WO2023195501A1 - 試験装置、ヘッジトリマー、及び電動アクチュエーター - Google Patents

試験装置、ヘッジトリマー、及び電動アクチュエーター Download PDF

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Publication number
WO2023195501A1
WO2023195501A1 PCT/JP2023/014153 JP2023014153W WO2023195501A1 WO 2023195501 A1 WO2023195501 A1 WO 2023195501A1 JP 2023014153 W JP2023014153 W JP 2023014153W WO 2023195501 A1 WO2023195501 A1 WO 2023195501A1
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WO
WIPO (PCT)
Prior art keywords
electric motor
power
motor
electric
period
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/014153
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English (en)
French (fr)
Japanese (ja)
Inventor
繁 松本
進一 松本
一宏 村内
博至 宮下
正巳 鈴木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kokusai Keisokuki KK
Original Assignee
Kokusai Keisokuki KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kokusai Keisokuki KK filed Critical Kokusai Keisokuki KK
Priority to CN202380032443.6A priority Critical patent/CN118973723A/zh
Priority to KR1020247037129A priority patent/KR20250005233A/ko
Priority to JP2024514302A priority patent/JPWO2023195501A1/ja
Priority to EP23784785.0A priority patent/EP4506069A1/en
Publication of WO2023195501A1 publication Critical patent/WO2023195501A1/ja
Priority to US18/903,828 priority patent/US20250020537A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/02—Tyres
    • 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
    • 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
    • G01M7/027—Specimen mounting arrangements, e.g. table head adapters
    • 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
    • G01M7/04—Monodirectional test stands
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/32—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • H02K7/065—Electromechanical oscillators; Vibrating magnetic drives
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • H02K7/075—Means for converting reciprocating motion into rotary motion or vice versa using crankshafts or eccentrics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more AC dynamo-electric motors

Definitions

  • the present invention relates to a test device, a hedge trimmer, and an electric actuator.
  • mechanical products and mechanical parts are subjected to repeated loads during transportation and use. Objects subjected to repeated loads may break due to fatigue, or their shape or properties may change. Therefore, when developing mechanical products or parts, it is desirable to repeatedly apply loads to samples (test pieces) and observe their behavior.
  • a vibration testing device is used for this purpose.
  • vibration test devices equipped with hydraulic actuators have been used.
  • hydraulic vibration test equipment has problems associated with hydraulic actuators, such as low energy efficiency, the need to install large-scale hydraulic supply equipment such as oil tanks and hydraulic piping, and the need to regularly use large amounts of hydraulic fluid.
  • a vibration testing device that uses a servo motor instead of a hydraulic actuator has been proposed (for example, see Patent Document 1).
  • a servo motor-type vibration test device can reduce power consumption compared to a hydraulic vibration test device, but as described in Patent Document 1, the power consumption when switching the rotation direction of the servo motor in short cycles There is still room for improvement. Such a problem may occur not only in the vibration testing device but also in various devices in which a motor is repeatedly driven back and forth.
  • the present invention has been made in view of the above circumstances, and aims to improve the power saving performance of a device equipped with an electric motor.
  • the present invention includes a vibration table to which an object to be vibrated is attached, an electric actuator that vibrates the vibration table in a predetermined direction, and a controller that controls the electric actuator.
  • a vibration table to which an object to be vibrated is attached
  • an electric actuator that vibrates the vibration table in a predetermined direction
  • a controller that controls the electric actuator.
  • the driving device is configured to regenerate power that is not consumed due to acceleration of the motor out of the power regenerated from the electric motor to the power source when the vibration table is vibrated at the desired amplitude and frequency.
  • a vibration testing device is provided that includes a converter.
  • FIG. 1 is a plan view of a vibration testing apparatus according to a first embodiment of the present invention. It is a side view of the 1st actuator of a 1st embodiment. It is a top view of the 1st actuator of a 1st embodiment. It is a side view of the table and 3rd actuator of 1st Embodiment. It is a side view of the table and 3rd actuator of 1st Embodiment.
  • FIG. 1 is a block diagram showing a schematic configuration of a control system according to a first embodiment.
  • FIG. 1 is a block diagram showing a schematic configuration of a power feeding system according to a first embodiment.
  • FIG. 1 is a diagram showing a circuit configuration of a power feeding system according to a first embodiment.
  • FIG. 3 is a diagram comparing the operation of the first embodiment of the present invention and a conventional motor.
  • FIG. 2 is a block diagram showing a schematic configuration of a power feeding system according to a second embodiment.
  • FIG. 7 is a side view of a torsion testing device according to a third embodiment of the present invention. It is a side view of the 1st drive part of a 3rd embodiment.
  • FIG. 3 is a block diagram showing a schematic configuration of a power feeding system according to a third embodiment. It is a side view of the tensile compression test device of 4th Embodiment of this invention.
  • FIG. 7 is a perspective view of a collision simulation test device according to a fifth embodiment of the present invention.
  • FIG. 7 is a perspective view showing the structure of a test section and a belt mechanism of a collision simulation test device according to a fifth embodiment.
  • It is a perspective view of the electric actuator concerning a 5th embodiment.
  • It is a top view showing the schematic structure of the electric actuator concerning a 5th embodiment.
  • It is a side view of the connecting rod of 5th embodiment.
  • It is a side view of the crankshaft of a 5th embodiment.
  • This figure schematically shows a method of rotationally driving a spindle in the sixth embodiment.
  • It is a front view of the measuring part of the balance measuring device based on 7th Embodiment of this invention.
  • It is a side view of the measurement part of the balance measurement device based on 7th Embodiment.
  • FIG. 3 is a block diagram showing a modification of the schematic configuration of the electric actuator power supply system.
  • FIG. 3 is a block diagram showing another modification of the schematic configuration of the electric actuator power supply system.
  • FIG. 1 is a plan view of a vibration testing device (vibration device) 1000 according to a first embodiment of the present invention.
  • the vibration testing apparatus 1000 of this embodiment is a power-saving motor system that includes a plurality of motors as prime movers and can operate with less power consumption than conventional systems, and is a power-saving test system that includes the power-saving motor system.
  • the vibration testing apparatus 1000 fixes a workpiece to be subjected to a vibration test on a table 1100, and uses first, second, and third actuators 1200, 1300, and 1400 to move the table 1100 and the workpiece thereon on three orthogonal axes. It is possible to excite in the direction.
  • the workpiece is an object to be vibrated
  • the table 1100 is an example of a vibration table to which the object to be vibrated is attached.
  • the direction in which the first actuator 1200 vibrates the table 1100 (the vertical direction in FIG. 1) is the X-axis direction
  • the direction in which the second actuator 1300 vibrates the table 1100 (the horizontal direction in FIG. 1) is the X-axis direction. ) is defined as the Y-axis direction
  • the direction in which the third actuator 1400 vibrates the table that is, the vertical direction (in FIG. 1, the direction perpendicular to the paper surface) is defined as the Z-axis direction.
  • the X-axis direction and the Y-axis direction are horizontal directions orthogonal to each other.
  • the first actuator 1200, the second actuator 1300, and the third actuator 1400 are electric actuators that vibrate the vibration table 1100 in a predetermined direction, and are each equipped with a servo motor 150 (150X, 150Y, 150Z).
  • the servo motor 150 is, for example, an ultra-low inertia, high output type AC servo motor, and is an electric motor that can be switched between forward rotation and reverse rotation. By using such a servo motor 150 with ultra-low inertia and high output, repetitive reciprocating drive (forward/reverse drive) at a high frequency of 100 Hz or more is possible.
  • the first, second, and third actuators 1200, 1300, and 1400 have a structure in which a motor, a power transmission member, and the like are mounted on base plates 1202, 1302, and 1402, respectively.
  • the base plates 1202, 1302, 1402 are fixed onto the device base 1002 by bolts (not shown).
  • FIG. 2 is a side view of the first actuator 1200 according to the first embodiment of the present invention, viewed in the Y-axis direction (from the right side to the left side in FIG. 1).
  • FIG. 3 is a plan view of the first actuator 1200. In FIGS. 2 and 3, a portion is shown in cross-section to show the internal structure.
  • the direction along the X-axis from the first actuator 1200 to the table 1100 will be referred to as the "X-axis positive direction”
  • the direction along the X-axis from the table 1100 to the first actuator will be referred to as the "X-axis”. "in the negative direction”.
  • a frame 1222 made of a plate 1222b is fixed by welding or the like.
  • the bottom plate 1242 of the support mechanism 1240 for supporting the drive mechanism 1210 for vibrating the table 1100 (FIG. 1) and the coupling mechanism 1230 for transmitting the excitation movement by the drive mechanism 1210 to the table 1100 is attached to the frame. It is fixed onto the top plate 1222b of 1222 via bolts (not shown).
  • the drive mechanism 1210 includes a servo motor 150X, a coupling 1260, a bearing portion 1216, a ball screw 1218, and a ball nut 1219.
  • Coupling 1260 connects drive shaft 150a of servo motor 150X and ball screw 1218.
  • the bearing portion 1216 is supported by a bearing support plate 1244 fixed perpendicularly to the bottom plate 1242 of the support mechanism 1240 by welding or the like, and rotatably supports the ball screw 1218.
  • the ball nut 1219 engages with the ball screw 1218 while being supported by the bearing support plate 1244 so as not to move about its axis.
  • the ball screw rotates and the ball nut 1219 advances and retreats in its axial direction (ie, the X-axis direction).
  • This movement of ball nut 1219 is transmitted to table 1100 via coupling mechanism 1230, thereby driving table 1100 in the X-axis direction.
  • the table 1100 can be vibrated in the X-axis direction with a desired amplitude and cycle.
  • a motor support plate 1246 is vertically fixed to the upper surface of the bottom plate 1242 of the support mechanism 1240 by welding or the like.
  • a servo motor 150X is cantilevered on one surface of the motor support plate 1246 (the surface on the negative side of the X-axis) so that the drive shaft 150a is perpendicular to the motor support plate 1246.
  • the motor support plate 1246 is provided with an opening 1246a, and the drive shaft 150a of the servo motor 150X passes through the opening 1246a and is connected to the ball screw 1218 on the other side of the motor support plate 1246.
  • a rib 1248 is provided between the bottom plate 1242 and the motor support plate 1246.
  • the bearing portion 1216 includes a pair of bearings (for example, a pair of angular ball bearings 1216a and 1216b assembled face-to-face.
  • the bearing 1216a is located on the negative side of the X-axis, and the bearing 1216a is located on the positive side of the X-axis. is the bearing 1216b).
  • Bearings 1216a, 1216b are housed in a hollow portion of bearing support plate 1244.
  • a bearing pressing plate 1216c is provided on one surface of the bearing 1216b (the surface on the X-axis positive direction side), and by fixing this bearing pressing plate 1216c to the bearing support plate 1244 using bolts 1216d, the bearing 1216b is pushed in the negative direction of the X-axis.
  • a threaded portion 1218a is formed on the cylindrical surface adjacent to the bearing portion 1216 on the negative side of the X-axis.
  • a collar 1217 having a female thread formed on the inner periphery is attached to this threaded portion 1218a.
  • the coupling mechanism 1230 includes a linear motion part 1232, a pair of Y-axis rails 1234, a pair of Z-axis rails 1235, an intermediate stage 1231, a pair of X-axis rails 1237, a pair of X-axis runner blocks 1233 (carriage), and a runner block mounting member. It has 1238. Note that the X-axis rail 1237 and one or more X-axis runner blocks 1233 constitute a guideway type circulating linear bearing (hereinafter referred to as "linear guide").
  • the Y-axis rail 1234 and one or more Y-axis runner blocks 1231a and the Z-axis rail 1235 and one or more Z-axis runner blocks 1231b each constitute a linear guide.
  • the "runner block” is also called a “carriage” and engages with the rail so that it can run in the direction in which the rail extends.
  • the linear motion part 1232 is fixed to a ball nut 1219.
  • the pair of Y-axis rails 1234 are rails that both extend in the Y-axis direction, and are fixed to the end of the linear motion section 1232 on the X-axis positive direction side in the vertical direction.
  • a pair of Z-axis rails 1235 are rails that both extend in the Z-axis direction, and are fixed to the end of the table 1100 on the negative X-axis direction side by side in the Y-axis direction.
  • the Y-axis runner block 1231a that engages with each of the Y-axis rails 1234 is on the X-axis negative direction side
  • the Z-axis runner block 1231b that engages with each of the Z-axis rails 1235 is on the X-axis negative side.
  • This is a block provided on the surface in the positive direction, and is configured to be slidable on both the Y-axis rail 1234 and the Z-axis rail 1235.
  • the intermediate stage 1231 is slidable in the Z-axis direction with respect to the table 1100, and is slidable in the Y-axis direction with respect to the linear motion part 1232. Therefore, the linear motion part 1232 can slide in the Y-axis direction and the Z-axis direction with respect to the table 1100. Therefore, even if table 1100 is vibrated in the Y-axis direction and/or Z-axis direction by other actuators 1300 and/or 1400, linear motion part 1232 will not be displaced thereby. That is, bending stress caused by displacement of the table 1100 in the Y-axis direction and/or the Z-axis direction is not applied to the ball screw 1218, the bearing portion 1216, the coupling 1260, and the like.
  • a pair of X-axis rails 1237 are rails that both extend in the X-axis direction, and are fixed on the bottom plate 1242 of the support mechanism 1240 side by side in the Y-axis direction.
  • the X-axis runner block 1233 engages with each of the X-axis rails 1237 and is slidable along the X-axis rails 1237.
  • the runner block mounting member 1238 is a member fixed to the bottom of the linear motion part 1232 so as to protrude toward both sides in the Y-axis direction, and the X-axis runner block 1233 is fixed to the bottom of the runner block mounting member 1238. . In this way, the linear motion section 1232 is guided by the X-axis rail 1237 via the runner block attachment member 1238 and the X-axis runner block 1233, and is thereby movable only in the X-axis direction.
  • regulation blocks 1236 are provided so as to sandwich the X-axis runner block 1233 from both sides in the X-axis direction.
  • This restriction block 1236 is for restricting the movement range of the linear motion part 1232. That is, if the servo motor 150X is driven to continue moving the linear motion part 1232 in the positive direction of the X-axis, the regulation block 1236 and the runner block mounting member disposed in the positive direction of the X-axis will eventually 1238, and the linear motion part 1232 can no longer move in the positive direction of the X-axis. The same applies when the linear motion part 1232 continues to move in the negative direction of the X-axis, and the regulation block 1236 disposed on the negative direction of the The moving part 1232 cannot move in the negative direction of the X-axis.
  • the first actuator 1200 and the second actuator 1300 described above have the same structure except that they are installed in different directions (the X-axis and the Y-axis are interchanged). Therefore, detailed description of the second actuator 1300 will be omitted.
  • FIG. 4 is a side view of the table 1100 and the third actuator 1400 viewed from the X-axis direction (from the bottom to the top in FIG. 4). This side view is also partially sectional to show the internal structure.
  • FIG. 5 is a side view of the table 1100 and the third actuator 1400 according to the embodiment of the present invention as viewed from the Y-axis direction (from the left side to the right side in FIG. 1). FIG. 5 also partially shows a cross-sectional view to show the internal structure.
  • the direction along the Y-axis from the second actuator 1300 to the table 1100 is referred to as the positive Y-axis direction, and the direction along the Y-axis from the table 1100 to the second actuator 1300 is referred to as the negative Y-axis. Define direction.
  • a frame 1422 is provided on the base plate 1402 and includes a plurality of beams 1422a extending in the vertical direction and a top plate 1422b arranged to cover the plurality of beams 1422a from above. It is being Each beam 1422a has a lower end fixed to the upper surface of the base plate 1402 and an upper end fixed to the lower surface of the top plate 1422b by welding or the like. Further, a bearing support plate 1442 of the support mechanism 1440 is fixed onto the top plate 1422b of the frame 1422 via bolts (not shown). This bearing support plate 1442 is a member for supporting the drive mechanism 1410 for vertically vibrating the table 1100 (FIG. 1) and the coupling mechanism 1430 for transmitting the vibration motion by the drive mechanism 1410 to the table. It is.
  • the drive mechanism 1410 includes a servo motor 150Z, a coupling 1460, a bearing portion 1416, a ball screw 1418, and a ball nut 1419.
  • the coupling 1460 connects the drive shaft 150a of the servo motor 150Z and the ball screw 1418.
  • the bearing portion 1416 is fixed to the aforementioned bearing support plate 1442, and rotatably supports the ball screw 1418.
  • the ball nut 1419 engages with the ball screw 1418 while being supported by a bearing support plate 1442 so as not to move about its axis. Therefore, when the servo motor 150Z is driven, the ball screw rotates and the ball nut 1419 advances and retreats in its axial direction (that is, the Z-axis direction).
  • This movement of ball nut 1419 is transmitted to table 1100 via coupling mechanism 1430, thereby driving table 1100 in the Z-axis direction.
  • the table 1100 can be vibrated in the Z-axis direction (vertical direction) with a desired amplitude and cycle.
  • a motor support plate 1446 extending in the horizontal direction (XY plane) is fixed from the lower surface of the bearing support plate 1442 of the support mechanism 1440 via two connecting plates 1443.
  • a servo motor 150Z is suspended and fixed to the lower surface of the motor support plate 1446.
  • the motor support plate 1446 is provided with an opening 1446a, and the drive shaft 150a of the servo motor 150Z passes through the opening 1446a and is connected to the ball screw 1418 on the upper surface side of the motor support plate 1446.
  • the device base 1002 is provided with a cavity 1002a for housing the servo motor 150Z.
  • the base plate 1402 is provided with an opening 1402a through which the servo motor 150Z passes.
  • the bearing portion 1416 is provided to penetrate the bearing support plate 1442. Note that the structure of the bearing portion 1416 is the same as that of the bearing portion 1216 (FIGS. 2 and 3) in the first actuator 1200, so a detailed explanation will be omitted.
  • the coupling mechanism 1430 includes a movable frame 1432, a pair of X-axis rails 1434, a pair of Y-axis rails 1435, a plurality of intermediate stages 1431, two pairs of Z-axis rails 1437, and two pairs of Z-axis runner blocks 1433. There is.
  • the movable frame 1432 includes a frame portion 1432a fixed to a ball nut 1419, a top plate 1432b fixed to the upper end of the frame portion 1432a, and side walls 1432c fixed to extend downward from both edges of the top plate 1432b in the X-axis direction.
  • a pair of Y-axis rails 1435 are rails that both extend in the Y-axis direction, and are fixed to the top surface of the top plate 1432b of the movable frame 1432 in parallel in the X-axis direction.
  • a pair of X-axis rails 1434 are rails that both extend in the X-axis direction, and are fixed to the lower surface of the table 1100 side by side in the Y-axis direction.
  • the intermediate stage 1431 is a block in which an X-axis runner block 1431a that engages with the X-axis rail 1434 is provided at the top, and a Y-axis runner block 1431b that engages with each of the Y-axis rails 1435 is provided at the bottom. It is configured to be slidable on both the rail 1434 and the Y-axis rail 1435. Note that one intermediate stage 1431 is provided at each position where the X-axis rail 1434 and the Y-axis rail 1435 intersect. Since two X-axis rails 1434 and two Y-axis rails 1435 are provided, the X-axis rails 1434 and Y-axis rails 1435 intersect at four locations. Therefore, in this embodiment, four intermediate stages 1431 are used.
  • each of the intermediate stages 1431 is slidable relative to the table 1100 in the X-axis direction, and is also slidable relative to the movable frame 1432 in the Y-axis direction. That is, the movable frame 1432 can slide in the X-axis direction and the Y-axis direction with respect to the table 1100. Therefore, even if table 1100 is vibrated in the X-axis direction and/or Y-axis direction by other actuators 1200 and/or 1300, movable frame 1432 will not be displaced thereby. That is, bending stress caused by displacement of the table 1100 in the X-axis direction and/or the Y-axis direction is not applied to the ball screw 1418, the bearing portion 1416, the coupling 1460, and the like.
  • the distance between the X-axis rail 1434 and the Y-axis rail 1435 is set to the distance between the Y-axis rail 1234 and the Z-axis rail 1435 of the first actuator 1200. It is wider than the shaft rail 1235. For this reason, if the table 1100 and the movable frame 1432 are connected by only one intermediate stage like the first actuator 1200, the intermediate stage will become larger and the load applied to the movable frame 1432 will increase.
  • a small intermediate stage 1431 is arranged at each intersection of the X-axis rail 1434 and the Y-axis rail 1435, so that the magnitude of the load applied to the movable frame 1432 is minimized. I'm suppressing it.
  • the two pairs of Z-axis rails 1437 are rails extending in the Z-axis direction, and are fixed to each side wall 1432c of the movable frame 1432 in pairs in parallel in the Y-axis direction.
  • the Z-axis runner block 1433 engages with each of the Z-axis rails 1437 and is slidable along the Z-axis rails 1437.
  • the Z-axis runner block 1433 is fixed to the upper surface of the top plate 1422b of the frame 1422 via a runner block attachment member 1438.
  • the runner block mounting member 1438 has a side plate 1438a arranged approximately parallel to the side wall 1432c of the movable frame 1432, and a bottom plate 1438b fixed to the lower end of the side plate 1438a, and has an L-shaped cross section as a whole. It has become. Furthermore, in this embodiment, when a particularly heavy workpiece with a high center of gravity is fixed on the table 1100, a large moment about the X-axis and/or the Y-axis is likely to be applied to the movable frame 1432. Therefore, the runner block mounting member 1438 is reinforced with ribs to withstand this rotational moment.
  • first ribs 1438c are provided at the corners formed by the side plate 1438a and the bottom plate 1438b at both ends in the Y-axis direction of the runner block mounting member 1438, and a bridge is provided between the pair of first ribs 1438c.
  • a second rib 1438d is provided.
  • the Z-axis runner block 1433 is fixed to the frame 1422 and is slidable with respect to the Z-axis rail 1437. Therefore, the movable frame 1432 is slidable in the vertical direction, and movement of the movable frame 1432 in directions other than the vertical direction is restricted. As described above, since the moving direction of the movable frame 1432 is limited only to the vertical direction, when the servo motor 150Z is driven to rotate the ball screw 1418, the movable frame 1432 and the table that engages with the movable frame 1432 are moved. 1100 moves forward and backward in the vertical direction.
  • two pairs of rails and an intermediate stage configured to be slidable with respect to the rails are provided between each actuator whose drive shafts are perpendicular to each other and the table 1100.
  • This allows the table 1100 to slide in any direction on a plane perpendicular to the driving direction of the actuator for each actuator. Therefore, even if the table 1100 is displaced by a certain actuator, the load or moment due to this displacement will not be applied to the other actuators, and the other actuators and the table 1100 will engage with each other via the intermediate stage. is maintained. That is, even if the table is displaced to an arbitrary position, a state in which each actuator can displace the table is maintained. Therefore, in this embodiment, it is possible to simultaneously drive the three actuators 1200, 1300, and 1400 to vibrate the table 1100 and the workpiece fixed thereon in three axial directions.
  • connecting mechanisms 1230, 1330, 1430 are provided between the actuators 1200, 1300, 1400 and the table 1100, each of which includes a guide mechanism that combines a rail and a runner block.
  • a similar guide mechanism is also provided on actuators 1200, 1300, 1400, and is used to guide the nut of the ball screw mechanism of each actuator.
  • FIG. 6 is a block diagram showing a schematic configuration of the control system of the vibration testing apparatus 1000 according to the first embodiment of the present invention.
  • Servo motor 150 is connected to control unit C1 via servo amplifier 1850.
  • a PLC Programmable Logic Controller
  • IPC Intelligent Personal Computer
  • the servo motor 150 includes a rotary encoder 150e that detects the rotational position of the drive shaft 150a.
  • Rotary encoder 150e is connected to control unit C1.
  • the control unit C1 performs feedback control of the first actuator 1200, the second actuator 1300, and the third actuator 1400 (specifically, the servo motors 150X, 150Y, and 150Z) based on the signal of the rotary encoder 150e, so that the desired amplitude is obtained.
  • the table 1100 and the workpiece mounted thereon can be vibrated at a frequency (or a predetermined vibration waveform).
  • the set of the three actuators and the servo amplifier 1850 may be regarded as one electric actuator of the vibration testing apparatus 1000, and the control unit C1 may be regarded as a controller that controls the electric actuator.
  • FIG. 7 is a block diagram showing a schematic configuration of a power supply system 1800 that supplies power to the servo motor 150.
  • FIG. 8 is a diagram showing a circuit configuration of power supply system 1800.
  • the primary power source 1810 (and the primary power source in each embodiment below) is a commercial power source or a power supply device (for example, an alternating current generator), and supplies, for example, three-phase alternating current power. Power supplied from the primary power source 1810 is supplied to the servo amplifier 1850 (drive device) via the circuit breaker 1820, the electromagnetic switch 1830, and the reactor 1840. The servo motor 150 is connected to the output terminal of the servo amplifier 1850 and supplies driving power to the servo motor 150. Servo amplifier 1850 is communicably connected to control unit C1, and operates under the control of control unit C1.
  • the servo amplifier 1850 includes a power regeneration converter 1851, an inverter 1852, and a capacitor 1853 (first capacitor) provided between the power regeneration converter 1851 and the inverter 1852 (servo motor 150).
  • the power regeneration converter 1851 is, for example, a PWM converter that converts the power supply side current into a sine wave by PWM (Pulse Width Modulation) control. Note that the power regeneration converter 1851 may perform power conversion using a 120° energization method.
  • the inverter 1852 is a PWM inverter that controls the output power by, for example, PWM control.
  • a servo amplifier 1850 including an inverter 1852 is supplied with power from a primary power source 1810, and is controlled by a control unit C1, which is a controller, to apply driving power to a servo motor 150, which is an electric motor, to vibrate the vibration table 1100 at a desired amplitude and frequency.
  • This is a drive device that supplies the A power regeneration converter 1851 included in a servo amplifier 1850 converts the electric power regenerated from the servo motor 150, which is an electric motor, that is not consumed by acceleration of the servo motor 150 when the vibration table 1100 is vibrated at a desired amplitude and frequency. Regenerate the generated electricity to the power source.
  • the power regeneration converter 1851 of this embodiment has a function of rectifying the alternating current supplied from the primary power supply 1810 during power operation (that is, an operation mode in which the servo motor 150 is driven by the power supplied from the servo amplifier 1850). It has the function of generating alternating current of the same quality as the grid power that is returned to the primary power source 1810 during regenerative operation (that is, an operation mode in which the servo motor 150 generates regenerative power and supplies it to the servo amplifier 1850), but it is exclusively used for power operation.
  • a converter and a converter dedicated to power regeneration may be provided separately.
  • the power regeneration converter 1851 includes switching elements SW1 to S14, a capacitor (or capacitor) C, and a transformer Tr.
  • Each inverter 1852 includes switching elements SW15 to SW20, respectively. Note that the switching elements SW1 to SW20 are, for example, IGBTs.
  • the control unit C1 controls the switching elements SW1 to SW6 from the primary power supply.
  • the alternating current power supplied from the primary power source 1810 is rectified by being repeatedly turned on and off according to the frequency of the alternating current power supplied from the primary power source 1810.
  • the switching elements SW7 and SW10 and the switching elements SW8 and SW9 are alternately and repeatedly turned on and off by the control unit C1.
  • the power smoothed by the capacitor C is transmitted from the primary coil L1 of the transformer Tr to the secondary coil L2.
  • the switching elements SW11 and SW14 and the switching elements SW12 and SW13 are alternately and repeatedly turned on and off by the control unit C1.
  • the power transmitted from the primary coil L1 to the secondary coil L2 is rectified.
  • the switching elements SW15 to SW20 are repeatedly turned on and off by the control unit C1, so that the power is smoothed by the capacitor 1853.
  • the electric power is converted into alternating current power with a phase difference of 120 degrees and is supplied to servo motors 150X, 150Y, and 150Z.
  • the power regenerated from the servo motors 150X, 150Y, and 150Z is supplied to the servo amplifier 1850, the power is supplied from the servo motors 150X, 150Y, and 150Z by each diode connected in parallel to the switching elements SW15 to SW20. Three-phase AC power is rectified.
  • the switching elements SW11 and SW14 and the switching elements SW12 and SW13 are alternately and repeatedly turned on and off by the control unit C1.
  • the power smoothed by the capacitor 1853 is transmitted from the secondary coil L2 of the transformer Tr to the primary coil L1.
  • the switching elements SW1 to SW6 are repeatedly turned on and off by the control unit C1, so that the power is smoothed by the capacitor C.
  • the power is converted to AC power and supplied to the primary power source 1810.
  • the AC power output from the reactor 1840 is converted to DC by a bridge circuit (for example, an IGBT bridge circuit) of a power regeneration converter 1851, and smoothed by a capacitor 1853. Thereafter, the inverter 1852 converts it into AC (for example, pulse train) driving power.
  • the driving power output from the inverter 1852 is input to the servo motor 150 and drives the servo motor 150 to rotate.
  • the servo motor 150 When the servo motor 150 generates regenerative power (during regenerative operation), the regenerative power output from the servo motor 150 is converted to DC by the inverter 1852 and input to the power regeneration converter 1851 via the DC bus 1854.
  • Ru. Power regeneration converter 1851 converts DC power supplied from DC bus 1854 into sinusoidal AC power, which is output to primary power supply 1810 via reactor 1840, electromagnetic switch 1830, and circuit breaker 1820. More specifically, the control unit C1 controls the servo motor 150 so that the servo motor 150 repeats forward rotation and reverse rotation at a required frequency during the drive period of the servo motor 150.
  • control unit C1 may control the inverter 1852 so that the servo motor 150 repeatedly rotates forward and reverse at a required frequency of 3 Hz or more during the drive period.
  • the power regeneration converter 1851 outputs a portion of the power regenerated from the servo motor 150 to the primary power source 1810 during the deceleration process when the servo motor 150 rotates forward and backward.
  • FIG. 9(a) is a graph showing the drive waveform of one cycle of the servo motor 150 when vibrating with a sine wave.
  • FIG. 9(b) is a graph showing a simplified change in the rotation speed [rpm] of the servo motor 150 in the first half of one cycle of the servo motor 150, and FIG. It is a graph that simply shows changes in the rotation speed of the servo motor 150 in the latter half of one cycle.
  • FIG. 9(d) is a graph showing a simplified change in the torque [Nm] of the servo motor 150 in the first half of one cycle of the servo motor 150, and FIG. It is a graph showing a simplified change in the torque of the servo motor 150 in the latter half of the cycle.
  • FIG. 9(b) is a graph showing a simplified change in the rotation speed [rpm] of the servo motor 150 in the first half of one cycle of the servo motor 150
  • FIG. It is a graph that simply shows changes in the rotation speed of the
  • the horizontal axis indicates time t
  • the vertical axis indicates the angular position ⁇ of the drive shaft 150a.
  • the horizontal axis represents time t
  • the vertical axis represents the rotation speed of the servo motor 150.
  • the horizontal axis represents time t
  • the vertical axis represents the torque of the servo motor 150.
  • the time widths of FIGS. 9(a) to 9(e) match each other.
  • the servo motor 150 is driven so that the angular position ⁇ of the drive shaft 150a repeatedly varies in the range of - ⁇ a to ⁇ a according to a sine wave drive waveform while the time t from time t0 to time t6 repeatedly elapses.
  • the drive waveform of the servo motor 150 is not limited to a sine wave.
  • the waveform of the rotational speed (number of rotations) of the servo motor actually becomes a cosine waveform.
  • the waveform of the rotational speed of the servo motor is shown as a constant speed change for a range where the rotational speed changes are large, and a constant speed change for a range where the rotational speed changes are small. is shown in a simplified manner with no speed change (constant rotation speed).
  • the drive shaft 150a is accelerated in the positive rotation direction. That is, in the first period, the rotational speed of the servo motor 150 that rotates in the normal direction increases, and the torque generated at this time is defined as a positive torque (acceleration torque). Also, at this time, power is supplied from the servo amplifier 1850 to the servo motor 150 (powering operation). For example, in the first period, the power accumulated in the capacitor 1853 and the capacitor C is supplied to the servo motor 150, and the insufficient power is supplied to the servo motor 150 from the primary power supply 1810 (via the servo amplifier 1850). Ru.
  • the drive shaft 150a is decelerated in the positive rotation direction. That is, in the second period, the rotation speed of the servo motor 150 that rotates in the normal direction decreases, and negative torque (deceleration torque) is generated.
  • regenerative power is supplied from the servo motor 150 to the servo amplifier 1850 (regenerative operation).
  • the power regenerated from the servo motor 150 is accumulated in the capacitor 1853 and the capacitor C, and the regenerated power exceeding the capacity of these capacitors is output to the primary power source 1810. That is, the power regeneration converter 1851 regenerates a portion of the power regenerated from the servo motor 150 to the primary power source 1810 via the capacitor 1853 and the capacitor C.
  • the drive shaft 150a is accelerated in the negative rotation direction. That is, in the third period, the rotational speed of the servo motor 150 that rotates in reverse increases, and the torque generated at this time is defined as positive torque (acceleration torque). Also, at this time, power is supplied from the servo amplifier 1850 to the servo motor 150 (powering operation). For example, in the third period, the power accumulated in the capacitor 1853 and the capacitor C is supplied to the servo motor 150, and the insufficient power is supplied to the servo motor 150 from the primary power supply 1810 (via the servo amplifier 1850). Ru.
  • the drive shaft 150a is decelerated in the negative rotation direction. That is, in the fourth period, the rotation speed of the servo motor 150 that rotates in reverse decreases, and negative torque (deceleration torque) is generated.
  • regenerative power is supplied from the servo motor 150 to the servo amplifier 1850 (regenerative operation).
  • the power regenerated from the servo motor 150 is accumulated in the capacitor 1853 and the capacitor C, and the regenerated power exceeding the capacity of these capacitors is output to the primary power source. That is, the power regeneration converter regenerates a portion of the power regenerated from the servo motor 150 to the primary power source 1810 via the capacitor 1853 and the capacitor C.
  • the vibration table 1100 is used during the normal rotation period of the continuously repeated forward rotation period (section A and section B) and reverse rotation period (section C and section D) of the servo motor 150. moves in the forward direction, and during the reversal period, the vibration table 1100 moves in the opposite direction.
  • the normal rotation period includes a first acceleration period (first period) of the servo motor 150 starting from the time when the vibration table 1100 starts moving (time t0), and a period during which the vibration table 1100 moves.
  • the reversal period includes a first deceleration period (second period) of the servo motor 150 that ends at the stop point (time t3), and a reversal period starts from the movement start point of the vibration table 1100 (time t3), as shown in FIG. 9(c). a second acceleration period (third period) of the servo motor 150 starting from time t3), and a second deceleration period (fourth period) of the servo motor 150 starting from the time when the vibration table 1100 stops moving (time t6). including.
  • the control unit C1 accelerates the servo motor 150 so that the torque of the servo motor 150 becomes positive torque during the first acceleration period (first period), and during the first deceleration period ( In the second period), the servo motor 150 is decelerated so that the torque of the servo motor 150 becomes negative torque. Further, as shown in FIG. 9(e), the control unit C1 accelerates the servo motor 150 so that the torque of the servo motor 150 becomes positive torque in the second acceleration period (third period), and performs a second deceleration. During the period (fourth period), the servo motor 150 is decelerated so that the torque of the servo motor 150 becomes negative torque.
  • control unit C1 supplies the energy regenerated from the servo motor 150 and stored in the capacitor during the first deceleration period to the servo motor 150 with priority over the energy supplied from the primary power source 1810 during the second acceleration period, for example.
  • the inverter 1852 is configured such that the energy regenerated from the servo motor 150 and stored in the capacitor during the second deceleration period is supplied to the servo motor 150 with priority over the energy supplied from the primary power source 1810 during the first acceleration period. control.
  • control unit C1 controls, for example, in the above-described drive period of the servo motor 150, a first acceleration period (first period), a first deceleration period (second period), a second acceleration period (third period), and The energy circulation consisting of the second deceleration period (fourth period) is repeated.
  • first acceleration period at least the energy stored in the capacitor during the second deceleration period in the previous energy cycle is supplied to the servo motor 150.
  • energy regenerated from the servo motor 150 is stored in the capacitor.
  • the second acceleration period at least the energy stored in the capacitor during the first deceleration period in the current energy circulation is supplied to the servo motor 150.
  • the energy regenerated from the servo motor 150 is stored in the capacitor.
  • the vibration testing apparatus 1000 by repeating the power operation and the regeneration operation, the electric power accumulated in the capacitor 1853 and the capacitor C during regeneration can be used to drive the servo motor 150 during the next power operation.
  • the power supplied to the servo motor 150 from the primary power source 1810 during operation can be reduced. This makes it possible to save power in the power supply system 1800.
  • the drive shaft 150a of the servo motor 150 reciprocates. Such reciprocating rotation is repeated at a repetition frequency of, for example, 500 Hz at maximum.
  • the supply of power to the servo motor 150 and the generation of regenerated power by the servo motor 150 are alternately repeated.
  • Short-term voltage fluctuations (for example, about one cycle of the servo motor 150) of the DC bus 1854 that occur when power is transferred to and from the servo motor 150 are mainly adjusted by the capacitor 1853. Therefore, since most of the electric power supplied to the servo motor 150 in sections A and C is recovered as regenerative power in sections B and D, the servo motor 150 can be operated without consuming almost any electric power supplied from the primary power source 1810. It is possible to drive it.
  • Table 1 is a list of experimental conditions and experimental results. Note that in this experiment, only the servo motor 150X was operated.
  • Frequency F is the number of times one cycle of driving shown in FIG. 9 is repeated per second.
  • the frequency F was varied at 25 Hz intervals up to a maximum of 200 Hz, and the power consumption value W A and the output power value W B at each frequency F were measured.
  • the minimum frequency was set to 10 Hz because it was impossible to measure or the measurement accuracy decreased at a frequency F at or near 0 Hz.
  • “Torque T 0 ” is the maximum value (amplitude) of the relative torque of the drive shaft 150a of the servo motor 150 (the ratio to the rated torque is expressed as a percentage).
  • “Power consumption value W A ” is an average value of power consumption of the power supply system 1800 as a whole, which is measured by the power measuring device PM upstream of the circuit breaker 1820 (FIG. 7).
  • “Output power value W B ” is an average value of power output from servo amplifier 1850 to servo motor 150.
  • an energy saving rate of more than 70% is achieved at a frequency F of 200 Hz or less.
  • a frequency F of 200 Hz or less is achieved.
  • an energy saving rate of over 90% is achieved.
  • the effect of reducing power consumption by the power feeding system 1800 of this embodiment can be obtained even when the repetition frequency of the reciprocating rotation of the servo motor 150 is set to 1 Hz, but it is obtained when the repetition frequency is set to 3 Hz or more (more preferably 5 Hz or more). Since the regenerated power is efficiently reused by the servo motor 150 itself, a good energy saving rate can be obtained.
  • FIG. 10(a) is a graph schematically showing the drive waveform of a typical conventional motor
  • FIG. 10(b) is a graph schematically showing the drive waveform of the servo motor 150 in this embodiment. .
  • the motor in driving a typical conventional motor, the motor is accelerated to a predetermined rotation speed in section T1 , and then continuously driven at a constant rotation speed (section T2 ) . ), it is decelerated and stopped at the end (section T 3 ).
  • regenerative power is generated only in section T3 . Therefore, the effect of reducing power consumption by using regenerated power is small.
  • acceleration and deceleration of the servo motor 150 are repeated at a high frequency over the entire period from the start to the end of driving.
  • Regenerative power is repeatedly generated at a high frequency at the timing of deceleration of the servo motor 150. That is, regenerative power is constantly generated from the start to the end of driving. Therefore, in this embodiment, the effect of reducing power consumption by using regenerated power is extremely large.
  • a tire testing device is a testing device that can perform tire wear tests, durability tests, running stability tests, and the like.
  • FIGS. 11 and 12 are perspective views of a tire testing apparatus 2000 according to a second embodiment of the present invention, viewed from different directions.
  • the tire testing device 2000 of this embodiment includes a rotating drum 2010 on which a simulated road surface is formed on the outer peripheral surface, an alignment adjustment mechanism 2160 that rotatably holds the tire T in contact with the simulated road surface in a predetermined posture. It includes a torque generating device 130 (slip ratio control device) that generates torque to be applied to the tire T, and an inverter motor 80 that rotationally drives the rotating drum 2010 and the casing of the torque generating device 130.
  • a torque generating device 130 slip ratio control device
  • the rotating drum 2010 is rotatably supported by a pair of bearings 2011a.
  • a pulley 2012a is attached to the output shaft of the inverter motor 80, and a pulley 2012b is attached to one shaft of the rotating drum 2010.
  • Pulley 2012a and pulley 2012b are connected by a drive belt 2015 (for example, a toothed belt).
  • a pulley 2012c is attached to the other shaft of the rotating drum 2010 via a relay shaft 2013. Note that the relay shaft 2013 is rotatably supported by a bearing 2011b near one end to which a pulley is attached. Pulley 2012c is coupled to pulley 2012d by a drive belt 2016.
  • the pulley 2012d is coaxially fixed to the pulley 2012e, and is rotatably supported together with the pulley 2012e by a bearing 2011c (FIG. 12). Further, the pulley 2012e is connected to a shaft portion 131a of a casing 131 of the torque generating device 130, which will be described later, by a drive belt 2017.
  • FIG. 13 is a diagram showing the internal structure of the torque generating device 130.
  • the torque generating device 130 includes a casing 131, a servo motor 150 fixed within the casing 131, and a speed reducer 133. Note that in this embodiment, a servo motor 150 having the same configuration as in the first embodiment is used. Cylindrical shaft portions 131a and 131b are formed at both ends of the casing 131 in the axial direction.
  • the casing 131 is rotatably supported by bearings 2020 and 2030 at the shaft portions 131a and 131b. Further, a pulley 2012f is attached to the outer periphery of the shaft portion 131a at one end (the right end in FIG. 13).
  • the speed reducer 133 has an input shaft 133a and an output shaft 133b, and decelerates the rotational motion input to the input shaft 133a and outputs it to the output shaft 133b.
  • An input shaft 133a of the reducer 133 is connected to a drive shaft 150a of a servo motor 150 by a coupling 134.
  • a connecting shaft 135 is connected to the output shaft 133b of the reducer 133.
  • the speed reducer 133 is optionally provided in the torque generating device 130.
  • the connecting shaft 135 may be directly connected to the drive shaft 150a of the servo motor 150 without providing the reducer 133 in the torque generating device 130.
  • the reduction gear 133 is an input shaft.
  • the connection shaft 135 is passed through the hollow part of the cylindrical shaft part 131a of the casing 131, and is rotatably supported by a pair of bearings 136 provided on the inner periphery of the shaft part 131a.
  • the distal end of the connecting shaft 135 protrudes from the distal end of the shaft portion 131a.
  • the connecting shaft 135 protruding from the shaft portion 131a is connected to a spindle of an alignment adjustment mechanism 2160 via a constant velocity joint 2014 (FIG. 11).
  • a wheel on which a tire T is mounted is attached to the spindle of the alignment adjustment mechanism 2160. That is, the servo motor 150 has a rotating shaft (drive shaft 150a) connected to the central axis of the tire T.
  • the rotating drum 2010 rotates, and the casing 131 of the torque generating device 130 connected to the inverter motor 80 via the rotating drum 2010 also rotates. Further, when the torque generating device 130 is not operating, the rotating drum 2010 and the tire T rotate in opposite directions so that the circumferential speeds at the contact portion are the same. Further, by operating the torque generator 130, dynamic or static driving force and braking force can be applied to the tire T.
  • the power output from the inverter motor 80 is transferred to the rotating drum 2010, the relay shaft 2013, the torque generator 130, the constant velocity joint 2014, the spindle of the alignment adjustment mechanism 2160, and the tire T. 2010. That is, the power transmission path including the rotating drum 2010, the relay shaft 2013, the torque generator 130, the constant velocity joint 2014, the spindle of the alignment adjustment mechanism 2160, and the tires T constitute a power circulation system. Therefore, the power of the inverter motor 80 is efficiently used, and operation can be performed with less power consumption.
  • the alignment adjustment mechanism 2160 of the present embodiment rotatably supports a tire T as a specimen mounted on a wheel, presses the tread portion of the tire T against the simulated road surface of the rotating drum 2010, and presses the tread portion of the tire T against the simulated road surface.
  • This is a mechanism that adjusts the direction of the tire T and the tire load (ground pressure) to a set state.
  • the alignment adjustment mechanism 2160 includes a tire load adjustment section 2161 that adjusts the tire load by moving the position of the rotation axis of the tire T in the radial direction of the rotary drum 2010, and a tire load adjustment section 2161 that adjusts the tire load by moving the position of the rotation axis of the tire T in the radial direction of the rotary drum 2010.
  • a slip angle adjustment section 2162 that adjusts the slip angle of the tire T with respect to a simulated road surface
  • a camber angle adjustment section 2163 that adjusts the camber angle by tilting the rotation axis of the tire T with respect to the rotation axis of the rotating drum 2010
  • a traverse device 2164 is provided to move the T in the direction of the rotation axis.
  • the tire load adjustment section 2161, the slip angle adjustment section 2162, the camber angle adjustment section 2163, and the traverse device 2164 each include servo motors M1, M2, M3, and M4.
  • Servo motors M1, M2, M3 and M4 are, for example, AC servo motors.
  • FIG. 14 is a block diagram showing a schematic configuration of a power supply system 2800 according to the second embodiment of the present invention that supplies power to the servo motor 150 and the inverter motor 80.
  • the power supply system 2800 of this embodiment includes a power supply system 2860 (reactor 2870, driver 2880) that supplies power to the inverter motor 80 branched from the rear stage of the electromagnetic switch 2830, servo motors M1, M2, M3 of the alignment adjustment mechanism 2160, It has power supply systems 2891 (reactor R1, servo amplifier A1), 2892 (reactor R2, servo amplifier A2), 2893 (reactor R3, servo amplifier A3), and 2894 (reactor R4, servo amplifier A4) that supply power to M4, respectively.
  • the driver 2880 is a device that generates driving power for the inverter motor 80, and includes an inverter circuit (not shown). Further, the driver 2880 and the servo amplifiers A1 to A4 are each communicably connected to the control unit C2, and operate under the control of the control unit C2. Note that servo amplifiers A1, A2, A3, and A4 have the same configuration as servo amplifier 2850.
  • the rotational motion of the tire T is a combination of the rotational speed output by the inverter motor 80 and the torque generated by the torque generator 130 (specifically, the servo motor 150). given to.
  • the inverter motor 80 is controlled to output a constant rotational speed
  • the servo motor 150 is controlled to output a variable torque (eg, random vibration torque).
  • the servo motor 150 is driven to rotate reciprocatingly while changing the amplitude and period based on predetermined vibration waveform data. That is, the control unit C2 controls the servo motor 150 to repeat normal rotation and reverse rotation.
  • acceleration and deceleration of the servo motor 150 are repeated, so that the supply of driving power from the servo amplifier 2850 to the servo motor 150 and the supply of regenerative power from the servo motor 150 to the servo amplifier 2850 are repeated.
  • Most of the regenerated power generated by the servo motor 150 is temporarily stored in the capacitor 2853 and then used to drive the servo motor 150. Surplus regenerated power is supplied to power supply systems 2860, 2891, 2892, 2893, and 2894 via power regeneration converter 2851 and reactor 2840, and is used to drive inverter motor 80 and servo motors M1, M2, M3, and M4. be done. Therefore, most of the regenerated power generated by the servo motor 150 is reused to drive the servo motor 150, M1 to M4, and the inverter motor 80, and the power consumption of the primary power source 2810 used to drive the servo motor 150 is reduced. It can be suppressed slightly.
  • the regenerated power generated by the inverter motor 80 and servo motors M1, M2, M3, and M4 is also reused to drive other motors (i.e., the servo motors 150, M1, M2, M3, M4, and the inverter motor 80). , the power consumption of the primary power source 2810 can be further reduced.
  • the tire T and the rotating drum 2010 rotate at the same circumferential speed.
  • the servo motor 150 of the torque generator 130 is driven to apply driving force and braking force to the tire T, thereby simulating the actual driving condition in a tire wear test, durability test, and driving stability test. It becomes possible to do the following.
  • the tire testing device 2000 includes an electric actuator that applies torque to the tire T and a control unit C2. As shown in FIG. 14, the electric actuator of the tire testing apparatus 2000 includes a servo motor 150, an inverter 2852, and a power regeneration converter 2851, and is similar to the vibration testing apparatus 1000 in this respect.
  • the servo amplifier 2850 including the inverter 2852 is a drive device that is supplied with energy from a power source and is controlled by the control unit C2 to supply the servo motor 150 with driving power that causes the servo motor 150 to generate variable torque.
  • a power regeneration converter 2851 included in the servo amplifier 2850 is configured to generate energy regenerated from the servo motor 150 when the control unit C2 controls the servo amplifier 2850 (inverter 2852) to cause the servo motor 150 to generate variable torque. The energy not consumed by the acceleration of the servo motor 150 is regenerated into the power source.
  • the tire testing apparatus 2000 can effectively utilize regenerated energy in various tests performed by applying variable torque (driving force, braking force) to the tire T, and perform tests.
  • the amount of power consumed can be reduced.
  • the torsion test device is a device capable of performing a so-called rotational torsion test in which a specimen is subjected to a rotational motion of a predetermined rotational speed and torque. It can be used to test the performance and durability of power transmission devices (e.g. clutches, propeller shafts, differential gears, transmissions, torque converters, etc.).
  • power transmission devices e.g. clutches, propeller shafts, differential gears, transmissions, torque converters, etc.
  • FIG. 15 is a side view of a torsion test device 3000 according to a third embodiment of the present invention.
  • the torsion test device 3000 of this embodiment is a device capable of performing a rotation torsion test on a specimen W (for example, a transmission unit for an FR vehicle) having two rotation axes. Specifically, the torsion test apparatus 3000 rotates the two rotation axes of the specimen W while giving a phase difference to the rotation of the two rotation axes while rotating the two rotation axes of the specimen W synchronously. Torque can be applied to each rotating shaft.
  • the torsion test device 3000 of this embodiment includes a first drive section 3010, a second drive section 3020, and a control unit C3 that integrally controls the operations of the torsion test device 3000.
  • FIG. 16 is a side view of the first drive section 3010.
  • the first drive unit 3010 includes a main body 3010a and a base 3010b that supports the main body 3010a at a predetermined height.
  • the main body 3010a includes a servo motor 150, a reducer 3013, a case 3014, a spindle 3015, a chuck device 3016, a torque sensor 3017, a slip ring 3019a, and a brush 3019b, and the main body 3010a is arranged horizontally on the top of the base 3010b.
  • the servo motor 150 is the same as in the first embodiment.
  • the servo motor 150 is fixed on the movable plate 3011 with its output shaft (not shown) oriented in the horizontal direction.
  • the movable plate 3011 of the base 3010b is provided so as to be slidable in the direction of the output shaft of the servo motor 150 (left-right direction in FIG. 15).
  • the output shaft (not shown) of the servo motor 150 is connected to the input shaft (not shown) of the reducer 3013 by a coupling (not shown).
  • An output shaft (not shown) of the reducer 3013 is connected to one end of the torque sensor 3017.
  • the other end of the torque sensor 3017 is connected to one end of the spindle 3015.
  • the spindle 3015 is rotatably supported by a bearing 3014a fixed to a frame 3014b of the case 3014.
  • a chuck device 3016 is fixed to the other end of the spindle 3015 for attaching one end (one of the rotating shafts) of the specimen W to the first drive section 3010.
  • the servo motor 150 When the servo motor 150 is driven, the rotational motion of the output shaft of the servo motor 150 is decelerated by the reducer 3013 and then transmitted to one end of the specimen W via the torque sensor 3017, the spindle 3015, and the chuck device 3016. It has become so. That is, the servo motor 150 has a rotating shaft (output shaft) coupled to the specimen W. Further, a rotary encoder (not shown) is attached to the spindle 3015 to detect the rotation angle of the spindle 3015.
  • the reducer 3013 is fixed to the frame 3014b of the case 3014. Further, the reducer 3013 includes a gear case and a gear mechanism rotatably supported by the gear case via a bearing (not shown). That is, the case 3014 covers the power transmission shaft from the reducer 3013 to the chuck device 3016, and also functions as a device frame that rotatably supports this power transmission shaft at the position of the reducer 3013 and the spindle 3015. That is, the gear mechanism of the reducer 3013 to which one end of the torque sensor 3017 is connected and the spindle 3015 to which the other end of the torque sensor 3017 is connected are both rotatably attached to the frame 3014b of the case 3014 via bearings. Supported.
  • test load (torsion load) is applied to the torque sensor 3017 without the bending moment due to the gear mechanism of the reducer 3013 or the weight of the spindle 3015 (and chuck device 3016), so the test load can be detected with high accuracy. can do.
  • a plurality of slip rings 3019a are formed on the cylindrical surface of one end of the torque sensor 3017.
  • a brush holding frame 3019c is fixed to the movable plate 3011 so as to surround the slip ring 3019a from the outer peripheral side.
  • a plurality of brushes 3019b are attached to the inner periphery of the brush holding frame 3019c, each of which contacts a corresponding slip ring 3019a.
  • the output signal of the torque sensor 3017 is configured to be output to a slip ring 3019a, and the output signal of the torque sensor 3017 can be taken out to the outside of the first drive unit 3010 via a brush 3019b that contacts the slip ring 3019a. It has become.
  • the second drive unit 3020 (FIG. 15) has the same structure as the first drive unit 3010, and when the servo motor 150 is driven, the chuck device 3026 rotates. The other end (one of the rotating shafts) of the specimen W is fixed to the chuck device 3026. Note that the housing of the specimen W is fixed to a support frame S.
  • the torsion test device 3000 of the present embodiment has a chuck device of a first drive section 3010 and a second drive section 3020, respectively, to connect an output shaft O and an input shaft I (engine side) of a specimen W, which is a transmission unit for an FR vehicle.
  • the servo motors 150 and 150 are used to synchronize and rotate the chuck devices 3016 and 3026, and by making a difference in the number of rotations (or phase of rotation) of both chuck devices 3016 and 3026, the specimen W is twisted. It applies a load.
  • the chuck device 3016 is rotationally driven so that the torque detected by the torque sensor 3017 of the first drive unit 3010 varies according to a predetermined waveform. Periodically varying torque is applied to the specimen W, which is a transmission unit.
  • the torsion testing device 3000 of this embodiment is capable of precisely driving both the input shaft I and the output shaft O of the transmission unit by the servo motors 150, 150, so that the transmission unit can be rotationally driven.
  • the servo motors 150, 150 so that the transmission unit can be rotationally driven.
  • tests can be conducted under conditions close to the actual driving conditions of the vehicle.
  • the input shaft I side of the transmission unit is driven to rotate at a constant speed
  • the output shaft O side is configured to apply torque
  • the present invention is not limited to the above example. That is, a configuration may be adopted in which the output shaft O side of the transmission unit is driven to rotate at a constant speed, and variable torque is applied to the input shaft I side. Alternatively, a configuration may be adopted in which both the input shaft I side and the output shaft O side of the transmission unit are driven to rotate at varying rotational speeds. Alternatively, a configuration may be adopted in which only the torque of each axis is controlled without controlling the rotation speed. Alternatively, a configuration may be adopted in which the torque and rotational speed are varied according to a predetermined waveform.
  • the torque and rotation speed can be varied according to an arbitrary waveform generated by a function generator, for example. Furthermore, the torque and rotational speed of each axis of the specimen W can also be controlled based on the waveform data of the torque and rotational speed measured in an actual running test.
  • the torsion testing device 3000 of this embodiment can adjust the distance between the chuck devices 3016 and 3026 so that it can accommodate transmission units of various sizes.
  • a movable plate drive mechanism (not shown) allows the movable plate 3011 of the first drive unit 3010 to move in the direction of the rotation axis of the chuck device 3016 (in the left-right direction in FIG. 15) with respect to the base 3010b. ing. Note that while the rotational torsion test is being performed, the movable plate 3011 is firmly fixed to the base 3010b by a locking mechanism (not shown).
  • the second drive section 3020 also includes a movable plate drive mechanism having the same configuration as the first drive section 3010.
  • FIG. 17 is a block diagram showing a schematic configuration of a power supply system 3800 according to the third embodiment of the present invention that supplies power to the servo motors 150 of the first drive section 3010 and the second drive section 3020.
  • the power supply system 3800 of this embodiment has the same configuration as the power supply system 1800 of the first embodiment, except that the number of inverters 3852 provided in the servo amplifier 3850 is two.
  • the first drive unit rotates the output shaft O of the specimen W at a constant rotation speed while applying a variable torque (for example, random vibration torque).
  • the servo motor 150 of 3010 is driven. Specifically, the servo motor 150 of the first drive unit 3010 is controlled to rotate at a predetermined number of rotations while changing the phase of rotation so that vibration torque is applied to the output shaft O based on predetermined waveform data. be done.
  • the servo motor 150 of the second drive unit 3020 is driven to apply variable torque (for example, random vibration torque) while rotating the input shaft I of the specimen W at a constant rotation speed.
  • the servo motor 150 of the second drive unit 3020 is controlled so that vibration torque is applied to the input shaft I by rotating at a predetermined number of rotations and changing the phase of rotation based on predetermined waveform data. be done. That is, since acceleration and deceleration of the servo motor 150 of the second drive section 3020 are repeated, driving power is supplied from the servo amplifier 3850 to the servo motor 150 of the second drive section 3020 and the servo motor 150 of the second drive section 3020 is The supply of regenerative power from to the servo amplifier 3850 is repeated.
  • the torsion test apparatus 3000 includes an electric actuator that applies a rotational movement of a predetermined rotation speed and torque to the specimen W, and a control unit C3. As shown in FIG. 17, the electric actuator of the torsion test device 3000 includes a servo motor 150, an inverter (inverter 3852), and a power regeneration converter (power regeneration converter 3851). It is similar to device 1000.
  • the servo amplifier 3850 including the inverter 3852 is a drive device that is supplied with energy from a power source and is controlled by the control unit C3 to supply the servo motor 150 with driving power that causes the servo motor 150 to generate variable torque.
  • the power regeneration converter 3851 controls the servo motor 150 out of the energy regenerated from the servo motor 150 when the control unit C3 controls the servo amplifier 3850 (inverter 3852) to cause the servo motor 150 to generate variable torque. The energy not consumed during acceleration is regenerated into the power source.
  • the torsion test apparatus 3000 can effectively utilize regenerated energy in a torsion test in which a fluctuating torque (rotational motion of a predetermined rotational speed and torque) is applied to the specimen W. It is possible to reduce the power consumption required for the test.
  • the torsion test device 3000 performs a rotational torsion test on a transmission unit for an FR vehicle. Without being limited in configuration, apparatus for performing rotational torsion testing of other power transmission mechanisms are also encompassed by the present invention.
  • a tensile compression test apparatus 4000 according to a fourth embodiment of the present invention described below is an apparatus capable of conducting a fatigue test in which tensile force or compressive force is repeatedly applied to a specimen.
  • FIG. 18 is a side view of a tensile compression testing apparatus 4000 according to the fourth embodiment of the present invention.
  • FIG. 19 is a front view of a tension compression testing apparatus 4000 according to the fourth embodiment.
  • the tensile compression test device 4000 includes a frame 4001 fixed to a horizontal plane, a support 4002 and a pedestal 4003 fixed to the frame 4001, and an electric actuator 4010.
  • the electric actuator 4010 is fixed to a support 4002 that stands up from the top surface of the frame 4001.
  • the pedestal 4003 is fixed to the frame 4001 vertically below the electric actuator 4010 fixed to the support 4002.
  • a holding member 4004 that holds the specimen W is fixed to the pedestal 4003.
  • the structure of the holding member 4004 may be any structure as long as it can apply tensile force or compressive force to the specimen W via the holding member 4004, and the specific structure is not particularly limited.
  • the electric actuator 4010 includes a servo motor 150 that is an electric motor that can switch between forward and reverse rotation, a ball screw section 4011 that converts the rotational motion of the servo motor 150 into linear motion, and a ball screw section 4011 that is attached to the tip (nut) of the ball screw section 4011. It is equipped with a piston 4012 and a servo amplifier 4850 (see FIG. 20), which will be described later.
  • the ball screw portion 4011 is an example of a motion converter that outputs reciprocating linear motion in response to forward and reverse rotation of the servo motor 150.
  • the piston 4012 is an example of a movable part that transmits compressive force or tension to the specimen W by receiving the reciprocating linear motion of the ball screw part 4011.
  • the height at which the electric actuator 4010 is fixed to the support 4002 can be adjusted by a lifting mechanism 4005 provided between the electric actuator 4010 and the support 4002.
  • the height of the electric actuator 4010 is adjusted by the lifting mechanism 4005 so that the piston 4012 comes into contact with the upper surface of the holding member 4004 holding the specimen W, as shown in FIG. 18, for example. After that, the piston 4012 and the holding member 4004 are fixed.
  • the piston 4012 performs reciprocating linear motion by reciprocating rotationally driving the servo motor 150, as in the first embodiment, and as a result, the specimen W Compressive and tensile forces can be repeatedly applied to the material.
  • FIG. 20 is a block diagram showing a schematic configuration of a power supply system 4800 according to the fourth embodiment of the present invention that supplies power to the servo motor 150 of the electric actuator 4010.
  • the power supply system 4800 of this embodiment has the same configuration as the power supply system 1800 of the first embodiment, except that the number of inverters 4852 provided in the servo amplifier 4850 is one. Electric actuator 4010 is controlled by control device C4.
  • a servo amplifier 4850 including an inverter 4852 is supplied with energy from a power source, and is controlled by a controller C4 to provide driving power to a servo motor to linearly reciprocate the ball screw portion 4011 at a desired amplitude and frequency. 150. Furthermore, the power regeneration converter 4851 generates energy regenerated from the servo motor 150 when the control device C4 controls the servo amplifier 4850 (inverter 4852) to cause the ball screw portion 4011 to reciprocate and linearly move at a desired amplitude and frequency. The energy not consumed by the acceleration of the servo motor 150 is regenerated into the power source.
  • the tension and compression test apparatus 4000 can effectively utilize regenerated energy in a tension and compression test in which tensile force or compressive force is repeatedly applied to the specimen W.
  • the amount of power consumed can be reduced.
  • FIG. 21 is a perspective view of a collision simulation test apparatus 5000 according to the fifth embodiment of the present invention.
  • the collision simulation test device 5000 is a device that can reproduce the impact that is applied to the vehicle, its occupants, and the equipment of the vehicle when a transportation machine such as a vehicle (including a railway vehicle, an aircraft, and a ship) collides.
  • the collision simulation test device 5000 includes a table 5240 that resembles the frame of an automobile.
  • a test object such as a seat carrying a dummy passenger, a high voltage battery for an electric vehicle, etc.
  • the table 5240 is an example of a mounting section to which a specimen is mounted.
  • a set acceleration for example, an acceleration corresponding to the impact applied to the frame of the vehicle during a collision
  • an impact similar to that during an actual collision is applied to the specimen attached to the table 5240.
  • the safety of the occupant is evaluated based on the damage sustained by the specimen at this time (or the damage predicted from the measurement results of an acceleration sensor or the like attached to the specimen).
  • the collision simulation test device 5000 of this embodiment is configured to be able to drive the table 5240 only in one horizontal direction.
  • the movable direction of the table 5240 is defined as the X-axis direction, the horizontal direction perpendicular to the X-axis direction as the Y-axis direction, and the vertical direction as the Z-axis direction.
  • the positive direction of the X-axis is referred to as the front
  • the negative direction of the X-axis is referred to as the rear
  • the negative direction of the Y-axis is referred to as the right
  • the positive direction of the Y-axis is referred to as the left.
  • the X-axis direction in which the table 5240 is driven is referred to as a "driving direction.” Note that in the collision simulation test, a large acceleration is applied to the table 5240 in a direction opposite to the traveling direction of the vehicle (ie, backward).
  • the collision simulation test device 5000 includes a test section 5200 equipped with a table 5240, a front drive section 5300 and a rear drive section 5400 that drive the table 5240, and rotational motion generated by each of the drive sections 5300 and 5400 in translation in the X-axis direction. It includes four belt mechanisms 5100 (belt mechanisms 5100a, 5100b, 5100c, and 5100d) that convert motion into motion and transmit it to table 5240, and a control unit C3. Each of the four belt mechanisms 5100 is an example of a transmission mechanism that converts the unidirectional rotational motion output from each drive section 5300, 5400 into a linear motion and transmits the linear motion to the table 5240, which is an attachment section.
  • the test section 5200 is arranged at the center of the collision simulation test device 5000 in the X-axis direction, and the front drive section 5300 and the rear drive section 5400 are arranged adjacent to the front and rear of the test section 5200, respectively.
  • FIG. 22 is a perspective view showing the structure of the test section 5200 and the belt mechanism 5100. Note that for convenience of explanation, illustration of a table 5240 and a base block 5210 (described later), which are components of the test section 5200, is omitted in FIG.
  • the test section 5200 includes a base block 5210 (FIG. 21), a frame 5220 mounted on the base block 5210, and a pair of linear guides 5230 (guideway type circulating type) mounted on the frame 5220. (linear bearings).
  • a table 5240 is supported movably only in the X-axis direction (drive direction) by a pair of linear guides 5230.
  • the frame 5220 has a pair of left and right half frames (a right frame 5220R, a left frame 5220L) connected by a plurality of connection bars 5220C extending in the Y-axis direction. Since the right frame 5220R and the left frame 5220L have the same structure (more precisely, a mirror image relationship), only the left frame 5220L will be described in detail.
  • the left frame 5220L includes a mounting portion 5221 and a rail support portion 5222 that extend in the X-axis direction, and three connecting portions 5223 (5223a, 5223b, 5223c) that connect the mounting portion 5221 and the rail support portion 5222 that extend in the Z-axis direction. have.
  • the length of the mounting portion 5221 is approximately equal to the length of the base block 5210 in the X-axis direction, and the entire length of the mounting portion 5221 is supported by the base block 5210. Further, the rear end portions of the mounting portion 5221 and the rail support portion 5222 are connected to each other by the connecting portion 5223a.
  • the rail support portion 5222 is longer than the attachment portion 5221 (that is, than the base block 5210), and its tip protrudes further forward than the base block 5210 and is disposed above the front drive portion 5300.
  • the linear guide 5230 includes a rail 5231 extending in the X-axis direction and two carriages 5232 that run on the rail 5231 via rolling elements.
  • the rails 5231 of the pair of linear guides 5230 are fixed to the upper surfaces of the rail support portions 5222 of the right frame 5220R and the left frame 5220L, respectively.
  • the length of the rail 5231 is approximately equal to the length of the rail support section 5222, and the entire length of the rail 5231 is supported by the rail support section 5222.
  • a plurality of attachment holes (screw holes) are provided on the upper surface of the carriage 5232, and a plurality of through holes corresponding to the attachment holes of the carriage 5232 are provided in the table 5240.
  • the carriage 5232 is fastened to the table 5240 by fitting bolts (not shown) passed through each through hole of the table 5240 into each mounting hole of the carriage 5232. Note that the table 5240 and four carriages 5232 constitute a cart (sled).
  • the table 5240 is formed with a mounting structure such as a screw hole for attaching a specimen (not shown) such as a sheet, so that the specimen can be directly attached to the table 5240.
  • a mounting structure such as a screw hole for attaching a specimen (not shown) such as a sheet, so that the specimen can be directly attached to the table 5240.
  • each belt mechanism 5100 includes a toothed belt 5120, a pair of toothed pulleys (first pulley 5140, second pulley 5160) around which the toothed belt 5120 is wound, and a toothed belt 5120.
  • a pair of belt clamps 5180 are provided for fixing the table 5240 to the table 5240.
  • toothed belts 5120 are arranged in parallel between the right frame 5220R and the left frame 5220L.
  • the toothed belt 5120 is fixed to the table 5240 by belt clamps 5180 at two locations in the length direction.
  • the front drive section 5300 includes a base block 5310 and four electric actuators 5320 (5320a, 5320b, 5320c, 5320d) installed on the base block 5310.
  • the rear drive unit 5400 includes a base block 5410 and four electric actuators 5420 (5420a, 5420b, 5420c, 5420d) installed on the base block 5410.
  • the basic configuration of the front drive section 5300 and the rear drive section 5400 is also common.
  • the control unit C3 can apply acceleration to the table 5240 according to the acceleration waveform by synchronously controlling the drive of the motor 10 of each electric actuator 5320a to 5320a to 5420a to d based on the input acceleration waveform.
  • all eight servo motors are driven to reciprocate in the same phase.
  • the toothed pulley can be rotated while utilizing regenerative energy.
  • the table 5240 can be accelerated while suppressing power consumption, and a collision simulation test can be performed.
  • FIG. 23 is a perspective view showing a schematic structure of the electric actuator 100.
  • FIG. 24 is a plan view showing a schematic structure of the electric actuator 100.
  • FIG. 25 is a side view of the connecting rod 60 included in the electric actuator 100.
  • FIG. 26 is a side view of the crankshaft 70 included in the electric actuator 100.
  • the electric actuator 100 includes a drive unit 100d and a crankshaft 70.
  • the drive unit 100d includes a motor 10 (electric motor), a bearing 30, a ball screw 40 (feed screw mechanism), a linear motion part 50 (hereinafter referred to as "piston 50"), and a connecting rod 60.
  • the motor 10 is, for example, an ultra-low inertia, high-output AC servo motor. By using such a motor 10 with ultra-low inertia and high output, reciprocating and reversing driving at a high frequency of, for example, 100 Hz or more is possible.
  • the screw shaft 41 of the ball screw 40 is rotatably supported by the bearing 30 fixed to the base block 5410 or 5310.
  • the screw shaft 41 is connected to the shaft 11 of the motor 10 by the shaft coupling 20.
  • the piston 50 is a cylindrical member in which a hollow portion 50a extending in the direction of the axis Ax1 is formed.
  • the axis Ax1 is the center line of the drive unit 100d, and is a straight line that is common to the rotation axes of the motor 10 and the ball screw 40.
  • the nut 42 of the ball screw 40 is housed in, for example, one end (the left end in FIG. 24) of the hollow portion 50a of the piston 50, and is fixed to the piston 50.
  • a pin 52 is attached to the other end of the piston 50 (the right end in FIG. 24) perpendicular to the axis of the piston 50 (in other words, parallel to the crankshaft 70).
  • FIG. 25 is a side view of the connecting rod 60.
  • the connecting rod 60 has a small end 62 in which a small diameter pin hole 62a is formed, a large end 64 in which a large diameter pin hole 64a is formed, and a rod part 66 that connects the small end 62 and the large end 64. has.
  • the pin holes 62a and 64a are formed parallel to each other.
  • the pin 52 is inserted into the pin hole 62a of the small end 62, for example, via a bush (not shown). Further, both ends of the pin 52 are inserted into a pair of pin holes 50b (FIG. 24) formed at the other end of the piston 50, and are fixed to the piston 50.
  • the connecting rod 60 is connected at the small end 62 to the other end of the piston 50 via the pin 52 so as to be able to pivot within a certain angular range about the pin 52 as a pivot axis.
  • the connecting rod 60 is rotatably connected not only to the pin 52 (first pin) but also to a crank pin 72 (second pin), which will be described later.
  • FIG. 26 is a side view of the crankshaft 70.
  • the crankshaft 70 includes a pair of crank journals 71 arranged coaxially (that is, so that their rotation axes or center lines coincide), and an axis of the crank journal 71 (that is, an axis Ax2 that is the rotation axis of the crankshaft 70).
  • a pair of crank arms 73 that connect the crank journal 71 and the crank pin 72, and a pair of balances provided on opposite sides of each crank arm 73 with respect to the axis Ax2.
  • It has a weight 74 and an output shaft 75 coaxially connected to one of the crank journals 71.
  • the balance weight 74 is formed to cancel the imbalance caused by the crank pin 72 and the crank arm 73 that are eccentric with respect to the axis Ax2.
  • crankshaft 70 is rotatably supported in the pair of crank journals 71 by a pair of bearings (for example, rolling bearings), not shown, which are fixed to the base block 5410 or 5310.
  • bearings for example, rolling bearings
  • crank pin 72 is inserted into the pin hole 64a of the large end 64 of the connecting rod 60 via, for example, a bush (not shown). Thereby, the crankshaft 70 is rotatably connected to the connecting rod 60.
  • an oil-free bushing is used as the bushing that fits into the pin holes 62a and 64a of the connecting rod 60.
  • another type of bearing such as a rolling bearing, may be used.
  • the motor 10 is an electric motor that can be switched between normal rotation and reverse rotation, and is driven so that the shaft 11 repeatedly rotates back and forth within a predetermined angular range.
  • the rotation of the motor 10 is converted into linear motion by the ball screw 40 and transmitted to the piston 50.
  • the piston 50 reciprocates linearly on the axis Ax1 with a predetermined stroke. That is, the ball screw 40 functions as a first motion converter that converts the reciprocating rotational motion of the motor 10 into reciprocating linear motion.
  • crank mechanism (more specifically, a slider crank mechanism) is configured as a second motion converter that converts the rotational motion into a rotational motion (hereinafter referred to as "unidirectional rotational motion").
  • the electric actuator 100 includes a motion converter that converts forward and reverse rotation of the motor 10 into unidirectional rotational motion, and this motion converter includes the ball screw 40, the piston 50, and the connecting rod 60. , and a crankshaft 70.
  • a power supply system 5800 according to the fifth embodiment of the present invention that supplies power to the servo motor 10 of the electric actuator 100 has the same configuration as the power supply system 3800 shown in FIG. 17, except that the number of inverters 3852 is eight. It is something. Electric actuator 100 is controlled by control unit C3 shown in FIG. 17.
  • the servo amplifier 3850 including the inverter 3852 is a drive device that is supplied with energy from the power source and is controlled by the control unit C3 to supply the motor 10 with drive power that gives the table 5240 a desired acceleration.
  • the power regeneration converter 3851 consumes energy regenerated from the motor 10 by accelerating the motor 10 when the control unit C3 controls the servo amplifier 3850 (inverter 3852) to give a desired acceleration to the table 5240.
  • the unused energy is regenerated into a power source.
  • the collision simulation test device 5000 can effectively utilize regenerated energy in a simulated collision test in which a desired acceleration is applied to a specimen and an impact similar to that in an actual collision is applied. Therefore, it is possible to suppress the power consumption required for the test.
  • the collision simulation test device 5000 of this embodiment can also be used as a shock test device that applies strong shock waves to products and parts to evaluate their durability and reliability against impact. Further, the collision simulation test device 5000 of this embodiment can also be used as a vibration test device that applies vibration to products or parts.
  • the electric actuator 100 is used as the electric actuator 5320 of the front drive section 5300 and the electric actuator 5420 of the rear drive section 5400, but the motor 10 may be used alone instead of the electric actuator 100.
  • the collision simulation test device 5000 of this embodiment is used as a vibration test device, since acceleration and deceleration are repeated in short cycles, the regenerated power accumulated in the capacitor 3853 is efficiently reused by the motor 10. Therefore, the power consumption required for testing can be reduced.
  • FIG. 27 is a side view showing the basic configuration of a uniformity and dynamic balance composite test device 6000 (hereinafter referred to as composite test device 6000) according to an embodiment of the present invention.
  • FIG. 28 schematically shows a method of rotationally driving the spindle 6120 of the composite testing apparatus 6000.
  • the composite testing device 6000 is configured to hold the tire T by vertically sandwiching it between a lower rim 6010 and an upper rim 6020. More specifically, the composite testing device 6000 inserts and fixes a lock shaft 6300, to which an upper rim 6020 is fixed at its upper end, into a spindle 6120, thereby forming a tire T between a lower rim 6010 and an upper rim 6020. Pinch and hold.
  • Rotating drum 6030 is an example of a rotating drum that contacts a tire.
  • the rotating drum 6030 is mounted on a movable housing 6032 that can slide on a rail 6031 that extends toward/away from the tire T, and includes a rack and pinion mechanism 6035 (pinion 6036 and rack 6038) driven by a motor (not shown). It moves in the direction toward/away from the tire T.
  • the rotating drum 6030 can be rotated at an arbitrary rotation speed by an electric actuator (hereinafter referred to as electric actuator 100a) not shown. Note that the configuration of the electric actuator 100a is the same as the electric actuator 100 described above in the fifth embodiment.
  • the rotating drum 6030 When carrying out the uniformity test, the rotating drum 6030 is brought into contact with the tire T by the rack and pinion mechanism 6035, and the rotating drum 6030 is further pressed against the tire T with a force of several hundred kgf or more. Next, in this state, the rotating drum 6030 is rotated (therefore, the tire T in contact with the rotating drum 6030 also rotates with the rotating drum 6030), and the force generated in the rotating tire due to the change in load at that time is The variation is measured by a three-axis piezoelectric element installed on the side surface of the spindle housing 6110.
  • this rotating drum 6030 is rotated using the electric actuator 100a. More specifically, the composite testing apparatus 6000 has a power supply system having the same configuration as the power supply system 3800 shown in FIG. Make a unidirectional rotational movement. Thereby, the uniformity test can be performed by rotating the rotating drum 6030 while utilizing regenerated energy.
  • the dynamic balance test is a test in which the spindle 6120 rotates the tire T with the rotating drum 6030 separated from the tire T, and the eccentricity of the tire is measured from the excitation force generated from the unbalance of the tire T. It is.
  • Spindle 6120 is an example of a spindle to which a tire is attached.
  • a pulley 6140 is attached to the lower end of the spindle 6120 for rotationally driving the spindle 6120 during a dynamic balance test.
  • an electric actuator 100b that can move horizontally forward and backward toward the spindle 6120 by a rack and pinion mechanism (not shown) is installed on the base 6050 to which the spindle 6120 is fixed, and the spindle 6120 is rotated by this electric actuator 100b.
  • the configuration of the electric actuator 100b is the same as the electric actuator 100 described above in the fifth embodiment. Thereby, a dynamic balance test can be performed by rotating the spindle 6120 while utilizing regenerated energy.
  • a drive pulley 6144 is attached to the output rotation shaft of the electric actuator 100b at the same height as the pulley 6140 of the spindle 6120. Further, as shown in FIG. 28, a pair of driven pulleys 6143 are rotatably installed at the same height as the drive pulley 6144 and the pulley 6140 of the spindle 6120. Note that the driven pulley 6143 moves forward and backward together with the electric actuator 100b (drive pulley 6144) by the rack and pinion mechanism (not shown) described above.
  • the endless belt 6142 is stretched around a driving pulley 6144 and a driven pulley 6143, and the electric actuator 100 can move the endless belt 6142 at a predetermined speed.
  • the pulley 6140 rotates, and the gap between the lower rim 6010 and the upper rim 6020 is rotated.
  • the spindle 6120 rotates while holding the tire T.
  • the excitation force is measured by a three-axis piezoelectric element installed on the side surface of the spindle housing 6110.
  • the configuration between the electric actuator 100b and the spindle 6120 (pulley 6140, drive pulley 6144, driven pulley 6143, and endless belt 6142) is a transmission mechanism that transmits the unidirectional rotational motion output from the electric actuator 100b to the spindle 6120. This is an example.
  • the composite test apparatus 6000 has a power supply system having the same configuration as the power supply system 3800 shown in FIG. 17.
  • the control unit C3 controls the electric actuator 100b, and the transmission mechanism transmits the unidirectional rotational motion output from the electric actuator 100b to the spindle 6120. Thereby, a dynamic balance test can be performed by rotating the spindle 6120 while utilizing regenerated energy.
  • the composite testing apparatus 6000 is provided with two electric actuators 100a and 100b having the same configuration as the electric actuator 100 of the fifth embodiment, and in order for the electric actuator 100a to rotate the rotating drum 6030, an electric Actuator 100b is used to rotate spindle 6120. This makes it possible to perform both uniformity tests and dynamic balance tests while using regenerated energy.
  • the servo amplifier 3850 including the inverter 3852 is supplied with energy from the power source, and is controlled by the control unit C3 to supply the motor 10 with driving power to rotate the rotating drum 6030 at a predetermined speed. It is a drive device that The power regeneration converter 3851 converts energy regenerated from the motor 10 that is consumed by accelerating the motor 10 when the control unit C3 controls the servo amplifier 3850 (inverter 3852) to rotate the rotating drum 6030 at a predetermined speed. Regenerate lost energy into a power source.
  • the servo amplifier 3850 including the inverter 3852 is supplied with energy from a power source, and is also a drive device that supplies the motor 10 with driving power to rotate the spindle 6120 at a predetermined speed under control of the control unit C3.
  • the power regeneration converter 3851 converts energy regenerated from the motor 10 that is not consumed by acceleration of the motor 10 when the control unit C3 controls the servo amplifier 3850 (inverter 3852) to rotate the spindle 6120 at a predetermined speed. energy is regenerated into a power source.
  • the composite testing apparatus 6000 can effectively utilize regenerated energy in tire uniformity tests and dynamic balance tests, and can reduce the power consumption required for the tests. can.
  • a balance measuring device 7000 according to a seventh embodiment of the present invention is a testing device that can measure the balance of a rotating body.
  • 29 and 30 are a front view and a side view, respectively, of a balance measuring device 7000 according to an embodiment of the present invention.
  • the vertical direction in FIG. 29 will be defined as the Y-axis direction
  • the direction perpendicular to both the vertical direction and the rotation axis direction of the rotating body will be defined as the X-axis direction.
  • the rotating body 7100 of this embodiment is, for example, a crankshaft
  • the balance measuring device 7000 is, for example, a device that can measure the balance of the crankshaft.
  • the device frame of the balance measuring device 7000 consists of a base 7013, a plurality of springs 7014 extending vertically upward from the base 7013, and a table 7015 supported by the springs 7014.
  • Drive shaft bearings 7012a and 7012b are attached to the lower surface of the table 7015.
  • Drive shaft 7005 is rotatably supported by drive shaft bearings 7012a and 7012b.
  • a first side wall 7013a and a second side wall 7013b which can be regarded as substantially rigid bodies, extend vertically upward.
  • the electric actuator 100 that outputs unidirectional rotational motion is attached to the base 7013.
  • a pulley 7003 is attached to the drive shaft of the electric actuator 100.
  • a first pulley 7006 is attached to one end of the drive shaft 7005, and a first endless belt 7004 is connected to the first pulley 7006 and the pulley 7003 attached to the drive shaft of the electric actuator 100.
  • the drive shaft 7005 can be rotationally driven via the first endless belt 7004.
  • first table side wall 7017a and a second table side wall 7017b that are parallel to each other are fixed vertically upward from the top surface of the table 7015.
  • the first table side wall 7017a and the second table side wall 7017b are rigid bodies having extremely high rigidity compared to the spring constant of the spring 7014.
  • Driven shaft bearings 7016a and 7016c are fixed to the first table side wall 7017a
  • driven shaft bearings 7016b and 7016d are fixed to the second table side wall 7017b, respectively.
  • Note that only the driven shaft bearings 7016a and 7016b are shown in FIG. 29, and the driven shaft bearings 7016c and 7016d are arranged behind the driven shaft bearings 7016a and 7016b, respectively, in FIG.
  • Driven shaft bearings 7016a, 7016b, 7016c, and 7016d rotatably support driven shafts 7010a, 7010b, 7010c, and 7010d (only 7010a and 7010b are shown in FIG. 29), respectively.
  • Pulleys 7009a, 7009b, 7009c, and 7009d are attached to one ends of the driven shafts 7010a, 7010b, 7010c, and 7010d, respectively. Further, second pulleys 7007a and 7007b are attached to one end of the drive shaft 7005 adjacent to the pulley 7006 and to the other end of the drive shaft 7005. A pulley 7009a attached to the second pulley 7007a and the driven shaft 7010a, a pulley 7009c attached to the driven shaft 7010c, a pulley 7009b attached to the second pulley 7007b and the driven shaft 7010b, and a pulley attached to the driven shaft 7010d.
  • Second endless belts 7008a and 7008b are passed through 7009d, respectively. Therefore, when the drive shaft 7005 rotates, its power is transmitted to the driven shafts 7010a and 7010c through the second endless belt 7008a, which causes the driven shafts 7010a and 7010c to rotate. The power from the drive shaft 7005 is also transmitted to the driven shafts 7010b and 7010d via the second endless belt 7008b, and as a result, the driven shafts 7010b and 7010d also rotate.
  • Rollers 7011a, 7011b, 7011c, and 7011d are attached to the other ends of the driven shafts 7010a, 7010b, 7010c, and 7010d, respectively.
  • One end 7110a of the rotating shaft of the rotating body 7100 is placed on the rollers 7011a and 7011c, and the other end 7110b of the rotating shaft of the rotating body 7100 is placed on the rollers 7011b and 7011d, respectively.
  • the rotating body 7100 rotates following the rotation of the rollers 7011a, 7011b, 7011c, and 7011d. That is, by driving the electric actuator 100, the rotating body 7100 can be rotated while utilizing regenerated energy.
  • the configuration between the electric actuator 100 and the rotating body 7100 is an example of a transmission mechanism that transmits the unidirectional rotational motion output from the electric actuator 100 to the rotating body 7100 that is the test object. be.
  • a keyway 7102 is formed at the other end 7110b of the rotating body 7100. Further, the balance measuring device 7000 is further provided with a sensor S for detecting the keyway 7102.
  • vibration pickups VDL and VDR are installed between the first side wall 7013a of the base 7013 and the table 7015.
  • the rotating body 7100 which is a crankshaft with dynamic unbalance, vibrates as it rotates.
  • vibrations of the rotating body 7100 (crankshaft) are transmitted to the table 7015 via rollers 7011a, 7011b, 7011c, 7011d, first and second table side walls 7017a, 7017b, and the like.
  • Vibration pickups VDL and VDR detect vibrations transmitted from rotating body 7100 (crankshaft) to table 7015. In other words, the vibration pickups VDL and VDR detect variations in the load that the rotating body 7100 (crankshaft) applies to the rollers 7011a, 7011b, 7011c, and 7011d.
  • the vibration pickups VDL and VDR are acceleration sensors that can each measure acceleration in two components (X-axis direction and Y-axis direction) perpendicular to the rotation axis of the rotating body 7100.
  • the vibration pickup VDL is mounted on the same XY plane as the first table side wall 7017a, and the vibration pickup VDR is mounted on the same XY plane as the second table side wall 7017b.
  • piezoelectric actuators VL and VR are installed between the second side wall 7013b of the base 7013 and the table 7015.
  • the piezoelectric actuator VL is mounted on the same XY plane as the first table side wall 7017a
  • the piezoelectric actuator VR is mounted on the same XY plane as the second table side wall 7017b.
  • the piezoelectric actuator is a member that can expand and contract depending on the magnitude of the applied voltage to give displacement to the object it comes in contact with.Therefore, by controlling the signals input to the piezoelectric actuators VL and VR, the table 7015 can be freely excited.
  • the balance measurement device 7000 has a power supply system having the same configuration as the power supply system 4800 shown in FIG. 20.
  • the control device C4 controls the electric actuator 100, and the transmission mechanism transmits the unidirectional rotational motion output from the electric actuator 100 to the rotating body 7100, which is the specimen. Thereby, a dynamic balance test can be performed by rotating the rotating body 7100 while utilizing regenerated energy.
  • the servo amplifier 4850 including the inverter 4852 is supplied with energy from the power source, and is controlled by the control device C4 to supply the motor 10 with driving power to rotate the rotating body 7100 at a predetermined speed. It is a drive device that The power regeneration converter 4851 converts energy regenerated from the motor 10 that is consumed by accelerating the motor 10 when the control device C4 controls the servo amplifier 4850 (inverter 4852) to rotate the rotating body 7100 at a predetermined speed. Regenerate lost energy into a power source.
  • balance measurement device 7000 configured as described above, it is possible to effectively utilize regenerated energy in a dynamic balance test of a rotating body such as a crankshaft, and to reduce the power consumption required for the test. Can be done.
  • FIGS. 32 and 33 are a perspective view, a side view, and a plan view, respectively, of a hedge trimmer 8000 according to an eighth embodiment of the present invention.
  • a piston 8050 which will be described later, is shown in cross-sectional view.
  • the hedge trimmer 8000 is an electric agricultural machine (i.e., electrical equipment) used for pruning hedges and trees.
  • the hedge trimmer 8000 includes a frame 8002, an electric actuator 8100 according to an embodiment of the present invention, and a pair of blades 8060 (8060A, 8060B).
  • the electric actuator 8100 is a linear actuator that generates linear motion in the direction of the axis Ax, and causes the blade 8060 to reciprocate linearly as described below.
  • the hedge trimmer 8000 includes a cover that covers the internal structure of the electric actuator 8100, a handle attached to the frame 8002 for holding the hedge trimmer 8000, and operation buttons and operation switches for operating the hedge trimmer 8000.
  • a cover that covers the internal structure of the electric actuator 8100
  • a handle attached to the frame 8002 for holding the hedge trimmer 8000
  • operation buttons and operation switches for operating the hedge trimmer 8000.
  • illustration of these components is omitted.
  • the frame 8002 has a base 8002a that supports the electric actuator 8100, and a rod 8002b erected at one end of the base 8002a.
  • the electric actuator 8100 includes a motor 8010 (drive unit), a ball screw 8030 (feed screw mechanism) that is a motion converter that converts the power (rotational motion) output by the motor 8010 into linear motion, and an axis Ax by the ball screw 8030. It includes a piston 8050 (linear motion part) that is driven in the direction of the axis Ax, and a linear guide 8040 that supports the piston 8050 movably in the direction of the axis Ax. Motor 8010 and linear guide 8040 are mounted on base 802a.
  • the motor 8010 is an electric motor that can be switched between forward and reverse rotation, and is, for example, an ultra-low inertia, high-output AC servo motor. By using an electric motor with ultra-low inertia and high output, it is possible to repeatedly reciprocate and reverse drive at a high frequency of, for example, 100 Hz or more.
  • the ball screw 8030 includes a plurality of balls (not shown) as rolling elements, a screw shaft 8031 having a first spiral thread groove formed on the outer peripheral surface, and a cylindrical through hole through which the screw shaft 8031 is passed.
  • a nut 8032 (not shown) is provided.
  • a second thread groove (not shown) is formed on the inner circumferential surface of the through hole of the nut 8032 at a position facing the first thread groove, and the first thread groove and the second thread groove are connected to each other.
  • the enclosed rolling path is filled with a plurality of balls, and the screw shaft 8031 and nut 8032 engage with each other via the balls. Both ends of the rolling path are connected to a return path to form a circulation path (closed path) in which the balls circulate.
  • rollers may be used as rolling elements instead of balls.
  • the screw shaft 8031 of the ball screw 8030 is coaxially connected to the shaft 8011 of the motor 8010 (that is, so that the rotation axis or center line coincides) with the shaft joint 8012.
  • the axis Ax of the electric actuator 8100 of this embodiment is the center line of the shaft 8011 of the motor 8010 and the screw shaft 8031 of the ball screw 8030.
  • the piston 8050 is a member in which a cylindrical hollow portion 8050a centered on the axis Ax is formed.
  • the nut 8032 of the ball screw 8030 is accommodated in the hollow portion 8050a and fixed to the piston 8050.
  • the linear guide 8040 of this embodiment is a guideway type circulating linear bearing, and includes a rail 8041 and a carriage 8042 that can travel on the rail 8041.
  • a linear bearing for example, a rolling bearing or a sliding bearing
  • other linear guide mechanism may be used for the linear guide 8040.
  • the blade 8060 has a plurality of teeth 8062 (FIG. 33) formed on both edges of a steel plate that is long in the direction of the axis Ax.
  • a pair of blades 8060 are overlapped, one (blade 8060A) is fixed to one end of the piston 8050 in the direction of the axis Ax, and the other (blade 8060B) is fixed to the tip of the rod 8002b. That is, the blade 8060A is configured to be able to be driven in the direction of the axis Ax by the electric actuator 8100 with respect to the fixed blade 8060B.
  • the motor 8010 is driven so that the shaft 8011 repeatedly rotates back and forth within a predetermined angular range. Rotation of the shaft 8011 is converted into linear motion by the ball screw 8030 and transmitted to the piston 8050. That is, the piston 8050 and the blade 8060A repeatedly move linearly back and forth in the direction of the axis Ax with a predetermined stroke. Then, by repeatedly reciprocating the blade 8060A in the direction of the axis Ax with respect to the fixed blade 8060B, the object to be cut, such as a branch or leaf, is sandwiched between the teeth 8062 of the pair of blades 8060A and 8060B and cut.
  • the object to be cut such as a branch or leaf
  • the configuration of the power supply system that supplies drive power to the motor 8010 is the same as the power supply system 4800 of the fourth embodiment shown in FIG. 20, but will be explained here again.
  • the primary power source 4810 is a commercial power source or a power supply device, and supplies, for example, single-phase AC or three-phase AC power (hereinafter referred to as "system power").
  • System power supplied from the primary power source 4810 is supplied to the servo amplifier 4850 (drive device) via an optionally provided circuit breaker 4820, electromagnetic switch 4830, and reactor 4840.
  • Servo amplifier 4850 is an inverter device that converts alternating current supplied from primary power source 4810 into driving power for motor 8010.
  • a motor 8010 is connected to the output terminal of the servo amplifier 4850, and driving power is supplied from the servo amplifier 4850 to the motor 8010.
  • Servo amplifier 4850 is communicably connected to control device C4, and operates under the control of control device C4. Note that the servo amplifier 4850 and the motor 8010 constitute an electric actuator 8100, and the electric actuator 8100 is controlled by the control device C4.
  • the servo amplifier 4850 includes a power regeneration converter 4851, an inverter 4852, and a capacitor 4853.
  • the power regeneration converter 4851 is a converter suitable for power regeneration, and is, for example, a PWM converter that converts the power supply side current into a sine wave by PWM (Pulse Width Modulation) control. Note that the power regeneration converter 4851 may perform power conversion using a 120° energization method.
  • the inverter 4852 is a PWM inverter that controls the output power by, for example, PWM control.
  • the inverter 4852 is a drive device that is supplied with power from the primary power source 4810, which is a power source, and is controlled by the controller C4, which is a controller, to supply driving power to the motor 8010, which is an electric motor, to cause the blade 8060A to reciprocate and linearly move.
  • the power regeneration converter 4851 regenerates the power that is not consumed due to acceleration of the servo motor 150 out of the power regenerated from the motor 8010, which is an electric motor, to the power source when the blade 8060A is reciprocated and linearly moved.
  • the power regeneration converter 4851 of this embodiment has a function of rectifying AC supplied from the primary power source 4810 during power operation, and a function of generating AC of the same quality as grid power to be returned to the primary power source 4810 during regeneration operation.
  • a converter dedicated to power operation and a converter dedicated to power regeneration may be provided separately.
  • the AC power output from the reactor 4840 is converted to DC by the power regeneration converter 4851, smoothed by the capacitor 4853, and then converted to AC (for example, pulse train) by the inverter 4852. is converted into driving power.
  • the driving power output from the inverter 4852 is input to the motor 8010 and drives the motor 8010 to rotate.
  • DC bus 4854 When motor 8010 generates regenerative power (during regenerative operation), the regenerative power output from motor 8010 is converted to DC by inverter 4852 and input to power regeneration converter 4851 via DC bus 4854.
  • DC bus 4854 is constructed from a pair of positive and negative conducting wires.
  • Power regeneration converter 4851 converts DC power supplied from DC bus 4854 into sinusoidal AC power, and outputs it to primary power source 4810 via reactor 4840, electromagnetic switch 4830, and circuit breaker 4820.
  • the driving waveform of one cycle of the motor 8010 is as shown in FIG. That is, the motor 8010 is driven so that the angular position ⁇ of the shaft 8011 repeatedly varies in the range of ⁇ a to ⁇ a according to a sine wave drive waveform.
  • the shaft 8011 of the motor 8010 reciprocates. Such reciprocating rotation is repeated at a repetition frequency of, for example, 500 Hz at maximum.
  • the drive waveform of the motor 8010 is not limited to a sine wave.
  • the supply of power to the motor 8010 and the generation of regenerated power by the motor 8010 are alternately repeated.
  • Short-term voltage fluctuations (for example, about one cycle of the motor 8010) of the DC bus 4854 due to the transfer of power to and from the motor 8010 are mainly adjusted (in other words, leveled) by the capacitor 4853. Therefore, most of the electric power supplied to the motor 8010 in sections A and C shown in FIG. Therefore, it is possible to drive the motor 8010 without consuming much of the power supplied from the primary power source 4810.
  • FIG. 34 is a block diagram showing a schematic configuration of a power supply system 290 for an electric actuator according to a ninth embodiment of the present invention.
  • the power supply system 290 of the ninth embodiment differs from the power supply system of the fourth embodiment (FIG. 20) in that it includes a plug 291 that is inserted into a primary power outlet (not shown) and in the configuration of a servo amplifier 295.
  • the circuit breaker 92, electromagnetic switch 93, reactor 94, power regeneration converter 95a, inverter 95b, capacitor 95c, and DC bus 95d in FIG. 34 are the circuit breaker 4820, electromagnetic switch 4830, and reactor 4840 in FIG. 20, respectively. , a power regeneration converter 4851, an inverter 4852, a capacitor 4853, and a DC bus 4854.
  • the servo amplifier 295 of the ninth embodiment includes a battery 295e.
  • the electric actuator of the ninth embodiment includes the battery 295e, so that it can be operated using the electric power stored in the battery 295e even when it is disconnected from the primary power source.
  • the battery 295e is connected in parallel with the power regeneration converter 95a and the inverter 95b to a DC bus 95d made up of a pair of conducting wires.
  • the system power supplied from the primary power source is rectified by the power regeneration converter 95a, and then stored and rectified by the capacitor 95c and battery 295e.
  • the DC power supplied from the capacitor 95c and the battery 295e via the DC bus 95d is converted into driving power by the inverter 95b, and is supplied to the motor 8010.
  • driving power is generated by the power stored in the battery 295e.
  • the regenerative power supplied from the motor 8010 during the regenerative operation is converted into direct current by the inverter 95b, and then stored and rectified by the capacitor 95c and the battery 295e.
  • the regenerated power stored by the capacitor 95c and the battery 295e is reused to generate driving power by the inverter 95b during power operation.
  • surplus regenerative power is converted by the power regeneration converter 95a into sine wave alternating current equivalent to grid power, and returned to the primary power source.
  • FIG. 35 is a block diagram showing a schematic configuration of a power supply system 390 for an electric actuator according to a tenth embodiment of the present invention.
  • the power supply system 390 of the tenth embodiment includes a generator 8080 and an inverter device 97 that converts the power generated by the generator 8080 into sine wave AC corresponding to grid power and supplies it to the primary power source side. This is different from the power supply system 4800 of the fourth embodiment.
  • Generator 8080 is connected between motor 8010 and ball screw 8030, for example.
  • the inverter device 97 is communicably connected to the control device 96 and operates under the control of the control device 96.
  • the inverter device 97 includes a converter 97a, an inverter 97b, and a capacitor 97c.
  • the converter 97a includes, for example, a full-wave rectifier including a diode bridge circuit.
  • a PWM converter may be provided on the input side of converter 97a to convert the input current of converter 97a into a sine wave.
  • the inverter 97b is, for example, a PWM inverter that controls output power by PWM control.
  • the power generated by the generator 8080 is converted to DC by the converter 97a, smoothed by the capacitor 97c, and then input to the inverter 97b.
  • DC bus 97d is constructed from a pair of positive and negative conducting wires.
  • the inverter 97b converts the DC power supplied from the DC bus 97d into sine wave AC having the same quality as grid power, and outputs it to the primary power source 91 side.
  • the generator 8080 generates electric power using part of the power generated by the motor 8010.
  • the power generated by the generator 8080 is used to generate driving power by the servo amplifier 95, and the surplus is returned to the primary power source.
  • power is generated by the generator 8080 and power is supplied to the primary power source 91 side not only during regeneration operation but also during power operation, so that electric energy can be used more efficiently. Can be done.
  • the generator 8080 in this embodiment is an AC generator, a DC generator may also be used.
  • the converter 97a of the inverter device 97 becomes unnecessary.
  • the output terminal of the DC generator is connected to the DC bus 97d without going through the converter 97a. .
  • the inverter device 97 may be provided with a battery, and the battery may be connected to the DC bus 97d in parallel with the capacitor 97c.
  • a clutch may be provided between the generator 8080 and the motor 8010, and the timing of power absorption by the generator 8080 may be controlled by engaging and engaging the clutch.
  • the DC bus 97d, capacitor 97c, and inverter 97b of the inverter device 97 may be shared with the DC bus 95d, capacitor 95c, and power regeneration converter 95a of the servo amplifier 95, respectively.
  • FIG. 36 is a block diagram showing a schematic configuration of a power supply system 490 for an electric actuator 400 according to the eleventh embodiment of the present invention.
  • the power supply system 490 of the eleventh embodiment adds the generator 8080 of the tenth embodiment to the power supply system 290 of the ninth embodiment, and further incorporates the function of the inverter device 97 of the tenth embodiment into the servo amplifier 295. (Specifically, a servo amplifier 495 to which the converter 97a of the tenth embodiment is added) is employed.
  • the servo amplifier 95 and the inverter device 97 are separated and each is connected to the primary power source 91, so the interface with the primary power source 91 (power regeneration converter 95a, inverter 97b) and the DC circuit (DC buses 95d, 97d and capacitors 95c, 97c) are provided individually.
  • the power supply system 490 specifically, the servo amplifier 495) of the eleventh embodiment, by integrating the servo amplifier 95 and the inverter device 97, the overlapping inverter 97b, DC bus 97d, and capacitor 97c are has been removed.
  • (12th embodiment) 37 and 38 are a side view and a front view, respectively, of a hedge trimmer 9000 according to a twelfth embodiment of the present invention. Note that in FIGS. 37 and 38, the piston 8050 is shown in a cross-sectional view. Further, in FIG. 38, illustration of the frame 8002 is omitted.
  • both of the pair of blades 8060 are driven in opposite directions. It is constructed.
  • the electric actuator according to the twelfth embodiment of the present invention includes a pair of ball screws 8030 (8030A, 8030B), a linear guide 8040 (8040A, 8040B), and a piston corresponding to each of the pair of blades 8060 (8060A, 8060B).
  • 8050 8050A, 8050B.
  • the ball screw 8030A, the linear guide 8040A, and the piston 8050A form a first motion converting section
  • the ball screw 8030B, the linear guide 8040B, and the piston 8050B form a second motion converting section.
  • the second motion conversion unit includes a bearing 8036 that rotatably supports the ball screw 8030B at one end.
  • the blade 8060A is fixed to the piston 8050A of the first motion converter, and the blade 8060B is fixed to the piston 8050B of the second motion converter.
  • the frame 8002 of this embodiment does not have the rod 8002b that fixes the blade 8060B. That is, the blade 8060B is not fixed to the frame 8002 and is movable together with the piston 8050B. Furthermore, a motor 8010, rails 8041 of a pair of linear guides 8040A and 8040B, and a bearing 8036 are fixed to the base 8002a (frame 8002).
  • the electric actuator includes a pair of gears 8020 (8020A, 8020B) coaxially connected to screw shafts 8031 of a pair of ball screws 8030A, 8030B.
  • the gear 8020 is attached to a support portion 8031a (a portion in which no ball groove is formed) of a screw shaft 8031.
  • the screw shafts 8031 of the pair of ball screws 8030A and 8030B are arranged parallel to each other so that the gears 8020A and 8020B mesh with each other.
  • the gear 8020A and the gear 8020B have the same specifications (for example, spur gears with the same number of teeth). Therefore, when the screw shaft 8031 of the ball screw 8030A rotates, the screw shaft 8031 of the ball screw 8030B rotates in the opposite direction at the same rotation speed.
  • the ball screw 8030A and the ball screw 8030B have the same specifications, if the screw shaft 8031 of the ball screw 8030A and the screw shaft 8031 of the ball screw 8030B rotate in opposite directions at the same rotation speed, the nut of the ball screw 8030A 8032 and the nut 8032 of the ball screw 8030B move linearly along each screw shaft 8031 in opposite directions at the same speed. Therefore, the blade 8060A fixed to the piston 8050A and the blade 8060B fixed to the piston 8050B also move linearly in opposite directions at the same speed.
  • the present invention is not limited to this, and can be applied to any electric motor system using an electric motor, such as electric mobility. be able to.
  • the present invention is not limited thereto, and can be applied to linear actuators such as electric saws (reciprocating saws), electric hammers, and electric toothbrushes It can be applied to electrical equipment that uses Furthermore, the electric actuator of the present invention can be used alone without being incorporated into various electrical devices.
  • a feed screw mechanism is used as a motion converter that converts rotational motion into linear motion, but other types of motion converters (for example, as described in Patent Document 1) are used.
  • a mechanism using an eccentric cam, a slider/crank mechanism, a rack and pinion mechanism, etc.) may also be used.
  • the screw shaft 8031 of the ball screw 8030 is directly connected to the shaft 8011 of the motor 8010, but a reduction gear is provided in the drive section, and the motor 8010 and the ball screw 8030 (or other motion converters) may be connected.
  • the power supply system of the fourth embodiment (FIG. 20) and the power supply system of the tenth embodiment (FIG. 35) may also have a configuration in which the plug 291 and the battery 295e are provided as in the ninth embodiment.
  • the plug 291 and battery 295e may be removed from the power supply system of the ninth embodiment (FIG. 34) or the power supply system of the eleventh embodiment (FIG. 36), and the circuit breaker 92 may be directly connected to the primary power source 91. good.
  • the battery 295e is removed and a capacitor 95c with a large capacitance is used, so that the capacitor 95c has the power storage function of the battery 295e. It is also possible to have a configuration that also takes charge of the functions. Further, in addition to the battery 295e, a large capacity capacitor 95c may be provided in the power supply system.
  • the generator is not limited to the tenth and eleventh embodiments, and may be provided in the power supply system of other embodiments. Good too.
  • the motor is an AC servo motor, but another type of electric motor whose drive amount (rotation angle) can be controlled may be used as the motor, such as a DC servo motor or a stepping motor.
  • the linear actuator is composed of a rotary motor and a motion converter, but a linear motor may be used as the linear actuator instead of the rotary motor and motion converter.
  • an ultra-low inertia servo motor is used in the torque generating device, but the configuration of the present invention is not limited to this.
  • the present invention also includes a configuration using another type of electric motor (for example, an inverter motor) whose rotor has a small moment of inertia and can be driven at high acceleration or high jerk.
  • an encoder is provided on the electric motor and feedback control is performed based on the rotational state (for example, rotation speed and angular position) of the output shaft of the electric motor detected by the encoder.
  • the present invention is not limited thereto, and can be used in various applications in general industry. I can do it.
  • automobiles two-wheeled vehicles, three-wheeled vehicles, four-wheeled vehicles, buses, trucks, tractors
  • agricultural machinery construction machinery, railway vehicles, ships, aircraft, power generation systems, water supply and drainage systems, or various parts that constitute these.
  • Electric motor system or a test system suitable for evaluating these mechanical properties and durability.
  • the electric actuator according to the embodiment of the present invention can be used in various industries such as construction machinery, agricultural machinery, woodworking machinery, machine tools, forging machines, injection molding machines, robots, and transportation machines (for example, cranes, elevators, conveyors, etc.). It can also be used as a motor system for machines.
  • the electric actuator according to the embodiment of the present invention can also be used as a prime mover for various home appliances (washing machines, refrigerators, air conditioners, compressors, etc.).
  • a power regeneration converter that can return excess regenerative power from the servo amplifier to the primary power source is used, but a converter that does not have a power regeneration function to return surplus power to the primary power source may be used.
  • a converter that does not have a power regeneration function do not install a regenerative resistor in the servo amplifier to absorb regenerated power, but instead install a device (such as a large capacity capacitor or large capacity battery) in the servo amplifier to store excess power. This is desirable.
  • the power supplied from the primary power source is converted to drive the electric motor, but the power supplied from the power source to the system is not limited to AC power.
  • the electric motor may be driven by converting the DC power supplied from the battery.
  • the regenerated power may be stored in a battery.
  • FIGS. 39 and 40 are diagrams showing modified examples of the power supply system that supplies power to the electric actuator according to each embodiment.
  • a system is illustrated in which the power supplied from the primary power source is converted to drive the electric motor, but the power supplied from the power source to the system is not limited to alternating current power.
  • the motor 10 may be driven by supplying DC power from a battery 791 to an inverter via a converter. In this case, the regenerated power is stored in the battery 791 instead of being output to the primary power source.
  • the power feeding system 790 shown in FIG. 39 includes a bidirectional DC/DC converter 795a as a converter.
  • a charger 792 is connected to the battery 791, and the battery 791 is charged with power supplied via the charger 792 from a plug 291 inserted into a primary power outlet (not shown).
  • a battery 791 is connected to the servo amplifier 795, and the electric power from the battery 791 is supplied to the inverter 95b via the bidirectional DC/DC converter 795a to drive the motor 10, and the regenerated electric power from the inverter 95b is converted to the bidirectional DC/DC converter 795a. It is output to the battery 791 via the converter 795a.
  • the power supply system 890 shown in FIG. 40 includes a bidirectional DCAC converter 895a upstream of the power regeneration converter 95a.
  • a charger 792 is connected to the battery 791, and the battery 791 is charged with power supplied via the charger 792 from a plug 291a inserted into a primary power outlet (not shown).
  • a battery 791 is connected to the servo amplifier 895, and power from the battery 791 is supplied to the inverter 95b via the bidirectional DCAC converter 895a and the power regeneration converter 95a to drive the motor 10, and the power is regenerated from the inverter 95b. Electric power is output to battery 791 via power regeneration converter 95a and bidirectional DCAC converter 895a.
  • the power regeneration converter 95a and the bidirectional DCAC converter 895a are connected to the plug 291b. Electric power from the plug 291b inserted into a primary power outlet (not shown) is supplied to the inverter 95b via the power regeneration converter 95a, and the motor 10 can also be driven by this electric power. Further, the power supplied from the plug 291b is supplied to the battery 791 via the bidirectional DCAC converter 895a, and the battery 791 can be charged with this power.
  • power is regenerated from the motor 10 to the primary power source via the inverter 95b and the power regeneration converter 95a, but power is regenerated from the motor 10 to the primary power source without passing through the inverter 95b and the power regeneration converter 95a. It may be regenerated.
  • electric motor and a drive device that supplies drive power to the electric motor; a control device that controls the drive device; Equipped with The drive device is A converter that converts AC power supplied from a power supply to DC power, an inverter that generates drive power from the DC power, the control device controls the drive device to repeatedly drive the electric motor back and forth; Power saving electric motor system.
  • the drive device is a DC bus bar consisting of a pair of conducting wires connecting the converter and the inverter; a capacitor connecting the pair of conductive wires; The power-saving electric motor system described in Appendix 1.
  • [Additional note 3] comprising a plurality of the electric motors
  • the drive device is one system of DC bus consisting of a pair of conductors connected to the converter; a plurality of the inverters connected to the one system of DC bus; a capacitor connecting the pair of conductive wires; Equipped with The power-saving electric motor system described in Appendix 1.
  • the converter is a PWM converter.
  • the power-saving electric motor system according to any one of Supplementary notes 1 to 3.
  • the control device controls the electric motor to repeatedly drive back and forth at a frequency of 3 Hz or more, The power-saving electric motor system according to any one of Supplementary Notes 1 to 4.
  • the power-saving electric motor system according to any one of Supplementary notes 1 to 5, a motion converter that converts rotational motion output by the electric motor into linear motion; a table that is excited by the linear motion; Vibration test equipment.
  • the motion converter is a ball screw, The ball screw is a screw shaft connected to the shaft of the electric motor; a nut that engages with the screw shaft and moves in the axial direction as the screw shaft rotates; The table is configured to connect with the nut and move together with the nut in the axial direction.
  • [Additional note 8] comprising the power-saving electric motor system according to any one of Supplementary Notes 1 to 5; Power saving test system.
  • electric motor and a drive device that supplies drive power to the electric motor; a control device that controls the drive device; a motion converter that converts rotational motion output by the electric motor into linear motion; Equipped with The drive device is A converter that converts AC power supplied from a power supply to DC power, an inverter that generates the drive power from the DC power, the control device controls the drive device so that the electric motor repeatedly outputs reciprocating rotational motion; electric actuator.
  • the drive device is a DC bus bar consisting of a pair of conducting wires connecting the converter and the inverter; a capacitor connecting the pair of conductive wires; The electric actuator described in Appendix 11.
  • the converter is a PWM converter.
  • the control device controls the drive device to repeatedly drive the electric motor back and forth at a frequency of 3 Hz or more;
  • [Additional note 15] comprising a generator that generates electric power using the power generated by the electric motor;
  • [Additional note 16] comprising an inverter device that converts the power generated by the generator into alternating current equivalent to grid power and supplies it to the power source side;
  • the motion converter is a ball screw;
  • the ball screw is a screw shaft connected to the shaft of the electric motor; a nut that engages with the screw shaft via a plurality of balls that are rolling elements and moves in the axial direction as the screw shaft rotates;
  • [Additional note 18] Equipped with the electric actuator according to any one of appendices 11 to 17, electrical equipment.
  • a vibration table to which an object to be vibrated is attached; an electric actuator that vibrates the vibration table in a predetermined direction; A controller that controls the electric actuator, The electric actuator is An electric motor that can switch between forward and reverse rotation, a drive device that is supplied with power from a power source and that is controlled by the controller and supplies drive power to the electric motor to vibrate the vibration table at a desired amplitude and frequency;
  • the drive device is a power regeneration converter that regenerates, to the power source, power that is not consumed due to acceleration of the motor out of the power regenerated from the motor when the vibration table is vibrated at the desired amplitude and frequency.
  • the controller controls the drive device so that the motor repeats normal rotation and reverse rotation at a required frequency during a drive period of the motor,
  • the vibration table moves in the forward direction during the forward rotation period of the continuously repeated forward rotation period and reverse rotation period of the electric motor, and the vibration table moves in the reverse direction during the reverse rotation period,
  • the normal rotation period includes a first acceleration period of the electric motor whose starting point is when the vibration table starts moving, and a first deceleration period of the electric motor whose end point is when the vibration table stops moving.
  • the reversal period includes a second acceleration period of the electric motor whose starting point is when the vibration table starts moving, and a second deceleration period of the electric motor whose end point is when the vibration table stops moving,
  • the controller includes: Accelerating the electric motor so that the torque of the electric motor becomes a positive torque in the first acceleration period, decelerating the electric motor so that the torque of the electric motor becomes negative torque during the first deceleration period; Accelerating the electric motor so that the torque of the electric motor becomes a positive torque in the second acceleration period,
  • the vibration testing device according to attachment 21, wherein the electric motor is decelerated so that the torque of the electric motor becomes negative torque in the second deceleration period.
  • the drive device further includes a capacitor provided between the power regeneration converter and the electric motor,
  • the controller is configured such that energy regenerated from the electric motor and stored in the capacitor during the first deceleration period is supplied to the electric motor with priority over energy supplied from the power source during the second acceleration period;
  • the driving device is controlled so that the energy regenerated from the electric motor and stored in the capacitor during the deceleration period is supplied to the electric motor with priority over the energy supplied from the power source during the first acceleration period.
  • the drive device further includes a capacitor provided between the power regeneration converter and the electric motor,
  • the controller repeats energy circulation consisting of the first acceleration period, the first deceleration period, the second acceleration period, and the second deceleration period in the drive period, During the first acceleration period, at least the energy stored in the capacitor during the second deceleration period in the previous energy cycle is supplied to the electric motor, During the first deceleration period, energy regenerated from the electric motor is stored in the capacitor; In the second acceleration period, at least the energy stored in the capacitor during the first deceleration period in the current energy circulation is supplied to the electric motor, The vibration testing device according to attachment 23, wherein the energy regenerated from the electric motor is stored in the capacitor during the second deceleration period.
  • the vibration testing device according to attachment 22, wherein the controller controls the drive device such that the electric motor repeatedly rotates forward and reverse at a required frequency of 3 Hz or more during the drive period.
  • the power source is composed of an AC power source, The vibration testing device according to appendix 21, wherein the power regeneration converter is a bidirectional ACDC converter.
  • the power source is composed of a DC power source, The vibration test device according to appendix 21, wherein the power regeneration converter is a bidirectional DC/DC converter.
  • electric actuator and A controller that controls the electric actuator is an electric motor having a rotating shaft connected to the central axis of the tire; a drive device that is supplied with energy from a power source and that is controlled by the controller and supplies the electric motor with driving power that causes the electric motor to generate variable torque; The drive device is configured to transfer energy not consumed by acceleration of the motor out of the energy regenerated from the motor to the power source when the controller controls the drive device to cause the motor to generate variable torque.
  • Tire testing equipment that includes a power regeneration converter that regenerates electricity.
  • electric actuator and A controller that controls the electric actuator is an electric motor having a rotating shaft coupled to the specimen; a drive device that is supplied with energy from a power source and that is controlled by the controller and supplies driving power to the electric motor that causes the electric motor to generate variable torque; the drive device is configured such that the controller controls the drive device;
  • a torsion test device comprising: a power regeneration converter that regenerates energy that is not consumed by acceleration of the electric motor out of the energy regenerated from the electric motor when generating variable torque in the electric motor to a power source.
  • the electric actuator is An electric motor that can switch between forward and reverse rotation, a motion converter that performs reciprocating linear motion in response to forward and reverse rotation of the electric motor; a movable part that receives the reciprocating linear motion of the motion converter and transmits a compressive force or a tensile force to the specimen; a drive device that is supplied with energy from a power source and that is controlled by the controller and supplies drive power to the electric motor to cause the motion converter to reciprocate and linearly move at a desired amplitude and frequency;
  • the drive device is configured such that when the controller controls the drive device to cause the motion converter to reciprocate and linearly move at the desired amplitude and frequency, part of the energy regenerated from the electric motor is consumed by accelerating the electric motor.
  • a tension and compression test device that includes a power regeneration converter that regenerates the energy that would otherwise have been lost to the power source.
  • a spindle to which the tire can be attached an electric actuator that outputs unidirectional rotational motion; a transmission mechanism that transmits the unidirectional rotational motion to the spindle; A controller that controls the electric actuator, The electric actuator is An electric motor that can switch between forward and reverse rotation, a motion converter that converts forward and reverse rotation of the electric motor into the unidirectional rotational motion; a drive device supplied with energy from a power source and controlled by the controller to supply driving power to the electric motor to rotate the spindle at a predetermined speed; The drive device is configured to transfer energy not consumed by acceleration of the motor out of the energy regenerated from the motor when the controller controls the drive device to rotate the spindle at the predetermined speed to a power source.
  • a dynamic balance complex test device that includes a power regeneration converter for regeneration.
  • a rotating drum that comes into contact with the tire; an electric actuator that causes the rotating drum to rotate in one direction; A controller that controls the electric actuator, The electric actuator is An electric motor that can switch between forward and reverse rotation, a motion converter that converts forward and reverse rotation of the electric motor into the unidirectional rotational motion; a drive device that is supplied with energy from a power source and that is controlled by the controller and supplies driving power to the electric motor to rotate the rotating drum at a predetermined speed; The drive device is configured to use energy not consumed by acceleration of the motor out of the energy regenerated from the motor when the controller controls the drive device to rotate the rotary drum at the predetermined speed.
  • Uniformity test equipment that includes a power regeneration converter that regenerates power to [Additional note 34] an electric actuator that outputs unidirectional rotational motion; a transmission mechanism that transmits the unidirectional rotational motion to the specimen; A controller that controls the electric actuator, The electric actuator is An electric motor that can switch between forward and reverse rotation, a motion converter that converts forward and reverse rotation of the electric motor into the unidirectional rotational motion; a drive device that is supplied with energy from a power source and that is controlled by the controller and supplies driving power to the electric motor to rotate the specimen at a predetermined speed; When the controller controls the drive device to rotate the specimen at the predetermined speed, the drive device uses energy not consumed by acceleration of the motor out of the energy regenerated from the motor as a power source.
  • a balance measurement device that includes a power regeneration converter that regenerates power to the [Additional note 35] a mounting section to which the specimen is mounted; an electric actuator that outputs unidirectional rotational motion; a transmission mechanism that converts the unidirectional rotational motion into linear motion and transmits it to the mounting portion; A controller that controls the electric actuator,
  • the electric actuator is An electric motor that can switch between forward and reverse rotation, a motion converter that converts forward and reverse rotation of the electric motor into the unidirectional rotational motion; a drive device that is supplied with energy from a power source and that is controlled by the controller and supplies the electric motor with drive power that provides a desired acceleration to the mounting portion;
  • the drive device is configured to supply energy that is not consumed by the acceleration of the motor out of the energy regenerated from the motor when the controller controls the drive device to give a desired acceleration to the mounting portion.
  • Collision simulation test equipment that includes a power regeneration converter for regeneration.
  • blade and an electric actuator that causes the blade to move linearly in a reciprocating manner
  • a controller that controls the electric actuator,
  • the electric actuator is An electric motor that can switch between forward and reverse rotation, a drive device supplied with energy from a power source and controlled by the controller to supply driving power to the electric motor to cause the blade to reciprocate and linearly move;
  • the drive device regenerates energy not consumed by acceleration of the motor out of the energy regenerated from the motor when the controller controls the drive device to cause the blade to reciprocate and linearly move.
  • Hedge trimmer including power regeneration converter.
  • At least one electric motor at least one electric motor; a drive device that supplies drive power to the electric motor; a controller that controls the drive device so that the electric motor repeats acceleration and deceleration;
  • the drive device includes a first capacitor that stores electric power regenerated from the electric motor during a deceleration process of the electric motor.
  • the controller controls the drive device so that the electric motor repeats forward rotation and reverse rotation at a required frequency in a drive section of the electric motor, 38.
  • the electric actuator according to appendix 37, wherein the first capacitor stores electric power regenerated from the electric motor during each deceleration process during normal rotation and reverse rotation of the electric motor.
  • the normal rotation period includes a first acceleration period of the electric motor whose starting point is when the vibration table starts moving, and a first deceleration period of the electric motor whose end point is when the vibration table stops moving.
  • the reversal period includes a second acceleration period of the electric motor whose starting point is when the vibration table starts moving, and a second deceleration period of the electric motor whose end point is when the vibration table stops moving
  • the controller includes: Accelerating the electric motor so that the torque of the electric motor becomes a positive torque in the first acceleration period, decelerating the electric motor so that the torque of the electric motor becomes negative torque during the first deceleration period; Accelerating the electric motor so that the torque of the electric motor becomes a positive torque in the second acceleration period,
  • Control device 100 400, 4010, 5320, 5420, 8100: Electric actuator 295e: Battery 1000: Vibration test device 1100: Vibration table 1200, 1300, 1400: Actuator 2000: Tire testing device 3000: Torsion test device 4000: Tension compression test device 5000: Collision simulation test device 6000: Dynamic balance compound test device 7000: Balance measurement device 8000, 9000: Hedge trimmer 8080: Generator C1, C2, C3: Control unit

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  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
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PCT/JP2023/014153 2022-04-08 2023-04-05 試験装置、ヘッジトリマー、及び電動アクチュエーター Ceased WO2023195501A1 (ja)

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CN202380032443.6A CN118973723A (zh) 2022-04-08 2023-04-05 测试装置、绿篱修剪机和电动致动器
KR1020247037129A KR20250005233A (ko) 2022-04-08 2023-04-05 시험 장치, 헤지 트리머 및 전동 액추에이터
JP2024514302A JPWO2023195501A1 (https=) 2022-04-08 2023-04-05
EP23784785.0A EP4506069A1 (en) 2022-04-08 2023-04-05 Test device, hedge trimmer, and electric actuator
US18/903,828 US20250020537A1 (en) 2022-04-08 2024-10-01 Test devices, hedge trimmer, and electric actuator

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CN121364049B (zh) * 2025-12-22 2026-03-24 四川永星电子有限公司 一种电刷疲劳试验装置及方法

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JP2002369994A (ja) * 2001-06-14 2002-12-24 Sharp Corp インバータ洗濯機
JP2008167517A (ja) * 2006-12-27 2008-07-17 Power System:Kk モータ負荷の給電装置
WO2009011433A1 (ja) 2007-07-19 2009-01-22 Kokusai Keisokuki Kabushiki Kaisha 加振試験装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002369994A (ja) * 2001-06-14 2002-12-24 Sharp Corp インバータ洗濯機
JP2008167517A (ja) * 2006-12-27 2008-07-17 Power System:Kk モータ負荷の給電装置
WO2009011433A1 (ja) 2007-07-19 2009-01-22 Kokusai Keisokuki Kabushiki Kaisha 加振試験装置

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