(19)
(11)EP 2 930 707 B1

(12)EUROPEAN PATENT SPECIFICATION

(45)Mention of the grant of the patent:
06.05.2020 Bulletin 2020/19

(21)Application number: 13860367.5

(22)Date of filing:  05.09.2013
(51)Int. Cl.: 
G09B 9/02  (2006.01)
F16M 13/00  (2006.01)
F16M 1/00  (2006.01)
G01M 17/007  (2006.01)
(86)International application number:
PCT/JP2013/073902
(87)International publication number:
WO 2014/087711 (12.06.2014 Gazette  2014/24)

(54)

TEST DEVICE

TESTVORRICHTUNG

DISPOSITIF D'ESSAI


(84)Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

(30)Priority: 04.12.2012 JP 2012265764

(43)Date of publication of application:
14.10.2015 Bulletin 2015/42

(73)Proprietor: Saginomiya Seisakusho, Inc.
Tokyo 165-0033 (JP)

(72)Inventors:
  • IN Eisei
    Sayama-shi Saitama 350-1395 (JP)
  • HOSAKA Tomohiro
    Sayama-shi Saitama 350-1395 (JP)

(74)Representative: Hoffmann Eitle 
Patent- und Rechtsanwälte PartmbB Arabellastraße 30
81925 München
81925 München (DE)


(56)References cited: : 
EP-A1- 3 031 536
JP-A- H08 248 872
JP-A- H10 332 520
JP-A- 2006 259 363
JP-A- 2008 070 547
JP-B2- 3 915 122
WO-A1-2013/114179
JP-A- H10 332 520
JP-A- 2006 087 937
JP-A- 2007 198 830
JP-A- 2009 002 974
  
      
    Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention).


    Description

    [Technical Field]



    [0001] The invention relates to a test device for executing various tests (hereinafter, referred to as merely "Test" generically);
    such as loading test by adding the outside power or vibration test by adding the vibration against construction to be tested, for instance,
    the transportation apparatuses such as the car, the motorcycle, the train, aircraft, and ships, or
    constructions such as bridge, building, houses, and buildings, or
    parts etc. thereof (hereinafter, referred to as merely "construction to be tested" generically), or
    such as simulation test etc. of the driving state according to the driving operation by operator.

    [Background Art]



    [0002] Conventionally, as such a test device, there are a vibration test device and a loading test device to research and develop these constructions to be tested.
    Moreover, in order to improve the research and development of the transportation equipment and driving person's driving ability, there is a driving simulation device (hereinafter, also referred to as merely, "Driving simulator") to simulate the driving state etc. corresponding to the operation of the operator.

    [0003] Among such test devices, the driving simulation device is explained as an example.
    The driving simulation device, for instance, six degree of freedom parallel mechanism, which is called so-called "Stewart platform (it is called "Hexapod")", is adopted.
    In this case, six links, which are connected in parallel and are expanding and contracting, are operated cooperatively. As a result, the platform, which is connected by the movement connection mechanism that positions six degree of freedom, and in which the parts to be driven such as the vehicle model is provided.
    As a result, the platform, which is connected by the movement connection mechanism that positions six degree of freedom, and in which the parts to be driven such as the vehicle model is provided.
    As a result, in the direction of advancement and the horizontal direction, and turn of the transportation equipment, the operation of a large amplitude is comparatively reproduced by a low frequency.
    There is a case set up in the mechanism that can be moved on the plane (direction on X, Y, and Yaw).

    [0004] As a result, according to the operation person's driving operation, besides keep abreast of movement of X, Y, and Z in three directions, in addition to the gyration around each axis, that is, the tilt movement of six degree of freedom, which is comprising six kinds of movement of back and forth, right and left, vertical direction, roll (Roll), pitch (Pitch), and Yaw (Yaw), is reproduced.
    Consequently, driving is simulated according to the driving operation of the operator.
    The operation of small amplitude in a high frequency is comparatively reproduced with the Stewart platform.
    The operation of large amplitude in a low frequency is comparatively reproduced with the plane movement mechanism.

    [0005] As for a conventional driving simulation device composed like this, for instance, the driving simulation test device disclosed in Patent Document 1 (Japanese Patent No. 4736592) is proposed.

    [0006] In this driving simulation test device 100, as shown in Fig. 18, the dome 108 having the vehicle model is provided on the platform 106, which is connected to the base 104 by the movement connecting mechanism 102 that positions six degree of freedom.

    [0007] Moreover, a plurality of the X axial rail 110 disposed on the direction of X axis and a pair of Y axial rail 112, which are movable on the X axial rail 110 on the direction of X axis and are disposed on the direction of Y axis, are provided.
    The base 104 is disposed on this Y axial rail 112 so that it can be moved in the direction of the Y axis.

    [0008] As a result, so-called "Linear guide" is composed, so that the dome 108, in which the vehicle model is provided, can be moved in the direction of X-Y.

    [0009]  Moreover, in Patent Document 2 (Japanese Patent No. 3915122), as shown in Fig. 19, the driving simulator 200 is disclosed.

    [0010] In this driving simulator 200, as shown in Fig. 19, on the platform 206, which is connected to the base 204 by the movement connecting mechanism 202 that positions six degree of freedom, the dome 208 having the vehicle model is provided.
    Moreover, a plurality of the air bearing 212 is provided to the lower surface the base 204 to face the slide surface 210.

    [0011] In addition, in the driving simulator 200 of Patent Document 2, in Fig. 19, by the X-axis direction moving device that includes the linear guide (not shown in the drawing), the base 204 can be moved in the direction of the X axis.
    Furthermore, by the Y-axis direction moving device (not shown in the drawing), the base 204 can be moved in the direction of the Y axis.

    [0012] Moreover, in order to intend to the research and development of transportation equipment such as car, motorcycle, train, aircraft, and ships, and
    in order to intend to the driving ability improvement of person who drives transportation equipment etc.,
    such a test device, is used as a driving simulator, in which the driving state in accordance with the driving operation by the operator and the vibration and accelerated velocity test, etc. is imitated,
    and such a test device is used as composition part of the driving simulator.
    WO 2013114179 A1 foms part of the prior art under Article 54(3) EPC and discloses an apparatus to simulate driving a land vehicle comprising a fixed base platform, a mobile platform disposed above said base platform, a mobile driver's position, associated with the mobile platform and in which a driver has his seat during normal use, and movement means associated with the base platform and with the mobile platform to provide the movement of said mobile platform with respect to the base platform. Further, JP 2006087937 A discloses a flag that is set in accordance with an occurrence of an event accompanying the progress of a game, in order to control data corresponding to the flag that is read from a table and an object body is controlled. At that time, it is accepted that the plurality of flags is simultaneously present. In this case, two or more pieces of the control data corresponding to the plurality of flags respectively are read from the table and are combined. By the combined control data, the movement of the object body is controlled. Thus, the response and occurence of the movement of the object body is improved.

    [Prior Art Reference]


    [Patent Document]



    [0013] 

    [Patent Document 1]
    Japanese Patent No. 4736592

    [Patent Document 2]
    Japanese Patent No. 3915122


    [Summary of Invention]


    [Problems to be Solved by the Invention]



    [0014] However, in the driving simulation test device 100 of Patent Document 1, mutually orthogonal X axial rail 110 and Y axial rail 112 are necessary.
    As a result, the installation space of the device is large and is necessary.
    Moreover, the height of the device is raised and the mass of the platform 106 that is the moving part is large.
    Therefore, a big driving device is needed and it is enlarged.

    [0015] Moreover, in the driving simulation test device 100 of Patent Document 1, the base 104 is composed that it can be moved in the direction of X-Y.
    However, it is a structure that the base 104 cannot be rotated around the Z shaft (vertical shaft) (Yaw movement).
    Therefore, the necessary movement when the transportation apparatus is turned is that it is entirely necessary to reproduce in six degree of freedom platform of the moving part.
    As a result, the platform is enlarged further.

    [0016] Therefore, in the driving simulation test device 100 of Patent Document 1, big installation space and driving device are necessary, and the cost is raised.
    Moreover, the accelerated velocity of a high frequency at the driving actual state cannot be reproduced.
    In addition, driving state according to an actual driving operation of the operator cannot be simulated.

    [0017] On the other hand, in the driving simulator 200 of Patent Document 2, the six degree of freedom platform is supported with the air bearing 212, and the vertical direction is not restrained.
    Consequently, the heavy base 204 is necessary to suppress the vibration.

    As a result, as well as the driving simulation test device 100 of Patent Document 1, the installation space of the device is necessary largely.
    Moreover, the height of the device is raised, and the mass of the platform 206, which is the moving part, is enlarged.

    As a result, a big driving device is needed and is enlarged.

    [0018] Moreover, in the driving simulator 200 of Patent Document 2, though the mass of platform 206 that is the moving part is large, the range of the frequency that can be reproduced is 1-3Hz and suppressing the vibration by a high frequency becomes impossible.
    As a result, a heavier base is needed.
    For the test of the accelerated velocity etc. according to an actual state of driving, it is necessary to provide the mechanism of three degree of freedom further on the six degree of freedom platform.
    As a result, it is enlarged and complicate.

    [0019] In addition, in the driving simulator 200 of Patent Document 2, as the surface of the slide surface 210, the slide surface where accuracy is very high is necessary, and the high cost is needed.

    [0020] Like this, in any case of the driving simulation test device 100 of Patent Document 1 and the driving simulator 200 of Patent Document 2, a big driving device is needed and it is enlarged.
    As a result, the high frequency cannot be operated at high speed.

    [0021] Therefore, this inventor et al has developed the simulation device 300 shown in Fig. 20 and they have filed a Patent Application on the same day of this application.
    That is, in this simulation device 300, as shown in Fig. 20, a slipping floor 312 of substantially seven corner type in the top plan view is provided.
    In addition, on the upper surface of this slipping floor 312, as described later, a base plate 314 of the substantially triangle in the top plan view is disposed, such that it can be moved in the direction of X-Y and can be freely and movably to be rotated around Z shaft (Yaw movement).

    [0022] On this base plate 314, as shown in Fig. 20, a movement connecting mechanism 316 is provided.
    By the movement connecting mechanism 316, a platforms 318, which comprises the moving part of the substantially triangle in the top plan view, is connected.
    As shown in Fig. 20, the platform 318 comprises the pipe of a so-called truss construction for lightening.

    [0023] As shown in Fig. 20, the movement connecting mechanism 316, in this Embodiment, six degree of freedom parallel mechanism, which is called so-called "Stewart platform (it is called "Hexapod")", is adopted.
    In addition, the movement connecting mechanism 316 comprises six links 316a - 316f, which are connected in parallel and are expanding and contracting.

    [0024] Moreover, these six links 316a - 316f, which are connected in parallel and are expanding and contracting, are operated cooperatively.
    As a result, though not shown in the drawing, the platform 318 can be moved in the direction of X-Y-Z.
    Moreover, the platform 18 can be moved freely so that it can be rotated around X axis (Roll), around Y axis (Pitch), and around Z axis (Yaw movement).

    [0025] Moreover, though not shown in the drawing, on the platform 318, parts to be driven such as cockpit and half car model, etc. is disposed.

    [0026] On the other hand, as shown in Fig. 20, under the lower surface of the base plate 314, a plurality of air bearing unit 332 is provided, such that it is faced to the upper surface of the slipping floor 312.
    That is, in this Embodiment, as shown in Fig. 20, it is formed to the corner portion of the base plate 314 in three places.

    [0027] Moreover, as shown in Fig. 20, the air bearing unit 332 is provided with two air bearings 334, which are disposed to the lower surface of the base plate 314 at constant intervals and are disposed, such that they are faced to the upper surface of the slipping floor 312.

    [0028] The air bearing unit 332 composed like this, in the operating state with a high air pressure of the air bearing 334, though not shown in the drawing, according to the air pressure of the air bearing 334, the base plate 314 can be floated, and the air layer is generated between the upper surface of the slipping floor 312.

    [0029] As a result, the platform 318, which is connected on the base plate 314 by the movement connecting mechanism 316, can be moved on the upper surface of the slipping floor 312 by a minimum frictional force.

    [0030] Moreover, between these two air bearings 334, as shown in Fig. 20, a magnetizing device 340, in which magnetizing force to the slipping floor can be changed, is disposed to the lower surface of the base plate 314, such that it is faced to the upper surface of the slipping floor 312.

    [0031]  Moreover, the air bearing unit 332 is composed that, in the operating state at a high air pressure of the air bearing 334, the magnetizing force to the slipping floor 312 of the magnetizing device 340 is a strong state.

    [0032] By composing like this, the magnetic (magnetizing force) by the magnetizing device 340 and the weight of the platform 318 are combined.
    As a result, it enters the state of Pre - Load in the vertical direction of the air bearing 334, so that it takes charge of the reaction force and the moment in the vertical direction.

    Consequently, a steady simulation and the test become possible.

    [0033] As a result, the weight of the platform 318 is light, and the rigidity is high, and a movement steady with a light base can be achieved, and the simulation and the test up to a high frequency is possible by small power and little space.

    [0034] On the other hand, as shown in Fig. 20, the base plate 314 is connected with a movement mechanism 350, so that it can be moved on the slipping floor 312 in the direction of X-Y and can be freely and movably rotated around Z shaft (Yaw movement).

    [0035] That is, the movement mechanism 350, as shown in Fig. 20, includes movement drive device 352a, 352b, and 352c, which is composed of three piston cylinder mechanisms that is disposed separately mutually at the angle where the central angle degree α is 120°.

    [0036] In addition, the respective base edge of the movement drive device 352a, 352b, and 352c is connected pivotally by pivot 356a, 356b, and 356c, to three fixing bracket 354a, 354b, and 354c provided on the base plate 314, such that in the state of Fig. 20 as shown in the dotted line of Fig. 20, that is, in the top plan view, when the base plate 314 is positioned at the substantially in the center of the upper surface of the slipping floor 312, the central angle degree α forms 120° mutually according to round large circle D on the upper surface of the slipping floor 312.

    [0037] Moreover, as shown in Fig. 20, the extension line at the tip of these piston 358a, 358b, and 358c is provided that in the state of Fig. 20 as shown with the chain line of Fig. 20, that is, in the top plan view, when the base plate 314 is positioned at the substantially in the center of the upper surface of the slipping floor 312 (when initial position), such that the extension line at the tip of the piston 358a, 358b, and 358c is disposed to the position, in which they are directed to the center O of the base plate 314.

    [0038] That is, as shown in Fig. 20, the tip of the piston 358a, 358b, and 358c is respectively disposed to three corner portions of the base plate 314.

    [0039] However, in this simulation device 300, the angle and the range of the velocity in the direction of Yaw are small, and the torque in the direction of Yaw is small, and the range of the accelerated velocity is small, and moreover, necessary space is large.

    [0040] That is, in this simulation device 300, in the state of Fig. 20, that is, when the base plate 314 is moved from the state that is positioned at the substantially in the center of the upper surface of the slipping floor 312 (when initial position), the torque can not be generated, so that it can not be moved in the direction of Yaw.

    [0041] Therefore, though the movement in the direction of X-Y is possible, the movement of the direction of Yaw is limited.

    [0042] In particular, since the torque in the direction of Yaw is not generated at the initial position, only a movement in the direction of X-Y can be performed.

    [0043] Therefore, the object of the invention is to provide a test device,
    in which driving state according to an actual driving operation of the operator can be simulated,
    and in which the test of the accelerated velocity etc. according to an actual state of driving can be performed.

    [0044] Moreover, the object of the invention is to provide a test device that the simulation is possible,
    in which the angle and the range of the velocity in the direction of Yaw are large,
    and in which the torque in the direction of Yaw is large, and the range of the accelerated velocity is large, and moreover,
    in which necessary space is small.

    [0045] Moreover, the object of the invention is to provide a test device,
    in which the weight of the base plate where the construction to be tested that is the moving part is mounted is light, and the rigidity is high,
    and in which a movement steady with a light base can be achieved,
    and in which the test up to a high frequency is possible by small power and little space,
    and in which it is cheap and compact.

    [Solution to Problem]



    [0046] The invention is defined by the appended independent claim. The dependent claims are directed to optional features and preferred embodiments. The invention was invented to achieve the problem and the purpose in the above-mentioned prior art, the test device of the invention is a test device according to the driving operation of the operator to simulate driving state, comprising:

    a base plate, which can be moved on a slipping floor in the direction of an X-axis and a Y-axis by an air bearing, and which is disposed freely and movably to be rotated around a Z-axis, the X-axis, Y-axis, and Z-axis forming a three-dimensional coordinate system, wherein the X-axis and the Y-axis are substantially parallel to the slipping floor, and the Z-axis is substantially perpendicular to the slipping floor,

    a platform, which is connected on the base plate by a movement connecting mechanism, and in which a parts to be driven is provided,

    wherein the base plate is connected with a movement mechanism, which can be moved on the slipping floor in the direction of the X-axis and the Y-axis, and which is disposed freely and movably to be rotated around the Z-axis,

    the movement mechanism is connected pivotally to the base plate, such that in a top plan view, when the base plate is positioned substantially in the center of the upper surface of the slipping floor in an initial position, the central angle degree β forms 120° along a round circle C,

    when extension lines at tips of the movement mechanism are positioned at the initial position, they are tangent to the round circle C or form angles close to the state of being tangent to the round circle C, wherein the central angle degree β is an angle between a line from a center of the round circle C to one of the tips of the movement mechanism and a line from the center of the round circle C to another tip among the tips of the movement mechanism.



    [0047] By composing like this, for instance, the platform, in which the parts to be driven such as a vehicle model is provided, is connected to the base plate by the movement connecting mechanism that positions six degree of freedom.
    Moreover, this base plate can be moved on the slipping floor in the direction of the X-axis and the Y-axis by the air bearing. In addition, this base plate is disposed freely and movably to be rotated around the Z-axis (Yaw movement).

    [0048] As a result, according to the air pressure of the air bearing, the base plate is floated, and the air layer can be generated between the base plate and the slipping floor.
    Accordingly, the platform, which is connected on the base plate by the movement connecting mechanism, can be moved on the slipping floor by a minimum frictional force.

    [0049] Therefore, the driving state according to an actual driving operation of the operator can be simulated in small power and little space.
    As a result, the test of the accelerated velocity etc. according to an actual state of driving can be performed. Moreover, the movement mechanism is connected pivotally on the base plate, such that to the top plan view, when the base plate is positioned substantially in the center of the upper surface of the slipping floor when initial position, the central angle degree β forms 120° along a round circle C.

    In addition, when extension lines at tips of the movement mechanism are positioned at the initial position, they are tangent to the round circle C or form angles close to the state of being tangent to the round circle C, wherein the central angle degree β is an angle between a line from a center of the round circle C to one of the tips of the movement mechanism and a line from the center of the round circle C to another tip among the tips of the movement mechanism.

    [0050] Therefore, the present invention can afford a test device that the simulation is possible,
    in which the angle and the range of the velocity in the direction of Yaw are large,
    and in which the torque in the direction of Yaw is large, and the range of the accelerated velocity is large, and moreover,
    in which necessary space is small.

    [0051] That is, by composing like this, when the base plate is positioned at the substantially in the center of the upper surface of the slipping floor, the movement mechanism is disposed, such that it is tangent to the round circle C or it forms angles close to the state of being tangent to the round circle C. As a result, when rotating (Yaw movement) around the Z axis, the necessary velocity and the accelerated velocity of a vibrator can be reduced.

    [0052] Moreover, the extension line at the tip of the movement mechanism is provided that in the top plan view, when the base plate is positioned at the substantially in the center of the upper surface of the slipping floor (when initial position), such that the movement mechanism is tangent to the round circle C or forms angles close to the state of being tangent to the round circle C.
    As a result, the extension line at the tip of the movement mechanism is shifted from center O of the base plate.

    [0053] As a result, when the base plate is moved from the state that is positioned at the substantially in the center of the upper surface of the slipping floor (when initial position), it can be moved by a necessary torque.

    [0054] Moreover, the diameter of the round circle C is a comparatively small.
    As a result, the stroke and the velocity of the movement mechanism that is the actuator, which is necessary for the Yaw movement, become small.
    Consequently, a simulator having more high performance can be offered.

    [0055] In addition, the accelerated velocity of the movement mechanism that is the actuator becomes small.
    As a result, the torque necessary for the equivalent mass of the actuator is decreased, the torque to the base plate in the direction of Yaw is increased, and it becomes efficient.

    [0056] Moreover, the shaft line of the movement mechanism, which is the actuator, and the distance at rotation center can be enlarged. Moreover, at the angle where the range of motion of the movement mechanism becomes the maximum, the movement mechanism that is the actuator is disposed.

    [0057] Therefore, the space necessary to provide the movement mechanism that is the actuator becomes small and the simulation device can be miniaturized.

    [0058] In addition, the range of movement of the compound movement by the movement of the direction of X-Y and the rotation around the Z axis (Yaw movement) is enlarged.

    [0059] Moreover, the movement mechanism that is the actuator is disposed on the base plate.
    As a result, the interference generated in the movement echanism can be prevented by the limit switch.

    [0060] By composing like this, according to the present invention, the magnetizing device, which is disposed to the lower surface of the base plate to face the slipping floor, is provided.
    In addition, according to the present invention, in the operating state at a high air pressure of the air bearing, the magnetizing force to the slipping floor of the magnetizing device is a strong state.

    [0061] As a result, the load capacity in the vertical direction of the platform can be increased with Pre - Load by the air bearing and the magnetizing device.

    [0062] That is, the magnetic (magnetizing force) by the magnetizing device and the weight of the platform are combined.
    As a result, it enters the state of Pre - Load in the vertical direction of the air bearing , so that it takes charge of the reaction force and the moment in the vertical direction.
    Consequently, a steady simulation and the test become possible.

    [0063] As a result, the weight of the platform is light, and the rigidity is high, and a movement steady with a light base can be achieved, and the simulation and the test up to a high frequency is possible by small power and little space.

    [0064] In addition, according to the present invention, in the non-operating state at a low air pressure of the air bearing, the magnetizing force to the slipping floor of the magnetizing device is a weak state.

    [0065] Therefore, the state is detected by the pressure sensor in non-operating state with a low air pressure of the air bearing, so that the test device is stopped.
    However, the base plate is moved a constant distance to the stopping because of inertia.
    In this case, since the magnetizing force to the slipping floor of the magnetizing device is a weak state, magnetic force does not act.
    As a result, the frictional force can be decreased and wear-out is decreased, so that lengthening the maintenance cycle of the test device becomes possible.

    [0066] Moreover, the test device of the invention is characterized in that,
    the magnetizing device can be abutted and separated to the slipping floor, and
    strength of the magnetizing force to the slipping floor can be switched.

    [0067] By composing like this, by changing the distance to the slipping floor of the magnetizing device, the strength of the magnetizing force to the slipping floor can be switched.
    As a result, the magnetic force suitable for the test device can be adjusted.

    [0068]  Moreover, the test device of the invention is characterized in that
    the magnetizing device is provided with a magnet member, which can be abutted and separated to the slipping floor.

    [0069] By composing like this, by adjusting the clearance between the magnet member and the slipping floor, the magnetic force suitable for the test device can be adjusted.

    [0070] Moreover, the device is stopped in non-operating state at a low air pressure of the air bearing.
    However, the base plate is moved a constant distance to the stopping because of inertia.
    In this case, the magnet member, which is the magnetizing device, is moved in the direction separated from the slipping floor.
    As a result, the magnetizing force to the slipping floor is a weak state, so that the magnetic force does not act.
    Moreover, because the distance between the slipping floor and the magnet member is separated, the frictional force can be decreased, and wear-out is decreased.
    As a result, lengthening the maintenance cycle of the test device becomes possible.

    [0071] Moreover, the test device of the invention is characterized in that the magnet member comprises a permanent magnet.

    [0072] Thus, if the magnet member comprises a permanent magnet, a cheap, permanent magnet can be used as a magnet member of the magnetizing device, and the cost can be decreased.
    Moreover, because power is not needed to generate the magnetic force, the energy expenditure is decreased.

    [0073] Moreover, in the test device of the invention, it is also possible that the magnetizing device can be provided with the magnet member, which includes the electromagnet.

    [0074] Thus, if the magnetizing device includes the electromagnet, by changing the size of the current to the electromagnet, the size of the magnetic force (magnetizing force) can be changed, and it becomes easy to control.

    [0075] Moreover, the test device of the invention is characterized in that
    the magnet member includes a plurality of magnet member,
    these magnet members are disposed so that the direction of the pole is the position of the right angle mutually.

    [0076] Like this, magnet members are disposed so that the direction of the pole is the position of the right angle mutually.
    As a result, it is possible to keep the resist by the eddy current in the direction of each movement (direction of X-Y and Yaw rotation) in the same level.
    Consequently, an accurate simulation and the test can be performed.

    [0077] Moreover, the test device of the invention is characterized in that a plurality of air bearing is provided to the lower surface in the base plate through a sphere seat,

    a plurality of magnetizing device is provided corresponding to the plurality of air bearing.

    [0078] Like this, a plurality of air bearing is provided to the lower surface in the base plate through the sphered seat.
    As a result, the base plate, the entire base plate is uniformly floated by the air pressure of the air bearing, so that the air layer can be generated between the base plate and the slipping floor.
    Consequently, the platform, which is connected on the base plate by the movement connecting mechanism, can be moved on the slipping floor by a minimum frictional force.

    [0079] Therefore, the driving state according to an actual driving operation of the operator can be simulated in small power and little space.
    As a result, the test of the accelerated velocity etc. according to an actual state of driving can be performed.

    [0080] Moreover, a plurality of magnetizing device is provided corresponding to the plurality of air bearing.
    As a result, the state of Pre - Load in the vertical direction of the air bearing, in which the magnetic force (magnetizing force) by the magnetizing device and the weight of the platform are combined, becomes uniform in the entire base plate.
    Therefore, it takes charge of the reaction force and the moment in the vertical direction.
    Consequently, a steady simulation and the test become possible.

    [0081] Moreover, the test device of the invention is characterized in that
    a friction decrease treating is applied to a surface faced the slipping floor of the air bearing, or
    to at least other surface of the upper surface of the slipping floor.

    [0082] Thus, for example, a sheet comprising, fluorine-based resin; such as
    polytetrafluoroethylene resin (PTFE),
    tetrafluoroethylene-par fluoro alkyl vinyl ether copolymer resin (PFA),
    tetrafluoroethylene-hexafluoropropylene copolymer resin (FEP),
    polychlorotrifluoroethylene copolymer resin,
    tetrafluoroethylene-ethylene copolymer resin,
    chlorotrifluoroethylene-ethylene copolymer resin,
    polyvinylidene fluoride resin,
    polyvinyl fluoride resin, or
    tetrafluoroethylene-hexafluoropropylene-par fluoro alkyl vinyl ether copolymer resin; or
    polyimide resin (PI);
    polyamide 6 resin (PA6);
    polyamide-imide resin (PAI); or
    peak resin (PEEK)
    is stuck.
    Moreover, single resin of these resins and mixture thereof is treated by baking-coating.
    As a result, friction decrease treating is applied to a surface faced the slipping floor of the air bearing, or to at least other surface of the upper surface of the slipping floor.

    [0083] As a result, in case of the emergency stopping etc. or in case that a load which is larger than assumption is applied while operating,
    the air bearing can be prevented being damaged when the air bearing comes in contact with the slipping floor, so that the life-span of the device becomes long.

    [0084] Moreover, because such a friction decrease treating is applied, the air bearing can be prevented being damaged even if it comes in contact somewhat between the air bearing and the slipping floor. As a result, because accuracy on the surface of the slipping floor can be somewhat lowered, the cost can be decreased.

    [Advantageous Effects of Invention]



    [0085] According to the invention, for instance, the platform, in which the parts to be driven such as a vehicle model is provided, is connected to the base plate by the movement connecting mechanism that positions six degree of freedom.
    Moreover, this base plate can be moved on the slipping floor in the direction of X-Y by the air bearing.
    In addition, this base plate is disposed freely and movably to be rotated around Z shaft (Yaw movement).

    [0086] As a result, according to the air pressure of the air bearing, the base plate is floated, and the air layer can be generated between the base plate and the slipping floor.
    Accordingly, the platform, which is connected on the base plate by the movement connecting mechanism, can be moved on the slipping floor by a minimum frictional force.

    [0087] Therefore, the driving state according to an actual driving operation of the operator can be simulated in small power and little space.
    As a result, the test of the accelerated velocity etc. according to an actual state of driving can be performed.
    Moreover, the movement mechanism is connected pivotally on the base plate, such that in the top plan view, when the base plate is positioned at the substantially in the center of the upper surface of the slipping floor when initial position, the central angle degree β forms 120° mutually according to round circle C.
    In addition, when extension lines at the tips of the movement mechanism are positioned at the initial position, they are tangent to the round circle C or form angles close to the state of being tangent to the round circle C, wherein the central angle degree β is an angle between a line from a center of the round circle C to one of the tips of the movement mechanism and a line from the center of the round circle C to another tip among the tips of the movement mechanism.
    Therefore, the present invention can afford a test device that the simulation is possible,
    in which the angle and the range of the velocity in the direction of Yaw are large,
    and in which the torque in the direction of Yaw is large, and the range of the accelerated velocity is large, and moreover, in which necessary space is small.

    [Brief Description of Drawings]



    [0088] 

    [Fig. 1]
    Fig. 1 is a top view of the test device applied the test device of the invention as a simulation device.

    [Fig. 2]
    Fig. 2 is a partial enlarged view of Fig. 1.

    [Fig. 3]
    Fig. 3 is a front view seen from the direction of A of Fig. 1.

    [Fig. 4]
    Fig. 4 is a drawing that the side view seen from the direction of B of Fig. 1 is rotated right by 90 degrees.

    [Fig. 5]
    Fig. 5 is a top view of the base plate portion of Fig. 1.

    [Fig. 6]

    Fig. 6 is a top view that omits a part of the movement connecting mechanism of the base plate portion in Fig. 5.

    [Fig. 7]
    Fig. 7 is a drawing that the back view of Fig. 6 is rotated right by 180 degrees.

    [Fig. 8]
    Fig. 8 is a drawing that the side view in the direction of C of Fig. 6 is rotated right by 90 degrees.

    [Fig. 9]
    Fig. 9 is an enlarged view of the operating state at a high air pressure of the air bearing, in the air bearing and the portion of the magnetizing device of Fig. 7.

    [Fig. 10]
    Fig. 10 is an enlarged view of non-operating state at a low air pressure of the air bearing, in the air bearing and the portion of the magnetizing device of Fig. 7.

    [Fig. 11]
    Fig. 11 is a top view of the air bearing and the portion of the magnetizing device of Fig. 7.

    [Fig. 12]
    Fig. 12 is a top view explaining the state that the base plate is rotated and moved in a direction of X-Y and around Z shaft on the slipping floor.

    [Fig. 13]
    Fig. 13 is a top view explaining the state that the base plate is rotated and moved in a direction of X-Y and around Z shaft on the slipping floor.

    [Fig. 14]
    Fig. 14 is a top view explaining the state that the base plate is rotated and moved in a direction of X-Y and around Z shaft on the slipping floor.

    [Fig. 15]
    Fig. 15 is a top view explaining the state that the base plate is rotated and moved in a direction of X-Y and around Z shaft on the slipping floor.

    [Fig. 16]
    Fig. 16 is a top view explaining the state that the base plate is rotated and moved in a direction of X-Y and around Z shaft on the slipping floor.

    [Fig. 17]
    Fig. 17 is a top view similar to Fig. 1 of the test device of another Embodiment of the invention.

    [Fig. 18]
    Fig. 18 is a perspective view of the conventional driving simulation test device 100.

    [Fig. 19]
    Fig. 19 is a partial enlarged side view of the conventional driving simulator 200.

    [Fig. 20]
    Fig. 20 is a top view of the simulation device to describe the problem of the simulation device of the invention.


    [Description of Embodiments]



    [0089]  Hereafter, the embodiment of the invention (Embodiment) is described in the detail or more on the basis of the drawing.

    [Embodiment 1]



    [0090] 

    Fig. 1 is a top view of the test device applied the test device of the invention as a simulation device.

    Fig. 2 is a partial enlarged view of Fig. 1.

    Fig. 3 is a front view seen from the direction of A of Fig. 1.

    Fig. 4 is a drawing that the side view seen from the direction of B of Fig. 1 is rotated right by 90 degrees.

    Fig. 5 is a top view of the base plate portion of Fig. 1.

    Fig. 6 is a top view that omits a part of the movement connecting mechanism of the base plate portion in Fig. 5.

    Fig. 7 is a drawing that the back view of Fig. 6 is rotated right by 180 degrees.

    Fig. 8 is a drawing that the side view in the direction of C of Fig. 6 is rotated right by 90 degrees.

    Fig. 9 is an enlarged view of the operating state at a high air pressure of the air bearing, in the air bearing and the portion of the magnetizing device of Fig. 7.

    Fig. 10 is an enlarged view of non-operating state at a low air pressure of the air bearing, in the air bearing and the portion of the magnetizing device of Fig. 7.

    Fig. 11 is a top view of the air bearing and the portion of the magnetizing device of Fig. 7.

    Fig. 12 to Fig. 16 is a top view explaining the state that the base plate is rotated and moved in a direction of X-Y and around Z shaft on the slipping floor.



    [0091] In Fig. 1, the reference numeral 10 shows the test device that applies the test device of the invention as a whole as the simulation device.

    [0092] In the test device 10 of this Embodiment, as shown in Fig. 1, an embodiment which is applied to the test device according to the driving operation of the operator to simulate driving state.

    [0093] That is, for instance, in the transportation apparatuses such as the car, the motorcycle, the train, aircraft, and ships, the invention is object for research and development of these transportation apparatuses and for improvement of driving abilities of operator who drive the transportation apparatus.
    In addition, the invention is object that driving state etc.
    corresponding to the driving operation of the operator is simulated.

    [0094] In this Embodiment, the case of the car is shown in the drawings as one example of the vehicle apparatus.
    Moreover, though not shown in the drawing, in test device 10 of the invention, the screen etc. is provided to the periphery of the test device 10 if required.
    The driving state can visually be simulated according to the driving operation of operator S.
    Therefore, for instance, when only the test of the accelerated velocity test etc. is performed, such a screen might not be installed.

    [0095] As shown in Fig. 1 - Fig. 4, in the test device 10 of the invention, a slipping floor 12 is provided.
    As described later, on this slipping floor 12, a base plate 14 of the substantially triangle in the top plan view is disposed, such that it is disposed freely and movably to be rotated around Z shaft (Yaw movement).

    [0096]  On this base plate 14, as shown in Fig. 5 - Fig. 7, a movement connecting mechanism 16 is provided.
    By the movement connecting mechanism 16, a platforms 18, which comprises the moving part of the substantially triangle in the top plan view, is connected.
    As shown in Fig. 5 - Fig. 6, the platform 18 comprises the pipe of a so-called truss construction for lightening.

    [0097] As shown in Fig. 5 - Fig. 8, the movement connecting mechanism 16, in this Embodiment, six degree of freedom parallel mechanism, which is called so-called "Stewart platform (it is called "Hexapod")", is adopted.
    In addition, the movement connecting mechanism 16 comprises six links 16a - 16f, which are connected in parallel and are expanding and contracting.

    [0098] Moreover, these six links 16a - 16f, which are connected in parallel and are expanding and contracting, are operated cooperatively.
    As a result, though not shown in the drawing, the platform 18 can be moved in the direction of X-Y-Z.
    Moreover, the platform 18 can be moved freely so that it can be rotated around X axis (Roll), around Y axis (Pitch), and around Z axis (Yaw movement).

    [0099] That is, these links 16a-16f are respectively the structure that the piston cylinder mechanism is operated and expanded and contracted, by operating electricity or oil pressure drive devices 20a-20f (the drawing shows the example of electricity).
    Moreover, the bottom of these links 16a-16f, as shown in Fig. 7, is respectively pivotally connected with bracket 24a-24f, which is formed to the corner portion of the base plate 14 in three places, through pivot shaft 22a-22f.

    [0100] On the other hand, the top of these links 16a-16f, as shown in Fig. 7, is respectively pivotally connected with support portion 28a-28f, which is provided to the corner portion of the platform 18 in three places, through pivot shaft 26a-26f.

    [0101] Moreover, as shown in Fig. 3 - Fig. 4, on the platform 18, for instance, parts to be driven that includes the transportation apparatus such as cockpit and half car model, etc., a vehicle 30 of the car is provided for this Embodiment.
    Excluding Fig. 3 - Fig. 4, the parts to be driven 30 (vehicle) is omitted and shown for convenience' sake about the explanation.

    [0102] On the other hand, as shown in Fig. 5 - Fig. 7, under the lower surface of the base plate 14, a plurality of air bearing unit 32 is provided, such that it is faced to the upper surface of the slipping floor 12.
    That is, in this Embodiment, as shown in Fig. 5 - Fig. 6, it is formed to the corner portion of the base plate 14 in three places.

    [0103] Moreover, as shown in Fig. 7, and Fig. 9 - Fig. 11, the air bearing unit 32 is provided with two air bearings 34, which are disposed to the lower surface of the base plate 14 at constant intervals and are disposed, such that they are faced to the upper surface of the slipping floor 12.
    These air bearings 34 are respectively provided to a sphere seat 36 fixed to the lower surface of the base plate 14, such that it is possible to turn freely by a installation portion 38.
    The error margin of the profile irregularity of slipping floor 12 and parallelism of the run upon a bank portion is absorbed.

    [0104] Moreover, between these two air bearings 34, as shown in Fig. 9 - Fig. 10, a magnetizing device 40, in which magnetizing force to the slipping floor can be changed, is disposed to the lower surface of base plate 14, such that it is faced to the upper surface of the slipping floor 12.

    [0105] This magnetizing device 40, as shown in Fig. 9 - Fig. 11, a piston cylinder mechanism 42 is provided.
    In addition, a base board 46 is fixed to the bottom of a piston 44 of this piston cylinder mechanism 42.
    For instance, a magnet member 48 that includes a permanent magnet is disposed to the lower surface of this base board 46.

    [0106] Thus, if the magnet member 48 includes a permanent magnet, a cheap, permanent magnet can be used as the magnet member 48 of the magnetizing device 40.
    As a result, the cost can be decreased, power is not needed, and the energy-saving effect can be expected.

    [0107] Moreover, between the base board 46 and a flange 41a of the base edge of four guide members 41 provided to the periphery of the piston 44, a spring member 45 is disposed respectively.

    [0108] The air bearing unit 32 composed like this, in the operating state with a high air pressure of the air bearing 34, though not shown in the drawing, according to the air pressure of the air bearing 34, the base plate 14 can be floated, and the air layer is generated between the upper surface of the slipping floor 12.

    [0109] As a result, the platform 18, which is connected on the base plate 14 by the movement connecting mechanism 16, can be moved on the upper surface of the slipping floor 12 by a minimum frictional force.

    [0110] In this case, a plurality of the magnetizing device 40 is provided corresponding to a plurality of air bearing 34.
    As a result, the state of Pre - Load in the vertical direction of the air bearing 34,in which the magnetic force (magnetizing force) by the magnetizing device 40 and the weight of the platform 18 are combined, becomes uniform in the entire base plate 14.
    Therefore, it takes charge of the reaction force and the moment in the vertical direction.

    [0111] Moreover, the air bearing unit 32 is composed that, in the operating state at a high air pressure of the air bearing 34, the magnetizing force to the slipping floor 12 of the magnetizing device 40 is a strong state.

    [0112] That is, in this Embodiment, as shown in Fig. 9, in the operating state at a high air pressure of the air bearing 34, the piston cylinder mechanism 42 is operated.
    Consequently, the piston 44 is expanded downwardly against the urging force of the spring member 45.

    [0113] As a result, the base board 46 fixed to the bottom of the piston 44 is moved to the lower side toward the upper surface of the slipping floor 12.
    Consequently, the distance between the magnet member 48 disposed to the lower surfaces of the base board 46 and the upper surfaces of the slipping floor 12 becomes near.
    The magnetizing force of the magnetizing device 40 to the slipping floor 12 is a strong state.

    [0114] As a result, the load capacity in the vertical direction of the platform 18 can be increased with Pre - Load by the air bearing 34 and the magnetizing device 40.

    [0115] That is, the magnetic (magnetizing force) by the magnetizing device 40 and the weight of the platform 18 are combined.
    As a result, it enters the state of Pre - Load in the vertical direction of the air bearing 34, so that it takes charge of the reaction force and the moment in the vertical direction.
    Consequently, a steady simulation and the test become possible.

    [0116] As a result, the weight of the platform 18 is light, and the rigidity is high, and a movement steady with a light base can be achieved, and the simulation and the test up to a high frequency is possible by small power and little space.

    [0117] Moreover, a plurality of the magnetizing device 40 is provided corresponding to the plurality of the air bearing 34.
    As a result, the state of Pre - Load in the vertical direction of the air bearing 34,in which the magnetic force (magnetizing force) by the magnetizing device 40 and the weight of the platform 18 are combined, becomes uniform in the entire base plate 14.
    Therefore, it takes charge of the reaction force and the moment in the vertical direction.
    Consequently, a steady simulation and the test become possible.

    [0118] In this case, the number of the air bearing 34 and the magnetizing device 40, and the disposing position in base plate 14 etc.is not especially limited, and is possible to be changed properly.

    [0119] On the other hand, the air bearing unit 32 is composed that, in non-operating state at a low air pressure of the air bearing 34, the magnetizing force to the slipping floor 12 of magnetizing device 40 may is a weak state.

    [0120] That is, in this Embodiment, as shown in Fig. 10, in non-operating state at a low air pressure of the air bearing 34, the operation of the piston cylinder mechanism 42 is stopped.
    As a result, the piston 44 is retreated upwardly by the urging force of spring member 45.

    [0121] Consequently, the base board 46, which is fixed to the bottom of the piston 44, is moved upwardly in the direction separated from the upper surface of the slipping floor 12.
    As a result, the distance between the magnet member 48 disposed to the lower surfaces of the base board 46 and the upper surfaces of the slipping floor 12 becomes large.
    The magnetizing force to the slipping floor 12 of the magnetizing device 40 is a weak state.

    [0122] Therefore, the state is detected by the pressure sensor in non-operating state with a low air pressure of the air bearing 34, so that the test device 10 is stopped.
    However, the base plate 14 is moved a constant distance to the stopping because of inertia.

    [0123] That is, in this Embodiment, the distance between the magnet member 48 disposed to the lower surfaces of the base board 46 and the upper surfaces of the slipping floor 12 becomes large.
    As a result, the magnetic force is not acted and the frictional force between the magnet member 48 and the upper surfaces of the slipping floor 12 can be decreased and wear-out is decreased, so that lengthening the maintenance cycle of the test device 10 becomes possible.

    [0124] By composing like this, by changing the distance to the slipping floor 12 of the magnetizing device 40, the strength of the magnetizing force to the slipping floor 12 can be switched. As a result, the magnetic force suitable for the test device 10 can be adjusted.

    [0125] In addition, a friction decrease treating may be applied to a surface faced the slipping floor 12 of the air bearing 34, or to at least other surface of the upper surface of the slipping floor 12.
    In Fig. 7, the state, in which the friction decrease treating 11 is applied to the upper surface of the slipping floor 12, is shown.

    [0126]  Thus, for example, a sheet comprising, fluorine-based resin; such as
    polytetrafluoroethylene resin (PTFE),
    tetrafluoroethylene-par fluoro alkyl vinyl ether copolymer resin (PFA),
    tetrafluoroethylene-hexafluoropropylene copolymer resin (FEP),
    polychlorotrifluoroethylene copolymer resin,
    tetrafluoroethylene-ethylene copolymer resin,
    chlorotrifluoroethylene-ethylene copolymer resin,
    polyvinylidene fluoride resin,
    polyvinyl fluoride resin, or
    tetrafluoroethylene-hexafluoropropylene-par fluoro alkyl vinyl ether copolymer resin; or
    polyimide resin (PI);
    polyamide 6 resin (PA6);
    polyamide-imide resin (PAI); or
    peak resin (PEEK)
    is stuck.
    Moreover, single resin of these resins and mixture thereof is treated by baking-coating.
    As a result, friction decrease treating may be applied to a surface faced the slipping floor 12 of the air bearing 34, or to at least other surface of the upper surface of the slipping floor 12.

    [0127] As a result, in case of the emergency stopping etc. or in case that a load which is larger than assumption is applied while operating,
    the air bearing 34 can be prevented being damaged when the air bearing 34 comes in contact with the slipping floor 12, so that the life-span of the device becomes long.

    [0128] Moreover, because such a friction decrease treating is applied, the air bearing 12 can be prevented being damaged even if it comes in contact somewhat between the air bearing 34 and the slipping floor 12.
    As a result, because accuracy on the surface of the slipping floor 12 can be somewhat lowered, the cost can be decreased.

    [0129] In addition, as for the magnet member 48, which is disposed to the lower surface of the base board 46 of the magnetizing device 40, as shown in Fig. 12, the magnet member 48 may include a plurality of the magnet member 48.
    These magnet members 48 may be disposed so that the direction of the pole is the position of the right angle mutually.

    [0130] Like this, magnet members 48 are disposed so that the direction of the pole is the position of the right angle mutually.
    As a result, it is possible to keep the resist by the eddy current in the direction of each movement (direction of X-Y and Yaw rotation) in the same level.
    Consequently, an accurate simulation and the test can be performed.

    [0131] On the other hand, as shown in Fig. 1 - Fig. 4, the base plate 14 is connected with a movement mechanism 50, so that it can be moved on the slipping floor 12 in the direction of X-Y and can be freely and movably rotated around Z shaft (Yaw movement) .

    [0132] That is, the movement mechanism 50, as shown in Fig. 1, includes movement drive device 52a, 52b, and 52c, which is composed of three piston cylinder mechanisms that is disposed separately mutually at the angle where the central angle degree α is 120°.

    [0133]  The respective base edge of these movement drive device 52a, 52b, and 52c is connected pivotally by pivot 56a, 56b, and 56c, to three fixing bracket 54a, 54b, and 54c, which is fixed as spaced to the upper surface of the slipping floor 12 mutually at the angle where the central angle degree α is 120°.

    [0134] Moreover, the respective tip of piston 58a, 58b, and 58c of these movement drive device 52a, 52b, and 52c is connected pivotally by pivot 62a, 62b, and 62c, to three fixing bracket 60a, 60b, and 60c provided on the base plate 14, such that in the state of Fig. 1 as shown in the dotted line of Fig. 1, that is, in the top plan view, when the base plate 14 is positioned at the substantially in the center of the upper surface of the slipping floor 12 (when initial position), the central angle degree β forms 120° mutually according to round circle C.

    [0135] Moreover, the extension line at the tip of these piston 58a, 58b, and 58c is provided that in the state of Fig. 1 as shown with the chain line of Fig. 1, that is, in the top plan view, when the base plate 14 is positioned at the substantially in the center of the upper surface of the slipping floor 12 (when initial position), such that the piston 58a, 58b, and 58c are tangent
    to the round circle C or they are provided that they form angles close to the state of being tangent to the round circle C.

    [0136] In addition, to the respective base edge of the movement drive device 52a, 52b, and 52c, electricity or oil pressure drive device 64a, 64b, and 64c (the drawing shows the example of electricity) to operate the piston cylinder mechanism is provided.

    [0137] In the movement mechanism 50 composed like this, according to the operation of operator S, by controlling of the controller (not shown in the drawing), in the operating state at a high air pressure of the air bearing 34, according to the air pressure of the air bearing 34, the base plate 14 is floated, and the air layer can be generated between the base plate and the slipping floor 12.
    As a result, the magnetizing force of magnetizing device 40 to the slipping floor 12 is a strong state, and it becomes Pre - Load state.

    [0138] Under such a condition, according to the operation of operator S, by controlling the operation of the electricity or oil pressure drive device 64a, 64b, and 64c (the drawing shows the example of electricity), the elongatedness of the piston 58a 58b, and 58c of the piston cylinder mechanism of the movement drive device 52a, 52b, and 52c, are adjusted.

    [0139] As a result, from the state that, as shown in Fig. 1, the base plate 14 is positioned in the substantially center position of the upper surface of the slipping floor 12, as shown in Fig. 12 - Fig. 16, the base plate 14 is disposed, such that it is disposed freely and movably to be rotated around Z shaft (Yaw movement) .

    [0140] In addition, in Fig. 12 - Fig. 16, Example is merely shown in the movement of the direction of X-Y and the rotation around the Z axis (Yaw movement).
    Of course, the combination of other positions may be freely applied.

    [0141] By composing like this, in the state of Fig. 1, that is, in the top plan view, when the base plate 14 is positioned at the substantially in the center of the upper surface of the slipping floor 12, such that the piston 58a, 58b, and 58c are tangent to the round circle C or they form angles close to the state of being tangent to the round circle C.
    As a result, when rotating (Yaw movement) around the Z axis, the necessary velocity and the accelerated velocity of a vibrator can be reduced.

    [0142] The extension line at the tip of the piston 58a, 58b, and 58c is provided that, in the state of Fig. 1 as shown by the chain line of Fig. 2, that is, in the top plan view, when the base plate 14 is positioned at the substantially in the center of the upper surface of the slipping floor 12 (when initial position), such that the piston 58a, 58b, and 58c are tangent to the round circle C or they form angles close to the state of being tangent to the round circle C.
    As a result, the extension line at the tip of the piston 58a, 58b, and 58c is shifted from center O of the base plate 14.

    [0143] As a result, in the state of Fig. 1, that is, when the base plate 14 is moved from the state that is positioned at the substantially in the center of the upper surface of the slipping floor 12 (when initial position), it can be moved by a necessary torque.

    [0144] Moreover, the diameter of the round circle C is a comparatively small.
    As a result, the stroke and the velocity of the piston cylinder mechanism of the movement drive device 52a, 52b, and 52c that is the actuator, which is necessary for the Yaw movement, become small.
    Consequently, a simulator having more high performance can be offered.

    [0145] In addition, the accelerated velocity of the piston cylinder mechanism of the movement drive device 52a, 52b, and 52c that is the actuator becomes small.
    As a result, the torque necessary for the equivalent mass of the actuator is decreased, the torque to the base plate 14 in the direction of Yaw is increased, and it becomes efficient.

    [0146] Moreover, the shaft line of the piston cylinder mechanism of the movement drive device 52a, 52b, and 52c, which is the actuator, and the distance at rotation center can be enlarged.
    Moreover, at the angle where the range of motion of the movement drive device 52a, 52b, and 52c becomes the maximum, the movement drive device 52a, 52b, and 52c that is the actuator are disposed.

    [0147] Therefore, the space necessary to provide the movement drive device 52a, 52b, and 52c that is the actuator becomes small and the test device 10 can be miniaturized.

    [0148] In addition, the range of movement of the compound movement by the movement of the direction of X-Y and the rotation around the Z axis (Yaw movement) is enlarged.

    [0149] Though not shown in the drawing, the piston cylinder mechanism of movement drive device 52a, 52b, and 52c that is the actuator is disposed on the base plate 14.
    As a result, the interference generated in the movement drive device 52a, 52b, and 52c can be prevented by the limit switch.

    [Embodiment 2]



    [0150] Fig. 17 is a top view similar to Fig. 1 of the test device of another Embodiment of the invention.

    [0151] The test device 10 of this Embodiment is basically similar composition of the test device 10 shown in Embodiment 1.
    Like reference numeral is refer to the same composition member, and the detailed explanation is omitted.

    [0152] In the test device 10 of this Embodiment, as shown in Fig. 17, the respective tip of piston 58a, 58b, and 58c of the movement drive device 52a, 52b, and 52c is connected pivotally by pivot 62a, 62b, and 62c, to three fixing bracket 60a, 60b, and 60c provided on the base plate 14, such that in the state of Fig. 17 as shown in the dotted line of Fig. 17, that is, in the top plan view, when the base plate 14 is positioned at the substantially in the center of the upper surface of the slipping floor 12 (when initial position), the central angle degree β forms 120° mutually according to larger round circle E compared with the test device 10 of the Embodiment of Fig. 1.

    [0153] Moreover, the extension line at the tip of these piston 58a, 58b, and 58c is provided that in the state of Fig. 1 as shown with the chain line of Fig. 17, that is, in the top plan view, when the base plate 14 is positioned at the substantially in the center of the upper surface of the slipping floor 12 (when initial position), such that the piston 58a, 58b, and 58c are tangent to the round circle E.

    [0154] Therefore, compared with the test device 10 of Embodiment 1, the angle and the range of the velocity in the direction of Yaw are small, and moreover, necessary space is large.
    However, the torque in the direction of Yaw can be greatly taken.
    Compared with the simulation device 300 shown in Fig. 20, the movement in the direction of Yaw is possible and it can be used in smaller power and little space.
    Therefore, in the test device 10 of the invention, according to the purpose and the use of the test device 10, it may be changed arbitrarily.
    Moreover, sizes of the round Circle C (E) are not limited.

    [0155] Although preferable embodiment of the invention is described above, the invention is not limited to this embodiment.
    In the above-mentioned Embodiment, as for the movement connecting mechanism 16, six degree of freedom parallel mechanism, which is called so-called "Stewart platform (it is called "Hexapod")", is adopted.
    However, it is also possible to adopt other movement connecting mechanisms 16.

    [0156] Moreover, in the above-mentioned Embodiment, as for the magnet member 48 disposed to the lower surface of the base board 46 of the magnetizing device 40, a permanent magnet is used.
    However, the magnetizing device 40 may be provided with the magnet member 48 including the electromagnet.

    [0157] Thus, if the magnetizing device 40 includes the electromagnet, by changing the magnitude of the current to the electromagnet, the magnitude of the magnetic force (magnetizing force) can be changed, and it becomes easy to control.

    [0158] In addition, in the above-mentioned Embodiment, the piston cylinder mechanism is used as the movement drive device 52a, 52b, and 52c that are the actuator.
    However, it is also possible to use other actuators.

    [Industrial Applicability]



    [0159] The invention can be applied to a test device for executing various tests;
    such as loading test by adding the outside power or vibration test by adding the vibration against construction to be tested, for instance,
    the transportation apparatuses such as the car, the motorcycle, the train, aircraft, and ships, or
    constructions such as bridge, building, houses, and buildings, or
    parts etc. thereof, or
    such as simulation test etc. of the driving state according to the driving operation by operator.

    [Explanation of Letters or Numerals]



    [0160] 

    10
    Test device

    12
    Slipping floor

    14
    Base plate

    16
    Movement connecting mechanism

    16a∼16f
    Link

    18
    Platform

    20a∼20f
    Drive device

    22a∼22f
    Pivot shaft

    24a∼24f
    Bracket

    26a∼26f
    Pivot shaft

    28a∼28f
    Support portion

    30
    Vehicle
    (parts to be driven)

    32
    Air bearing unit

    34
    Air bearing

    36
    Sphere seat

    38
    Installation portion

    40
    Magnetizing device

    41
    Guide member

    41a
    Flange

    42
    Piston cylinder mechanism

    44
    Piston

    45
    Spring member

    46
    Base board

    48
    Magnet member

    50
    Movement mechanism

    52a∼52c
    Movement drive device

    54a∼54c

    Fixing bracket

    56a∼56c
    Pivot

    58a∼58c
    Piston

    60a∼60c
    Fixing bracket

    62a∼62c
    Pivot

    64a∼64c

    Drive device

    100
    Driving simulation test device

    102
    Movement connecting mechanism

    104
    Base

    106
    Platform

    108
    Dome

    110
    X axial rail

    112
    Y axial rail

    200
    Driving simulator

    202
    Movement connecting mechanism

    204
    Base

    206
    Platform

    208
    Dome

    210
    Slide surface

    212
    Air bearing

    300

    Simulation device

    312
    Slipping floor

    314
    Base plate

    316
    Movement connecting mechanism

    318
    Platform

    332
    Air bearing unit

    334
    Air bearing

    340
    Magnetizing device

    350
    Movement mechanism

    352a∼352c
    Movement drive device

    354a∼354c
    Fixing bracket

    356a∼356c
    Pivot

    358a∼358c
    Piston

    C
    Round Circle

    D
    Round Circle

    E
    Round Circle

    O
    Center

    S
    Operator

    α
    Central angle degree

    β
    Central angle degree




    Claims

    1. A test device (10) according to the driving operation of the operator to simulate driving state, comprising:

    a base plate (14), which can be moved on a slipping floor (12) in the direction of an X-axis and a Y-axis by an air bearing (34), and which is disposed freely and movably to be rotated around a Z-axis, the X-axis, Y-axis, and Z-axis forming a three-dimensional coordinate system, wherein the X-axis and Y-axis are substantially parallel to the slipping floor (12), and the Z-axis is substantially perpendicular to the slipping floor (12),

    a platform (18), which is connected on the base plate (14) by a movement connecting mechanism (16), and in which a part to be driven is provided,

    wherein the base plate (14) is connected with a movement mechanism (50), which can be moved on the slipping floor (12) in the direction of the X-axis and the Y-axis, and which is disposed freely and movably to be rotated around the Z-axis,

    wherein

    the movement mechanism (50) is connected pivotally to the base plate (14), such that in a top plan view, when the base plate (14) is positioned substantially in the center of the upper surface of the slipping floor (12) in an initial position, the central angle degree β forms 120° along a round circle C,

    when extension lines at tips of the movement mechanism (50) are positioned at the initial position, they are tangent to the round circle C or form angles close to the state of being tangent to the round circle C, wherein the central angle degree β is an angle between a line from a center of the round circle C to one of the tips of the movement mechanism (50) and a line from the center of the round circle C to another tip among the tips of the movement mechanism (50), characterized in that

    a magnetizing device (40), which is disposed to the lower surface of the base plate (14) to face the slipping floor (12), is provided,

    in the operating state at a high air pressure of the air bearing (34), the magnetizing force to the slipping floor (12) of the magnetizing device (40) is in a strong state,

    in the non-operating state at a low air pressure of the air bearing (34), the magnetizing force to the slipping floor (12) of the magnetizing device is in a weak state.


     
    2. The test device (10) defined in Claim 1, wherein
    the magnetizing device (40) can be abutted and separated to the slipping floor (12), and
    strength of the magnetizing force to the slipping floor (12) can be switched.
     
    3. The test device (10) defined in Claim 2, wherein
    the magnetizing device (40) is provided with a magnet member (48), which is abutted and separated to the slipping floor (12).
     
    4. The test device (10) defined in Claim 3, wherein
    the magnet member (48) comprises a permanent magnet.
     
    5. The test device (10) defined in any one of Claim 1 to 3, wherein
    the magnetizing device (40) is provided with the magnet member (48), which includes the electromagnet.
     
    6. The test device (10) defined in any one of Claim 3 to 5, wherein
    the magnet member (48) includes a plurality of magnet members,
    these magnet members are disposed so that the direction of the pole is the position of the right angle mutually.
     
    7. The test device (10) defined in any one of Claim 1 to 6, wherein
    a plurality of air bearings (34) is provided to the lower surface in the base plate (14) through a sphere seat (36),
    a plurality of magnetizing devices is provided corresponding to the plurality of air bearing (34).
     
    8. The test device (10) defined in any one of Claim 1 to 7, wherein
    a friction decrease treating is applied to a surface faced the slipping floor (12) of the air bearing (34), or to at least other surface of the upper surface of the slipping floor (12).
     


    Ansprüche

    1. Testvorrichtung (10) entsprechend dem Fahrbetrieb des Betreibers zum Simulieren eines Fahrzustandes, Folgendes umfassend:

    eine Grundplatte (14), die auf einem rutschigen Boden (12) in der Richtung einer X-Achse und einer Y-Achse durch ein Luftlager (34) bewegt werden kann, und die frei und beweglich angeordnet ist, um um eine Z-Achse gedreht zu werden, wobei die X-Achse, Y-Achse und Z-Achse ein dreidimensionales Koordinatensystem bilden, wobei die X-Achse und Y-Achse im Wesentlichen parallel zu dem rutschigen Boden (12) sind, und die Z-Achse im Wesentlichen senkrecht zu dem rutschigen Boden (12) ist,

    eine Plattform (18), die durch einen Bewegungsverbindungsmechanismus (16) mit der Grundplatte (14) verbunden ist, und in der ein zu fahrender Teil bereitgestellt wird,

    wobei die Grundplatte (14) mit einem Bewegungsmechanismus (50) verbunden ist, der auf dem rutschigen Boden (12) in der Richtung der X-Achse und der Y-Achse bewegt werden kann, und der frei und beweglich angeordnet ist, um um die Z-Achse gedreht zu werden,

    wobei

    der Bewegungsmechanismus (50) schwenkbar mit der Grundplatte (14) verbunden ist, sodass in einer Draufsicht, wenn die Grundplatte (14) im Wesentlichen in der Mitte der oberen Oberfläche des rutschigen Bodens (12) in einer ursprünglichen Position positioniert ist, der Mittenwinkelgrad β 120° entlang eines runden Kreises C bildet,

    wenn Erstreckungslinien an Spitzen des Bewegungsmechanismus (50) an der ursprünglichen Position positioniert sind, sie an dem runden Kreis C tangential sind oder Winkel nahe dem Zustand bilden, in dem sie an dem runden Kreis C tangential sind, wobei der Mittenwinkelgrad β ein Winkel zwischen einer Linie von einer Mitte des runden Kreises C zu einer der Spitzen des Bewegungsmechanismus (50), und einer Linie von der Mitte des runden Kreises C zu einer anderen Spitze unter den Spitzen des Bewegungsmechanismus (50) ist, dadurch gekennzeichnet, dass

    eine Magnetisierungsvorrichtung (40), die an der unteren Oberfläche der Grundplatte (14) angeordnet ist, um zum rutschigen Boden (12) gerichtet zu sein, bereitgestellt ist,

    im Betriebszustand bei einem hohen Luftdruck des Luftlagers (34) die Magnetisierungskraft der Magnetisierungsvorrichtung (40) zum rutschigen Boden (12) in einem starken Zustand ist,

    im Nicht-Betriebszustand bei einem niedrigen Luftdruck des Luftlagers (34) die Magnetisierungskraft der Magnetisierungsvorrichtung zum rutschigen Boden (12) in einem schwachen Zustand ist.


     
    2. Testvorrichtung (10) nach Anspruch 1, wobei
    die Magnetisierungsvorrichtung (40) an dem rutschigen Boden (12) anliegend und davon getrennt sein kann, und
    Stärke der Magnetisierungskraft zum rutschigen Boden (12) geschaltet werden kann.
     
    3. Testvorrichtung (10) nach Anspruch 2, wobei
    die Magnetisierungsvorrichtung (40) mit einem Magnetelement (48) bereitgestellt ist, das an dem rutschigen Boden (12) anliegend und davon getrennt ist.
     
    4. Testvorrichtung (10) nach Anspruch 3, wobei
    das Magnetelement (48) einen Dauermagneten umfasst.
     
    5. Testvorrichtung (10) nach einem der Ansprüche 1 bis 3, wobei
    die Magnetisierungsvorrichtung (40) mit dem Magnetelement (48) bereitgestellt ist, das den Elektromagneten beinhaltet.
     
    6. Testvorrichtung (10) nach einem der Ansprüche 3 bis 5, wobei
    das Magnetelement (48) eine Vielzahl von Magnetelementen beinhaltet,
    diese Magnetelemente angeordnet sind, sodass die Richtung des Pols die Position des rechten Winkels zueinander ist.
     
    7. Testvorrichtung (10) nach einem der Ansprüche 1 bis 6, wobei
    eine Vielzahl von Luftlagern (34) an der unteren Oberfläche der Grundplatte (14) durch einen Kugelsitz (36) hindurch bereitgestellt ist,
    eine Vielzahl von Magnetisierungsvorrichtungen entsprechend der Vielzahl von Luftlagern (34) bereitgestellt ist.
     
    8. Testvorrichtung (10) nach einem der Ansprüche 1 bis 7, wobei
    eine Reibungssenkungsbehandlung auf eine Oberfläche angewandt wird, die zum rutschigen Boden (12) des Luftlagers (34) gerichtet ist, oder auf mindestens andere Oberfläche der oberen Oberfläche des rutschigen Bodens (12).
     


    Revendications

    1. Dispositif de simulation (10) selon l'opération de conduite de l'opérateur pour simuler un état de conduite, comprenant :

    une plaque de base (14), qui peut être déplacée sur un sol glissant (12) dans la direction d'un axe X et d'un axe Y par un palier à air (34), et qui est disposée de manière libre et mobile pour être mise en rotation autour d'un axe Z, l'axe X, l'axe Y et l'axe Z formant un système de coordonnées en trois dimensions, dans lequel l'axe X et l'axe Y sont sensiblement parallèles au sol glissant (12), et l'axe Z est sensiblement perpendiculaire au sol glissant (12),

    une plate-forme (18), qui est raccordée sur la plaque de base (14) par un mécanisme de raccordement de mouvement (16), et où un élément à conduire est fourni,

    dans lequel la plaque de base (14) est raccordée à un mécanisme de mouvement (50), qui peut être déplacé sur le sol glissant (12) dans la direction de l'axe X et de l'axe Y, et qui est disposé de manière libre et mobile pour être mis en rotation autour de l'axe Z,

    dans lequel

    le mécanisme de mouvement (50) est raccordé de manière pivotante à la plaque de base (14), de telle sorte que dans une vue de dessus, lorsque la plaque de base (14) est positionnée sensiblement au centre de la surface supérieure du sol glissant (12) dans une position initiale, le degré d'angle central β forme 120° le long d'un cercle C,

    lorsque des lignes d'extension au niveau d'extrémités du mécanisme de mouvement (50) sont positionnées au niveau de la position initiale, elles sont tangentes au cercle C ou forment des angles proches de l'état où elles sont tangentes par rapport au cercle C, dans lequel le degré d'angle central β est un angle entre une ligne partant d'un centre du cercle C et allant vers l'une des extrémités du mécanisme de mouvement (50) et une ligne partant du centre du cercle C et allant vers une autre extrémité parmi les extrémités du mécanisme de mouvement (50), caractérisé en ce que

    un dispositif de magnétisation (40), qui est disposé par rapport à la surface inférieure de la plaque de base (14) pour faire face au sol glissant (12), est fourni,

    dans l'état opérationnel à une pression d'air élevée du palier à air (34), la force de magnétisation sur le sol glissant (12) du dispositif de magnétisation (40) est dans un état fort,

    dans l'état non opérationnel à une pression d'air basse du palier à air (34), la force de magnétisation sur le sol glissant (12) du dispositif de magnétisation est dans un état faible.


     
    2. Dispositif de simulation (10) selon la revendication 1, dans lequel
    le dispositif de magnétisation (40) peut jouxter et être séparé du sol glissant (12), et
    la résistance de la force de magnétisation sur le sol glissant (12) peut être basculée.
     
    3. Dispositif de simulation (10) selon la revendication 2, dans lequel
    le dispositif de magnétisation (40) est doté d'un élément magnétique (48), qui jouxte et est séparé du sol glissant (12).
     
    4. Dispositif de simulation (10) selon la revendication 3, dans lequel l'élément magnétique (48) comprend un aimant permanent.
     
    5. Dispositif de simulation (10) selon l'une quelconque des revendications 1 à 3, dans lequel
    le dispositif de magnétisation (40) est doté de l'élément magnétique (48), qui inclut l'électroaimant.
     
    6. Dispositif de simulation (10) selon l'une quelconque des revendications 3 à 5, dans lequel
    l'élément magnétique (48) inclut une pluralité d'éléments magnétiques,
    ces éléments magnétiques sont disposés de sorte que la direction du pôle est la position de l'angle droit réciproquement.
     
    7. Dispositif de simulation (10) selon l'une quelconque des revendications 1 à 6, dans lequel,
    une pluralité de paliers à air (34) sont fournis sur la surface inférieure dans la plaque de base (14) à travers une assise sphérique (36),
    une pluralité de dispositifs de magnétisation sont fournis correspondant à la pluralité de paliers à air (34).
     
    8. Dispositif de simulation (10) selon l'une quelconque des revendications 1 à 7, dans lequel
    un traitement de diminution de frottement est appliqué sur une surface faisant face au sol glissant (12) du palier à air (34), ou sur au moins une autre surface de la surface supérieure du sol glissant (12).
     




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    REFERENCES CITED IN THE DESCRIPTION



    This list of references cited by the applicant is for the reader's convenience only. It does not form part of the European patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be excluded and the EPO disclaims all liability in this regard.

    Patent documents cited in the description