hook, 3
14 centerline of suspension line, 320 magnetic field generating means, 3
21 permanent magnet, 322 magnetic flux, 325 magnet yoke, 328 gap, 330 contact holding means,
331 free wheel, 332 holding stand, 340 bearing, 350 displacement detection means, 351 camera, 352 camera, 353 displacement, 355
Detection position, 359 Position shift detector outer frame, 360
Optical target, 370 optical monitoring device, 38
0 horizontal force detector, 381 suspension line guide, 382
Elastic body for x-axis, 383 Elastic body for y-axis, 384
x-axis horizontal force detector, 385 y-axis horizontal force detector,
400 active drive means, 401 drive wheels, 40
2 drive motor, 403 drive wheel holder, 40
4 direction change motor, 405 x axis drive motor,
406 y-axis drive motor, 407 x-axis drive roller, 408 y-axis drive roller, 409 bearing, 410 compression spring element, 420 encoder,
430 motor, 431 brake, 440 load cell, 460 upper fixed plate, 461 spherical joint, 470 lower fixed plate, 500 control circuit,
510 position shift signal converter, 511 suspension line length signal converter, 512 suspension line suspension force signal converter, 515 first amplifier, 516 second amplifier,
550 signal processing device, 551 first filter, 5
52 second filter, 553 first compensator, 554
Second compensator, 555 Third compensator, 556 Limiting device, 560 Memory for signal processing procedure, 570 Communication device, 580 External control device, 590 Wire, 6
00 Position of test object, 601 Position of mover, 6
10 Suspension line command value of slider, 611 Suspension line length of slider, 620 Suspension line command value of slider,
621 The suspension wire suspension force of the mover.

Continued on the front page (51) Int.Cl. ⁶ Identification code FI H02N 15/00 H02N 15/00

Claims (8)

[Claims] 1. A reference plate made of a magnetic material and having a substantially horizontal lower surface, and being contacted and supported on a lower surface of the reference plate by magnetic attraction,
A movable element that can freely move in a two-dimensional plane along the lower surface; and a suspension line that is suspended downward from the movable element and suspends and supports the device under test. Magnetic field generating means for generating a magnetic field; contact holding means for mechanically contacting the lower surface of the reference plate; and a relative position in a plane parallel to the reference plate between the device under test and the mover. A displacement detecting means for detecting a displacement amount; and an active driving means for driving the moving element along a lower surface of the reference plate so as to minimize the displacement amount detected by the displacement detecting means. An exercise test device characterized in that: 2. The apparatus according to claim 1, wherein the movable element comprises: a suspension line length detecting unit configured to detect a length of a suspension line; a suspension line length control unit configured to control a length of the suspension line; The exercise test apparatus according to claim 1, further comprising: a suspension line suspension force detection unit that detects a suspension force of the suspension line; and a suspension line suspension force control unit that controls a suspension force of the suspension line. 3. The exercise test apparatus according to claim 2, wherein the suspension line length control means and the suspension force control means include a motor for adjusting the length and the suspension force of the suspension line as a component. . 4. A movable member facing a lower surface of a reference plate,
At least three free wheels, in which at least a permanent magnet is arranged as a magnetic field generating means and a sphere in contact with the lower surface of the reference plate is rotatably supported by a frictional force reducing means as a contact holding means, are arranged on the same straight line. The motion control device according to any one of claims 1 to 3, wherein the motion control device is arranged so as not to be lined up. 5. The active driving means includes: at least one driving wheel disposed vertically above the suspension line; a compression spring element for pressing the driving wheel against a lower surface of a reference plate; and the driving wheel. 5. A motion according to claim 1, further comprising: a driving direction adjusting means for generating a driving force for driving the driving force in an arbitrary direction in a two-dimensional plane parallel to the lower surface of the reference plate. Testing equipment. 6. The apparatus according to claim 1, wherein the displacement detecting means includes a tilt detecting device disposed on the movable element and detecting a tilt of the suspension line with respect to a vertical direction. Exercise test equipment. 7. The apparatus according to claim 1, wherein the displacement detecting means includes an optical target provided on the device under test, and an optical monitoring device provided on a movable element for detecting a position of an image of the optical target. The exercise test device according to any one of claims 1 to 5, characterized in that: 8. The apparatus according to claim 1, wherein said displacement detecting means includes a horizontal force detecting device disposed on the movable member and detecting a horizontal force acting on the suspension line. An exercise test apparatus according to any one of the above.