WO2009011433A9 - 加振試験装置 - Google Patents
加振試験装置 Download PDFInfo
- Publication number
- WO2009011433A9 WO2009011433A9 PCT/JP2008/063065 JP2008063065W WO2009011433A9 WO 2009011433 A9 WO2009011433 A9 WO 2009011433A9 JP 2008063065 W JP2008063065 W JP 2008063065W WO 2009011433 A9 WO2009011433 A9 WO 2009011433A9
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- WO
- WIPO (PCT)
- Prior art keywords
- actuator
- test apparatus
- intermediate stage
- rail
- runner block
- Prior art date
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/06—Multidirectional test stands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
Definitions
- the present invention relates to an excitation test apparatus.
- machine products and machine parts are repeatedly subjected to loads during transportation and use.
- An object subjected to repeated loading may fail due to fatigue or may change its shape or characteristics. Therefore, when developing a machine product or machine component, it is desirable to repeatedly apply a load to a sample (test piece) and observe the behavior.
- a vibration test apparatus is used.
- an excitation test apparatus fixes a work (test piece) on a table, and this table is uniaxially or triaxially moved by an external actuator.
- vibration is made in the six axial directions.
- the above publication discloses a configuration (first configuration) in which tables are stacked in three stages and a work is fixed to the upper table.
- the first configuration the lower table is vertically oscillated, and the middle table is horizontally oscillated with respect to the lower table. Is excited in the back and forth direction with respect to the middle table.
- the actuators for exciting the middle and upper tables are also displaced, and when the intermediate table is oscillated, the actuator for exciting the upper table is also displaced. ing. Therefore, the upper table and the test piece fixed thereon can be oscillated in three axial directions without interference between the actuators.
- a plurality of actuators can be attached to a single table and can be oscillated in six axial directions (a second configuration) as another configuration of the excitation test apparatus.
- the actuators can follow the displacement of the table to some extent by making each of the actuators displaceable with a certain degree of freedom (the actuator can be pivoted about a certain axis).
- the table and the test piece mounted thereon can be oscillated in six axial directions without interference between the actuators.
- the actuator for exciting the lower table requires power sufficient to excite three tables and the other two actuators, so the excitation apparatus is not large. There was a problem of becoming a thing. Further, actuators for vibrating the upper and middle tables are fixed to the middle and lower tables, respectively, and configured to vibrate together with the tables. Therefore, the actuator itself becomes an unbalanced load on the table, and an error component caused by the unbalanced load may be included in the vibration applied to the workpiece.
- the vibration control apparatus as in the second configuration has a complex control system such as using a processor for calculating parameters to be supplied to each actuator at high speed.
- an object of the present invention is to provide a vibrating device capable of vibrating the table with a large amplitude without increasing the size and complexity of the device.
- the table is slid in the second direction with respect to the first actuator, and the first and second actuators capable of exciting the table in the first and second directions orthogonal to each other.
- An excitation test apparatus is provided having a first coupling means enabling and a second coupling means enabling the table to slide relative to a second actuator in a first direction.
- each actuator is slidable relative to the table in the direction orthogonal to the vibration direction of the actuator. Therefore, even if the table vibrates with a certain actuator, the table slides relative to the other actuator, so that the other actuator does not displace and the vibration direction of the other actuator does not change. Therefore, in the present invention, each actuator only needs to have sufficient power to excite the table and the work. Further, according to the present invention, since it becomes possible to excite the table without rotating the actuator, it is possible to excite the table with a large stroke even if the drive shaft of the actuator is short.
- a third actuator capable of vibrating the table in a third direction perpendicular to both the first and second directions, and the table slidable in the first and second directions with respect to the third actuator
- third connecting means connected to the first and second connecting means, the first and second connecting means slidably connecting the table to the first and second actuators in a third direction, respectively.
- FIG. 1 It is a top view of the excitation test device by the embodiment of the present invention. It is the side view which looked at the 1st actuator of an embodiment of the invention from the direction of the Y-axis. It is a top view of the 1st actuator of an embodiment of the invention. It is the side view which looked at the table and the 3rd actuator of an embodiment of the invention from the direction of the X-axis. It is the side view which looked at the table and the 3rd actuator of an embodiment of the invention from the direction of the Y-axis. It is a block diagram of a control system in an excitation test device according to an embodiment of the present invention. It is sectional drawing of the semi-rigid coupling of embodiment of this invention. FIG.
- FIG. 5 is a cross-sectional view of a runner block and a rail according to an embodiment of the present invention cut along a plane perpendicular to the longitudinal direction of the rail.
- FIG. 9 is a cross-sectional view taken along line II of FIG. 8;
- FIG. 1 is a top view of an excitation test apparatus according to an embodiment of the present invention.
- the vibration test apparatus 1 of the present embodiment fixes a workpiece to be subjected to a vibration test on the table 100, and uses the first, second and third actuators 200, 300 and 400 to set the table 100 and the upper surface thereof.
- the workpiece is excited in the direction of three orthogonal axes.
- the direction in which the first actuator 200 excites the table 100 (vertical direction in FIG. 1) is the X axis direction
- the direction in which the second actuator 300 excites the table 100 horizontal direction in FIG. Is defined as the Y axis direction
- the direction in which the third actuator 400 excites the table that is, the vertical direction (the direction perpendicular to the sheet of FIG. 1) is defined as the Z axis direction.
- FIG. 6 is a block diagram of a control system of an excitation test apparatus according to an embodiment of the present invention.
- the first, second and third actuators 200, 300 and 400 are provided with vibration sensors 220, 320 and 420, respectively.
- the control means 10 performs desired feedback control of the first, second and third actuators 200, 300 and 400 (specifically, servomotors 212, 312 and 412) based on the outputs of these vibration sensors.
- the table 100 and the workpiece mounted thereon can be oscillated in amplitude and frequency (these parameters are usually set as a function of time).
- the first, second, and third actuators 200, 300, and 400 are configured such that motors, power transmission members, and the like are mounted on the base plates 202, 302, and 402, respectively.
- the base plates 202, 302, 402 are fixed on the device base 2 by bolts (not shown).
- adjusters A are arranged at a plurality of positions adjacent to the base plates 202, 302 and 402.
- the adjuster A has an internal thread portion A1 fixed to the device base 2 with a bolt AB, and an external thread portion A2 screwed into the internal thread portion A1.
- the external thread portion A2 is a cylindrical member having a cylindrical surface and a thread formed on the cylindrical surface, and the external thread portion A2 is engaged with a screw hole formed in the internal thread portion A1 and rotated.
- the part A2 can be advanced and retracted relative to the corresponding base plate.
- One end of the externally threaded portion A2 (the side proximal to the corresponding base plate) is formed in a substantially spherical shape, and the position of the base plate is obtained by bringing this protrusion into contact with the side surface of the corresponding base plate. Can be fine-tuned. Further, at the other end of the externally threaded portion A2 (the side distal to the corresponding base plate), a hexagonal hole for a hexagonal wrench (not shown) is formed. .
- the nut A3 is attached to the male screw portion A2 so that the male screw portion A2 is not loosened by vibration or the like that can be transmitted from the base plate to the adjuster A in the vibration test.
- the nut A3 is attached such that one end face thereof abuts on the female screw part A1. From this state, the nut A3 is screwed in and the female screw part A1 is pushed to exert an axial force on the male screw part A2 and the female screw part A1. The frictional force generated on the threads of the male screw portion A2 and the female screw portion A1 by this axial force prevents the female screw portion A1 from loosening from the male screw portion A2.
- FIG. 2 is a side view of the first actuator 200 according to an embodiment of the present invention as viewed from the Y-axis direction (from right to left in FIG. 1). This side view is partially cut away to show the internal structure.
- FIG. 3 is a partially cutaway view of the top view of the first actuator 200 to show an internal structure.
- the direction from the first actuator 200 toward the table 100 along the X axis is “positive direction of X axis”
- the direction from the table 100 toward the first actuator is “X axis Define as "negative direction”.
- a frame 222 consisting of a plurality of beams 222a welded together and a top plate 222b is fixed by welding.
- the bottom plate 242 of the support mechanism 240 for supporting the connection mechanism 230 for transmitting the excitation motion by the drive mechanism 210 for exciting the table 100 (FIG. 1) and the drive mechanism 210 to the table Is fixed via a bolt (not shown) on the top plate 222b.
- the drive mechanism 210 includes a servomotor 212, a coupling 260, a bearing portion 216, a ball screw 218 and a ball nut 219.
- the coupling 260 couples the drive shaft 212 a of the servomotor 212 and the ball screw 218.
- the bearing portion 216 is supported by a bearing support plate 244 fixed by welding vertically to the bottom plate 242 of the support mechanism 240, and rotatably supports the ball screw 218.
- the ball nut 219 engages with the ball screw 218 while being supported by the bearing support plate 244 so as not to move about its axis.
- the ball screw rotates, and the ball nut 219 advances and retracts in the axial direction (that is, the X-axis direction).
- the movement of the ball nut 219 is transmitted to the table 100 through the connection mechanism 230, whereby the table 100 is driven in the X-axis direction.
- the table 100 can be oscillated in the X-axis direction with a desired amplitude and cycle.
- a motor support plate 246 is welded to the upper surface of the bottom plate 242 of the support mechanism 240 perpendicularly to the bottom plate 242.
- a servomotor 212 is cantilevered on one surface of the motor support plate 246 (surface on the negative side in the X-axis) so that the drive shaft 212a is perpendicular to the motor support plate 246.
- the motor support plate 246 is provided with an opening 246a, and the drive shaft 212a of the servomotor 212 passes through the opening 246a and is connected to the ball screw 218 on the other surface side of the motor support plate 246.
- the bearing portion 216 has a pair of angular ball bearings 216a, 216b (the one in the negative side of the X axis is 216a and the one in the positive side of the X axis is 216b) combined in a frontal combination. doing.
- Angular ball bearings 216 a, 216 b are housed in the hollow portion of the bearing support plate 244.
- a bearing pressing plate 216c is provided on one surface (a surface on the positive side in the X-axis) of the angular ball bearing 216b, and the bearing pressing plate 216c is fixed to the bearing support plate 244 using a bolt 216d.
- the angular ball bearing 216b is pushed in the X axis negative direction.
- a screw portion 218a is formed on a cylindrical surface adjacent to the bearing portion 216 in the negative direction of the X-axis.
- a collar 217 having an internal thread formed on its inner periphery is attached to the screw portion 218.
- connection portion 230 includes a nut guide 232, a pair of Y-axis rails 234, a pair of Z-axis rails 235, an intermediate stage 231, a pair of X-axis rails 237, a pair of X-axis runner blocks 233, and a runner block attachment member 238. doing.
- the nut guide 232 is fixed to the ball nut 219.
- the pair of Y-axis rails 234 are both rails extending in the Y-axis direction, and are vertically aligned and fixed to the end of the nut guide 232 in the positive X-axis direction.
- the pair of Z-axis rails 235 are rails extending in the Z-axis direction, and are arranged and fixed in the Y-axis direction at the end of the table 100 in the negative X-axis direction.
- the intermediate stage 231 is engaged with each of the Y-axis rails 234, and the Z-axis runner block 231b is engaged with each of the Z-axis rails 235 on the surface on the negative side of the X-axis. It is a block provided on the surface on the positive direction side, and is configured to be slidable with respect to both the Y-axis rail 234 and the Z-axis rail 235.
- the intermediate stage 231 can slide in the Z-axis direction with respect to the table 100 and can slide in the Y-axis direction with respect to the nut guide 232. Therefore, the nut guide 231 can slide in the Y axis direction and the Z axis direction with respect to the table 100. Therefore, even if the table 100 is vibrated in the Y-axis direction and / or the Z-axis direction by the other actuators 300 and / or 400, the nut guide 232 is not displaced thereby. That is, bending stress caused by the displacement of the table 100 in the Y-axis direction and / or the Z-axis direction is not applied to the ball screw 218, the bearing 216, the coupling 260, and the like.
- the pair of X-axis rails 237 are rails extending in the X-axis direction, and are fixed in line in the Y-axis direction on the bottom plate 242 of the support mechanism 240.
- the X-axis runner block 233 engages with each of the X-axis rails 237 and is slidable along the X-axis rails 237.
- the runner block mounting member 238 is a member fixed to the bottom surface of the nut guide 232 so as to project toward both sides in the Y axis direction, and the X axis runner block 233 is fixed to the bottom portion of the runner block mounting member 238.
- the nut guide 232 is guided by the X-axis rail 237 via the runner block attachment member 238 and the X-axis runner block 233, and is thereby movable only in the X-axis direction.
- the moving direction of the nut guide 232 is limited only to the X-axis direction, when the ball screw 218 is rotated by driving the servomotor 212, the nut guide 232 and the nut guide 232 are engaged.
- the table 100 advances and retracts in the X-axis direction.
- Position detection means 250 is disposed on one side surface (the near side in FIG. 2, the right side in FIG. 3) of the runner block attachment member 238 in the Y-axis direction.
- the position detection means 250 includes three proximity sensors 251 arranged at regular intervals in the X-axis direction, a detection plate 252 provided on the side surface 238 a of the runner block attachment member 238, and a sensor support plate 253 supporting the proximity sensor 251. have.
- the proximity sensor 251 is an element capable of detecting whether any object is in proximity (for example, within 1 millimeter) in front of each proximity sensor.
- the proximity sensor 251 can detect whether or not the detection plate 252 is present in front of each proximity sensor 251.
- the control means 10 of the vibration testing apparatus 1 can perform feedback control of the servomotor 212 using, for example, the detection result of the proximity sensor 251 (FIG. 6).
- a restriction block 236 is provided which is disposed so as to sandwich the X-axis runner block 233 from both sides in the X-axis direction.
- the restriction block 236 is for restricting the movement range of the nut guide 232. That is, when the servomotor 212 is driven to continue moving the nut guide 232 in the positive direction of the X axis, finally, the restricting block 236 and the runner block attachment member 238 arranged in the positive direction of the X axis And the nut guide 232 can not move in the X-axis positive direction any more.
- the first actuator 200 and the second actuator 300 described above have the same structure except that they are installed in different directions (X and Y axes are interchanged). Therefore, the detailed description of the second actuator 300 is omitted.
- FIG. 4 is a side view of the table 100 and the third actuator 400 as viewed from the X-axis direction (from the lower side to the upper side in FIG. 1). This side view is also partially cut away to show the internal structure.
- FIG. 5 is a side view of the table 100 and the third actuator 400 according to the embodiment of the present invention as viewed from the Y-axis direction (from left to right in FIG. 1). FIG. 5 is also partially cut away to show the internal structure.
- the direction from the second actuator 300 toward the table 100 along the Y axis is a Y-axis positive direction
- the direction along the table 100 from the table 100 to the second actuator 300 is a Y-axis negative Define as a direction.
- the base plate 402 is provided with a frame 422 comprising a plurality of vertically extending beams 422a and a top plate 422b arranged to cover the plurality of beams 422a from above. ing.
- the lower end of each beam 422a is welded to the upper surface of the base plate 402, and the upper end is welded to the lower surface of the top plate 422b.
- the bearing support plate 442 of the support mechanism 440 is fixed on the top plate 422 b of the frame 422 via a bolt (not shown).
- the bearing support plate 442 is a member for supporting a drive mechanism 410 for oscillating the table 100 (FIG. 1) in the vertical direction, and a connecting mechanism 430 for transmitting the oscillating motion of the drive mechanism 410 to the table. It is.
- the drive mechanism 410 includes a servomotor 412, a coupling 460, a bearing portion 416, a ball screw 418, and a ball nut 419.
- the coupling 460 connects the drive shaft 412 a of the servomotor 412 and the ball screw 418.
- the bearing portion 416 is fixed to the above-described bearing support plate 442, and rotatably supports the ball screw 418.
- the ball nut 419 engages with the ball screw 418 while being supported by the bearing support plate 442 so as not to move around its axis. Therefore, when the servomotor 412 is driven, the ball screw rotates and the ball nut 419 advances and retracts in its axial direction (that is, the Z-axis direction).
- the movement of the ball nut 419 is transmitted to the table 100 through the connection mechanism 430, whereby the table 100 is driven in the Z-axis direction. Then, by controlling the servomotor 412 so as to switch the rotation direction of the servomotor 412 in a short cycle, the table 100 can be oscillated in the Z-axis direction (up and down direction) with a desired amplitude and cycle.
- a motor support plate 446 extending in the horizontal direction (XY plane) is fixed from the lower surface of the bearing support plate 442 of the support mechanism 440 via the two connection plates 443.
- the servomotor 412 is suspended and fixed to the lower surface of the motor support plate 446.
- the motor support plate 446 is provided with an opening 446 a, and the drive shaft 412 a of the servomotor 212 passes through the opening 446 a and is connected to the ball screw 418 on the upper surface side of the motor support plate 446.
- the dimension of the servo motor 412 in the axial direction is larger than the height of the frame 422, so most of the servo motor 412 is disposed at a lower position than the base plate 402. Be done.
- the device base 2 is provided with a hollow portion 2 a for housing the servomotor 412.
- the base plate 402 is provided with an opening 402 a for passing the servomotor 412.
- the bearing portion 416 is provided to penetrate the bearing support plate 442.
- the structure of the bearing part 416 is the same as that of the bearing part 216 (FIG. 2, FIG. 3) in the 1st actuator 200, detailed description is abbreviate
- the connecting portion 430 includes a movable frame 432, a pair of X-axis rails 434, a pair of Y-axis rails 435, a plurality of intermediate stages 431, two pairs of Z-axis rails 437, and two pairs of Z-axis runner blocks 433. There is.
- the movable frame 432 has a frame portion 432a fixed to the ball nut 419, a top plate 432b fixed to the upper end of the frame portion 432a, and a side wall 432c fixed so as to extend downward from both edges in the X axis direction of the top plate 432b.
- the pair of Y-axis rails 435 are rails extending in the Y-axis direction, and are fixed to the upper surface of the top plate 432 b of the movable frame 432 in the X-axis direction.
- the pair of X-axis rails 434 are both rails extending in the X-axis direction, and are fixed to the lower surface of the table 100 in the Y-axis direction.
- the intermediate stage 431 is a block provided with an X-axis runner block 431a engaging with the X-axis rail 434 at the top and a Y-axis runner block 431b engaging with each of the Y-axis rails 435 at the bottom. It is configured to be slidable with respect to both the rail 434 and the Y-axis rail 435.
- One intermediate stage 431 is provided for each position where the X-axis rail 434 and the Y-axis rail 435 intersect. Since two X-axis rails 434 and two Y-axis rails 435 are provided, the X-axis rails 434 and the Y-axis rails 435 intersect at four points. Thus, in the present embodiment, four intermediate stages 431 are used.
- each of the intermediate stages 431 can slide in the X axis direction with respect to the table 100 and can slide in the Y axis direction with respect to the movable frame 432. That is, the movable frame 432 can slide in the X axis direction and the Y axis direction with respect to the table 100. Therefore, even if the table 100 is vibrated in the X-axis direction and / or the Y-axis direction by the other actuators 200 and / or 300, the movable frame 432 is not displaced thereby. That is, bending stress caused by the displacement of the table 100 in the X-axis direction and / or the Y-axis direction is not applied to the ball screw 418, the bearing 416, the coupling 460 or the like.
- the movable frame 432 since the movable frame 432 supports the table 100 and the work having a relatively large weight, the distance between the X-axis rail 434 and the Y-axis rail 435 is set to the Y-axis rail 234 and Z of the first actuator 200. It is wider than the shaft rail 235. Therefore, if the table 100 and the movable frame 432 are connected by only one intermediate stage as in the case of the first actuator 200, the intermediate stage becomes larger and the load applied to the movable frame 432 increases.
- the magnitude of the load applied to the movable frame 432 is minimized. I'm holding back.
- the two pairs of Z-axis rails 437 are rails extending in the Z-axis direction, and are fixed to the respective side walls 432 c of the movable frame 432 side by side in the Y-axis direction.
- the Z-axis runner block 433 engages with each of the Z-axis rails 437 and is slidable along the Z-axis rails 437.
- the Z-axis runner block 433 is fixed to the top surface of the top plate 422 b of the frame 422 via the runner block attachment member 438.
- the runner block attachment member 438 has a side plate 438a disposed substantially in parallel with the side wall 432c of the movable frame 432 and a bottom plate 438b fixed to the lower end of the side plate 438a. It has become. Further, in the present embodiment, when a workpiece having a high center of gravity and a large weight is fixed on the table 100, a large moment about the X axis and / or the Y axis is easily applied to the movable frame 432. Therefore, the runner block attachment member 438 is reinforced by the rib so as to withstand this rotational moment.
- first ribs 438c is provided at a corner formed by the side plate 438a and the bottom plate 438b at both ends of the runner block attachment member 438 in the Y-axis direction.
- a second rib 438d is provided.
- the Z-axis runner block 433 is fixed to the frame 422 and is slidable with respect to the Z-axis rail 437. Therefore, the movable frame 432 is slidable in the vertical direction, and movement of the movable frame 432 other than in the vertical direction is restricted. As described above, since the moving direction of the movable frame 432 is limited only to the vertical direction, when the servo motor 412 is driven to turn the ball screw 418, the movable frame 432 and the table engaged with the movable frame 432 are engaged. 100 moves up and down in the up and down direction.
- the third actuator 400 is also provided with position detection means (not shown) similar to the position detection means 250 (FIGS. 2 and 3) of the first actuator 200.
- the vibration test apparatus 1 control means 10 can control so that the height of the movable frame 432 falls within a predetermined range based on the detection result of the position detection means (FIG. 6).
- two pairs of rails and an intermediate stage configured to be slidable with respect to the rails are provided between the actuators and the table 100 whose drive axes are orthogonal to each other.
- the table 100 can slide in any direction on a plane perpendicular to the drive direction of the actuator. Therefore, even if the table 100 is displaced by a certain actuator, no load or moment resulting from this displacement is applied to the other actuator, and the other actuator and the table 100 are engaged via the intermediate stage. Is maintained. That is, even if the table is displaced to an arbitrary position, the state in which each actuator can displace the table is maintained. For this reason, in the present embodiment, the three actuators 200, 300, 400 can be driven simultaneously to excite the table 100 and the workpiece fixed thereon in three axial directions.
- FIG. 7 is an enlarged cross-sectional view showing the coupling 460 and the shaft portion of the drive shaft 412 a of the AC servomotor 412 and the ball screw 418 which are connected to each other via the coupling 460.
- the coupling 460 includes a nylon inner ring 461, a pair of duralumin outer rings 462 and 463, and a plurality of (six in this embodiment) bolts 464 for fastening them. It is a semi rigid coupling that is configured.
- circular holes 461a and 461b communicating with each other are provided coaxially.
- the inner diameter of the round hole 461a is such that the drive shaft 412a of the AC servomotor 412 can be inserted without any gap
- the inner diameter of the round hole 461b is such that the shaft of the ball screw 418 can be inserted without any gap.
- the outer diameter of the circular hole 461 b is smaller than the outer diameter of the circular hole 461 a .
- a flange portion 461 c is formed on the outer periphery of the axial center portion of the inner ring 461. Tapered portions extending in the axial direction are respectively formed from the both sides inside of the flange portion 461c.
- the outer side surfaces 461 d and 461 e of each tapered portion are conical tapered surfaces whose outer diameters decrease as they approach the axial tip.
- through holes having tapered inner side surfaces 462 a and 463 a are respectively formed on the inner side of the pair of outer rings 462 and 463 sandwiching the inner ring 461.
- the outer rings 462 and 463 are disposed such that the direction in which the tapered surfaces of the inner side surfaces 462 a and 463 a are open is directed to the inner ring side.
- the tapered inner surfaces 462a, 463a of the outer rings 462, 463 have the same taper angle as the outer surfaces 461d, 461e of the inner ring 461, respectively.
- the through holes of the outer rings 462 and 463 are formed at both ends of the inner ring 461 so that the inner surface 462a of the outer ring 462 and the outer surface 461d of the inner ring 461 and the inner surface 463a of the outer ring 463 and the outer surface 461e of the inner ring 461 overlap.
- the tapered portion is inserted.
- female threads 463b that engage with the external thread formed at the tip of the bolt 464 are formed at equal intervals on the circumference centering on the axis of the through hole .
- bolt holes (round holes) 462b and 461f are formed in the outer ring 462 and the flange portion 461c of the inner ring 461 at positions corresponding to the female threads 463b of the outer ring 463.
- Six bolts 464 (only two are shown in FIG. 7) are engaged with the internal threads 464b of the outer ring 340 through the bolt holes 462b of the outer ring 462 and the bolt holes 461f of the inner ring 461.
- the tip of the drive shaft 412a of the AC servomotor 412 and the tip of the shaft portion of the ball screw 418 are slightly (for example, about 1 mm) It is connected separately. Therefore, when a force in the direction to compress the shaft is applied from the motor, the inner ring elastically deforms to narrow the distance between the drive shaft 412a and the ball screw 418, whereby the axial force in the coupling 460 is reduced.
- the axial force transmitted to the ball screw side can be greatly attenuated.
- the vibration damping rate of the inner ring 461 is substantially maximum at the natural frequency of the drive shaft 412a when compared within the measurement frequency range in the excitation test. Thereby, vibration in the axial direction of the drive shaft 412a or in the radial direction of the shaft can be effectively damped.
- the vibration damping factor of the inner ring 461 at the natural frequency of the drive shaft 412a does not necessarily have to be substantially maximum in the measurement frequency domain, but it is desirable that it be at least larger than the frequency average in the measurement frequency domain.
- the distance between the tip of the drive shaft 412a of the AC servomotor 412 and the tip of the shaft portion of the ball screw 418 is as short as about 1 mm. It has been Therefore, it is sufficiently rigidly connected in the torsional direction, has no backlash, and can accurately transmit the rotational drive of the drive shaft 412 a of the AC servomotor 412 to the ball screw 418.
- the connecting portion including the guide mechanism in which the rail and the runner block are combined is provided between the actuators 200, 300, and 400 and the table 100.
- a similar guide mechanism is also provided on the actuators 200, 300, 400, which guide mechanism is used to guide the nut of the ball screw mechanism of each actuator.
- the configuration of these guide mechanisms will be described in detail using the drawings. The following description is about the guide mechanism (FIG. 5) composed of the Z-axis runner block 433 and the Z-axis rail 437 of the third actuator 400, but the other guide mechanisms have the same configuration.
- FIG. 8 is a cross-sectional view of the runner block 433 and the rail 437 cut along a plane perpendicular to the longitudinal direction of the rail 437.
- FIG. 9 is a cross-sectional view taken along line II of FIG.
- the runner block 433 is formed with a recess so as to surround the rail 437, and the recess is formed with four grooves 433a and 433a 'extending in the axial direction of the rail 435. It is done.
- the grooves 433a and 433a ' accommodate a large number of stainless steel balls 433b.
- the rails 437 are provided with grooves 437a and 437a 'at positions facing the grooves 433a and 433a' of the runner block 433.
- the balls 433b are formed of the grooves 433a and 437a or the grooves 433a 'and 437a'. It is supposed to be sandwiched between.
- the cross-sectional shapes of the grooves 433a, 433a ', 437a, 437a' are arcs, and the radius of curvature thereof is approximately equal to the radius of the ball 433b. Therefore, the ball 433b is in close contact with the grooves 433a, 433a ', 437a and 437a' with almost no play.
- the groove 433a and the retraction path 433c are connected at their respective ends via a U-shaped path 433d, and the groove 433a, the groove 437a, the retraction path 433c, and the U-shaped path 433d are balls.
- the runner block 433 moves relative to the rail 437, the large number of balls 433b circulate in the circulation path while rolling the grooves 433a, 433a ', 437a, 437a'. For this reason, even if a large load is applied in a direction other than the rail axial direction, the runner block can be supported by a large number of balls and the ball 433b is rolled to keep the resistance in the rail axial direction small. The block 433 can be moved smoothly with respect to the rail 437.
- the internal diameter of the retraction path 433c and the U-shaped path 433d is slightly larger than the diameter of the ball 433b, and the frictional force generated between the retraction path 433c and the U-shaped path 433d and the ball 433b is very small. , The circulation of the ball 433b is not impeded.
- the two rows of balls 433b sandwiched between the grooves 433a and 437a form a front combination type angular contact ball bearing having a contact angle of approximately 45 °.
- the contact angle in this case is an angle formed by the line connecting the contact points where the grooves 433a and 437a contact the balls 433b and the radial direction of the linear guide (the direction from the runner block to the rail).
- the angular ball bearing formed in this manner has loads in the reverse radial direction (direction from the rail to the runner block) and in the lateral direction (direction orthogonal to both the radial direction and the advancing and retracting direction of the runner block; left and right direction in the figure). It can be supported.
- the two rows of balls 433b sandwiched by the grooves 433a 'and 437a' have a contact angle (a line connecting contact points where the grooves 433a 'and 437a' make contact with the balls 433b and the reverse of the linear guide
- a frontal combination type angular contact ball bearing is formed in which the angle with the radial direction is 45 °.
- the angular ball bearing can support radial and lateral loads.
- the two rows of balls 433b respectively sandwiched by one of the grooves 433a and 437a (left in the figure) and one of the grooves 433a 'and 437a' (left in the figure) are also frontal combination type angular contact ball bearings
- two rows of balls 433b respectively sandwiched between the other of grooves 433a and 437a (left side in the figure) and the other of grooves 433a 'and 437a' (left side in figure) are also frontal combination type angular contact ball bearings
- the front combination type angular contact ball bearings support the loads acting in the radial direction, the reverse radial direction, and the lateral direction, respectively. It can support a large load applied in the direction.
- the first and second actuators capable of vibrating the table in the first and second directions (X-axis and Y-axis directions) orthogonal to each other are provided.
- a first connecting means for enabling the table to slide in the second direction with respect to the first actuator, and a second connecting means for enabling the table to slide in the first direction with respect to the second actuator And.
- each actuator is slidable relative to the table in a direction perpendicular to the vibration direction of the actuator. Therefore, even if the table vibrates with a certain actuator, the table slides relative to the other actuator, so that the other actuator does not displace and the vibration direction of the other actuator does not change. Therefore, in the present invention, each actuator only needs to have sufficient power to excite the table and the work. Further, according to the present invention, since it becomes possible to excite the table without rotating the actuator, it is possible to excite the table with a large stroke even if the drive shaft of the actuator is short.
- the actuator since the actuator is neither displaced nor rotated, it is easy to adopt a ball screw mechanism driven by a servomotor as the actuator.
- the ball screw mechanism has no problem of oil leakage in the hydraulic actuator and can excite the table with a much longer stroke than the piezoelectric actuator.
- a coupling that connects a rotary shaft of a servomotor and a ball screw of the ball screw mechanism is configured to have no backlash, be flexible in a bending direction, and block transmission of vibration in an extending direction of a drive shaft of the motor. It is further preferable that the configuration be a semi rigid coupling. With this configuration, the feed screw can be driven with high responsiveness, and even if there is some misalignment, smooth drive can be achieved without generating extremely large internal distortion, and vibration in the motor drive shaft direction can be blocked. can do.
- the semi rigid coupling preferably comprises a visco-elastic element made of resin or rubber.
- the semi rigid coupling is configured such that the damping rate of the vibration of the drive shaft of the servomotor is maximized at the natural frequency of the drive shaft.
- the semi-rigid coupling has a pair of outer rings which are rigid elements, and an inner ring disposed between the pair of outer rings and including an elastic element or a visco-elastic element.
- a tapered hole is formed at the center of the outer ring, and a cylindrical through hole is formed at the center of the inner ring for passing the connecting shaft.
- wheel, respectively is formed in the axial direction both ends of the outer periphery of an inner ring
- a guide mechanism for guiding the nut so that the nut of the ball screw mechanism can move only in the axial direction of the ball screw is fixed to the first portion fixed to the frame of the vibration test apparatus and the nut
- a runner block having two parts, one of the first part and the second part having a rail and the other having a runner block movable along the rail by engaging with the rail, the runner block A recess surrounding the groove, a groove formed along the moving direction of the runner block in the recess, and a withdrawal path formed inside the runner block and connected to both ends of the groove in the moving direction so as to form a groove and a closed circuit; It is preferable to have a configuration having a plurality of balls adapted to circulate in the closed circuit and to be in contact with the rail when positioned in the groove.
- the above-mentioned four closed circuits are formed in the runner block, and the balls disposed in each of the two closed circuit grooves of the four closed circuits are approximately ⁇ 45 with respect to the radial direction of the linear guide. It is desirable that the balls having a contact angle of one degree and the balls disposed in each of the other two closed circuit grooves have a contact angle of approximately ⁇ 45 degrees with respect to the reverse radial direction of the guide mechanism.
- the guide mechanism having such a configuration can smoothly move the runner block along the rail even when the first load is applied in the radial direction, the reverse radial direction and the lateral direction. And since a nut is guided by such a guide mechanism, even if it mounts and vibrates the table heavy-weight work of an oscillating device, the nut of a feed screw mechanism does not rattle, but is smoothly carried out to a rail. It can move along.
- each of the first and second coupling means comprises an intermediate stage disposed between the table and the corresponding actuator, the intermediate stage of the first coupling means being perpendicular to the first direction.
- the intermediate stage of the second connecting means is slidable relative to the table only in the direction and slidable relative to the first actuator only in a direction perpendicular to both the one direction and the first direction. , Slidable relative to the table only in one direction perpendicular to the second direction, and slidable relative to the second actuator only in the direction perpendicular to both the one direction and the second direction .
- one of two directions in which the intermediate stage of the first connecting means can slide relative to the table and the first actuator is the second direction
- the intermediate stage of the second connecting means is the table and
- One of the two directions slidable with respect to the second actuator is a first direction
- At least one rail extending in a direction in which the intermediate stage can slide relative to the table is provided, for example, on one of the table and the intermediate stage, in order to make the intermediate stage slidable relative to the table.
- the other of the table and the intermediate stage is provided with a runner block which engages with the rail.
- the intermediate stage extends in a direction in which the intermediate stage can slide relative to the corresponding actuator.
- the other of the intermediate stage and the corresponding actuator is provided with a runner block that engages the rail.
- the table and the intermediate stage, and / or the intermediate stage and the actuator may be connected by a plurality of rails and runner blocks arranged in parallel with each other.
- the runner block is formed in the recess surrounding the rail, the groove formed along the moving direction of the runner block in the recess, and the inside of the runner block, and the groove and the moving direction both ends so as to form a closed circuit.
- a plurality of balls configured to be in contact with the rail when positioned in the groove while circulating in the closed circuit.
- four closed circuits are formed in the runner block, and the balls disposed in each of the two closed circuit grooves of the four closed circuits are in the radial direction of the guide mechanism provided with the rail and the runner block.
- the guide mechanism having such a configuration can smoothly move the runner block along the rail even when the first load is applied in the radial direction, the reverse radial direction and the lateral direction. Then, since the intermediate stage is guided by such a guide mechanism, even when attaching a table heavy work piece of an oscillating device and oscillating, the intermediate stage smoothly follows the rails without rattling. It can move.
- a third actuator capable of vibrating the table in a third direction (Z-axis direction) perpendicular to both the first and second directions
- the table And third connecting means slidably connected in the first and second directions with respect to the actuator, wherein the first and second connecting means respectively move the table to the first and second actuators.
- And is slidably coupled in the third direction.
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Abstract
Description
2 装置ベース
100 テーブル
200 第1アクチュエータ
210 駆動機構
212 サーボモータ
216 軸受部
218 ボールねじ
219 ボールナット
230 連結機構
231 中間ステージ
231a Y軸ランナーブロック
231b Z軸ランナーブロック
232 ナットガイド
234 Y軸レール
235 Z軸レール
250 位置検出手段
260 カップリング
300 第2アクチュエータ
400 第3アクチュエータ
410 駆動機構
412 サーボモータ
416 軸受部
418 ボールねじ
419 ボールナット
430 連結機構
431 中間ステージ
431a X軸ランナーブロック
431b Y軸ランナーブロック
432 可動フレーム
433 Z軸ランナーブロック
434 X軸レール
435 Y軸レール
437 Z軸レール
460 カップリング
A アジャスタ
Claims (29)
- ワークを取り付けるためのテーブルと、
前記テーブルを第1の方向に加振可能な第1のアクチュエータと、
前記テーブルを、前記第1の方向と直交する第2の方向に加振可能な第2のアクチュエータと、
前記テーブルを前記第1のアクチュエータに対して第2の方向にスライド可能に連結する第1の連結手段と、
前記テーブルを前記第2のアクチュエータに対して第1の方向にスライド可能に連結する第2の連結手段と、
を有する、加振試験装置。 - 前記第1及び第2のアクチュエータは、
サーボモータと、
前記サーボモータの回転運動を第1又は第2の方向の並進運動に変換するボールねじ機構と
をそれぞれ有することを特徴とする請求項1に記載の加振試験装置。 - 前記サーボモータの回転軸と前記ボールねじ機構のボールねじとを連結するカップリングをさらに有し、
前記カップリングが、バックラッシが無く、回転軸の曲げ方向にたわみ性を有し、前記モータの駆動軸方向の振動の伝達を阻害するように構成されている
ことを特徴とする請求項2に記載の加振試験装置。 - 前記セミリジッドカップリングは粘弾性要素を含むことを特徴とする請求項3に記載の加振試験装置。
- 前記粘弾性要素の少なくとも一部は樹脂から形成されていることを特徴とする請求項4に記載の加振試験装置。
- 前記粘弾性要素の少なくとも一部はゴムから形成されていることを特徴とする請求項4に記載の加振試験装置。
- 前記セミリジッドカップリングは、前記サーボモータの駆動軸方向の振動の減衰率が該駆動軸の固有振動数において略最大になるように構成されていることを特徴とする請求項3に記載の加振試験装置。
- 前記セミリジッドカップリングは、
中心にテーパ穴が貫通形成された剛体要素である一対の外輪と、
前記一対の外輪の間に配置され、中心に連結する軸を通すための円柱状の貫通穴が形成され、外周の軸方向両端に前記一対の外輪のテーパ穴の内周と夫々係合可能なテーパ面が形成されている、弾性要素または粘弾性要素からなる内輪と、
を有し、
前記内輪の貫通穴に前記ボールねじ及び前記サーボモータの駆動軸が差し込まれ、前記内輪のテーパ面に前記一対の外輪のテーパ穴の内周が当接し、前記一対の外輪同士がボルトで互いに固定されることにより内輪を介して軸が連結される
ことを特徴とする請求項3に記載の加振試験装置。 - 前記ボールねじ機構のナットが前記ボールねじの軸方向のみに移動可能となるよう該ナットをガイドするガイド機構が、前記加振試験装置のフレームに固定される第1部と、該ナットに固定される第2部とを有し、
前記第1部と第2部の一方がレールを有し、且つ他方が前記レールと係合して該レールに沿って移動可能なランナーブロックを有し、
前記ランナーブロックが、
前記レールを囲む凹部と、
前記凹部において、前記ランナーブロックの移動方向に沿って形成された溝と、
前記ランナーブロックの内部に形成され、前記溝と閉回路を形成するように前記溝の前記移動方向両端と繋がっている退避路と、
前記閉回路を循環するとともに、前記溝に位置するときは前記レールと当接するようになっている複数のボールと、
を有することを特徴とする請求項2に記載の加振試験装置。 - 前記ランナーブロックには前記閉回路が4つ形成されており、
前記4つの閉回路のうち2つの閉回路の溝の夫々に配置されたボールはガイド機構のラジアル方向に対して略±45度の接触角を有し、他の2つの閉回路の溝の夫々に配置されたボールは前記ガイド機構の逆ラジアル方向に対して略±45度の接触角を有する
ことを特徴とする請求項9に記載の加振試験装置。 - 前記第1及び第2の連結手段の夫々は、前記第1及び第2のアクチュエータと前記テーブルの間に配置された中間ステージを有し、
前記第1の連結手段の中間ステージは、該第1の方向に垂直な一方向のみに前記テーブルに対してスライド可能であり、且つ、該一方向と該第1の方向の双方に垂直な方向のみに前記第1のアクチュエータに対してスライド可能であり、
前記第2の連結手段の中間ステージは、該第2の方向に垂直な一方向のみに前記テーブルに対してスライド可能であり、且つ、該一方向と該第2の方向の双方に垂直な方向のみに前記第2のアクチュエータに対してスライド可能である
ことを特徴とする請求項1に記載の加振試験装置。 - 前記第1の連結手段の中間ステージが前記テーブル及び前記第1のアクチュエータに対してスライド可能な二方向の一方は、該第2の方向であり、
前記第2の連結手段の中間ステージが前記テーブル及び前記第2のアクチュエータに対してスライド可能な二方向の一方は、該第1の方向である
ことを特徴とする請求項11に記載の加振試験装置。 - 前記テーブル及び前記中間ステージの一方には、前記中間ステージが前記テーブルに対してスライド可能な方向に伸びる少なくとも1本のレールが設けられており、
前記テーブル及び前記中間ステージの他方には、前記レールに係合するランナーブロックが設けられている
ことを特徴とする請求項11に記載の加振試験装置。 - 前記テーブルと前記中間ステージとは、互いに平行に配置された複数のレールと、前記複数のレールの各々に係合する複数のランナーブロックを介して、スライド可能に連結されていることを特徴とする請求項13に記載の加振試験装置。
- 前記ランナーブロックが、
前記レールを囲む凹部と、
前記凹部において、前記ランナーブロックの移動方向に沿って形成された溝と、
前記ランナーブロックの内部に形成され、前記溝と閉回路を形成するように前記溝の前記移動方向両端と繋がっている退避路と、
前記閉回路を循環するとともに、前記溝に位置するときは前記レールと当接するようになっている複数のボールと、
を有することを特徴とする請求項13に記載の加振試験装置。 - 前記ランナーブロックには前記閉回路が4つ形成されており、
前記4つの閉回路のうち2つの閉回路の溝の夫々に配置されたボールが、前記レールと前記ランナーブロックを備えたガイド機構のラジアル方向に対して略±45度の接触角を有し、他の2つの閉回路の溝の夫々に配置されたボールは前記ガイド機構の逆ラジアル方向に対して略±45度の接触角を有する
ことを特徴とする請求項15に記載の加振試験装置。 - 前記中間ステージ及び対応するアクチュエータの一方には、前記中間ステージが前記対応するアクチュエータに対してスライド可能な方向に伸びる少なくとも1本のレールが設けられており、
前記中間ステージ及び対応するアクチュエータの他方には、前記レールに係合するランナーブロックが設けられている
ことを特徴とする請求項11に記載の加振試験装置。 - 前記中間ステージと対応するアクチュエータとは、互いに平行に配置された複数のレールと、前記複数のレールの各々に係合する複数のランナーブロックを介して、スライド可能に連結されていることを特徴とする請求項17に記載の加振試験装置。
- 前記ランナーブロックが、
前記レールを囲む凹部と、
前記凹部において、前記ランナーブロックの移動方向に沿って形成された溝と、
前記ランナーブロックの内部に形成され、前記溝と閉回路を形成するように前記溝の前記移動方向両端と繋がっている退避路と、
前記閉回路を循環するとともに、前記溝に位置するときは前記レールと当接するようになっている複数のボールと、
を有することを特徴とする請求項17に記載の加振試験装置。 - 前記ランナーブロックには前記閉回路が4つ形成されており、
前記4つの閉回路のうち2つの閉回路の溝の夫々に配置されたボールが、前記レールと前記ランナーブロックを備えたガイド機構のラジアル方向に対して略±45度の接触角を有し、他の2つの閉回路の溝の夫々に配置されたボールは前記ガイド機構の逆ラジアル方向に対して略±45度の接触角を有する
ことを特徴とする請求項19に記載の加振試験装置。 - 該第1及び第2の方向の双方に垂直な第3の方向に前記テーブルを加振可能な第3のアクチュエータと、
前記テーブルを前記第3のアクチュエータに対して第1及び第2の方向にスライド可能に連結する第3の連結手段と、
を有し、
前記第1及び第2の連結手段は、それぞれ前記テーブルを第1及び第2のアクチュエータに対して第3の方向にスライド可能に連結する
ことを特徴とする請求項1に記載の加振試験装置。 - 前記第3のアクチュエータは、サーボモータにてボールねじ機構を駆動して前記テーブルを加振することを特徴とする請求項21に記載の加振試験装置。
- 前記第3の連結手段は、前記第3のアクチュエータと前記テーブルの間に配置された中間ステージを有し、
前記第3の連結手段の中間ステージは、該第3の方向に垂直な一方向のみに前記テーブルに対してスライド可能であり、且つ、該一方向と該第3の方向の双方に垂直な方向のみに前記第1のアクチュエータに対してスライド可能である
ことを特徴とする請求項21に記載の加振試験装置。 - 前記第3の連結手段の中間ステージが前記テーブル及び前記第1のアクチュエータに対してスライド可能な二方向は、該第1及び第2の方向である
ことを特徴とする請求項23に記載の加振試験装置。 - 前記テーブル及び前記中間ステージの一方には、前記中間ステージが前記テーブルに対してスライド可能な方向に伸びる少なくとも1本のレールが設けられており、
前記テーブル及び前記中間ステージの他方には、前記レールに係合するランナーブロックが設けられている
ことを特徴とする請求項23に記載の加振試験装置。 - 前記テーブルと前記中間ステージとは、互いに平行に配置された複数のレールと、前記複数のレールの各々に係合する複数のランナーブロックを介して、スライド可能に連結されていることを特徴とする請求項25に記載の加振試験装置。
- 前記中間ステージ及び対応するアクチュエータの一方には、前記中間ステージが前記対応するアクチュエータに対してスライド可能な方向に伸びる少なくとも1本のレールが設けられており、
前記中間ステージ及び対応するアクチュエータの他方には、前記レールに係合するランナーブロックが設けられている
ことを特徴とする請求項23に記載の加振試験装置。 - 前記中間ステージと対応するアクチュエータとは、互いに平行に配置された複数のレールと、前記複数のレールの各々に係合する複数のランナーブロックを介して、スライド可能に連結されていることを特徴とする請求項27に記載の加振試験装置。
- 前記第3の方向が鉛直方向であり、
前記第3のアクチュエータは、複数の中間ステージを有する
ことを特徴とする請求項23に記載の加振試験装置。
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CN2008800002828A CN101542260B (zh) | 2007-07-19 | 2008-07-18 | 振动试验装置 |
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CN110530592A (zh) * | 2014-07-30 | 2019-12-03 | 国际计测器株式会社 | 激振装置 |
EP3624316B1 (en) * | 2011-04-26 | 2023-04-19 | Kokusai Keisokuki Kabushiki Kaisha | Electrodynamic actuator and electrodynamic excitation device |
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KR20090130882A (ko) | 2009-12-24 |
CN101542260B (zh) | 2012-05-09 |
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CN101542260A (zh) | 2009-09-23 |
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TWI447373B (zh) | 2014-08-01 |
TWI497048B (zh) | 2015-08-21 |
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