WO2024034274A1 - 補助支持装置およびこれを備える試験装置 - Google Patents

補助支持装置およびこれを備える試験装置 Download PDF

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Publication number
WO2024034274A1
WO2024034274A1 PCT/JP2023/023422 JP2023023422W WO2024034274A1 WO 2024034274 A1 WO2024034274 A1 WO 2024034274A1 JP 2023023422 W JP2023023422 W JP 2023023422W WO 2024034274 A1 WO2024034274 A1 WO 2024034274A1
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WO
WIPO (PCT)
Prior art keywords
base
auxiliary
joint
plate member
freedom
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/JP2023/023422
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English (en)
French (fr)
Japanese (ja)
Inventor
栄生 伊
智規 内田
友宏 保阪
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.)
Saginomiya Seisakusho Inc
Original Assignee
Saginomiya Seisakusho Inc
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 Saginomiya Seisakusho Inc filed Critical Saginomiya Seisakusho Inc
Priority to US19/101,620 priority Critical patent/US20260049891A1/en
Priority to CN202380057883.7A priority patent/CN119654670A/zh
Priority to KR1020257004002A priority patent/KR20250028497A/ko
Priority to EP23852258.5A priority patent/EP4553811A1/en
Publication of WO2024034274A1 publication Critical patent/WO2024034274A1/ja
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
    • G01M7/06—Multidirectional test stands
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
    • F16D3/38—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected with a single intermediate member with trunnions or bearings arranged on two axes perpendicular to one another
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators

Definitions

  • the present invention relates to a test device equipped with a telescoping device that can be extended and retracted with low driving force.
  • a driving simulator described in Patent Document 1 is known as a test device that uses a plurality of sets of expansion and contraction devices that adjust the distance between universal joints provided at both ends using the driving force of a drive source.
  • Patent Document 2 Furthermore, in a uniaxial telescoping device, there is an invention described in Patent Document 2, for example, in which a static load is handled by an elastic element such as an air spring, but in a telescoping device that moves with multiple degrees of freedom, the air spring It cannot respond to the movement of the support base because it is twisted or the allowable eccentricity or declination is insufficient.
  • an elastic element such as an air spring
  • the present invention provides an auxiliary support device that is installed with a telescoping device that moves in multiple degrees of freedom and has a mechanism that can receive a static load within a permissible eccentricity angle without being twisted, and a test device equipped with the same.
  • the purpose is to
  • an auxiliary support device that is installed together with a multi-degree-of-freedom expansion and contraction device between a first connected member and a second connected member, wherein the first
  • the apparatus includes an auxiliary member that generates an auxiliary force to assist the static driving force of a multi-degree-of-freedom telescoping device having a flexible mechanism capable of following the multi-degree-of-freedom movement of one or both of the connected member and the second connected member. It is characterized by this.
  • One aspect of the invention of a test device that solves the above problem is that, together with the above-mentioned auxiliary support device, at least three or more sets are provided between a substrate member as the first connected member and a top plate member as the second connected member.
  • a telescoping device is installed, and the telescoping device receives a driving force from a drive source and expands and contracts in the direction of separation of the base plate member and the top plate member, respectively, and changes the separation distance for each of the telescoping devices.
  • the test device changes the posture of the top plate member with respect to the substrate member
  • the auxiliary support device has a first universal joint having two degrees of freedom in the XY directions connected to the front substrate member, and a first universal joint having two degrees of freedom in the XYZ directions.
  • a second universal joint having an elastic force is connected to the top plate member, and together with the auxiliary member that generates the auxiliary force acting in the direction of separating the base plate member and the top plate member,
  • the present invention is characterized in that it includes a slide holding mechanism of a linear joint that is connected to each of the members and moves linearly in a relatively slidable manner in the separation direction.
  • the auxiliary support device is provided between the first connected member (e.g., the substrate member) and the second connected member (e.g., the top plate member) together with the multi-degree-of-freedom expansion/contraction device. is installed, and the static driving force of the multi-degree-of-freedom telescoping device, which has a flexible mechanism that can follow the movement of the multi-degree-of-freedom movement, can be assisted by generating an auxiliary force.
  • a linear motion device that moves linearly so as to be slidable relative to the separation direction of the board member and the top plate member is used.
  • the static drive force required for these telescoping devices can be supplemented and the required drive force reduced.
  • test device that can operate the telescoping device even in a stationary state using a drive source with low driving force.
  • FIG. 1 is a perspective view showing the appearance of a vibrating device, which is an example of a test device equipped with a telescoping device according to an embodiment of the present invention.
  • FIG. 2 is a diagram showing the vibration device, in which (a) is a plan view thereof, and (b) is a front view thereof.
  • FIG. 3 is a partial vertical sectional view showing an auxiliary support device installed in the vibration excitation device.
  • FIG. 4 is a conceptual front view illustrating the operation of the auxiliary support device.
  • FIG. 5 is a block diagram showing a control circuit of the air filling amount control device that controls the operation of the auxiliary support device.
  • FIGS. 1 to 5 are diagrams showing an excitation device that is an example of a test device according to an embodiment of the present invention.
  • a vibration excitation device (test device) 100 is configured to function as a hexapod that constitutes a part of a driving simulator, and is configured to function as a hexapod that constitutes a part of a driving simulator.
  • the vibration device 100 is configured such that six sets of actuators 10 expand and contract according to control signals from a host computer (not shown) of the driving simulator, respectively, and adjust the spacing between the installation locations, so that the support base 103 is moved relative to the base 101. It is designed to realize six degrees of freedom of movement, including tilt movement in the XYZ directions, pitch direction, roll direction, and yaw direction.
  • the vibration device 100 including six sets of actuators 10 will be described as an example, but the vibration device 100 is not limited to this, and for example, by providing three or more sets of actuators 10, it is possible to It goes without saying that the support base can be supported in a movable manner.
  • both ends of two sets of actuators 10 are connected and supported by support blocks 101B and 103B located near the apex angles of triangles facing each other with the approximate centers of a base 101 and a support stand 103 in common. It is organized into a structure.
  • This vibration device 100 rotates one of the base 101 and the support stand 103 in a direction in which three support blocks 101B and 103B are relatively shifted by 60 degrees, and two sets of The actuator 10 has a structure in which one end and the other end are arranged.
  • the vibration excitation device 100 is configured such that six sets of actuators 10 are installed every second set in a V-shape that expands upward, and a support base is provided to support the base 101. By adjusting the spacing between both ends of each actuator 10, the actuator 103 can be stably changed to a desired posture or supported while being vibrated.
  • the actuator 10 of the vibration device 100 is supported by the device base 15 so that the cross-shaft joint 11 constituting a flexible mechanism is installed on the support block 101B of the base 101, and its posture with respect to the base 101 can be freely changed.
  • a cross shaft joint 13 constituting a flexible mechanism is also installed on the support block 103B of the support stand 103, and the upper end 17e of the shaft 17, which is held in the device base 15 so as to be slidable in the longitudinal direction, serves as the support. It supports the stand 103 so that its attitude relative to the stand 103 can be freely changed.
  • the vibration device 100 can support the actuator 10 so that the attitude of the device base 15 with respect to the base 101 can be freely changed by swinging the cross-axis joint 11 between the base 101 and the device base 15.
  • the vibration device 100 freely changes the attitude of the support base 103 with respect to the base 101 by sliding the shaft 17 of the actuator 10 supported via the cross joints 11 and 13 in forward and reverse directions. be able to.
  • This actuator 10 is configured to slide a shaft 17 in forward and reverse directions from the base 101 side toward the support base 103 by rotating it forward and backward by a servo motor 49 in accordance with a control signal from the vibration device 100. 17 is moved forward and backward from the base 101 side toward the support stand 103 side to expand and contract its entire length.
  • the vibration excitation device 100 supports the base 101 and the support base 103 so that the relative postures of the base 101 and the support base 103 can be freely changed by the cross-shaft joints 11 and 13 at both ends according to the expansion and contraction of the entire length of the actuator 10. It functions as a vibration device 100 and can realize tilting and vibration motions with six degrees of freedom.
  • an auxiliary support device 50 is installed so as to be interposed between the base 101 and the support stand 103, and the auxiliary support device 50 is located approximately at the center of the base 101 and the support stand 103. It is configured to assist the operation of supporting the support stand 103 at a desired height with respect to the base 101.
  • the vibration excitation device 100 of this embodiment the case where one auxiliary support device 50 is installed will be explained as an example, but it is not limited to this, and a plurality of devices may be installed. It is preferable to arrange them evenly.
  • a cross shaft joint (first universal joint) 51 is connected to the upper surface of the base 101, so that the spline joint 60 can freely change its posture with respect to the base 101. is supported so that it can change.
  • the cross shaft joint 51 is installed inside the multi-stage air spring 90 and the upper connecting base 80 together with the ball spline joint 70, and the spline shaft 65 of the ball spline joint 70 is connected to the upper flange of the upper connecting base 80. It is connected to the inner lower surface of 82b.
  • the upper connection base 80 is sealed with an O-ring 89 provided at the connection portion with the air spring 90 and the upper flange 82b, and maintains the airtightness of the internal space 90s of the air spring 90.
  • the length of the upper connecting base 80 may be changed or eliminated depending on the distance between the support stand 103 and the base 101.
  • a second universal joint 84 consisting of a cross-shaft joint 53 and a rotary bearing rotation mechanism 85 (described later) is installed on the lower surface of the support base 103 of the auxiliary support device 50.
  • the upper end 65e of the spline shaft (first slide member) 65 of the ball spline joint 70 which is held slidably in the longitudinal direction, is supported via the upper connecting base 80 so that its attitude with respect to the support base 103 can be freely changed. are doing.
  • the second universal joint 84 constitutes a three-degree-of-freedom joint consisting of the cross-axis joint 53 and the rotation mechanism 85, and can follow the large angles (roll, pitch, yaw) of the support base 103.
  • the second universal joint 84 may be a so-called three-degree-of-freedom spherical joint (bearing) when the angle to be followed is small.
  • the cross-shaft joint 51 installed on the base 101 is a two-degree-of-freedom joint, and the degree of freedom of rotation around the axis of expansion and contraction is restricted, so the twisting force around the axis due to the frictional force of the rotary joint 85 is limited to the cross-shaft axis. It can be handled by the base 101 via the joint 51. Therefore, the air spring 90 connected to the cross shaft joint 51 via the upper connection base 80 and the ball spline joint 70 can operate without being twisted.
  • the air spring portion 90 and the upper connection base 80 of the auxiliary support device 50 are adjusted to the position of the support base 103 with respect to the base 101 via the cross joint 51, the second universal joint 84, and the ball spline joint 70. is supported so that it can be changed freely without being twisted.
  • the cross shaft joints 51 and 53 of the base 101 and the support stand 103 are configured as a so-called general-purpose universal joint that uses the cross member 55 as an X axis and a Y axis, and the auxiliary support device 50 is a support stand for the base 101. It follows changes in the relative postures of the base 101 and the support base 103 of the vibration excitation device 100 so as not to interfere with changes in the relative postures of the vibration exciter 100 .
  • the cross shaft joints 51 and 53 are arranged so that the pair of X axes 55x of the cross member 55 are located within a pair of bearings 57 that are erected apart from each other in the X axis direction on the upper surface of the base 101 and the lower surface of the support base 103.
  • a pair of Y-axes 55y of the cross member 55 are rotatably supported by a bearing 57b and are erected apart from each other in the Y-axis direction at the lower part of the spline joint 60 and the upper part of the upper connecting base 80. It is rotatably supported by a bearing 59b in a bearing 59 of.
  • the auxiliary support device 50 allows the bearings 57 and 59 of the base 101 and the support stand 103 to rotatably hold the X-axis 55x and the Y-axis 55y of the cross-shaft joints 51 and 53 (cross member 55).
  • the member 55, the lower part of the spline joint 60, and the upper part of the upper connecting base 80 can swing with respect to the base 101 and the support stand 103 to freely change their relative postures, and help support the actuator 10. be able to.
  • This auxiliary support device 50 slides (insertes/removes) the spline shaft 65 in the axial direction so that the spline joint 60 on the base 101 side forms a ball spline joint 70 (for example, manufactured by THK Corporation) together with the spline shaft 65.
  • a housing member 62 is fixed to one end of a nut (spline bearing, second slide member) 71 that freely holds the nut (spline bearing, second slide member). It is fixed at the back.
  • the ball spline joint 70 has spline grooves extending in the axial direction on the outer circumferential surface of the spline shaft 65 and the inner circumferential surface of the nut 71 to rotatably accommodate a plurality of balls. is formed, realizing relative sliding movement while reducing the load that occurs when one of the spline shaft 65 and the nut 71 moves relative only linearly with respect to the other without rotating.
  • the ball spline joint 70 with low friction is used, but it may be replaced with a spline structure that utilizes sliding.
  • the auxiliary support device 50 includes a bottomed cylindrical member 82 to which an upper connecting base 80 on the side of the support stand 103 is fixed to the upper end 65e of the spline shaft 65 of the ball spline joint 70. is installed so as to be located on the back side of the cross-shaft joint 53 on the side of the support stand 103 with a rotation mechanism 85 to be described later interposed therebetween.
  • the upper connection base 80 the upper end 65e of the spline shaft 65 of the ball spline joint 70 is fixed to the upper flange 82b of the cylindrical member 82, and the spline shaft 65 is accommodated in the cylindrical portion 82c.
  • the rotation mechanism 85 includes a disk member 86 located at the upper part of the upper connection base 80, and an upper flange 82b of the cylindrical member 82 of the upper connection base 80 to which the upper end 65e of the spline shaft 65 of the ball spline joint 70 is fixed.
  • the disc member 86 and the bearing 87 connect the upper flange 82b of the cylindrical member 82 so as to face each other so as to be coaxially rotatable.
  • the bearing 87 of this rotation mechanism 85 rotates the outer peripheral surface of the small ring member 87a fixed to the disk member 86 and the inner peripheral surface of the large ring member 87b fixed to the upper flange 82b of the cylindrical member 82 relative to each other.
  • the upper connecting base 80 By freely connecting the upper connecting base 80 (cylindrical member 82) to which the upper end 65e of the spline shaft 65 of the ball spline joint 70 is fixed, the upper connecting base 80 (cylindrical member 82) can be freely rotated with respect to the cross shaft joint 53 on the side of the support stand 103. It can also be connected and supported.
  • the auxiliary support device 50 not only allows (follows) the cross-axis joints 51 and 53 to freely change the relative postures of the base 101 and the support stand 103 in accordance with the expansion and contraction of the actuator 10; , the rotation mechanism 85 can allow relative rotation of the facing relationship as the spacing between the base 101 and the support stand 103 changes, and the connected and supported state of the base 101 and the support stand 103 can be maintained. .
  • the housing member 62 to which the nut 71 of the ball spline joint 70 of the spline joint 60 on the base 101 side is fixed allows the spline shaft 65 of the ball spline joint 70 to be inserted therein.
  • the nut 71 and the spline shaft 65 are connected so as to be slidable relative to each other, so that the spline joint 60 on the base 101 side is connected to the upper connecting base 80 on the support stand 103 side. It is designed to maintain a connected state in a straight line position. That is, this ball spline joint 70 constitutes a slide holding mechanism that functions as a linear joint.
  • the upper connecting base 80 has the upper end 65e of the spline shaft 65 of the ball spline joint 70 fixed to the upper flange 82b of the cylindrical member 82, and the spline shaft 65 is accommodated in the cylindrical portion 82c.
  • a disk-shaped connecting intermediate member 83 is installed at the lower part of the cylindrical edge side of the cylindrical portion 82c of the cylindrical member 82 of the upper connecting base 80 so as to be located midway between the base 101 and the support stand 103 in the direction in which they face each other. ing.
  • a disk-shaped connecting intermediate member 83 at the bottom of the upper connecting base 80 (cylindrical member 82) has an opening 83a through which the housing member 62 of the spline joint 60 to which the nut 71 of the ball spline joint 70 is fixed can be inserted. has been done.
  • This auxiliary support device 50 includes a generally cylindrical air spring (repulsion member functioning as an auxiliary member) 90 between the lower surface of the connecting intermediate member 83 at the lower part of the upper connecting base 80 (cylindrical member 82) and the upper surface of the base 101.
  • the opening edges on both ends of the air spring 90 are rubber-sealed or the like, and an airtight internal space 90s is formed inside the air spring 90.
  • the air spring 90 has elastic outer circular parts 91 to 93 made of an elastic material that are laminated in multiple stages and are arranged in parallel between a base 101 and a support base 103. It is formed into a generally cylindrical shape constituting an internal space 90s by stacking it in multiple stages with a certain ring-shaped rigid component 95 interposed therebetween.
  • the air spring 90 is not limited to multiple stages, but may have a single stage cylindrical shape if it has sufficient flexibility. It goes without saying that it may be formed into a roughly rectangular tube shape or other irregular shapes.
  • a fluid passage 99a communicating with the internal space 90s of the air spring 90 is formed in the base 101, and an air filling amount control device 99 (see FIG. 5) is connected to the outside of the fluid passage 99a. It is connected.
  • the air filling amount control device 99 is connected to a general-purpose compressor that discharges compressed air, and detects the filling amount and filling pressure of the compressed air using a general-purpose pressure control circuit. , it is possible to generate a desired internal pressure within the internal space 90s of the air spring 90. At this time, as shown in FIG.
  • the lower surface of the connecting intermediate member 83 on the air spring 90 side and the lower surface of the upper flange 82b of the upper connecting base 80 serve as pressure receiving surfaces for the compressed air, and the support base 103 on which the loaded weight is applied A repulsive force pushing back is generated as a necessary auxiliary force, and the auxiliary force is applied to the top plate 101 via the second adjustable joint 84.
  • the auxiliary support device 50 causes the air filling amount control device 99 to generate a desired internal pressure in the internal space 90s of the air spring 90, and generates a repulsive force that acts in the direction of separating the base 101 and the support stand 103.
  • the auxiliary support device 50 adjusts the internal pressure within the air spring 90 using an air filling amount control device 99 according to the weight of the test object on the support stand 103, and applies a desired repulsive force to the support stand 103. can also be supported.
  • the air spring 90 fills the internal space 90s with compressed air to generate a repulsive force, but as an auxiliary member of the repulsive member, springs or elastic Rubber or the like may be arranged to generate and apply a desired constant elastic force.
  • the air filling amount control device 99 is omitted and a constant pressure is sealed (filled and sealed) in the internal space 90s of the air spring 90. ) can also be used.
  • the vibration device 100 can extend and contract the six sets of actuators 10 to tilt the support base 103 with six degrees of freedom with respect to the base 101 and perform vibration operations.
  • the auxiliary support device 50 can be twisted without interfering with changes in the posture of the actuators 10, and a desired auxiliary force (repulsion force) can be applied to support the plurality of actuators 10 without excessive eccentricity. .
  • the vibration excitation device (testing device) 100 of the present embodiment it is possible to reduce the output driving force of the plurality of actuators 10 and execute a similar test operation. Even in this case, the driving force of the actuator 10 can be reduced to allow the auxiliary support device 50 to assist in the support.
  • the auxiliary support device 50 can apply a desired repulsive force not only when the actuator 10 is driven but also when it is on standby (in a stationary state), and the servo motor 49 of the actuator 10 is Rated output driving force can be reduced.
  • the driving force required for the servo motors 49 of the plurality of actuators 10 can be reduced, making it possible to downsize and also reduce costs.
  • an actuator using a servo motor was used as an example, but the present invention can also be applied to a multi-degree-of-freedom telescoping device using other power sources, such as a hydraulic actuator.
  • ball spline joint (rolling guide spline joint) 70 other types of spline joints (for example, sliding guide spline joints, etc.) can also be used.
  • Air spring auxiliary member 90s...Inner space 91-93...Elastic outer circular part 95...Rigid part 99...Air filling amount control device 99a...Fluid passage 100
  • Test device 101...Base (board member, base, first connected member) 101B, 103B...Support block 103...Support stand (top plate member, second connected member)

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Educational Technology (AREA)
  • Educational Administration (AREA)
  • Business, Economics & Management (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Vibration Prevention Devices (AREA)
  • Transmission Devices (AREA)
  • Actuator (AREA)
PCT/JP2023/023422 2022-08-12 2023-06-23 補助支持装置およびこれを備える試験装置 Ceased WO2024034274A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US19/101,620 US20260049891A1 (en) 2022-08-12 2023-06-23 Auxiliary Support Device and Test Device Provided with Same
CN202380057883.7A CN119654670A (zh) 2022-08-12 2023-06-23 辅助支撑装置以及具备该辅助支撑装置的试验装置
KR1020257004002A KR20250028497A (ko) 2022-08-12 2023-06-23 보조 지지 장치 및 이를 구비하는 시험 장치
EP23852258.5A EP4553811A1 (en) 2022-08-12 2023-06-23 Auxiliary support device and test device provided with same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022129059A JP7665568B2 (ja) 2022-08-12 2022-08-12 補助支持装置およびこれを備える試験装置
JP2022-129059 2022-08-12

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WO2024034274A1 true WO2024034274A1 (ja) 2024-02-15

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US (1) US20260049891A1 (https=)
EP (1) EP4553811A1 (https=)
JP (1) JP7665568B2 (https=)
KR (1) KR20250028497A (https=)
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JP2015033671A (ja) 2013-08-08 2015-02-19 株式会社鷺宮製作所 加振装置、および、それを備えるシミュレーター用加振システム
CN204926579U (zh) * 2015-02-11 2015-12-30 上海好创机电工程有限公司 一种新型的动感平台
KR20200068481A (ko) * 2018-12-05 2020-06-15 한국로봇융합연구원 하중보상 메커니즘을 적용한 모션 플랫폼의 제어방법

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