Inertia force setting device, inertia force setting system, and inertia force setting method

Abstract

To measure the characteristic of a turning body while being affected by a kinetic inertia force, without involving the actual turning motion.SOLUTION: An inertia force setting device comprises: a first holding unit for holding a first section on one end side of a turning body, as well as permitting the displacement of the first section in the vertical direction due to the turning motion of the turning body and limiting the displacement of the first section in the horizontal direction; a second holding unit for holding a second section different from the first section, as well as permitting the displacement of the second section in the horizontal direction and limiting the displacement of the second section in the vertical direction; a tangential inertia force setting unit constituted to be capable of setting a force in the tangential direction acting upon the first section to a discretionary tangential inertia force; a normal inertia force setting unit constituted to be capable of setting a force in the normal direction acting upon the first section to a discretionary normal inertia force; and a moment setting unit constituted to be capable of setting a moment acting upon the second section to a discretionary moment so that the turning body is made to perform the turning motion.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an inertial force setting device, an inertial force setting system, and an inertial force setting method. [Background technology]

[0002] To measure the dynamic characteristics of the shaft during a swing and the grip force and grip moment that the human hand experiences during a swing, it is necessary to actually perform a swing. In this case, since the sensor is attached to the shaft, the weight of the sensor itself is added, making it impossible to measure the dynamic characteristics of the shaft during an actual swing, and the grip force and grip moment. On the other hand, the following documents are available as methods for testing shaft characteristics. Patent Document 1 discloses a method and device for measuring the torsional rigidity distribution of a shaft. Patent Document 2 discloses a method for evaluating the deflection characteristics of a golf club shaft. Patent Document 3 discloses a method and device for measuring the bending response of a golf club shaft. Non-Patent Document 1 discloses a method for experimentally determining the complex mode shape of the self-excited vibration of a cantilever pipe that conveys a fluid. Non-Patent Document 2 discloses a case in which the upper end of a cantilevered elastic water-transport pipe suspended vertically is vibrated in the horizontal direction, with regard to the lateral vibration of the pipe. Non-Patent Documents 1 and 2 disclose equations of motion that are the basis for the equations used in the present application. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3337364 [Patent Document 2] Patent No. 3445630 [Patent Document 3] Patent No. 3086353 [Non-patent literature]

[0004] [Non-Patent Document 1] Method of experimentally identifying the complex mode shape of the self-excited oscillation of a cantilevered pipe conveying fluid, Eisuke Higuchi, Hiroshi Yabuno, Kiyotaka Yamashita, Nonlinear Dyn (2022) 109:589-604, https: / / doi.org / 10.1007 / s11071-022-07460-0 [Non-patent document 2] Lateral vibration of a cantilevered elastic pipe conveying water suspended vertically: When the upper end of the pipe is excited horizontally, Masatsugu Yoshizawa, Kazuo Ueno, Eiji Hasegawa, Yasushi Tsujioka, Transactions of the Japan Society of Mechanical Engineers, Series C (1988) Vol. 54, No. 497, pp. 100-107, https: / / doi.org / 10.1299 / kikaic.54.100 Summary of the Invention [Problem to be solved by the invention]

[0005] The techniques disclosed in the above documents measure performance under static loads, but do not measure shaft characteristics under the influence of dynamic inertial forces. Therefore, for a rotating body that performs a rotating motion, such as a shaft, it is desired to measure the characteristics of the rotating body under the influence of dynamic inertial forces without actually performing the rotating motion.

[0006] Therefore, an object of the present invention is to provide an inertial force setting device, an inertial force setting system, and an inertial force setting method that can measure the characteristics of a rotating body under the influence of dynamic inertial forces without actually performing a rotating motion. [Means for solving the problem]

[0007] An inertial force setting device according to one aspect of the present invention is an inertial force setting device that sets an inertial force acting on a rotating body, and includes: a first holding unit that holds a first portion on one end side of the rotating body and is configured to allow displacement of the first portion in the vertical direction and limit displacement of the first portion in the horizontal direction associated with the rotational movement of the rotating body; a second holding unit that holds a second portion different from the first portion of the rotating body and is configured to allow displacement of the second portion in the horizontal direction and limit displacement of the second portion in the vertical direction; a tangential inertial force setting unit that is configured to be able to set the tangential force acting on the first portion to an arbitrary tangential inertial force; a normal inertial force setting unit that is configured to be able to set the normal force acting on the first portion to an arbitrary normal inertial force; and a moment setting unit that is configured to be able to set the moment acting on the second portion to an arbitrary moment so as to cause the rotating body to perform the rotational movement. [Effects of the Invention]

[0008] According to the above aspects, it is possible to provide an inertial force setting device, an inertial force setting system, and an inertial force setting method that can measure the characteristics of a rotating body under the influence of dynamic inertial forces without actually performing a rotating movement. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing an inertial force setting device according to an embodiment. [Figure 2] FIG. 1 is a block diagram showing an inertial force setting system according to an embodiment. [Figure 3] FIG. 1 is a side view showing an example of an inertial force setting device according to an embodiment. [Figure 4] IV arrow view of Figure 3. [Figure 5] 5A and 5B are explanatory diagrams of inertial forces acting on a shaft in the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the embodiment, an example of an inertial force setting device will be described, taking as an example an inertial force setting device that sets the inertial force acting on a shaft (an example of a rotating body). Hereinafter, the direction tangent to the axis of each point on the shaft will be referred to as the tangential direction, and the direction perpendicular to that will be referred to as the normal direction.

[0011] In the following description, expressions indicating relative or absolute arrangements, such as "parallel," "orthogonal," "center," and "coaxial," do not only mean such arrangements or states in the strict sense, but also include arrangements or states in which there is a relative displacement with a tolerance or an angle or distance to the extent that the same function is obtained. In the drawings used in the following description, the scale of each component may be changed as appropriate to make each component recognizable.

[0012] <Inertia force setting device> FIG. 1 is a schematic diagram showing an inertial force setting device 1 according to an embodiment. As shown in FIG. 1, the inertia force setting device 1 includes a first holding part 2 configured to hold a first part 11 on one end side of a shaft 10 and to allow displacement of the first part 11 in the vertical direction associated with the rotational movement of the shaft 10 while restricting displacement of the first part 11 in the horizontal direction, and a second holding part 3 configured to hold a second part 12 different from the first part 11 of the shaft 10 and to allow displacement of the second part 12 in the horizontal direction while restricting displacement of the second part 12 in the vertical direction.

[0013] For example, if the shaft 10 is a golf club shaft, the first portion 11 of the shaft 10 corresponds to the portion on the club head side (head portion), and the second portion 12 of the shaft 10 corresponds to the portion gripped by a human hand (grip portion).

[0014] For example, the first holding part 2 may be configured to include a chuck mechanism that holds the first portion 11 of the shaft 10, and a roller and slider mechanism attached to the chuck mechanism. Note that the configuration of the first holding part 2 is not limited to the above and can be changed according to design specifications.

[0015] 1 is a device that simulates the turning motion of shaft 10, but does not actually involve turning motion. In Fig. 1, the force in the vertical direction (direction of gravity) that accompanies the turning motion of shaft 10 (movement that simulates turning motion) is denoted as Ft, and the force in the horizontal direction (direction perpendicular to the direction of gravity) is denoted as Fn.

[0016] For example, the second holding unit 3 may be configured to include a chuck mechanism that holds the second portion 12 of the shaft 10, a rotary support base that rotatably supports the chuck mechanism, and a roller and slider mechanism attached to the rotary support base. Note that the configuration of the second holding unit 3 is not limited to the above and can be changed according to design specifications.

[0017] In FIG. 1, the horizontal force corresponds to the arrow Fn, and the vertical force corresponds to the arrow Ft.

[0018] <Inertia force setting system> FIG. 2 is a block diagram showing an inertial force setting system 100 according to the embodiment. 1 and 2, the inertial force setting system 100 includes an inertial force setting device 1 and a control unit 20 that controls the inertial force setting device 1.

[0019] The inertial force setting device 1 includes a tangential inertial force setting unit 21 configured to be able to set the tangential force acting on the first portion 11 of the shaft 10 to any tangential inertial force, a normal inertial force setting unit 22 configured to be able to set the normal force acting on the first portion 11 of the shaft 10 to any normal inertial force, a moment setting unit 23 configured to be able to set the moment acting on the second portion 12 of the shaft 10 to any moment so as to cause the shaft 10 to perform a rotational motion, a moment measuring unit 24 that measures the moment, a deflection angle measuring unit 25 that measures the deflection angle θ that occurs when the shaft 10 deflects when a tangential inertial force and / or a normal inertial force is acting on the first portion 11 of the shaft 10, and a deflection shape measuring unit 26 that measures any position of the shaft 10 between the first portion 11 and the second portion 12 of the shaft 10.

[0020] For example, tangential inertia force setting unit 21 may be configured to include a weight attached to first portion 11 of shaft 10. Tangential inertia force setting unit 21 may be configured to be able to apply any load vertically downward to first portion 11 of shaft 10. Note that the configuration of tangential inertia force setting unit 21 is not limited to the above and can be changed according to design specifications.

[0021] For example, normal inertia force setting unit 22 may be configured to set the normal inertia force by horizontally moving second portion 12 by a known value while monitoring the value of a load cell or the like provided on second portion 12 of shaft 10. Note that the configuration of normal inertia force setting unit 22 is not limited to the above and can be changed according to design specifications.

[0022] For example, the moment setting unit 23 may be configured to include a lever attached to the second portion 12 of the shaft 10. The moment setting unit 23 may be configured to include an actuator such as a motor. The moment setting unit 23 may be configured to generate a moment in the second portion 12 (i.e., around the left end point of the shaft 10) using a motor or the like so that a tangent to the first portion 11 of the shaft 10 (i.e., the right end of the shaft 10) coincides with a vertical line (θ=0), thereby rotating the second portion 12 around a point on the shaft 10. Note that the configuration of the moment setting unit 23 is not limited to the above and can be changed according to design specifications.

[0023] For example, moment measuring unit 24 may be configured to include a torque sensor that converts torsion when torque is applied to shaft 10 into torque and outputs the torque. Moment measuring unit 24 may measure the output torque of the motor of moment setting unit 23 when deflection angle θ=0 and measure it as the moment. Note that the configuration of moment measuring unit 24 is not limited to the above and can be changed according to design specifications.

[0024] For example, the deflection angle measuring unit 25 may be configured to include an encoder that detects a rotation angle or a linear displacement. Note that the configuration of the deflection angle measuring unit 25 is not limited to the above and can be changed according to design specifications.

[0025] In this embodiment, the deflection angle measuring unit 25 measures the angle between a tangent to the first portion 11 of the deflected shaft 10 and a line along the vertical direction as the deflection angle. In Fig. 1, the deflection angle is indicated by θ.

[0026] For example, the deflection shape measuring unit 26 may be configured to include a tape measure attached to the shaft 10. The deflection shape measuring unit 26 may be configured to be able to measure the position along the arc of the deflected shaft 10. Note that the configuration of the deflection shape measuring unit 26 is not limited to the above and can be changed according to the design specifications.

[0027] In this embodiment, the control unit 20 operates the moment acting on the second portion 12 based on the deflection angle θ that occurs when the shaft 10 deflects while a tangential inertial force and / or a normal inertial force is acting on the first portion 11, and controls the angle θ to be 0. The control unit 20 calculates the moment M required to satisfy the angle θ = 0, feeds back the value of the angle θ (which generally does not become 0) in an actual experiment, and adds it to the theoretically calculated M to operate so that θ becomes 0 in the experiment.

[0028] Fig. 3 is a side view showing an example of the inertia force setting device 1 according to the embodiment. Fig. 4 is a view taken along the line IV in Fig. 3. In Figs. 3 and 4, the shaft 10 is indicated by a two-dot chain line. 3 and 4, the inertial force setting device 1 may be configured to be able to hold the shaft 10 along the vertical direction. For example, the inertial force setting device 1 may be configured to include a frame 30 erected in the vertical direction, a chuck mechanism (an example of the second holding unit 3) that is provided on the upper part of the frame 30 and holds the upper end of the shaft 10 (an example of the second portion 12), a lever (an example of the moment setting unit 23) that is attached to the chuck mechanism and configured to be able to cause the shaft 10 to perform a circular motion in the direction of arrow V1, a torque load sensor (an example of the moment measuring unit 24), and an encoder (an example of the deflection angle measuring unit 25) that measures the deflection angle of the shaft 10.

[0029] The inertial force setting device 1 may be configured to be able to adjust the tilt angle of the shaft 10 in the direction of arrow V2. The inertial force setting device 1 may be configured to be able to change the position of the shaft 10 in the direction of arrow V3 (horizontal position). Note that the configuration of the inertial force setting device 1 is not limited to the above and can be changed according to design specifications.

[0030] <Example of setting the inertial force acting on the shaft> FIG. 5 is an explanatory diagram of the inertial force acting on the shaft 10 of the embodiment. Also referring to FIG. 5, the inertial force acting on the shaft 10 may be calculated by the following formula. As an example, the following will explain a case where two inertial forces, namely, a tangential force (corresponding to centrifugal force) acting on the first portion 11 (head portion) of the shaft 10 and a normal force (corresponding to inertial force due to angular acceleration) perpendicular to the tangential force, are set to various values, and the moment and reaction force acting on the user's hand at these times are measured. Figure 5 also shows the parameters (variables) of the following equation.

[0031] First, the two simultaneous equations shown in equation (1) are formulated and solved.

[0032]

number

[0033] In equation (1), s corresponds to the coordinate along the arc of the shaft 10 with the position of the first portion 11 as the origin, the t direction corresponds to the tangential direction along the arc at point s, the n direction corresponds to the normal direction, T corresponds to the tension in the tangential direction at each point s, and φ corresponds to the deflection angle at each point s of the shaft 10. In equation (1), the unknowns are φ and T.

[0034] The boundary condition is that no moment acts on the head portion (s = 0). The boundary conditions for the second and first equations of equation (1) are expressed by the three conditions shown in equation (2) and the two conditions shown in equation (3), respectively. In equations (2) and (3), l corresponds to the position of the second portion 12 of the shaft 10, and 0 corresponds to the position of the first portion 11 of the shaft 10, respectively. As shown in equation (2), no moment acts at the position of the first portion 11 of the shaft 10, so the first derivative of φ is zero. Note that l (l) corresponds to the length of the shaft 10. For simplification, derivatives with respect to s are replaced with primes as appropriate in equation (2) and onward.

[0035]

number

[0036]

number

[0037] Note that we do not consider giving the moment M from the beginning, but give the following equation (4).

[0038]

number

[0039] Therefore, the boundary condition is considered as shown in the following equation (5). As shown in equation (5), the n direction is expressed by a total of three conditions. Note that the second derivative of φ is the shear force.

[0040]

number

[0041] The tension T at point s can be calculated by integrating the first equation of equation (1) from 0 to s under the boundary conditions (the first equation of equation (3) and the first equation of equation (5)) to obtain the following equation (6).

[0042]

number

[0043] Substituting the above equation (6) into the second equation of equation (1), we obtain the following equation (7).

[0044]

number

[0045] The remaining boundary conditions are given by the second equation of the above equation (3) in the t direction and the second and third equations of the above equation (5) in the n direction. The first equation in the following equation (8) is the boundary condition that represents the balance between the bending moment and moment acting on the shaft at position l (hand position), and the second equation is the boundary condition that represents the balance between the shear force and external force.

[0046]

number

[0047] Furthermore, the condition shown in equation (9) is used again to solve the above equation (7) with a total of three boundary conditions.

[0048]

number

[0049] φ'(l) is calculated from φ(s) obtained by solving the above equation (7). Then, M that realizes the target equation (11) is calculated using the following equation (10).

[0050]

number

[0051]

number

[0052] In the experimental device, Ft (required value), Fn (required value), and M (calculated value above) are set. Ft (required value) corresponds to the tangential force (centrifugal force) you want to set, and Fn (required value) corresponds to the normal force you want to set.

[0053] At this time, it is preferable to feed back the angle θ and appropriately manipulate the value of M so that the condition θ = 0 is completely satisfied. This makes it possible to experimentally determine a more accurate M that satisfies θ = 0.

[0054] This M corresponds to the moment received by the human hand (the moment applied to the shaft 10 by the human hand) via the shaft 10, which is subjected to the set Ft and Fn. By calculating this M, it becomes possible to quantitatively measure the difference in human sensation depending on the shaft 10. For example, it becomes possible to easily and freely set parameters (inertial forces in each direction) without performing an actual swing, and quantitatively measure the moment M that depends on the characteristics of the shaft 10.

[0055] Similarly, using the measurement result of φ(l), T(l) can be found from the second equation of the above equation (3), and −T(l) corresponds to the force that the hand receives from the shaft 10 in the direction t.

[0056] Furthermore, the following equation (12) can be obtained: where −Q(l) corresponds to the force that the hand receives from the shaft 10 in the n direction.

[0057]

number

[0058] <Action and effect> As described above, the inertial force setting device 1 of this embodiment is an inertial force setting device that sets the inertial force acting on the shaft 10. The inertia force setting device 1 includes a first holding unit 2 configured to hold a first portion 11 on one end side of a shaft 10 and to allow displacement of the first portion 11 in the vertical direction as the shaft 10 pivots, while restricting displacement of the first portion 11 in the horizontal direction; a second holding unit 3 configured to hold a second portion 12 different from the first portion 11 of the shaft 10 and to allow displacement of the second portion 12 in the horizontal direction, while restricting displacement of the second portion 12 in the vertical direction; a tangential inertia force setting unit 21 configured to be able to set the tangential force acting on the first portion 11 to an arbitrary tangential inertia force; a normal inertia force setting unit 22 configured to be able to set the normal force acting on the first portion 11 to an arbitrary normal inertia force; and a moment setting unit 23 configured to be able to set the moment acting on the second portion 12 to an arbitrary moment so as to cause the shaft 10 to pivot. According to this configuration, the centrifugal force acting during a turning motion and the inertial force due to the rotational angular velocity can be applied to the shaft 10 without actually turning the shaft 10. Therefore, it is possible to measure the characteristics of the shaft 10 in a state where it is affected by dynamic inertial forces without actually turning the shaft 10. In addition, it is possible to measure changes in the gripping force and gripping moment when gripping the shaft 10 without actually turning the shaft 10. It is also simple because it is possible to statically reproduce the forces applied to the shaft 10 during a turning motion. Furthermore, because it does not involve actual turning motion, it is possible to use high-precision measuring equipment (e.g., commercially available torque sensors, displacement sensors, etc.). Furthermore, the moment acting on the second portion 12 allows the centrifugal force and the inertial force due to the rotational angular velocity acting during a rotational motion to be applied to the shaft 10 at any magnitude without actually causing the shaft 10 to perform a rotational motion. In addition, the magnitude of the centrifugal force acting during a rotational motion can be freely set without actually causing the shaft 10 to perform a rotational motion. For example, the centrifugal force can be freely set to suit different user skills. In the case where the user is a golfer, the centrifugal force can be freely set to suit different swing speeds, accelerations, and their patterns (swing trajectories). It is also possible to grasp the characteristics of the shaft 10 that depend on the golfer's skill. Furthermore, the magnitude of the inertial force due to the rotational angular velocity acting during a rotational motion can be freely set without actually causing the shaft 10 to perform a rotational motion. For example, the inertial force due to the rotational angular velocity can be freely set to suit different user skills. In the case where the user is a golfer, the inertial force due to the rotational angular velocity can be freely set to suit different swing speeds, accelerations, and their patterns (swing trajectories). It is also possible to grasp the shaft 10 characteristics that depend on the golfer's skill.

[0059] In this embodiment, the inertial force setting device 1 further includes a moment measuring unit 24 that measures the moment. This configuration makes it easier to measure the magnitude of the moment acting on the second portion 12 without actually rotating the shaft 10. For example, it is also possible to measure instantaneous changes in torque acting on the grip portion of the shaft 10.

[0060] In this embodiment, the inertial force setting device 1 further includes a deflection angle measuring unit 25 that measures the deflection angle θ that occurs when the shaft 10 deflects while a tangential inertial force and / or a normal inertial force is acting on the first portion 11.

[0061] In this embodiment, the deflection angle measuring unit 25 measures, as the deflection angle, the angle formed between a tangent to the first portion 11 of the deflected shaft 10 and a line along the vertical direction.

[0062] The inertial force setting system 100 of this embodiment includes an inertial force setting device 1 and a control unit 20 that controls the inertial force setting device 1. According to this configuration, it is possible to provide an inertial force setting system 100 that can measure the characteristics of the shaft 10 in a state where it is affected by a dynamic inertial force, without involving an actual turning motion.

[0063] In this embodiment, the control unit 20 manipulates the moment acting on the second portion 12 based on the deflection angle that occurs when the shaft 10 deflects while a tangential inertial force and / or a normal inertial force is acting on the first portion 11, and controls the angle θ to 0. According to this configuration, the centrifugal force acting during a turning motion and the inertial force due to the rotational angular velocity can be applied to the shaft 10 more accurately and at any magnitude by manipulating the moment based on the deflection angle without actually causing the shaft 10 to turn.

[0064] In this embodiment, the control unit 20 calculates the moment M required to satisfy the angle θ=0, and feeds back the value of the angle θ (which generally does not become 0) in an actual experiment, and adds it to the theoretically calculated M to perform an operation to make θ 0 in the experiment. According to this configuration, even if the deflection angle is calculated to be zero but an error occurs in the experiment, more accurate measurement is possible by providing feedback through the above operation.

[0065] Previously, to measure the dynamic characteristics of the shaft during a swing, as well as the grip force and grip moment that the user's hands experience during a swing, it was necessary to actually perform a swing. In this case, since measurement sensors and other devices are attached to the shaft, the weight of the sensors themselves is added, making it impossible to measure the shaft characteristics, grip force, and grip moment during an actual swing. In contrast, the configuration of the inertial force setting device 1 of this embodiment makes it possible to apply various inertial forces to the shaft 10, in addition to measuring the characteristics of the shaft 10 under the influence of dynamic inertial forces, without involving actual swing motion. This makes it easy to experimentally clarify the characteristics (performance) of the shaft 10 and the grip force and grip moment according to the swing speed, acceleration, and swing trajectory of each individual user. It also makes it possible to analyze the dynamic characteristics of a system that is deformed during a swing, without involving an actual swing (swing motion).

[0066] <Modification> In the above-described embodiment, the inertial force setting device further includes a moment measuring unit that measures the moment, but this is not limiting. For example, the inertial force setting device does not need to include a moment measuring unit. For example, the installation mode of the moment measuring unit can be changed depending on the design specifications.

[0067] In the above-described embodiment, the inertial force setting device further includes a deflection angle measurement unit that measures the deflection angle that occurs when the shaft deflects while a tangential inertial force and / or a normal inertial force is acting on the first portion. However, this is not limiting. For example, the inertial force setting device does not need to include a deflection angle measurement unit. For example, the installation mode of the deflection angle measurement unit can be changed depending on the design specifications.

[0068] In the above-described embodiment, the deflection angle measurement unit measures the angle between a tangent to the first portion of the deflected shaft and a line along the vertical direction as the deflection angle. However, the present invention is not limited to this. For example, the deflection angle measurement unit may measure the deflection angle at each position of the deflected shaft (e.g., multiple positions along the shaft that is deflected in an arc). For example, the manner in which the deflection angle measurement unit measures the deflection angle can be changed depending on the design specifications.

[0069] In the above-described embodiment, the rotating body is described as a shaft (for example, a golf shaft) by way of example, but is not limited thereto. For example, the rotating body may be a structure other than a shaft. For example, the rotating body may be one that utilizes the swing motion of a fishing rod, a tennis racket, a badminton racket, or the like. For example, the form of the rotating body can be changed according to design specifications.

[0070] In the above-described embodiment, the inertia force setting system includes an inertia force setting device and a control unit that controls the inertia force setting device, and the control unit manipulates the moment acting on the second portion based on the deflection angle that occurs when the shaft deflects while a tangential inertial force and / or a normal inertial force is acting on the first portion, thereby controlling the angle θ to 0. However, this is not limiting. For example, the control unit may manipulate the moment acting on the second portion based on the tangential inertial force and / or the normal inertial force acting on the first portion, thereby controlling the angle θ to 0. For example, the control unit may manipulate the moment acting on the second portion based on a parameter other than the deflection angle, thereby controlling the angle θ to 0. For example, the control manner by the control unit can be changed according to design specifications.

[0071] In the above-described embodiment, an example has been described in which the control unit calculates the moment M required to satisfy the angle θ=0, feeds back the value of the angle θ (which generally does not become 0) in an actual experiment, and adds it to the theoretically calculated M to perform an operation to make θ 0 in the experiment, but this is not limiting. For example, the control unit may operate the moment without feedback through the above operation. For example, the manner in which the moment is operated can be changed according to design specifications.

[0072] In the above-described embodiment, examples of an inertial force setting device and an inertial force setting system to which the present invention is applied have been described, but the present invention is not limited thereto. For example, the present invention may be applied to an inertial force setting method. For example, the inertial force setting method is an inertial force setting method using the above-described inertial force setting system, and includes a control step of controlling a moment acting on a second portion based on a deflection angle that occurs when a rotating body deflects while a tangential inertial force and / or a normal inertial force is acting on a first portion, and the control step controls the moment by feeding back the difference between a value calculated based on the measured deflection angle and a value calculated assuming the deflection angle to be 0 degrees. For example, the present invention can be applied to various devices, systems, and methods for setting an inertial force acting on a rotating body.

[0073] Although the embodiments of the present invention have been described above, the present invention is not limited to these, and additions, omissions, substitutions, and other modifications to the configuration are possible within the scope of the spirit of the present invention, and the above-described embodiments can also be combined as appropriate.

[0074] (Appendix 1) An inertial force setting device that sets an inertial force acting on a rotating body, a first holding section configured to hold a first section on one end side of the rotating body, and to allow displacement of the first section in a vertical direction associated with the rotating movement of the rotating body and to limit displacement of the first section in a horizontal direction; a second holding portion configured to hold a second portion different from the first portion of the rotating body, and to allow displacement of the second portion in the horizontal direction and limit displacement of the second portion in the vertical direction; a tangential inertia force setting unit configured to be able to set the tangential force acting on the first portion to an arbitrary tangential inertia force; a normal direction inertial force setting unit configured to be able to set the normal direction force acting on the first portion to an arbitrary normal direction inertial force; and a moment setting unit configured to be able to set a moment acting on the second portion to an arbitrary moment so as to cause the rotating body to perform the rotating motion. Inertial force setting device.

[0075] (Appendix 2) further comprising a moment measuring unit that measures the moment, 2. The inertial force setting device according to claim 1.

[0076] (Appendix 3) Further provided is a deflection angle measurement unit that measures a deflection angle that occurs when the rotating body deflects in a state in which the tangential inertial force and / or the normal inertial force is acting on the first portion, 3. The inertial force setting device according to claim 1 or 2.

[0077] (Appendix 4) The deflection angle measurement unit measures, as the deflection angle, an angle formed between a tangent to the deflected first portion and a straight line along the vertical direction. 4. The inertial force setting device according to claim 3.

[0078] (Appendix 5) The rotating body is a shaft. 5. The inertia force setting device according to any one of appendixes 1 to 4.

[0079] (Appendix 6) an inertia force setting device according to appendix 1 or 2; a control unit that controls the inertial force setting device, Inertia force setting system.

[0080] (Appendix 7) The control unit manipulates the moment acting on the second portion based on a deflection angle that occurs when the rotating body deflects in a state in which the tangential inertial force and / or the normal inertial force is acting on the first portion, and controls the angle θ to 0. 7. The inertial force setting system according to claim 6.

[0081] (Appendix 8) The control unit calculates the moment M necessary to satisfy the angle θ = 0, and feeds back the value of the angle θ in an actual experiment, and adds it to the theoretically calculated M to perform an operation to make θ 0 in the experiment. 8. The inertial force setting system of claim 7.

[0082] (Appendix 9) An inertial force setting method using the inertial force setting system according to any one of Supplementary Notes 6 to 8, comprising: a control step of manipulating a moment acting on the second portion based on a deflection angle generated when the rotating body deflects in a state in which the tangential inertial force and / or the normal inertial force is acting on the first portion, and controlling the angle θ to 0; In the control step, the moment M required to satisfy the angle θ = 0 is calculated, and the value of the angle θ in the actual experiment is fed back, and the theoretically calculated M is added to the calculated moment M to perform an operation to make θ 0 in the experiment. How to set inertia force. [Explanation of symbols]

[0083] REFERENCE SIGNS LIST 1...inertia force setting device, 2...first holding section, 3...second holding section, 10...shaft (swivel body), 11...first part, 12...second part, 20...control section, 21...tangential inertia force setting section, 22...normal inertia force setting section, 23...moment setting section, 24...moment measuring section, 25...deflection angle measuring section, 100...inertia force setting system

Claims

1. An inertial force setting device that sets an inertial force acting on a rotating body, a first holding portion configured to hold a first portion on one end side of the rotating body, and to allow displacement of the first portion in a vertical direction and limit displacement of the first portion in a horizontal direction associated with a rotational movement of the rotating body; a second holding portion configured to hold a second portion different from the first portion of the rotating body, and to allow displacement of the second portion in the horizontal direction and limit displacement of the second portion in the vertical direction; a tangential inertia force setting unit configured to be able to set the tangential force acting on the first portion to an arbitrary tangential inertia force; a normal direction inertia force setting unit configured to be able to set the normal direction force acting on the first portion to an arbitrary normal direction inertia force; a moment setting unit configured to be able to set a moment acting on the second portion to an arbitrary moment so as to cause the rotating body to perform the rotating motion, Inertial force setting device.

2. further comprising a moment measuring unit that measures the moment, The inertial force setting device according to claim 1 .

3. a deflection angle measuring unit that measures a deflection angle that occurs when the rotating body deflects in a state in which the tangential inertial force and / or the normal inertial force is acting on the first portion, The inertia force setting device according to claim 1 or 2.

4. the deflection angle measurement unit measures, as the deflection angle, an angle formed between a tangent to the deflected first portion and a straight line along the vertical direction; The inertial force setting device according to claim 3 .

5. The rotating body is a shaft. The inertia force setting device according to claim 1 or 2.

6. an inertia force setting device according to claim 1 or 2; a control unit that controls the inertial force setting device, Inertia force setting system.

7. The control unit manipulates a moment acting on the second portion based on a deflection angle that occurs when the rotating body deflects in a state in which the tangential inertial force and / or the normal inertial force is acting on the first portion, and controls the angle θ to 0. The inertial force setting system according to claim 6 .

8. The control unit calculates the moment M necessary to satisfy the angle θ = 0, and feeds back the value of the angle θ in an actual experiment, and adds it to the theoretically calculated M to perform an operation to make θ 0 in the experiment. The inertial force setting system according to claim 7 .

9. An inertial force setting method using the inertial force setting system according to claim 6, a control step of manipulating a moment acting on the second portion based on a deflection angle generated when the rotating body deflects in a state in which the tangential inertial force and / or the normal inertial force is acting on the first portion, and controlling the angle θ to 0; In the control step, the moment M required to satisfy the angle θ = 0 is calculated, and the value of the angle θ in an actual experiment is fed back, and the theoretically calculated M is added to the calculated moment M to perform an operation to make θ 0 in the experiment. How to set inertia force.

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