Test Equipment

Abstract

To provide a test device capable of giving impact with a controlled waveform to a specimen.SOLUTION: A test device includes: a table to which a test piece is attached and that is movable in a predetermined direction; a drive module capable of generating power for driving the table; a toothed belt capable of transmitting the power; and a control unit capable of controlling the drive module. The control unit can control the drive module so as to generate impact to be applied to the test piece, and is configured such that the impact generated by the drive module is transmitted to the table by the toothed belt.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a testing device capable of applying an impact of a predetermined waveform to a test specimen. [Background technology]

[0002] Crash tests are conducted to evaluate the safety of passengers in the event of a car crash. Crash tests include full-scale vehicle crash tests (destructive tests) in which a real vehicle is crashed into a barrier at a specified speed, and crash simulation tests (sled tests) in which a sled (cart) with a test specimen attached is subjected to an impact (acceleration pulse) equivalent to that of a real vehicle crash.

[0003] Patent Document 1 describes an apparatus for performing a crash simulation test. The apparatus described in Patent Document 1 non-destructively reproduces the impact acting on a test specimen attached to the sled by striking the tip of the piston of a launching device with the front end of the sled supported so as to be freely movable in the horizontal direction and ejecting the piston using hydraulic pressure accumulated in an accumulator of the launching device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-2699 A Summary of the Invention [Problem to be solved by the invention]

[0005] The device described in Patent Document 1 can adjust the degree of impact to the same level as a real vehicle collision by setting the piston's thrust stroke, but it cannot control the acceleration waveform, making it impossible to perform highly accurate testing.

[0006] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a testing device capable of applying an impact of a controlled waveform to a test specimen. [Means for solving the problem]

[0007] A testing apparatus according to one embodiment of the present invention comprises a table movable in a predetermined direction on which a specimen is attached, a drive module capable of generating power to drive the table, a toothed belt capable of transmitting the power, and a control unit capable of controlling the drive module, wherein the control unit is capable of controlling the drive module to generate an impact to be applied to the specimen, and the toothed belt transmits the impact generated by the drive module to the table.

[0008] The above-mentioned testing device may be configured to include a pair of toothed pulleys around which a toothed belt is wound, and at least one of the pair of toothed pulleys may be a drive pulley driven by the drive module.

[0009] The above-mentioned testing apparatus may be configured to include a belt clamp that releasably fixes the toothed belt to a table, the toothed belt being fixed to the table at two fixing positions spaced apart in the length direction, and the effective length of the toothed belt being fixed so as to be adjustable at at least one of the fixing positions.

[0010] In the above test apparatus, the drive module may include an electric motor.

[0011] In the above test equipment, the moment of inertia of the motor is 0.02 kg m 2 Less than or equal to 0.01kg m 2 The following configuration may also be used.

[0012] In the above test apparatus, one or more drive modules may be provided with a total of a plurality of electric motors, and the control unit may be configured to be capable of synchronously controlling the plurality of electric motors using optical fiber communication.

[0013] In the above test apparatus, the drive module may include a shaft driven by the electric motor and a bearing that rotatably supports the shaft, and the drive pulley may be attached to the shaft.

[0014] In the above-mentioned testing device, the drive module may include a pair of electric motors, and both ends of the shaft may be connected to the pair of electric motors, respectively.

[0015] The above-described testing device may be configured to include a plurality of toothed belts arranged in parallel to one another, the plurality of toothed belts being capable of transmitting impact to the table, and the plurality of toothed belts having the same effective length.

[0016] The above-described testing device may be configured to include a plurality of drive modules each for driving a corresponding one of the toothed belts, with at least two of the plurality of drive modules being arranged side by side in the axial direction of the drive pulley.

[0017] The above test apparatus may be configured to include a plurality of drive modules each for driving a corresponding one of the toothed belts, and at least two of the plurality of drive modules may be arranged side by side in a predetermined direction.

[0018] In the above test apparatus, the drive module may include two drive pulleys each for driving two of the plurality of toothed belts, and the two drive pulleys may be attached to a single shaft.

[0019] In the above-mentioned testing apparatus, the apparatus may be configured to have a plurality of driving modules, each of the pair of toothed pulleys being a driving pulley, and the plurality of driving modules may include a first driving module that drives one of the pair of toothed pulleys and a second driving module that drives the other of the pair of toothed pulleys.

[0020] The above-mentioned testing apparatus may include a pusher that pushes the table in a predetermined direction, a linear guide that supports the table and pusher so that they can move in the predetermined direction, and an impact generating unit that generates an impact to be applied to a test specimen by colliding with the table, wherein a toothed belt can be fixed to each of the table and the pusher and is releasably fixed to either the table or the pusher, and when the toothed belt is fixed to the table, the drive module generates an impact to be applied to the test specimen and the impact is transmitted to the table by the toothed belt, and when the toothed belt is fixed to the pusher, the table pushed out by the pusher collides with the impact generating unit, generating an impact to be applied to the test specimen.

[0021] In the above-mentioned testing apparatus, the impact generating unit may be configured to include a fixed unit, an impact unit arranged at a position where the table can collide, and a buffer unit that absorbs the impact between the fixed unit and the impact unit.

[0022] In the above-mentioned testing apparatus, the buffer section may be configured to include a movable frame attached to the impact section, a pair of arms attached to the fixed section and arranged to sandwich the movable frame in a predetermined direction, and springs sandwiched between the movable frame and each arm.

[0023] In the above-mentioned testing apparatus, the table may be configured to have a first collision pillar protruding toward the impact generating part, the impact generating part may be configured to have a second collision pillar protruding toward the first collision pillar, and at least one of the first collision pillar and the second collision pillar may be a buffer device equipped with at least one of a damper and a spring.

[0024] In the above-mentioned testing device, the linear guide may include a rail extending in a predetermined direction and a carriage capable of running on the rail via rolling elements, and the carriage may include a first carriage attached to the table and a second carriage attached to the pusher.

[0025] In the above-mentioned testing apparatus, a linear guide may be provided that supports the table so that the table can move in a predetermined direction, the linear guide may include a rail extending in the predetermined direction, and a carriage that can run on the rail via rolling elements, and the carriage may be fixed to the table.

[0026] In the above test apparatus, the rolling elements may be made of a ceramic material containing any one of silicon nitride, silicon carbide, and zirconia.

[0027] In the above-mentioned testing device, the toothed belt may have a main body portion formed from an elastomer, and the elastomer may include either hard polyurethane or hydrogenated acrylonitrile butadiene rubber.

[0028] In the above test apparatus, the toothed belt may include a carbon core wire.

[0029] In the above-described testing device, the control unit may be configured to be capable of controlling the drive module so as to apply an impact to the table that is the same as that caused by a car collision. Effect of the Invention

[0030] According to an embodiment of the present invention, a test apparatus capable of applying a controlled waveform shock to a specimen is provided. [Brief description of the drawings]

[0031] [Figure 1] 1 is a perspective view of a collision simulation testing device according to a first embodiment of the present invention. [Diagram 2] 1 is a plan view of a collision simulation testing device according to a first embodiment of the present invention. [Diagram 3] 1 is a front view of a collision simulation testing device according to a first embodiment of the present invention. [Figure 4] 1 is a side view of a collision simulation testing device according to a first embodiment of the present invention. [Diagram 5] FIG. 2 is a perspective view showing the internal structure of a test unit according to the first embodiment of the present invention. [Figure 6] FIG. 2 is a side view of the drive module according to the first embodiment of the present invention. [Figure 7] FIG. 2 is an exploded perspective view of the belt clamp according to the first embodiment of the present invention. [Figure 8] FIG. 2 is a structural diagram of a toothed belt. [Figure 9] FIG. 2 is a block diagram showing a schematic configuration of a control system. [Figure 10] 1 is a graph showing an example of an acceleration waveform. [Figure 11] FIG. 5 is a perspective view of a crash simulation testing device according to a second embodiment of the present invention. [Figure 12] FIG. 5 is a plan view of a collision simulation testing device according to a second embodiment of the present invention. [Figure 13] FIG. 6 is a front view of a collision simulation testing device according to a second embodiment of the present invention. [Figure 14] FIG. 5 is a side view of a collision simulation testing device according to a second embodiment of the present invention. [Figure 15] FIG. 11 is a perspective view of a crash simulation testing device according to a third embodiment of the present invention. [Figure 16] FIG. 11 is a side view of a servo motor unit according to a fourth embodiment of the present invention. [Figure 17] FIG. 11 is a side sectional view of a servo motor according to a fifth embodiment of the present invention. [Figure 18] FIG. 13 is a plan view of a collision simulation testing device according to a sixth embodiment of the present invention. [Figure 19] FIG. 13 is a plan view of a collision simulation testing device according to a seventh embodiment of the present invention. [Figure 20] FIG. 13 is a front view of a collision simulation testing device according to a seventh embodiment of the present invention. [Figure 21] FIG. 13 is a side view of a collision simulation testing device according to a seventh embodiment of the present invention. [Figure 22] FIG. 13 is a side view of a collision simulation testing device according to a seventh embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, the same or corresponding components are denoted by the same or corresponding reference numerals, and duplicated description will be omitted.

[0033] (First embodiment) Fig. 1 is a perspective view of a collision simulation testing apparatus 1000 according to a first embodiment of the present invention, and Fig. 2, Fig. 3 and Fig. 4 are a plan view, a front view and a side view of the collision simulation testing apparatus 1000, respectively.

[0034] The crash simulation test device 1000 is a device that reproduces the impact that is applied to automobiles, passengers, and equipment of automobiles, etc., when automobiles, etc. (including railroad cars, aircraft, and ships) collide.

[0035] The crash simulation test device 1000 includes a table 1240 which resembles the frame of an automobile vehicle. A test specimen, such as a seat carrying a passenger dummy or a high-voltage battery for an electric vehicle, is attached to the table 1240. When the table 1240 is driven at a set acceleration (for example, an acceleration corresponding to the impact applied to the frame of the vehicle during a collision), an impact similar to that during an actual collision is applied to the test specimen attached to the table 1240. The safety of the occupants is evaluated based on the damage received by the test specimen at this time (or damage predicted from the measurement results of an acceleration sensor or the like attached to the test specimen).

[0036] The crash simulation test device 1000 of this embodiment is configured to be able to drive the table 1240 in only one horizontal direction. As shown by the coordinate axes in FIG. 1, the movable direction of the table 1240 is defined as the X-axis direction, the horizontal direction perpendicular to the X-axis direction as the Y-axis direction, and the vertical direction as the Z-axis direction. Also, based on the traveling direction of the vehicle to be simulated, the left direction (X-axis positive direction) in FIG. 2 is called the front, the right direction (X-axis negative direction) is called the rear, the upper direction (Y-axis negative direction) is called the right, and the lower direction (Y-axis positive direction) is called the left. Also, the X-axis direction in which the table 1240 is driven is called the "driving direction". In the crash simulation test, a large acceleration is applied to the table 1240 in the opposite direction to the traveling direction of the vehicle (i.e., backward).

[0037] The crash simulation test device 1000 includes a test section 1200 having a table 1240, a front drive section 1300 and a rear drive section 1400 that drive the table 1240, four belt mechanisms 1100 (belt mechanisms 1100a, 1100b, 1100c, 1100d) that convert the rotational motion generated by each drive section 1300, 1400 into translational motion in the X-axis direction and transmit it to the table 1240, and a control system 1000a (Figure 9).

[0038] The testing section 1200 is disposed at the center in the X-axis direction of the collision simulation test device 1000, and the front driving section 1300 and the rear driving section 1400 are disposed adjacent to the front and rear of the testing section 1200, respectively.

[0039] Fig. 5 is a perspective view showing the structures of the testing unit 1200 and the belt mechanism 1100. For ease of explanation, a table 1240 and a base block 1210 (described later), which are components of the testing unit 1200, are omitted from Fig. 5.

[0040] In addition to the table 1240, the testing section 1200 includes a base block 1210 (FIG. 1), a frame 1220 attached to the base block 1210, and a pair of linear guideways 1230 (hereinafter abbreviated as "linear guides 1230") attached to the frame 1220. The pair of linear guides 1230 support the table 1240 so as to be movable only in the X-axis direction (drive direction).

[0041] 5, the frame 1220 has a pair of left and right half frames (right frame 1220R, left frame 1220L) connected by multiple connecting bars 1220C extending in the Y-axis direction. Since the right frame 1220R and the left frame 1220L have the same structure (strictly speaking, they are mirror images), only the left frame 1220L will be described in detail.

[0042] The left frame 1220L has a mounting portion 1221 and a rail support portion 1222 each extending in the X-axis direction, and three connecting portions 1223 (1223a, 1223b, 1223c) extending in the Z-axis direction that connect the mounting portion 1221 and the rail support portion 1222. As shown in Fig. 1, the mounting portion 1221 has a length substantially equal to the length of the base block 1210 in the X-axis direction, and its entire length is supported by the base block 1210. In addition, the rear end portions of the mounting portion 1221 and the rail support portion 1222 are connected to each other by the connecting portion 1223a.

[0043] The rail support portion 1222 is longer than the attachment portion 1221 (that is, longer than the base block 1210 ), and its tip portion protrudes forward beyond the base block 1210 and is disposed above the front drive portion 1300 .

[0044] The linear guide 1230 includes a rail 1231 extending in the X-axis direction and two carriages 1232 that run on the rail 1231 via rolling elements. The rails 1231 of the pair of linear guides 1230 are fixed to the upper surfaces of rail support parts 1222 of the right frame 1220R and the left frame 1220L, respectively. The length of the rail 1231 is approximately equal to the length of the rail support parts 1222, and the entire length of the rail 1231 is supported by the rail support parts 1222. A plurality of mounting holes (screw holes) are provided on the upper surface of the carriage 1232, and a plurality of through holes corresponding to the mounting holes of the carriage 1232 are provided in the table 1240. The carriage 1232 is fastened to the table 1240 by fitting bolts (not shown) passed through the respective through holes of the table 1240 into the respective mounting holes of the carriage 1232. The table 1240 and the four carriages 1232 form a sled.

[0045] Furthermore, the table 1240 is formed with mounting structures such as screw holes for mounting a test piece (not shown) such as a sheet, so that the test piece can be directly mounted on the table 1240. This eliminates the need for a mounting plate or other member for mounting the test piece, making it possible to reduce the weight of the moving parts to which the impact is applied, and to apply a high-fidelity impact to the test piece up to high frequency components.

[0046] As shown in FIG. 5, each belt mechanism 1100 includes a toothed belt 1120, a pair of toothed pulleys (a first pulley 1140 and a second pulley 1160) around which the toothed belt 1120 is wound, and a pair of belt clamps 1180 for fixing the toothed belt 1120 to the table 1240.

[0047] Four toothed belts 1120 (1120a, 1120b, 1120c, 1120d) are arranged in parallel between the right frame 1220R and the left frame 1220L. Each of the toothed belts 1120a-d is fixed to the table 1240 by belt clamps 1180 at two points in the length direction. A specific configuration for fixing the toothed belts 1120 to the table 1240 will be described later.

[0048] 2, the front drive unit 1300 includes a base block 1310 and four drive modules 1320 (1320a, 1320b, 1320c, 1320d) installed on the base block 1310. The rear drive unit 1400 includes a base block 1410 and four drive modules 1420 (1420a, 1420b, 1420c, 1420d) installed on the base block 1410. The drive modules 1320a-d and 1420a-d have a common basic configuration, although there are slight differences in the installation positions and orientations, lengths of the components, and spacing between components.

[0049] The front drive unit 1300 and the rear drive unit 1400 also have the same basic configuration. Therefore, the configuration of the drive module 1320 of the front drive unit 1300 will be described in detail, and a duplicated description of the rear drive unit 1400 (drive module 1420) will be omitted. Note that in the following description of the front drive unit 1300 (drive module 1320), the reference characters (and names) in square brackets [ ] indicate the reference characters (and names) of the corresponding components in the rear drive unit 1400 (drive module 1420).

[0050] 6 is a front view of the drive module 1320

[1420] . The drive module 1320

[1420] includes a servo motor 1320M [1420M], a first motor support 1331

[1431] , a second motor support 1332

[1432] , a shaft coupling 1340

[1440] , and a pulley support 1350

[1450] . The pulley support 1350

[1450] includes a pair of bearings 1361

[1461] and 1362

[1462] , and a shaft 1370

[1470] rotatably supported by these bearings.

[0051] The moment of inertia of the servo motor 1320M [1420M] is 0.01 kg m 2 Less than (approximately 0.008 kg m 2 ), it is an ultra-low inertia, high-output AC servo motor with a rated output of 37 kW. The moment of inertia of a standard AC servo motor with the same output is approximately 0.16 kg m 2 The moment of inertia of the servo motor 1320M [1420M] of this embodiment is less than 1 / 20 of that. By using a motor with such a low moment of inertia, the servo motor can withstand a force of 20G (196m / s 2 The crash simulation test device 1000 of this embodiment is capable of driving the table 1240 at a high acceleration exceeding a maximum acceleration of 50G (490m / s 2 ) impact to the table 1240. For use in a crash test device, the moment of inertia of the servo motor is set to approximately 0.05 kg m 2 Less than or equal to 0.02 kg m 2Less than or equal to 0.01 kg m 2 Even when using a low-capacity motor of about 7 kW, it is desirable to satisfy this numerical condition for the moment of inertia. max A low inertia servo motor having a ratio N / I of the torque to the moment of inertia I of at least 1000 (preferably 2500 or more, and more preferably 5000 or more) is suitable.

[0052] The servo motor 1320M [1420M] includes a shaft 1321

[1421] , a first bearing 1325

[1425] and a second bearing 1326

[1426] that rotatably support the shaft 1321

[1421] , a first bracket 1323

[1423] (load side bracket) that supports the first bearing 1325

[1425] , a second bracket 1324

[1424] (anti-load side bracket) that supports the second bearing 1326

[1426] , and a cylindrical stator 1322

[1422] through which the shaft 1321

[1421] passes. The first bracket 1323

[1423] and the second bracket 1324

[1424] are fixed to the stator 1322

[1422] .

[0053] The first bracket 1323

[1423] is fixed to the base block 1310

[1410] via a first motor support portion 1331

[1431] . The second bracket 1324

[1424] is fixed to the base block 1310

[1410] via a second motor support portion 1332

[1432] .

[0054] In this manner, in the servo motor 1320M [1420M] of this embodiment, the first bracket 1323

[1423] and the second bracket 1324

[1424] , which respectively support the first bearing 1325

[1425] and the second bearing 1326

[1426] , are supported by the first motor support part 1331

[1431] and the second motor support part 1332

[1432] . As a result, the first bearing 1325

[1425] and the second bearing 1326

[1426] are held with high rigidity, so that even if a strong torque or bending stress is applied to the shaft 1321

[1421] , the swinging motion (precession motion) of the shaft 1321

[1421] is suppressed, and high driving accuracy is maintained even under high load conditions. This effect is particularly noticeable at high loads of 10 kW or more.

[0055] The shaft coupling 1340

[1440] connects the shaft 1321

[1421] of the servo motor 1320M [1420M] and the shaft 1370

[1470] of the pulley support part 1350

[1450] . The shaft 1370

[1470] is rotatably supported by a pair of bearings 1361

[1461] and 1362

[1462] . The bearings 1361

[1461] and 1362

[1462] are rolling bearings having rolling elements (balls or rollers). In addition to typical steel materials such as stainless steel, ceramic materials such as silicon nitride, silicon carbide, and zirconia may be used for the rolling elements. By using ceramic rolling elements such as silicon nitride, seizure of the bearings during high-speed driving is suppressed.

[0056] A first pulley 1140 [second pulley 1160] that drives the toothed belt 1120 is attached to the shaft 1370

[1470] . Note that the position at which the first pulley 1140 [second pulley 1160] is attached differs for each drive module 1320

[1420] . In the drive modules 1320a and 1320d [1420a, 1420d] arranged in front of the front drive unit 1300 [rear drive unit 1400], the first pulley 1140 [second pulley 1160] is attached close to the bearing 1361

[1461] side closer to the servo motor 1320M [1420M], as shown in Fig. 6, and in the drive modules 1320b and 1320c [1420b, 1420c] arranged in the rear, it is attached close to the bearing 1362

[1462] side farther from the servo motor 1320M [1420M]. This allows the adjacent toothed belts 1120 to be driven by the drive modules 1320a and 1320b, 1320d and 1320c [1420a and 1420b, 1420d and 1420c] arranged in a row in front of and behind.

[0057] As shown in Fig. 1-4, in the front drive unit 1300 [rear drive unit 1400], four drive modules 1320a-d [1420a-d] are installed at the four corners of the base block 1310

[1410] with their rotation axes facing the Y-axis direction. In addition, the drive modules 1320a and 1320d [1420a and 1420d] arranged at the front and the drive modules 1320b and 1320c [1420b and 1420c] arranged at the rear are arranged facing each other.

[0058] The toothed belt 1120a is wound around a first pulley 1140a attached to the drive module 1320a and a second pulley 1160a attached to the drive module 1420a. The toothed belt 1120b is wound around a first pulley 1140b attached to the drive module 1320b and a second pulley 1160b attached to the drive module 1420b. The toothed belt 1120c is wound around a first pulley 1140c attached to the drive module 1320c and a second pulley 1160c attached to the drive module 1420c. The toothed belt 1120d is wound around a first pulley 1140d attached to the drive module 1320d and a second pulley 1160d attached to the drive module 1420d. That is, in this embodiment, each of the toothed belts 1120a-d is configured to be driven by a pair of driving modules 1320a-d and 1420a-d, respectively.

[0059] The eight toothed pulleys (first pulleys 1140a-d and second pulleys 1160a-d) are the same and have the same outer diameter and number of teeth. The four toothed belts 1120a-d are also the same. The arrangement intervals (axis distance L) of the first pulleys 1140a-d and the second pulleys 1160a-d around which the toothed belts 1120a-d are wound are also the same, and the effective lengths of the toothed belts 1120a-d are also the same. Therefore, the responses (e.g., expansion and contraction) of the toothed belts 1120a-d when driven by the driving modules 1320a-d and 1420a-d are approximately the same, so there is no need to set drive conditions for each of the toothed belts 1120a-d.

[0060] 7 is an exploded view of the belt clamp 1180. The belt clamp 1180 includes a table attachment part 1181 that is detachably attached to the table 1240, and a clamp plate 1182 that tightens and fixes the toothed belt 1120 between the table attachment part 1181 and the clamp plate 1182.

[0061] A protruding tooth portion 1182t is formed in the widthwise center of the clamp plate 1182, which meshes with a tooth profile 1121t (FIG. 8) formed on the inner peripheral surface of the toothed belt 1120. In addition, a groove 1181g is formed on the lower surface of the table attachment portion 1181, into which the toothed belt 1120 and the tooth portion 1182t of the clamp plate 1182 are fitted.

[0062] The clamp plate 1182 has a plurality of through holes 1182h on both sides in the width direction across the teeth 1182t for bolting the clamp plate 1182 to the table attachment part 1181. Furthermore, screw holes (not shown) are formed in the lower surface of the table attachment part 1181 at positions facing each of the through holes 1182h. The clamp plate 1182 is attached to the table attachment part 1181 by fitting the bolts 1183 passed through each of the through holes 1182h into the screw holes formed in the lower surface of the table attachment part 1181.

[0063] When the toothed belt 1120 is fitted into the groove 1181g of the table attachment portion 1181 and the clamp plate 1182 is attached to the table attachment portion 1181, the toothed belt 1120 is compressed between the table attachment portion 1181 and the clamp plate 1182 and fixed to the belt clamp 1180. At this time, since the teeth of the toothed belt 1120 and the teeth portion 1182t of the clamp plate 1182 mesh with each other, even if a strong impact is applied to the toothed belt 1120 in the longitudinal direction (X-axis direction), the toothed belt 1120 does not slip from the belt clamp 1180, and the belt clamp 1180 is driven integrally with the toothed belt 1120.

[0064] The upper surface of the table attachment portion 1181 is provided with a plurality of screw holes 1181h for attachment to the table 1240. The table 1240 is also provided with a plurality of through holes (not shown) corresponding to the screw holes 1181h. The table 1240 can be easily replaced by simply attaching and detaching bolts to the through holes and the screw holes 1181h. For example, a dedicated table 1240 can be prepared for a test specimen, and the table 1240 can be replaced depending on the type of test specimen. In this embodiment, the table 1240 is flat, but it may have another shape (for example, a boat shape or a box shape). A part of a vehicle (for example, a frame) may be used as the table 1240. The test specimen can also be directly attached to the belt clamp 1180 and the carriage 1232.

[0065] 8 is a diagram showing the structure of a toothed belt 1120. The toothed belt 1120 has a main body 1121 formed from a high-strength, high-elasticity base material, and multiple core wires 1122 which are bundles of high-strength, high-elasticity fibers. The multiple core wires 1122 are arranged at approximately equal intervals in the width direction of the toothed belt 1120. Furthermore, each core wire 1122 is embedded in the main body 1121 in a state where it is stretched without slack in the length direction of the toothed belt 1120.

[0066] A tooth profile 1121t for meshing power transmission is formed on the inner peripheral surface (lower surface in FIG. 8) of the toothed belt 1120. The surface of the tooth profile 1121t is covered with a tooth cloth 1123 made of high-strength polyamide fiber or the like having excellent abrasion resistance. In addition, a plurality of grooves 1121g extending in the width direction are formed at equal intervals in the length direction on the outer peripheral surface of the toothed belt 1120 to increase flexibility.

[0067] In the toothed belt 1120 of this embodiment, the core wire 1122 is a carbon core wire formed from a lightweight, high-strength, and high-elasticity carbon fiber. By using a carbon core wire, even if the toothed belt 1120 is driven at a large acceleration and a large tension is applied to the toothed belt 1120, the toothed belt 1120 hardly expands or contracts, so that the driving force of each driving module 1320, 1420 is accurately transmitted to the table 1240, and the driving of the table 1240 can be controlled with high precision. In addition, by using a lightweight carbon core wire, the inertia of the toothed belt can be significantly reduced compared to when a metal core wire such as a steel wire or a steel cord is used. Therefore, it is possible to drive at a higher acceleration using a motor of the same capacity. In addition, when driving at the same acceleration, it is possible to use a motor of a lower capacity, which allows the device to be made smaller, lighter, and less expensive.

[0068] In addition, in the toothed belt 1120 of this embodiment, a high-strength, high-hardness elastomer such as high-strength polyurethane or hydrogenated acrylonitrile butadiene rubber (H-NBR) is used for the base material forming the main body 1121. By using a high-strength, high-hardness base material in this manner, the amount of deformation of the tooth profile during driving is reduced, thereby suppressing the occurrence of tooth skipping due to the deformation of the tooth profile, and it becomes possible to control the driving of the table 1240 with high precision. In addition, since the strength of the toothed belt 1120 is improved, the expansion and contraction of the toothed belt 1120 during driving is reduced, and it becomes possible to control the driving of the table 1240 with even higher precision.

[0069] The crash test equipment used to evaluate the crash safety performance of automobiles, etc., is designed to subject the test specimen to 20G (196m / s 2 It is necessary to generate a large power capable of applying a high acceleration of 100 rpm and transmit this power accurately to the table 1240 and the test piece. In order to transmit high acceleration accurately, it is necessary to use highly rigid members in the power transmission system. Examples of highly rigid power transmission systems include a ball screw mechanism, a gear transmission mechanism, a chain transmission mechanism, and a wire transmission mechanism.

[0070] During a crash simulation test, the sled reaches a maximum speed of 25 m / s (90 km / h). To achieve this speed using a ball screw mechanism, a lead of over 100 mm is required, but manufacturing a precision ball screw with such a long lead is extremely difficult.

[0071] Furthermore, when using a gear transmission mechanism or chain transmission mechanism, it is necessary to give the gears or chain sufficient strength to withstand large acceleration. However, increasing the strength increases inertia, necessitating a motor with higher output. Furthermore, increasing the output of a motor is accompanied by an increase in the moment of inertia of the motor itself, necessitating even higher output, which significantly reduces energy efficiency and increases the size of the device. Furthermore, if the inertia of the entire device becomes excessive, it becomes difficult to generate and transmit large acceleration. The acceleration achieved by a gear transmission mechanism or chain transmission mechanism is approximately 3G (29m / s 2 ) is the limit, and the acceleration required for the crash simulation test is at least 20G (196m / s 2 In addition, if gear mechanisms or chain mechanisms are driven at the high peripheral speeds (up to 25 m / s) required for crash simulation tests, they will seize up.

[0072] In addition, although a wire transmission mechanism (a winding transmission mechanism using a wire and pulley) has relatively low inertia, power is transmitted by friction alone. Therefore, when driven at high acceleration, slippage occurs between the wire and pulley, making it impossible to transmit motion accurately.

[0073] In addition, general toothed belts such as timing belts for automobiles use a core wire made of twisted glass fiber or aramid fiber. 2 ), the toothed belt expands and contracts more due to the lack of rigidity and strength of the core wire, making it impossible to transmit motion accurately. In addition, typical toothed belts use low-hardness synthetic rubbers such as nitrile rubber and chloroprene rubber as the base material, which makes them prone to skipping teeth and makes it impossible to transmit motion accurately.

[0074] In addition, some hydraulic systems use servo valves and hydraulic cylinders as the driving source, but the response speed is insufficient and they cannot accurately reproduce shock waveforms that fluctuate at high frequencies exceeding 200Hz. In addition, hydraulic systems require large hydraulic supply equipment in addition to the hydraulic device, so they require a large installation space. Furthermore, hydraulic systems have high maintenance and management costs for the hydraulic supply equipment and problems such as environmental pollution due to oil leaks.

[0075] The inventors conducted numerous prototype experiments on various types of transmission mechanisms, such as the ball screw mechanism, gear transmission mechanism, chain transmission mechanism, wire transmission mechanism, and belt transmission mechanism, and found that the maximum torque of 20G (196m / s 2 ), we have succeeded in developing the drive system of this embodiment, which combines an ultra-low inertia electric servo motor with a lightweight, high-strength special toothed belt that combines a carbon core wire with a base material of high elastic modulus elastomer.

[0076] 9 is a block diagram showing a schematic configuration of a control system 1000a of the crash simulation testing apparatus 1000. The control system 1000a includes a control unit 1500 that controls the operation of the entire apparatus, a measurement unit 1600 that measures the acceleration of the table 1240, and an interface unit 1700 that performs input and output with the outside.

[0077] The interface unit 1700 includes, for example, a user interface for inputting and outputting with a user, a network interface for connecting to various networks such as a LAN (Local Area Network), and one or more of various communication interfaces such as a USB (Universal Serial Bus) or a GPIB (General Purpose Interface Bus) for connecting to external devices. The user interface also includes, for example, one or more of various input / output devices such as various operation switches, a display, various display devices such as an LCD (Liquid Crystal Display), various pointing devices such as a mouse or a touch pad, a touch screen, a video camera, a printer, a scanner, a buzzer, a speaker, a microphone, a memory card reader / writer, and the like.

[0078] The measurement unit 1600 includes an acceleration sensor 1620 attached to the table 1240 , amplifies and digitally converts a signal from the acceleration sensor 1620 to generate measurement data, and sends the data to the control unit 1500 .

[0079] Eight servo motors 1320M and 1420M are connected to the control unit 1500 via a servo amplifier 1800. The control unit 1500 and each servo amplifier 1800 are communicably connected by optical fibers, enabling high-speed feedback control between the control unit 1500 and each servo amplifier 1800. This enables synchronous control with higher precision (high resolution and high accuracy on the time axis).

[0080] The control unit 1500 can apply acceleration to the table 1240 according to the acceleration waveform by synchronously controlling the driving of the servo motors 1320M, 1420M of the drive modules 1320a-d, 1420a-d based on the acceleration waveform input via the interface unit 1700 and the measurement data input from the measurement unit 1600. In this embodiment, all of the eight servo motors 1320M, 1420M are driven in the same phase (strictly speaking, the left drive modules 1320a, 1320b, 1420a, 1420b and the right drive modules 1320c, 1320d, 1420c, 1420d are driven in opposite phases (opposite rotations)).

[0081] The acceleration waveform may be a basic waveform such as a sine wave, a half sine wave, a sawtooth wave, a triangular wave, or a trapezoidal wave, or may be an acceleration waveform measured in an actual vehicle crash test, an acceleration waveform obtained by a crash simulation calculation, or any other synthetic waveform (e.g., a waveform generated by a function generator, etc.).

[0082] FIG. 10 is an example of an acceleration waveform, which is a waveform obtained when a test is performed using a dummy weight (a stainless steel rectangular block) fixed on a table 1240 as a specimen. In FIG. 10, the dashed line indicates the target waveform, and the solid line indicates the measured waveform. In this test, a test acceleration having a waveform measured in a real vehicle crash test is applied to the specimen in the first phase (P1). In the subsequent second phase (P2), a state in which the acceleration is zero (constant speed) is maintained for a predetermined period (for example, 0.01 seconds). In the subsequent third phase (P3), the vehicle is decelerated at a substantially constant acceleration so that the absolute value of the acceleration becomes equal to or less than a predetermined value. As shown in FIG. 10, it was confirmed that an acceleration waveform that closely matches the target waveform can be applied to the specimen by using the crash simulation test device 1000 of this embodiment.

[0083] Furthermore, the crash simulation testing device 1000 of this embodiment is completely different from a conventional sled testing device such as that described in Patent Document 1 (JP Patent Publication 2012-2699 A) in that all movements of the specimen (or table 1240) during the test are numerically controlled. Since all movements during the test are controlled, it is possible to easily apply impacts of various acceleration waveforms to the specimen.

[0084] In a conventional sled test device such as that described in Patent Document 1, the sled travels freely because the movement of the sled after the impact is applied cannot be controlled. Therefore, a long running path is required. In contrast, the collision simulation test device 1000 of this embodiment can quickly stop the sled with an appropriate acceleration (i.e., gentle enough not to substantially affect the test results) after the impact is applied, so that the running path (rail 1231) can be shortened and the installation space of the device can be significantly reduced. For example, the length of the rail 1231 of this embodiment is only 2 m.

[0085] In addition, in the conventional sled test device as described in Patent Document 1, it is necessary to perform an operation of returning the run sled to its initial position after the test. In order to perform this operation automatically, it is necessary to further provide a mechanism for returning the sled to its initial position. In addition, since the running distance of the sled is long, the mechanism for returning the sled to its initial position is also large, and the process of returning it to its initial position also takes a certain amount of time. In addition, if a mechanism for self-propelling and returning to its initial position is incorporated into the sled, the mechanism for returning the sled to its initial position can be made smaller, but the load on the sled increases, causing a problem that the acceleration during the test decreases. In contrast, the collision simulation test device 1000 of this embodiment can automatically return the table 1240 to its initial position using a mechanism that applies an impact to the table 1240, so there is no need to provide a dedicated mechanism for returning the table 1240 to its initial position. In addition, since the distance that the table 1240 moves during the test is short as described above, the table 1240 can be returned to its initial position in a short time (for example, 1 to 2 seconds).

[0086] In addition, in a pressure-accumulation type sled test device that generates an impact using pressure accumulated in an accumulator or the like, as described in Patent Document 1, charging (accumulating pressure) takes time, so a certain interval between tests is required. In contrast, the collision simulation test device 1000 of this embodiment does not require charging, so tests can be performed continuously without time intervals. Therefore, tests can be performed more efficiently.

[0087] Moreover, in the pressure-accumulation type sled test device, ultra-high pressure hydraulic pressure is used. Therefore, if a hydraulic leak occurs, there is a risk that the worker may be injured by the high-pressure hydraulic oil that is spurted out. In addition, since the sled is made to travel a long distance in an uncontrolled state, there is a risk that the worker may be injured by colliding with the traveling sled. In contrast, the collision simulation test device 1000 of this embodiment does not use hydraulic pressure and does not make the sled travel in an uncontrolled state, so it is possible to perform the test safely.

[0088] 2, the four toothed belts 1120a-d are arranged in a staggered manner, shifted back and forth. With this configuration, it is possible to drive each of the toothed belts 1120 by the four pairs of drive modules 1320 and 1420 while keeping the center distance L of the four toothed belts 1120 the same.

[0089] Second embodiment The crash simulation testing apparatus 1000 of the first embodiment described above is a high-output type apparatus suitable for testing relatively heavy specimens or tests at higher accelerations, while the crash simulation testing apparatus 2000 of the second embodiment of the present invention described next is a medium-output type apparatus suitable for testing lighter specimens.

[0090] 11, 12, 13 and 14 are a perspective view, a plan view, a front view and a side view of the crash simulation test device 2000, respectively.

[0091] The crash simulation test device 2000 of the second embodiment employs a configuration in which two pairs of servo motors 2320M and 2420M, half the number of pairs in the first embodiment, are used to drive two toothed belts 2120a and 2120d.

[0092] Furthermore, the front drive section 1300 [rear drive section 1400] of the first embodiment described above is equipped with four drive modules 1320a-d [1420a-d] each having one servo motor 1320M [1420M], but as shown in Figure 12, the front drive section 2300 (rear drive section 2400] of this embodiment is equipped with a single drive module 2320

[2420] having two servo motors 2320M [2420M]. In other words, in this embodiment, a drive module 2320

[2420] configured by connecting two servo motors 2320M [2420M] is adopted.

[0093] Specifically, the drive module 2320

[2420] has a single shaft 2370

[2470] rotatably supported by three bearings 2361, 2362 and 2363 [2461, 2462 and 2463], and one end of the shaft 2370

[2470] is connected to one servo motor 2320M [2420M], and the other end is connected to the other servo motor 2320M [2420M]. That is, in this embodiment, the single shaft 2370

[2470] of the drive module 2320

[2420] is synchronously driven by two servo motors 2320M [2420M]. Such a connection structure of the servo motors is realized by high-precision synchronous control using high-speed optical digital communication between the control unit 2500 and each servo amplifier 2800.

[0094] In the driving module 2320

[2420] of this embodiment, the two toothed belts 2120a and 2120d are driven by the two first pulleys 2140a and 2140d [second pulleys 2160a and 2160d] attached to the single shaft 2370

[2470] . Therefore, in the driving module 2320

[2420] , the two toothed belts 2120a and 2120d are completely synchronously controlled.

[0095] In the first embodiment (FIG. 4), the driving modules 1320b and 1320c are disposed under the rail support portion 1222 of the frame 1220 to shorten the axis distance L of each of the belt mechanisms 1100a-d, but this configuration is not adopted in the present embodiment. Therefore, as shown in FIGS. 13-14, the height of the rail support portion 2222 of the frame 2220 is lowered in the present embodiment. Accordingly, the height of the belt clamp 2180 (FIG. 13) is reduced. This reduction in the height of the belt clamp 2180 reduces the inertia of the belt clamp 2180, so that high acceleration performance can be obtained even with low output. In addition, the reduction in the height of the belt clamp 2180 reduces the moment of force around the Y axis applied to the belt clamp 2180 (and the toothed belt 2120) during driving, and the bending deformation of the toothed belt 2120 is reduced, so that the transmission accuracy of the driving force is improved.

[0096] Third embodiment 15 is a perspective view of a collision simulation testing apparatus 3000 according to a third embodiment of the present invention. The collision simulation testing apparatus 3000 according to the present embodiment is a low-output type apparatus suitable for testing a specimen that is even lighter than the collision simulation testing apparatus 2000 according to the second embodiment.

[0097] The crash simulation testing device 3000 of the third embodiment employs a configuration in which two drive modules 3420a and 3420d, which is one-fourth of the first embodiment, are used to drive two toothed belts 3120a and 3120d, respectively.

[0098] The collision simulation test device 3000 includes only a test section 3200 and a rear drive section 3400 as mechanical sections, and does not include a front drive section. In this embodiment, a pair of pulley supports 3350a and 3350d are provided at the front end of the test section 3200, instead of the front drive section 1300 (specifically, the pulley supports 1350 of the drive modules 1320a and 1320d) of the first embodiment.

[0099] The pulley support parts 3350a and 3350d have the same configuration as the pulley support part 1350 of the first embodiment, except for the arrangement interval of the bearings and the length of the shaft 3370. The first pulley 3140a is attached to the shaft 3370 of the pulley support part 3350a, and the first pulley 3140d is attached to the shaft 3370 of the pulley support part 3350d. The toothed belt 3120a is wound around the first pulley 3140a of the pulley support part 3350a and the second pulley 3160a of the rear drive part 3400. The toothed belt 3120d is wound around the first pulley 3140d of the pulley support part 3350d and the second pulley 3160d of the rear drive part 3400. No servo motor is connected to the shaft 3370 of the pulley support portions 3350a and 3350d, and the first pulleys 3140a and 3140d function as driven pulleys.

[0100] In belt transmission, power is transmitted by the traction force (tensile force) of the belt. In addition, in the impact test, it is necessary to apply a strong acceleration in the deceleration direction (rearward) to the test specimen. Although it is possible to arrange the driving unit in front of the test unit 3200 and the driven pulley behind the test unit 3200, in this case, the test specimen is impacted by the pulling of the side of the belt connected to the table 3240 after being turned back by the driven pulley at the rear, so the pulling length of the belt becomes long. Therefore, the deterioration of the driving accuracy due to the expansion and contraction of the belt increases. Therefore, it is advantageous in terms of test accuracy to arrange the driving unit behind the test unit 3200 as in this embodiment.

[0101] In the above-mentioned first embodiment, a configuration is adopted in which each toothed belt 1120 is wound around a pair of drive pulleys (first pulley 1140 and second pulley 1160) to combine the power of two servo motors 1320M and 1420M to provide a large power to the toothed belt 1120. One method for providing even larger power to the toothed belt 1120 is to increase the output of each servo motor. However, if the output of the servo motor is increased simply by increasing the size (diameter) of the rotor, the moment of inertia increases, making it impossible to drive at high acceleration.

[0102] In order to increase the output of a servomotor while maintaining high acceleration performance, it is effective to make the rotor long and thin. Below, we will explain a low-inertia, high-output servomotor (unit) developed by the present inventor based on this design concept. Instead of the servomotors in each of the above-mentioned embodiments, servomotors (units) such as those in the fourth, fifth and sixth embodiments described below can also be used.

[0103] (Fourth embodiment) Next, a collision simulation testing apparatus 4000 according to a fourth embodiment of the present invention will be described. The collision simulation testing apparatus 4000 differs from the collision simulation testing apparatus 1000 of the first embodiment in that it includes servo motor units 4320M and 4420M (to be described later) instead of the servo motors 1320M and 1420M of the first embodiment. The servo motor units 4320M and 4420M have the same configuration.

[0104] 16 is a side view of a servo motor unit 4320M according to the fourth embodiment of the present invention. The servo motor unit 4320M has two servo motors 4320MA and 4320MB connected in series.

[0105] The servo motor 4320MB has the same configuration as the servo motors 1320M and 1420M of the first embodiment. The servo motor 4320MA is a two-axis servo motor in which both ends of the shaft 4320A2 protrude to the outside to form two connecting shafts (a first shaft 4320A2a and a second shaft 4320A2b). The servo motor 4320MA has the same configuration as the servo motor 4320MB, except that it has a second shaft 4320A2b and does not have a rotary encoder 4327, which will be described later. The first shaft 4320A2a of the servo motor 4320MA becomes the single output shaft 4322 of the servo motor unit 4320M.

[0106] In the following description of the servo motor unit 4320M, the side from which the output shaft 4322 protrudes (the right side in FIG. 16) is called the load side, and the opposite side is called the anti-load side. The two-axis servo motor 4320MA and the servo motor 4320MB each generate a torque of up to 350 N·m, and the moment of inertia of the rotating part is 10 -2 kg m 2 This is a high-output, ultra-low inertia servo motor with a rated output of 37 kW, kept below the maximum torque of 100 kW.

[0107] The servo motor 4320MB includes a cylindrical main body 4320B1 (stator), a shaft 4320B2, a first bracket 4320B3 (load side bracket), a second bracket 4320B4 (anti-load side bracket), and a rotary encoder 4327. Furthermore, a pair of screw holes 4320B3t and 4320B4t are provided on the lower surfaces of the first bracket 4320B3 and the second bracket 4320B4, respectively.

[0108] One end 4320B2a on the load side of the shaft 4320B2 penetrates the first bracket 4320B3 and protrudes outside the motor case to become an output shaft 4320B2a. On the other hand, a rotary encoder 4327 that detects the rotational displacement of the shaft 4320B2 is attached to the mounting seat surface (left side surface in FIG. 16) of the second bracket 4320B4. The other end 4320B2b of the shaft 4320B2 penetrates the second bracket 4320B4 and is connected to the rotary encoder 4327.

[0109] 16, an output shaft 4320B2a of a servo motor 4320MB and a second shaft 4320A2b of a dual-axis servo motor 4320MA are connected by a shaft coupling 4320C. A first bracket 4320B3 of the servo motor 4320MB and a second bracket 4320A4 of the dual-axis servo motor 4320MA are connected at a predetermined distance by a connecting flange 4320D.

[0110] The connecting flange 4320D has a cylindrical body 4320D1 and two flanges 4320D2 extending radially outward from both axial ends of the body 4320D1. Each flange 4320D2 has a through hole for bolt fixing at a position corresponding to a screw hole provided in the mounting seat surface of the first bracket 4320B3 and the second bracket 4320A4, and is fixed to the first bracket 4320B3 and the second bracket 4320A4 with a bolt.

[0111] As mentioned above, making the rotor long and thin is an effective way to increase the output of a motor while maintaining high acceleration performance, but if the interval at which the shaft is supported by the bearings is made too long, the shaft will not have enough rigidity, and deformation vibration of the shaft, such as bowing, will become prominent, which will actually reduce the performance of the motor. Therefore, with the conventional configuration in which the rotating shaft is supported only at both ends of the motor case by a pair of bearings, there is a limit to how much capacity can be increased while maintaining a low moment of inertia.

[0112] In the servo motor unit 4320M of this embodiment, a long and slender rotor is realized without designing a new dedicated rotor, thanks to the simple structure of connecting the shafts of the two servo motors with a shaft coupling. In addition, the support interval of the shafts by the bearings is maintained by the simple structure of connecting the main bodies of the two servo motors with a connecting flange. Therefore, even if the rotor is long, it is supported with high rigidity and can operate stably, making it possible to generate large torque that fluctuates at high frequencies that were not possible with conventional servo motors. The servo motor unit 4320M alone (unloaded state) has a torque of 30,000 rad / s 2 It is possible to drive with the above angular acceleration.

[0113] Fifth embodiment Next, a collision simulation testing apparatus 5000 according to a fifth embodiment of the present invention will be described. The collision simulation testing apparatus 5000 differs from the collision simulation testing apparatus 1000 of the first embodiment in that it includes servo motors 5320M and 5420M, which will be described later, instead of the servo motors 1320M and 1420M of the first embodiment. Note that the servo motors 5320M and 5420M have the same configuration, so a duplicated description of the servo motor 5420M will be omitted.

[0114] FIG. 17 is a vertical view of a servo motor 5320M according to a fifth embodiment of the present invention. In the servo motor unit 4320M according to the fourth embodiment described above, a configuration is adopted in which the bodies (stators) of two servo motors are connected by a connecting flange 4320D, but in the servo motor 5320M according to this embodiment, the connecting flange 4320D is not used, and a single body frame formed integrally is used. The body frame according to this embodiment is longer than the servo motors 4320MA and 4320MB according to the fourth embodiment, and has approximately the same overall length as the servo motor unit 4320M. In the body frame according to this embodiment, three bearings are provided at equal intervals at both ends and the middle in the length direction. The rotating shaft is rotatably supported by these bearings. A pair of brackets that support the bearings are provided at both ends in the length direction of the cylindrical body frame. In addition, a bearing support wall that supports the bearings is provided at the center of the length direction on the inner circumference of the body frame. Furthermore, a coil is attached between each bracket and the bearing support wall on the inner circumference of the body frame to form a body (stator). A rotor is formed by providing cores on the outer periphery of the rotating shaft at positions facing each of the coils.

[0115] In this embodiment, since it is possible to design the shaft (rotor) and the main body (stator) for exclusive use, the design of the servo motor 5320M as a whole can be further optimized, making it possible to realize a motor with higher performance.

[0116] The number of bearings and coils is not limited to the configuration shown in Fig. 17. For example, two or more bearings and bearing support walls may be provided midway along the length of the main body frame. It is also preferable that the bearings are provided at approximately equal intervals along the length of the main body frame. In that case, a core and a coil may be provided between adjacent bearings.

[0117] Sixth embodiment Next, a collision simulation testing apparatus 6000 according to a sixth embodiment of the present invention will be described. The collision simulation testing apparatus 6000 differs from the collision simulation testing apparatus 1000 of the first embodiment in that it includes servo motor units 6320M and 6420M (to be described later) instead of the servo motors 1320M and 1420M of the first embodiment. The servo motor units 6320M and 6420M have the same configuration.

[0118] 18 is a plan view of a crash simulation test device 6000 according to a sixth embodiment of the present invention. The servo motor unit 6320M [6420M] is equipped with two servo motors 6320MA and 6320MB [6420MA and 6420MB] connected in series. The servo motors 6320MA and 6420MA have the same configuration as the servo motors 1320M and 1420M of the first embodiment.

[0119] The servo motor 6320MA [6420MA] is a two-axis servo motor in which both ends of the shaft 6320A2 [6420A2] protrude to the outside to form two shafts (a first shaft 6320A2a [6420A2a] and a second shaft 6320A2b [6420A2b]). The servo motors 6320MA and 6420MA have the same configuration as the servo motors 1320M and 1420M of the first embodiment, except that they have a second shaft 6320A2b [6420A2b] and do not have a rotary encoder 1327 (FIG. 3). The first shaft 6320A2a [6420A2a] of the servo motor 6320MA [6420MA] becomes the single output shaft 6322

[6422] of the servo motor unit 6320M [6420M].

[0120] The servo motor 6320MA [6420MA], which is a two-axis servo motor, has a first bracket 6323A [6423A] and a second bracket 6324A [6424A] fixed to a base plate 6320D [6420D] via a highly rigid first motor support part 6331

[6431] . The base plate 6320D [6420D] is fixed to a base block 6310

[6410] .

[0121] The servo motor 6320MB [6420MB] has a first bracket 6323B [6423B] fixed to a base plate 6320D [6420D] via a first motor support portion 6331

[6431] , and a second bracket 6324B [6424B] fixed to a base plate 6320D [6420D] via a second motor support portion (not shown).

[0122] That is, in this embodiment, the body of the servo motor 6320MA [6420MA] and the body of the servo motor 6320MB [6420MB] are connected via the base plate 6320D [6420D]. In this embodiment, the first motor support part 6331

[6431] with high rigidity is used to support the second bracket 6324A [6424A] on the anti-load side of the servo motor 6320MA [6420MA], which is a two-axis servo motor, so that the body of the servo motor 6320MA [6420MA] and the body of the servo motor 6320MB [6420MB] can be connected with sufficient rigidity without using the connecting flange 4320D of the fourth embodiment. By eliminating the connecting flange 4320D, the assembly of the servo motor unit 6320M [6420M] becomes easier.

[0123] Further, the output shaft 6320B2 [6420B2] of the servo motor 6320MB [6420MB] and the second shaft 6320A2b [6420A2b] of the servo motor 6320MA [6420MA] are connected by a shaft coupling 6320C [6420C].

[0124] A total of 16 servo motors 6320MA, 6320MB, 6420MA, and 6420MB are connected to the control unit via individual servo amplifiers and are synchronously controlled by the control unit. In this embodiment, all of the 16 servo motors 6320MA, 6320MB, 6420MA, and 6420MB are driven and controlled according to the same acceleration waveform.

[0125] Seventh embodiment Next, a description will be given of a collision simulation testing apparatus 7000 according to a seventh embodiment of the present invention. Figures 19 and 20 are a plan view and a front view, respectively, of the collision simulation testing apparatus 7000. Also, Figures 21 and 22 are side views of the collision simulation testing apparatus 7000.

[0126] The collision simulation test apparatus of each of the above-mentioned embodiments is configured to generate an impact (acceleration pulse) of a predetermined waveform to be applied to a specimen by a front drive unit and a rear drive unit, and transmit the generated impact waveform to a table on which the specimen is attached by a belt mechanism. In contrast, the collision simulation test apparatus 7000 of this embodiment is configured to apply an impact of a predetermined waveform to a specimen attached to the table 7240 by causing a table 7240, which is freely traveling at a predetermined speed, to collide with an impact generating unit 7900, which will be described later. In other words, the collision simulation test apparatus 7000 of this embodiment is configured to be able to perform a conventional collision-type impact test.

[0127] The collision simulation testing apparatus 7000 of this embodiment, like the collision simulation testing apparatus 2000 of the second embodiment, is equipped with a table 7240, a pair of linear guides 7230 that support the table 7240 so that it can move in the X-axis direction, a front drive unit 7300 and a rear drive unit 7400 that drive the table 7240, and a pair of belt mechanisms 7100a, 7100d that transmit the power generated by the front drive unit 7300 and the rear drive unit 7400.

[0128] Furthermore, the crash simulation test device 7000 of this embodiment is equipped with an impact generating unit 7900 that applies an impact of a predetermined waveform to the table 7240 , and a pusher 7250 that pushes the table 7240 toward the impact generating unit 7900 .

[0129] Each linear guide 7230 includes a rail 7231 and three carriages 7232 that can run on the rail 7231. The carriages 7232 include two carriages 7232a attached to the lower surface of the table 7240, and one carriage 7232b attached to the lower surface of the pusher 7250. That is, the table 7240 and the pusher 7250 are supported by the pair of linear guides 7230 so as to be able to run in the X-axis direction.

[0130] Further, a pair of belt clamps 7180 (FIG. 20) are attached to the lower surface of the pusher 7250, and the pusher 7250 is fixed to a pair of toothed belts 7120 via the belt clamps 7180. That is, the pusher 7250 is driven by a pair of belt mechanisms 7100a, 7100d. Note that the table 7240 in this embodiment is not connected to the belt mechanisms 7100a, 7100d, and the table 7240 is driven via the pusher 7250 connected to the belt mechanisms 7100a, 7100d.

[0131] 20, the pusher 7250 has a bottom plate 7251, a push plate 7252 standing upright on the upper surface of the front end of the bottom plate 7251, and a rib 7253 that connects the bottom plate 7251 and the push plate 7252 to increase rigidity. A pair of carriages 7232b (FIG. 21) of the linear guide 7230 are attached to the lower surface of the bottom plate 7251.

[0132] The impact generating unit 7900 includes a fixed unit 7920 fixed on a base block 7310, an impact unit 7940 arranged on the fixed unit 7920, and a buffer unit 7950 that absorbs the impact between the fixed unit 7920 and the impact unit 7940.

[0133] A slide plate (not shown) is attached to the underside of the impact portion 7940, allowing the impact portion 7940 to slide on the fixed portion 7920 with low friction.

[0134] The buffer unit 7950 includes a pair of movable frames 7951 attached to the impact unit 7940, two pairs of arms 7953 and a pair of guide rails 7955 attached to the fixed unit 7920, four coil springs 7954, and a coil holding rod 7956. Note that although the coil springs 7954 in this embodiment are compression springs, tension springs may also be used. Also, instead of the coil springs 7954, other types of springs such as leaf springs and disc springs may also be used.

[0135] The movable frame 7951 is attached to both the left and right (Y-axis direction) side surfaces of the impact part 7940. The movable frame 7951 has a bottom plate 7251a placed on the upper surface of the fixed part 7920, and four ribs 7951b that connect the bottom plate 7251a to the side surfaces of the impact part 7940. The four ribs 7951b are arranged at equal intervals in the X-axis direction.

[0136] The pair of guide rails 7955 are attached to the upper surface of the fixed part 7920 so that the length direction of the pair of guide rails 7955 faces the X-axis direction and sandwiches the impact part 7940 together with the pair of movable frames 7951 (specifically, bottom plates 7251a) from both sides in the Y-axis direction. The pair of guide rails 7955 limits the movable direction of the impact part 7940 to only the X-axis direction.

[0137] In this embodiment, the impact portion 7940 is configured to be guided in a sliding manner by the slide plate and guide rail 7955, but instead of the slide plate and guide rail 7955, a linear guide equipped with a rolling body may be used to guide the impact portion 7940 in a rolling manner.

[0138] Two pairs of arms 7953 extending in the Z-axis direction are attached to the four corners of the fixed portion 7920 so as to sandwich each movable frame 7951 from both sides in the X-axis direction.

[0139] Furthermore, a coil spring 7954 is disposed between each arm 7953 and the adjacent movable frame 7951. A preload adjusted to generate an impact with a predetermined waveform is applied to each coil spring 7954. Furthermore, by sandwiching the movable frame 7951 between a pair of coil springs 7954 from both sides in the moving direction, even if the movable frame 7951 is displaced, it is quickly returned to its initial position by the coil springs 7954. Furthermore, the buffer section 7950 may be provided with a damper disposed in series or parallel to the coil springs 7954.

[0140] A protruding part 7942 that protrudes toward the table 7240 (negative direction of the X-axis) is formed in the center of the impact part 7940 of the impact generator 7900 in the Y-axis direction facing the table 7240. In addition, a collision post 7944 that protrudes toward the table 7240 is attached to the tip of the protruding part 7942.

[0141] The table 7240 also includes a main body 7242 and a collision post 7244 protruding from the center of the front surface of the main body 7242 .

[0142] In this embodiment, the collision pillars 7244 and 7944 are rigid bodies integrally formed from a hard material such as steel, but the collision pillars 7244 and / or 7944 may be shock absorbers equipped with a damper and / or a spring. When the collision pillars 7244 and / or 7944 are shock absorbers equipped with both a damper and a spring, the damper and the spring may be connected in series or in parallel.

[0143] Next, the operation of the collision simulation test device 7000 will be described. First, the table 7240 and the pusher 7250 are placed in the initial position shown in FIG. 20. At this time, the back surface of the table 7240 is in contact with the push plate 7252 of the pusher 7250. Next, the pusher 7250 is driven at a predetermined speed toward the impact generating unit 7900 by the front drive unit 7300 and the rear drive unit 7400 via the belt mechanisms 7100a and 7100d. Since the table 7240 is in contact with the push plate 7252 of the pusher 7250, the table 7240 is driven at a predetermined speed together with the pusher 7250. At this time, the pusher 7250 is gradually accelerated to a predetermined speed so as not to give a large impact to the table 7240 and not to separate from the pusher 7250 until the table 7240 reaches the predetermined speed. When the pusher 7250 reaches the predetermined speed, it decelerates and stops.

[0144] When the pusher 7250 decelerates, the table 7240 separates from the pusher 7250 and travels freely on the rail 7231 at a predetermined speed. Eventually, as shown in FIG. 22, the collision post 7244 of the table 7240 collides with the collision post 7944 of the impact unit 7940, and the impact caused by this collision is given to the test piece attached to the table 7240. The magnitude and waveform of the impact given to the test piece can be adjusted by the collision speed (predetermined speed) and the spring constant of the coil spring 7954. In addition, by providing a damper to the buffer unit 7950 or providing a damper and / or a spring to the collision post 7244 and / or 7944 as a buffer device, it becomes possible to generate more diverse impact waveforms. Furthermore, by providing, for example, a plurality of springs and dampers with different characteristics to the impact generating unit 7900 and changing the combination and connection relationship of these, it becomes possible to generate more diverse impact waveforms.

[0145] After the test, the pusher 7250 is returned to the initial position by driving the front drive unit 7300 and the rear drive unit 7400 in the opposite direction. The table 7240 is returned to the initial position manually. Also, a mechanism for automatically returning the table 7240 to the initial position may be provided. For example, a connecting mechanism for releasably connecting the pusher 7250 and the table 7240 may be provided, and the pusher 7250 and the table 7240 are connected, and then the pusher 7250 is returned to the initial position, so that the table 7240 can also be returned to the initial position. Also, for example, a belt mechanism for returning the table may be provided in addition to the belt mechanisms 7100a and 7100d. In this case, the table 7240 may not be fixed to a toothed belt, and may be configured to push the table 7240 back to the initial position by, for example, a pusher attached to the belt.

[0146] The belt clamp 7180 is removably attached to the pusher 7250 by a bolt. In addition, a plurality of screw holes are provided on the underside of the table 7240, so that four belt clamps 7180 can be removably attached to the table 7240 by bolts. By removing the belt clamp 7180 from the pusher 7250, attaching the belt clamp 7180 to the table 7240, and connecting the table 7240 to the toothed belts 7120 of the belt mechanisms 7100a and 7100d, it becomes possible to perform a test in which an impact waveform generated by the front drive unit 7300 and the rear drive unit 7400 is directly applied to the table 7240 by the pair of belt mechanisms 7100a and 7100d, as in the crash simulation test device 2000 of the second embodiment.

[0147] The above is a description of exemplary embodiments of the present invention. The embodiments of the present invention are not limited to those described above, and various modifications are possible within the scope of the technical ideas expressed by the claims. For example, the embodiments of the present application also include configurations that appropriately combine configurations of the embodiments etc. exemplified in this specification and / or configurations of the embodiments etc. that are obvious to a person skilled in the art from the description in this specification.

[0148] In each of the above embodiments, the shaft of the servo motor is directly connected to the shaft of the pulley support part, but the servo motor and the shaft of the pulley support part may be connected via a reducer. By using a reducer, it becomes possible to test a test specimen with a larger weight (inertia). In addition, it becomes possible to use a servo motor with a lower capacity, which allows the device to be made smaller, lighter, and less expensive.

[0149] In each of the above embodiments, the acceleration applied to the table 1240 is controlled (i.e., the impact is expressed by the acceleration), but the present invention is not limited to this configuration. For example, the table 1240 may be controlled by the speed or the jerk.

[0150] In each of the above embodiments, the acceleration of the table is controlled, but the present invention is not limited to this configuration. For example, the acceleration (impact) at a predetermined location of a test specimen (for example, a sheet attached to a table or a dummy placed on the sheet) may be controlled.

[0151] In each of the above embodiments, a linear guide consisting of a rail and a substantially rectangular parallelepiped carriage is used as the linear motion guide mechanism, but the present invention is not limited to this configuration. For example, instead of or in addition to the linear guide, a rolling guide mechanism using rolling elements such as a ball spline or a linear bushing may be used.

[0152] In each of the above-described embodiments, balls are used as the rolling elements of the linear motion guide mechanism (linear guide), but the present invention is not limited to this configuration. For example, rollers may be used as the rolling elements.

[0153] In the above embodiments, silicon nitride is used as the material for the rolling elements of the linear motion guide mechanism (linear guide), but the present invention is not limited to this configuration. For example, other types of ceramic materials such as silicon carbide and zirconia may be used, or stainless steel may be used.

[0154] In each of the above embodiments, the table 1240 is supported by a pair of left and right linear guides 23 so as to be movable only in the driving direction, but the present invention is not limited to this configuration. For example, the table 1240 may be supported by three or more linear guides 23. By increasing the number of linear guides 23, the support rigidity of the table 1240 is improved. The number of linear guides 23 to be used is determined according to the weight of the test specimen and the required test accuracy.

[0155] In each of the above embodiments, two or four toothed belts 1120 are used, but the present invention is not limited to this configuration. For example, one, three, or five or more toothed belts 1120 may be used depending on the weight of the test specimen and the magnitude of the test acceleration.

[0156] In each of the above embodiments, the toothed belt 1120 is an endless belt, but the present invention is not limited to this configuration. The toothed belt 1120 is fixed to the table 1240 by the belt clamps 18 at two points separated in the length direction (driving direction), so an open-end belt can also be used.

[0157] In each of the above-described embodiments, the two belt clamps 18 for fixing one toothed belt 1120 are formed separately, but they may be formed integrally.

[0158] In each of the above embodiments, the table 1240 and the table attachment portion 1181 of the belt clamp 18 are formed separately, but they may be formed integrally. For example, the toothed belt can be fixed directly to the table by providing a groove in the underside of the table into which the toothed belt is fitted or a screw hole for bolting the clamp plate.

[0159] In each of the above embodiments, an AC servo motor is used as the drive source, but other types of actuators can be used as long as they are capable of motion control. For example, a DC servo motor, a stepping motor, an inverter motor, etc. can be used. A hydraulic motor or a pneumatic motor can also be used.

[0160] In the above embodiment, the mounting portion 1221, the rail support portion 1222, and the connecting portion 1223 of the frame 1220 are each a rectangular column-shaped structural member, but the present invention is not limited to this configuration. The mounting portion 1221 may have another shape as long as it has a flat surface on its lower surface for installation on the base block 1210. The rail support portion 1222 may have another shape as long as it has a flat surface on its upper surface for attaching the rail 1231. In addition, the connecting portion 1223 may have another shape as long as it connects the mounting portion 1221 and the rail support portion 1222 with sufficient strength.

[0161] The above-described embodiment of the present invention can also be explained as follows.

[0162] A crash simulation testing device according to one embodiment of the present invention includes a table on which a test specimen is attached, and a toothed belt that drives the table in a driving direction, the toothed belt including a carbon core wire.

[0163] The above-mentioned crash simulation test device may be configured to include a pair of toothed pulleys around which a toothed belt is wound, and a belt clamp that releasably fixes the toothed belt to a table, and the toothed belt may be fixed to the table at two fixing positions spaced apart in the longitudinal direction.

[0164] According to this configuration, since the belt clamp is fixed to the table, the occurrence of tooth skipping caused by the toothed belt being oscillated by the load of the belt clamp is suppressed, and the drive control of the table is improved.

[0165] In the above-mentioned crash simulation test device, the toothed belt may be fixed at at least one fixing position so that the effective length of the toothed belt is adjustable.

[0166] This configuration makes it easy to adjust the effective length of the toothed belt.

[0167] The above-mentioned crash simulation testing apparatus may be configured to include a plurality of toothed belts arranged in parallel to one another, and the table may be driven by the plurality of toothed belts.

[0168] This configuration makes it possible to apply the necessary impact even to test specimens with large mass.

[0169] In the above-described crash simulation testing device, the effective lengths of the plurality of toothed belts may be the same.

[0170] According to this configuration, the response characteristics of each toothed belt are uniform, so that each toothed belt can be controlled under the same conditions (for example, the same time constant). Therefore, it becomes possible to drive a plurality of toothed belts with simpler control, and the processing power required for the control device can be reduced.

[0171] In the above-described crash simulation test device, at least one of the pair of toothed pulleys may be a drive pulley, and a drive module for driving the drive pulley may be provided.

[0172] In the above-mentioned crash simulation test apparatus, the drive module may be configured to include an electric motor.

[0173] According to this configuration, since hydraulic pressure is not required, there is no need to install hydraulic supply equipment. Therefore, a large installation space is not required, and the maintenance and burden of hydraulic supply equipment is also unnecessary. In addition, the surrounding environment is not polluted by hydraulic oil, and the test can be performed in a clean and safe environment.

[0174] In the above-described crash simulation testing apparatus, the electric motor may be a servo motor.

[0175] In the above crash simulation test device, the moment of inertia of the electric motor is 0.02 kg m 2 The following configuration may also be used.

[0176] This configuration makes it possible to generate large accelerations.

[0177] In the above crash simulation test device, the moment of inertia of the electric motor is 0.01 kg m 2 The following configuration may also be used.

[0178] In the above-mentioned crash simulation test apparatus, the drive module may be configured to include a reducer that reduces the output of the electric motor.

[0179] This configuration also makes it possible to test specimens with large inertia.

[0180] In the above-mentioned crash simulation test apparatus, the drive module may include a shaft driven by an electric motor and a bearing that rotatably supports the shaft, and the drive pulley may be attached to the shaft.

[0181] In the above-described crash simulation test apparatus, the drive module may include a pair of electric motors, and both ends of the shaft may be connected to the pair of electric motors, respectively.

[0182] This configuration allows the shaft to be driven with greater power. Also, when two electric motors are used, the shaft can be shared, reducing the number of bearings and making the device more compact.

[0183] The above-described crash simulation test device may be configured to include a plurality of drive modules each for driving a respective one of the toothed belts, and two of the plurality of drive modules may be arranged side by side in the axial direction of the drive pulley.

[0184] According to this configuration, the power transmission path for driving the drive pulley can be shortened, the moment of inertia of the power transmission path can be reduced, and driving at a higher acceleration can be achieved.

[0185] The above-mentioned crash simulation test device may be configured to include a plurality of drive modules each driving a plurality of toothed belts, with two of the plurality of drive modules being arranged side by side in the drive direction, sandwiching the plurality of toothed belts therebetween.

[0186] According to this configuration, the power transmission path for driving the drive pulley can be shortened, the moment of inertia of the power transmission path can be reduced, and driving at a higher acceleration can be achieved.

[0187] In the above-mentioned crash simulation test apparatus, the drive module may include at least two toothed pulleys each driving at least two of the plurality of toothed belts, and the at least two toothed pulleys may be attached to a shaft.

[0188] According to this configuration, at least two toothed belts are driven by a single shaft, so that the driving of the at least two toothed belts can be completely synchronized, enabling driving with higher precision.

[0189] In the above-described crash simulation test apparatus, both of the pair of toothed pulleys may be drive pulleys.

[0190] This configuration makes it possible to drive the toothed belt with higher power.

[0191] In the above-mentioned crash simulation test apparatus, the drive module may include a first drive module that drives one of the pair of toothed pulleys, and a second drive module that drives the other of the pair of toothed pulleys.

[0192] In the above-mentioned crash simulation test device, one or more drive modules may be equipped with a total of multiple electric motors, and a control unit may be provided for synchronously controlling the multiple electric motors, and the control unit may be configured to control each electric motor at high speed using optical fiber communication.

[0193] This configuration makes it possible to drive the table with sufficiently high accuracy.

[0194] The above-mentioned collision simulation test apparatus may include a pusher that pushes the table in the driving direction, a linear guide that supports the table and pusher so that they can move in the driving direction, and an impact generating unit that generates an impact to be applied to a test specimen by colliding with the table, wherein a toothed belt can be fixed to each of the table and the pusher and is releasably fixed to either the table or the pusher, and when the toothed belt is fixed to the table, the drive module generates an impact to be applied to the test specimen and the impact is transmitted to the table by the toothed belt, and when the toothed belt is fixed to the pusher, the table pushed out by the pusher collides with the impact generating unit, generating an impact to be applied to the test specimen.

[0195] In the above-mentioned collision simulation test apparatus, the impact generating unit may be configured to include a fixed unit, an impact unit arranged in a position where the table can collide, and a buffer unit that absorbs the impact between the fixed unit and the impact unit.

[0196] In the above-mentioned collision simulation test device, the buffer section may be configured to include a movable frame attached to the impact section, a pair of arms attached to the fixed section and arranged to sandwich the movable frame in the driving direction, and springs sandwiched between the movable frame and each arm.

[0197] In the above-mentioned collision simulation testing apparatus, the table may be configured to have a first collision pillar protruding toward the impact generating part, the impact part of the impact generating part may be configured to have a second collision pillar protruding toward the first collision pillar, and at least one of the first collision pillar and the second collision pillar may be a buffer device equipped with at least one of a damper and a spring.

[0198] In the above-mentioned crash simulation testing device, the linear guide may be equipped with a rail extending in the driving direction and a carriage running on the rail via rolling elements, and the carriage may be configured to include a first carriage attached to the table and a second carriage attached to the pusher.

[0199] In the above-mentioned crash simulation test device, the toothed belt may have a main body portion formed from an elastomer, and the elastomer may include either hard polyurethane or hydrogenated acrylonitrile butadiene rubber.

[0200] According to this configuration, the occurrence of tooth skipping is suppressed, and the table can be driven with higher accuracy.

[0201] The above-mentioned crash simulation testing device may be configured to include a linear guide that guides the table in the driving direction, the linear guide including a rail extending in the driving direction, and a carriage that runs on the rail via rolling elements.

[0202] This configuration suppresses unnecessary movement of the table in directions other than the driving direction, making it possible to drive the table with higher accuracy. In addition, the use of low-loss rolling guides makes it possible to drive the table with less power, and since the guide means is less likely to seize, the table can be driven with greater acceleration.

[0203] In the above-mentioned crash simulation testing device, the rolling elements may be made of a ceramic material.

[0204] In the above-mentioned crash simulation test device, the ceramic material may include any one of silicon nitride, silicon carbide, and zirconia.

[0205] According to this configuration, the rolling elements made of ceramic material are characterized by being lighter, more heat resistant, and more precise than those made of general steel, making it difficult for seizure to occur and enabling the table to be driven at a higher acceleration.

[0206] In the device described in Patent Document 1, the sled pushed out by the piston travels a long distance by inertia, so the overall length of the device is very long and a large installation space is required. According to one embodiment of the present invention, a small-sized, high-precision crash simulation test device is realized. [Explanation of symbols]

[0207] 1000 ... Crash simulation test device (first embodiment) 1100 ... Belt mechanism 1200 … Testing Department 1300 … Front drive 1400 ... Rear drive 1500 ... Control section 2000 ... Crash simulation test device (second embodiment) 3000 ... Crash simulation test device (third embodiment) 4000 ... Crash simulation test device (fourth embodiment) 5000 ... Crash simulation test device (fifth embodiment) 6000 ... Crash simulation test device (sixth embodiment) 7000 ... Crash simulation test device (seventh embodiment)

Claims

1. a table on which a specimen is attached and which can move linearly in a predetermined direction; A plurality of drive modules capable of generating power for driving the table; a belt mechanism that transmits the power generated by the plurality of drive modules to the table; A control unit capable of controlling the plurality of drive modules; Equipped with The belt mechanism includes: At least one pair of toothed belts arranged parallel to each other, and at least one of the drive modules is provided for each of the toothed belts; The drive module includes: a drive pulley around which one of the pair of toothed belts to be driven is wound; an electric motor having a moment of inertia capable of generating acceleration equivalent to an impact generated during a collision, the electric motor having a rotating shaft connected to the drive pulley, The control unit synchronously controls each of the electric motors of the plurality of drive modules in accordance with an acceleration waveform set based on an impact of an assumed collision, thereby applying the impact of the assumed collision to the test specimen. Test equipment.

2. The pair of toothed belts are first and second toothed belts having the same effective length and folded back at the same folding position in the predetermined direction, the plurality of drive modules include a first drive module and a second drive module that drive the first toothed belt, and a third drive module and a fourth drive module that drive the second toothed belt; the first drive module includes a first drive pulley around which the first toothed belt is wound at one of the turn-back positions of the first toothed belt, and a first electric motor provided for the first drive pulley, the second drive module includes a second drive pulley around which the first toothed belt is wound at the other turn-back position of the first toothed belt, and a second electric motor provided for the second drive pulley, the third drive module includes a third drive pulley around which the second toothed belt is wound at one of the turn-back positions of the second toothed belt, and a third electric motor provided for the third drive pulley, the fourth drive module includes a fourth drive pulley around which the second toothed belt is wound at the other turn-back position of the second toothed belt, and a fourth electric motor provided for the fourth drive pulley, At the turn-back position of one of the first and second toothed belts, the first electric motor and the third electric motor are disposed facing each other in a direction of a central rotation axis so as to share a central rotation axis with the first and third drive pulleys, At the other turn-back position of the first and second toothed belts, the second electric motor and the fourth electric motor are disposed facing each other in a direction of a central rotation axis so as to share a central rotation axis with the second and fourth drive pulleys.

2. The test device according to claim 1.

3. The belt mechanism includes a belt clamp that releasably fixes the toothed belt to the table, The belt clamp is a clamp plate having protruding teeth formed thereon that mesh with teeth formed on an inner peripheral surface of the toothed belt; a table attachment portion to which the clamp plate is fixed with the toothed belt sandwiched between the clamp plate and the table, and to which the table is fixed at a predetermined position.

3. A test device according to claim 1 or 2.

4. The toothed belt is fixed to the table at two fixed positions spaced apart in the longitudinal direction; At least one of the fixing positions is fixed by the belt clamp so that the effective length of the toothed belt can be adjusted.

4. A test device according to claim 3.

5. a linear guide that supports the table so as to be movable in the predetermined direction; The linear guide includes a rail extending in the predetermined direction and a carriage capable of running on the rail. A test device according to any one of claims 1 to 4.

6. The pair of toothed belts are first and second toothed belts having the same effective length and folded back at the same folding position in the predetermined direction, the plurality of drive modules include at least one pair of drive modules provided at the same turn-back positions of the first and second toothed belts, the pair of drive modules share a shaft driven by each of the electric motors included in the pair of drive modules; 2. The test device according to claim 1.

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