Auxiliary support device and test device equipped with same

Abstract

To provide a testing device having an auxiliary support device with a mechanism to receive static loads within an allowable eccentric declination angle, and installed together with a telescopic device that moves in multiple degrees of freedom.SOLUTION: A testing device has six sets of actuators 10 extending and retracting between a base 101 and a support stand 103 and changes its relative posture and vibrates at these separation intervals, wherein auxiliary support devices 50 are juxtaposed in the center of the base and support stand. The auxiliary support device comprises: a spline coupling 60 connected to the base via a cross shaft joint 51; an upper connecting base 80 connected to the support stand via a cross shaft joint 53 and a second universal coupling 84 of a rotation mechanism 85; a ball spline coupling 70 freely extending and retracting, and sliding between the spline coupling and the upper connecting base; a connecting intermediate member 83 fixed to a lower part of the upper connecting base and located between the base and the support stand; and an air spring 90 fixed at both ends between the connecting intermediate member and the base.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a test apparatus having an extension device that can be extended or retracted with a low driving force. [Background technology]

[0002] 2. Description of the Related Art A driving simulator described in Patent Document 1, for example, is known as a test device that uses a plurality of sets of expansion devices that adjust the distance between universal joints provided on both ends by the driving force of a drive source.

[0003] This driving simulator uses six sets of telescopic devices to enable six degrees of freedom of movement, such as tilting the top support platform, which supports the vehicle cockpit relative to the base, in the XYZ directions as well as in the pitch, roll and yaw directions.

[0004] However, in such an extension device, even if the support side is kept stationary, for example, if the test object is of considerable weight, it is necessary to output a large driving force from the driving source. In particular, since the stationary state is not necessarily short, it is necessary to prepare a high-output driving source, which increases the size of the entire device and increases the cost.

[0005] Furthermore, in a single-axis telescopic device, for example, Patent Document 2 describes an invention in which an elastic element such as an air spring bears a static load. However, in a telescopic device with multiple degrees of freedom of movement, the air spring is twisted or the allowable eccentricity and deflection angle are insufficient, making it unable to accommodate the movement of the support base. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2015-33671 A [Patent Document 2] Re-tabled publication No. 2009-130818 Summary of the Invention [Problem to be solved by the invention]

[0007] Therefore, an object of the present invention is to provide an auxiliary support device that is installed together with an expansion device that moves with multiple degrees of freedom and has a mechanism for receiving a static load without being twisted within the allowable eccentricity angle, and a test device equipped with the same. [Means for solving the problem]

[0008] One aspect of the invention of an auxiliary support device that solves the above problems is an auxiliary support device that is installed between a first connected member and a second connected member together with a multi-degree-of-freedom extension device, and is characterized in that it includes an auxiliary member that generates an auxiliary force that supplements the static driving force of a multi-degree-of-freedom extension device that has a flexible mechanism that can follow the multi-degree-of-freedom movement of one or both of the first connected member and the second connected member.

[0009] One aspect of the invention of a testing device that solves the above-mentioned problems is a testing device in which at least three or more sets of extension devices are installed between the base member as the first connected member and the top plate member as the second connected member, together with the above-mentioned auxiliary support device, and the extension devices receive driving force from a drive source and each extend and retract in the separation direction of the base member and the top plate member, thereby changing the separation distance for each extension device, thereby changing the posture of the top plate member relative to the base member, wherein the auxiliary support device has a first universal joint having two degrees of freedom in the X and Y directions connected to a front base member, and a second universal joint having three degrees of freedom in the X, Y and Z directions connected to the top plate member, and is characterized in that it is equipped with a slide holding mechanism for a linear joint that is connected to each of the base member and the top plate member and moves linearly so as to be slidable relative to each other in the separation direction, together with the auxiliary member that generates the auxiliary force acting in the separation direction of the base member and the top plate member. Effect of the Invention

[0010] Thus, according to one aspect of the present invention, an auxiliary support device is installed together with a multi-degree-of-freedom telescopic device between a first connected member (e.g., a base member) and a second connected member (e.g., a top plate member), and an auxiliary force can be generated to supplement the static driving force of the multi-degree-of-freedom telescopic device having a flexible mechanism that can follow the movement of the multi-degree-of-freedom.

[0011] In addition, in a test device in which three or more sets of such extension devices are installed to change the posture of the top plate member relative to the base plate member, the static driving force required for the extension devices can be assisted to reduce the required driving force by working in conjunction with a slide holding mechanism of a linear joint which moves linearly and slidably relative to the base plate member and the top plate member in the direction in which they separate.

[0012] Therefore, it is possible to provide a test device that can operate the extension device even in a stationary state using a drive source with a low driving force. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a perspective view showing the appearance of a vibration device, which is an example of a test device equipped with an expansion device according to an embodiment of the present invention. [Diagram 2] FIG. 2 shows the vibration device, where (a) is a plan view and (b) is a front view. [Diagram 3] FIG. 3 is a partial vertical sectional view showing an auxiliary support device installed in the vibration device. [Figure 4] FIG. 4 is a conceptual front view illustrating the operation of the auxiliary support device. [Diagram 5] FIG. 5 is a block diagram showing a control circuit for an air filling amount control device that controls the operation of the auxiliary support device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. Figures 1 to 5 are diagrams showing a vibration device which is an example of a test device according to an embodiment of the present invention.

[0015] In FIG. 1 and FIG. 2, the vibration device (test device) 100 is configured to function as a hexapod constituting a part of the driving simulator, and is configured to be arranged such that six sets of actuators (telescopic devices) 10 are interposed between a base (substrate member, base, first connected member) 101 installed in a test room or the like and a support base (top plate member, second connected member) 103 to which a driving cockpit to be tested is fixed above the base 101 and supported individually. The vibration device 100 is configured such that the six sets of actuators 10 each perform telescopic movements according to a control signal from a host computer (not shown) of the driving simulator to adjust the separation distance between the installation points, thereby realizing six degrees of freedom of movement, such as tilting the support base 103 in the XYZ directions, pitch direction, roll direction, and yaw direction relative to the base 101. Here, in this embodiment, the vibration device 100 equipped with six sets of actuators 10 will be described as an example, but the present invention is not limited to this, and it goes without saying that the support base can be supported displaceably relative to the base by providing three or more sets of actuators 10, for example.

[0016] The vibration device 100 is configured to support two sets of actuators 10 by connecting both ends to support blocks 101B and 103B located near the apex of a triangle facing each other with the base 101 and the support stand 103 generally centered in common. The vibration device 100 is configured to rotate one of the base 101 and the support stand 103 in a direction in which the three support blocks 101B and 103B are shifted by 60° relative to each other, and to arrange one end and the other end of two sets of actuators 10 for each of the support blocks 101B and 103B. With this structure, the vibration device 100 is configured to install six sets of actuators 10 in a posture in which every two sets of actuators 10 are spread upward in a V-shape, and the support stand 103 supported by the base 101 can be supported while being stably changed to a desired posture or vibrated by adjusting the distance between both ends of each actuator 10.

[0017] In addition, the actuator 10 of the vibration device 100 has a cross shaft joint 11 that constitutes a swivel mechanism installed in the support block 101B of the base 101, and is supported by the device base 15 so that its attitude relative to the base 101 can be freely changed. A cross shaft joint 13 that also constitutes a swivel mechanism is installed in the support block 103B of the support stand 103, and an upper end 17e of a shaft 17 that is held on the device base 15 so as to be freely slidable in the longitudinal direction is supported so that its attitude relative to the support stand 103 can be freely changed.

[0018] As a result, the vibration device 100 can support the device base 15 of the actuator 10 relative to the base 101 by swinging the cross joint 11 between the base 101 and the device base 15, thereby allowing the attitude of the device base 15 relative to the base 101 to be freely changed, and similarly, the cross joint 13 can swing between the support table 103 and the shaft 17 to be freely changed in attitude of the shaft 17 of the actuator 10 relative to the support table 103. In other words, the vibration device 100 can freely change the attitude of the support table 103 relative to the base 101 by sliding the shaft 17 of the actuator 10, which is supported via the cross joints 11 and 13, in forward and reverse directions.

[0019] This actuator 10 is configured to slide the shaft 17 in the forward and reverse directions from the base 101 side toward the support stand 103 by rotating the servo motor 49 in forward and reverse directions in accordance with a control signal from the vibration device 100, and the shaft 17 is moved forward and backward relative to the base 101 side toward the support stand 103 side to extend and retract its overall length.

[0020] As a result, the vibration device 100 can function as a vibration device 100, with the cross axis joints 11, 13 at both ends supporting the base 101 and the support stand 103 so that the relative attitude of the base 101 and the support stand 103 can be freely changed in response to the expansion and contraction of the overall length of the actuator 10, thereby achieving tilting and vibration operations with six degrees of freedom.

[0021] In this vibration device 100, an auxiliary support device 50 is installed so as to be interposed between the base 101 and the support stand 103, and the auxiliary support device 50 is configured to be located approximately in the center of the base 101 and the support stand 103 and to assist in the operation of supporting the support stand 103 at a desired height relative to the base 101. Here, in the vibration device 100 of this embodiment, a case in which one auxiliary support device 50 is installed will be described as an example, but this is not limited to this and multiple devices may be installed, in which case it is preferable to install them evenly.

[0022] As shown in FIG. 3, in the auxiliary support device 50, similar to the actuator 10, a cross joint (first universal joint) 51 is connected to the upper surface of a base 101, and a spline joint 60 is supported so that its attitude relative to the base 101 can be freely changed. The cross joint 51 is installed inside the multi-stage air spring 90 and the upper connecting base 80 together with a ball spline joint 70, as described later, and a spline shaft 65 of the ball spline joint 70 is connected to the inner lower surface of the upper flange 82b of the upper connecting base 80. The upper connecting base 80 is sealed by providing an O-ring 89 at the connecting portion between the air spring 90 and the upper flange 82b, thereby maintaining the airtightness of the internal space 90s of the air spring 90. Here, the length of the upper connecting base 80 may be changed or may be eliminated depending on the distance between the support stand 103 and the base 101.

[0023] Further, a second universal joint 84 consisting of a cross joint 53 and a rotation mechanism 85 of a rotary bearing described later is installed on the underside of the support base 103 of the auxiliary support device 50, and the second universal joint 84 supports an upper end portion 65e of a spline shaft (first slide member) 65 of the ball spline joint 70, which is held slidably in the longitudinal direction of the spline joint 60, via an upper connecting base portion 80 so as to be able to freely change its attitude relative to the support base 103. This second universal joint 84 constitutes a joint with three degrees of freedom consisting of the cross joint 53 and the rotation mechanism 85, and is able to follow large angles (roll, pitch, yaw) of the support base 103. Here, when the angle to be followed is small, the second universal joint 84 may be a so-called three-degree-of-freedom spherical joint (bearing).

[0024] Furthermore, the cross joint 51 installed on the base 101 is a two-degree-of-freedom joint, and since the degree of rotational freedom around the expandable axis is restricted, the twisting force around the axis due to the frictional force of the rotary joint 85 can be borne by the base 101 via the cross joint 51. As a result, the air spring 90 connected to the cross joint 51 via the upper connecting base 80 and the ball spline joint 70 can operate without being twisted.

[0025] As a result, the air pressure of the auxiliary support device 50 9 The upper connecting base 80 is supported via the cross joint 51, the second universal joint 84, and the ball spline joint 70 so that the attitude of the support stand 103 relative to the base 101 can be freely changed without being twisted.

[0026] The cross axis joints 51, 53 of the base 101 and the support table 103 are configured as so-called general-purpose universal joints that use the cross member 55 as the X-axis and Y-axis, and the auxiliary support device 50 is designed to follow changes in the relative posture of the base 101 and the support table 103 of the vibration device 100 so as not to interfere with changes in the relative posture of the support table 103 with respect to the base 101.

[0027] Specifically, in the cross shaft joints 51 and 53, a pair of X-shafts 55x of cross member 55 are rotatably supported by bearings 57b within a pair of bearings 57 arranged vertically at a distance in the X-axis direction on the upper surface of base 101 and the lower surface of support stand 103, and a pair of Y-shafts 55y of cross member 55 are rotatably supported by bearings 59b within a pair of bearings 59 arranged vertically at a distance in the Y-axis direction on the lower part of spline joint 60 and the upper part of upper connecting base 80.

[0028] As a result, in the auxiliary support device 50, the bearings 57, 59 of the base 101 and the support stand 103 hold the X-axis 55x and Y-axis 55y of the cross axis joints 51, 53 (cross member 55) freely rotatably, allowing the cross member 55, the lower part of the spline joint 60, and the upper part of the upper connecting base 80 to swing relative to the base 101 and the support stand 103, freely changing their relative postures, and thereby assisting in supporting the actuator 10.

[0029] The auxiliary support device 50 includes a housing member 62 having a nut (spline bearing, second slide member) 71 fixed to one end thereof for holding the spline shaft 65 so as to be slidable (insertable) in the axial direction, so that the spline joint 60 on the base 101 side and the spline shaft 65 form a ball spline joint 70 (manufactured by THK Corporation, for example), and the housing member 62 is fixed to the rear surface of the cross shaft joint 51 on the base 101 side. Although not shown in the drawings, the ball spline joint 70 has spline grooves formed on the outer peripheral surface of the spline shaft 65 and the inner peripheral surface of the nut 71, which extend in the axial direction and accommodate a plurality of balls in a rollable manner, and realizes relative sliding movement while reducing the load generated when one of the spline shaft 65 and the nut 71 moves relative to the other only linearly without rotating. Here, in this embodiment, a ball spline joint 70 with low friction is used, but it may be replaced with a spline structure that utilizes sliding.

[0030] The auxiliary support device 50 has an upper connecting base 80 on the support base 103 side which is provided with a bottomed cylindrical member 82 to which an upper end 65e of the spline shaft 65 of the ball spline joint 70 is fixed, and this cylindrical member 82 is installed so as to be located on the back surface of the cross joint 53 on the support base 103 side, with a rotation mechanism 85 described later interposed therebetween. In this upper connecting base 80, the upper end 65e of the spline shaft 65 of the ball spline joint 70 is fixed to an upper flange 82b of the cylindrical member 82, and the spline shaft 65 is housed in the cylindrical portion 82c.

[0031] The rotation mechanism 85 is configured to include a disk member 86 located at the upper part of the upper connecting base 80, an upper flange 82b of a cylindrical member 82 of the upper connecting base 80 to which an upper end portion 65e of the spline shaft 65 of the ball spline joint 70 is fixed, and a bearing 87 that connects the disk member 86 and the upper flange 82b of the cylindrical member 82 so as to face each other and be coaxially rotatable. The bearing 87 of the rotation mechanism 85 connects an outer circumferential surface of a small ring member 87a fixed to the disk member 86 and an inner circumferential surface of a large ring member 87b fixed to the upper flange 82b of the cylindrical member 82 so as to be relatively rotatable, thereby enabling the upper connecting base 80 (cylindrical member 82) to which the upper end portion 65e of the spline shaft 65 of the ball spline joint 70 is fixed to be rotatably connected and supported by the cross joint 53 on the support base 103 side.

[0032] As a result, in the auxiliary support device 50, the cross axis joints 51, 53 not only allow (follow) the relative posture of the base 101 and the support base 103 to change freely in response to the expansion and contraction of the actuator 10, but the rotation mechanism 85 can also allow the facing relationship to rotate relative to one another as the separation distance between the base 101 and the support base 103 changes, thereby enabling the connected and supported state of the base 101 and the support base 103 to be maintained.

[0033] In this connected and supported state of the base 101 and the support stand 103, the housing member 62 to which the nut 71 of the ball spline joint 70 of the spline joint 60 on the base 101 side is fixed is formed, for example, in a cylindrical shape so that the spline shaft 65 of the ball spline joint 70 can be inserted therein, and the nut 71 and the spline shaft 65 are connected so as to be able to slide relatively, thereby maintaining a state in which the spline joint 60 on the base 101 side is connected in a linear attitude to the upper connecting base 80 on the support stand 103 side. In other words, this ball spline joint 70 constitutes a slide holding mechanism that functions as a linear joint.

[0034] Furthermore, in the auxiliary support device 50, the upper connecting base 80 has an upper end 65e of the spline shaft 65 of the ball spline joint 70 fixed to an upper flange 82b of the cylindrical member 82, and the spline shaft 65 is accommodated in the cylindrical portion 82c, and a disk-shaped connecting intermediate member 83 is installed on the lower part of the cylindrical edge side of the cylindrical portion 82c of the cylindrical member 82 of the upper connecting base 80 so as to be positioned midway between the base 101 and the support stand 103 in the facing direction. The disk-shaped connecting intermediate member 83 on the lower part of the upper connecting base 80 (cylindrical member 82) has an opening 83a formed therein through which the housing member 62 of the spline joint 60 to which the nut 71 of the ball spline joint 70 is fixed can be inserted.

[0035] In this auxiliary support device 50, the opening edges on both ends of a roughly cylindrical air spring (a repulsive member functioning as an auxiliary member) 90 are rubber sealed or the like between the underside of a connecting intermediate member 83 at the bottom of the upper connecting base 80 (cylindrical member 82) and the upper surface of the base 101, so that an airtight internal space 90s is formed inside the air spring 90.

[0036] The air spring 90 is formed in a roughly cylindrical shape in which elastic outer circular parts 91-93 made of an elastic material that rotate in parallel between a base 101 and a support stand 103 are stacked in multiple stages, and a rigid ring-shaped rigid part 95 having rigidity is interposed between the elastic outer circular parts 91-93 and stacked in multiple stages to form an internal space 90s. Here, the air spring 90 is not limited to a multi-stage shape, and may be a single-stage cylindrical shape when it has sufficient flexibility, and may also be formed in a roughly rectangular cross-section, such as a roughly square tube shape with a square cross-section, or may be another irregular shape.

[0037] In addition, the auxiliary support device 50 has a fluid passage 99a formed in the base 101 that communicates with the internal space 90s of the air spring 90, and an air charging amount control device 99 (see FIG. 5) is externally connected to the fluid passage 99a. As shown in FIG. 5, the air charging amount control device 99 is connected to a general-purpose compressor that discharges compressed air, and a general-purpose pressure control circuit detects the charging amount and charging pressure of the compressed air and makes it possible to generate a desired internal pressure in the internal space 90s of the air spring 90. At this time, as shown in FIG. 3, the lower surface of the connection intermediate member 83 on the air spring 90 side and the lower surface of the upper flange 82b of the upper connecting base 80 become pressure receiving surfaces for the compressed air, generating a repulsive force that pushes back the support base 103 to which the mounting weight is applied as a necessary auxiliary force, and the auxiliary force is transmitted to the top plate 90 via the second universal joint 84. 103 Give to.

[0038] Thus, the auxiliary support device 50 can generate a desired internal pressure in the internal space 90s of the air spring 90 by the air filling amount control device 99, and generate and apply a repulsive force acting in the direction of separation between the base 101 and the support stand 103. For example, the auxiliary support device 50 can support the support stand 103 in a direction of separation from the base 101 at a constant pressure by maintaining the internal pressure in the air spring 90 at a desired constant pressure. In addition, the auxiliary support device 50 can adjust the internal pressure in the air spring 90 by the air filling amount control device 99 according to, for example, the weight of the test object on the support stand 103, and support the support stand 103 with a desired repulsive force. Here, the air spring 90 generates a repulsive force by filling the internal space 90s with compressed air, but a spring or elastic rubber may be arranged at a plurality of positions between the connection intermediate member 83 and the base 101 as an auxiliary member for the repulsive member, to generate and apply a desired constant elastic force. In addition, if the load (loaded mass) received by the tabletop 103 at rest is constant, the air filling amount control device 99 can be omitted and a constant pressure can be enclosed (filled and sealed) in the internal space 90s of the air spring 90.

[0039] Therefore, the vibration device 100 can extend and retract the six sets of actuators 10 to tilt and vibrate the support base 103 with six degrees of freedom relative to the base 101, and at this time, the auxiliary support device 50 is twisted without interfering with the change in attitude of the support base 103 relative to the base 101, and can apply the desired auxiliary force (repulsion force) to assist in supporting the multiple actuators 10 without excessive eccentricity or deflection.

[0040] In this manner, in the vibration device (test device) 100 of this embodiment, the output driving force of the multiple actuators 10 can be reduced to perform similar test operations. For example, even when the support base 103 is brought to a stationary state, the driving force of that actuator 10 can be reduced to allow the auxiliary support device 50 to assist in supporting it.

[0041] Therefore, in the vibration device 100, the auxiliary support device 50 can apply the desired repulsive force not only when the actuator 10 is driven but also when it is in standby (stationary state), and the rated output driving force of the servo motor 49 of the actuator 10 can be reduced.

[0042] As a result, the driving force required for the servo motors 49 of the multiple actuators 10 can be reduced, resulting in a smaller size and reduced costs.

[0043] The scope of the present invention is not limited to the exemplary embodiments shown and described, but includes all embodiments that achieve the same effect as the object of the present invention. Moreover, the scope of the present invention is not limited to the combination of inventive features specified in each claim, but may be specified by any desired combination of specific features among all the respective disclosed features.

[0044] For example, in the description of the present embodiment, an actuator using a servo motor is used as an example, but the present invention can also be applied to a multi-degree-of-freedom telescopic device using other power sources, such as a hydraulic actuator.

[0045] Also, for the ball spline joint (rolling guide spline joint) 70, it is possible to use other types of spline joint (for example, a sliding guide spline joint, etc.). [Explanation of symbols]

[0046] 10...Actuator (expansion device) 11, 13... Cross shaft joint (swivel mechanism) 49...Servo motor 50……Auxiliary support device 51... Cross joint (first universal joint) 53...Cross shaft joint 55...Cross member 60...Spline joint 62... Housing parts 65...Spline shaft (first slide member) 70...Ball spline joint (linear joint, slide retention mechanism) 71... Nut (spline bearing, second slide member) 80……Upper connection base 82...Cylindrical member 83...Connection intermediate member 84...Second universal joint 85...Rotation mechanism 86...Disc component 87...Bearing 90...Air spring (auxiliary component) 90s...Inner space 91~93……Elastic outer circle parts 95...Rigid parts 99...Air charge amount control device 99a……Fluid passage 100...Vibration device (test device) 101: Base (substrate member, base, first connected member) 101B, 103B...Support blocks 103: Support base (top plate member, second connected member)

Claims

1. A support device installed between a first connected member and a second connected member together with a multi-degree-of-freedom extension device, a flexible mechanism capable of following the multi-degree-of-freedom movement of one or both of the first connected member and the second connected member; Further, an auxiliary member is provided to assist the multi-degree-of-freedom telescopic device capable of maintaining a stationary state of one or both of the first connected member and the second connected member, 13. An auxiliary support device, comprising: an air spring that fills an internal space of an elastic material with air; and an air spring that fills an internal space of an elastic material with air.

2. A universal joint having two degrees of freedom in the XY directions is connected to the first connected member, and a universal joint having three degrees of freedom in the XYZ directions is connected to the second connected member, The auxiliary support device according to claim 1, characterized in that the universal joint having two degrees of freedom is provided with a linear joint that is installed within the air spring of two or more stages that generates an auxiliary force acting in the separating direction of the first connected member and the second connected member so as to prevent twisting of the air spring, and that moves linearly in the separating direction.

3. 3. The auxiliary support device according to claim 2, wherein the universal joint having three degrees of freedom is configured by combining a cross joint and a rotation mechanism.

4. 3. The auxiliary support device according to claim 2, wherein the universal joint having three degrees of freedom uses a spherical bearing.

5. 3. The auxiliary support device according to claim 2, wherein the linear joint is a spline joint.

6. A test device in which at least three or more sets of extension devices are installed between the base member as the first connected member and the top plate member as the second connected member together with the auxiliary support device according to any one of claims 1 to 5, and the extension devices receive a driving force from a driving source and extend and retract in the direction of separation between the base member and the top plate member, thereby changing the distance between the base member and the top plate member for each extension device, thereby changing the attitude of the top plate member relative to the base member, The auxiliary support device includes: A first universal joint having two degrees of freedom in the XY directions is connected to the base member, and a second universal joint having three degrees of freedom in the XYZ directions is connected to the top plate member, A testing device characterized in that it is provided with an auxiliary member that generates an auxiliary force acting in the direction in which the base member and the top plate member are separated, as well as a slide holding mechanism for a linear joint that is connected to each of the base member and the top plate member and moves linearly so as to be relatively slidable in the separation direction.

7. the auxiliary member includes the air spring having two or more stages that generates a repulsive force as the auxiliary force acting in a direction in which the base member and the top plate member are separated from each other, The testing device according to claim 6, characterized in that the air spring is connected to the base member side and the top plate member side so that the repulsive force can be exerted on a member in which the first universal joint is installed and connected to the base member side and the top plate member side.

8. a connection intermediate member located midway between the base member and the top plate member in a separation direction, 8. The testing apparatus according to claim 7, wherein the air spring is connected to the connection intermediate member as a member on the top plate member side.

9. 8. The testing device according to claim 7, wherein the air spring is configured such that an internal space for accommodating compressed air is formed within an exterior member made of an elastic material, and the repulsive force applied to the top plate member is generated in accordance with the amount of compressed air filled in the internal space.

10. 8. The testing device according to claim 7, further comprising an air filling amount control device that adjusts and controls the amount of compressed air filled into the internal space of the air spring.

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