Test device, hedge trimmer, and electric actuator

Abstract

The present invention improves the power efficiency of a device equipped with an electric motor.　A vibration test device according to one embodiment of the present invention is provided with a vibration table on which an object to be excited is attached, an electric actuator that vibrates the vibration table in a predetermined direction, and a controller that controls the electric actuator. The electric actuator includes an electric motor that can switch between forward rotation and reverse rotation, and a drive device that is supplied with electric power from a power source and that is controlled by the controller to supply the electric motor with driving electric power that excites the vibration table at the desired amplitude and frequency. The drive device includes a power source regeneration converter that, when the vibration table is excited at the desired amplitude and frequency, causes electric power not consumed by acceleration of the electric motor, out of the electric power generated from the electric motor, to be regenerated in the power source.

Description

Test equipment, hedge trimmers, and electric actuators

[0001] The present invention relates to a testing device, a hedge trimmer, and an electric actuator.

[0002] Generally, mechanical products and parts are subjected to repeated loads during transportation and use. Objects subjected to repeated loads may break due to fatigue or their shape and characteristics may change. Therefore, when developing mechanical products and parts, it is desirable to apply repeated loads to samples (test pieces) and observe their behavior.

[0003] For such purposes, vibration test machines are used. Conventionally, vibration test machines equipped with hydraulic actuators have been used. However, hydraulic vibration test machines have problems associated with hydraulic actuators (e.g., low energy efficiency, the need for installation of large-scale hydraulic supply equipment such as oil tanks and hydraulic piping, the need for periodic replacement of large amounts of hydraulic oil, contamination of the work environment and soil due to hydraulic oil leakage, etc.), and improvements have been required. Recently, vibration test machines that use servo motors instead of hydraulic actuators have been proposed (see, for example, Patent Document 1).

[0004] International Publication No. 2009 / 011433

[0005] Although servomotor-type vibration testing equipment can reduce power consumption compared to hydraulic vibration testing equipment, there is still room for improvement in terms of power consumption when switching the rotation direction of the servomotor at short intervals, as described in Patent Document 1. This issue is not limited to vibration testing equipment, but can also arise in various devices in which an electric motor is repeatedly driven back and forth.

[0006] The present invention has been made in view of the above circumstances, and has an object to improve the power saving performance of a device equipped with an electric motor.

[0007] According to one aspect of the present invention, there is provided a vibration testing apparatus comprising: a vibration table on which an object to be vibrated is attached; an electric actuator that vibrates the vibration table in a predetermined direction; and a controller that controls the electric actuator, wherein the electric actuator includes an electric motor that can switch between forward and reverse rotation; and a drive device that is supplied with power from a power source and is controlled by the controller to supply drive power to the electric motor to vibrate the vibration table at a desired amplitude and frequency, and the drive device includes a power regeneration converter that, when the vibration table is vibrated at the desired amplitude and frequency, regenerates to the power source the power regenerated from the electric motor that is not consumed in accelerating the electric motor.

[0008] According to one embodiment of the present invention, it is possible to improve the power saving of a device equipped with an electric motor.

[0009] 1 is a plan view of a vibration testing device according to a first embodiment of the present invention. FIG. 2 is a side view of a first actuator according to the first embodiment. FIG. 3 is a side view of a table and a third actuator according to the first embodiment. FIG. 4 is a side view of a table and a third actuator according to the first embodiment. FIG. 5 is a block diagram showing a schematic configuration of a control system according to the first embodiment. FIG. 6 is a block diagram showing a schematic configuration of a power supply system according to the first embodiment. FIG. 7 is a diagram showing a circuit configuration of a power supply system according to the first embodiment. FIG. 8 is a diagram showing (a) a drive waveform of one cycle of a servo motor according to the first embodiment of the present invention, (b) a graph showing the rotation speed [rpm] of the servo motor in the first half of one cycle of the servo motor, (c) a graph showing the rotation speed of the servo motor in the second half of one cycle of the servo motor, (d) a graph showing the torque [Nm] of the servo motor in the first half of one cycle of the servo motor, and (e) a graph showing the torque of the servo motor in the second half of one cycle of the servo motor. FIG. 9 is a diagram comparing the operation of a motor according to the first embodiment of the present invention with that of a conventional motor. FIG. 10 is an external view of a tire testing device according to a second embodiment of the present invention. 1 is a diagram showing the internal structure of a torque generating device according to a second embodiment. FIG. 2 is a block diagram showing a schematic configuration of a power supply system according to the second embodiment. FIG. 3 is a side view of a torsion test device according to a third embodiment of the present invention. FIG. 4 is a side view of a first drive unit according to the third embodiment. FIG. 5 is a block diagram showing a schematic configuration of a power supply system according to the third embodiment. FIG. 6 is a side view of a tension-compression test device according to a fourth embodiment of the present invention. FIG. 7 is a front view of a tension-compression test device according to the fourth embodiment. FIG. 8 is a block diagram showing a schematic configuration of a power supply system according to the fourth embodiment. FIG. 9 is a perspective view of a collision simulation test device according to a fifth embodiment of the present invention. FIG. 10 is a perspective view showing the structure of a test unit and a belt mechanism of the collision simulation test device according to the fifth embodiment. FIG. 11 is a perspective view of an electric actuator according to the fifth embodiment. FIG. 12 is a plan view showing a schematic structure of an electric actuator according to the fifth embodiment. FIG. 13 is a side view of a connecting rod according to the fifth embodiment. FIG. 14 is a side view of a crankshaft according to the fifth embodiment. FIG. 15 is a side view showing the basic configuration of a uniformity and dynamic balancing combined test device according to a sixth embodiment of the present invention.13 is a schematic diagram showing a method of rotationally driving a spindle in a sixth embodiment. FIG. 14 is a front view of a measurement unit of a balance measurement device according to a seventh embodiment of the present invention. FIG. 15 is a side view of a measurement unit of a balance measurement device according to the seventh embodiment. FIG. 16 is a perspective view of a hedge trimmer according to an eighth embodiment of the present invention. FIG. 17 is a side view of a hedge trimmer according to the eighth embodiment. FIG. 18 is a plan view of a hedge trimmer according to the eighth embodiment. FIG. 19 is a block diagram showing a schematic configuration of a power supply system for an electric actuator according to a ninth embodiment. FIG. 19 is a block diagram showing a schematic configuration of a power supply system for an electric actuator according to a tenth embodiment of the present invention. FIG. 20 is a block diagram showing a schematic configuration of a power supply system for an electric actuator according to an eleventh embodiment of the present invention. FIG. 21 is a side view of a hedge trimmer according to a twelfth embodiment of the present invention. FIG. 22 is a plan view of a hedge trimmer according to the twelfth embodiment. FIG. 23 is a block diagram showing a modified example of the schematic configuration of a power supply system for an electric actuator. FIG. 24 is a block diagram showing another modified example of the schematic configuration of a power supply system for an electric actuator.

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, identical or corresponding components are designated by the same or corresponding reference numerals, and redundant description will be omitted. Furthermore, when multiple items with the same reference numerals are displayed in each drawing, not all of the multiple displays will necessarily be designated by the reference numerals, and the assignment of the reference numerals to some of the multiple displays will be omitted as appropriate.

[0011] First Embodiment FIG. 1 is a plan view of a vibration testing apparatus (vibration apparatus) 1000 according to a first embodiment of the present invention. The vibration testing apparatus 1000 of this embodiment is a power-saving motor system equipped with multiple electric motors as prime movers and capable of operating with less power consumption than conventional systems, and is also a power-saving testing system equipped with this power-saving motor system. The vibration testing apparatus 1000 is configured so that a workpiece to be subjected to a vibration test is fixed on a table 1100, and first, second, and third actuators 1200, 1300, and 1400 are used to vibrate the table 1100 and the workpiece placed thereon in three orthogonal axial directions. The workpiece is a vibrated object, and the table 1100 is an example of a vibration table to which the vibrated object is attached. In the following description, the direction in which the first actuator 1200 vibrates the table 1100 (the up-down direction in FIG. 1) is defined as the X-axis direction, the direction in which the second actuator 1300 vibrates the table 1100 (the left-right direction in FIG. 1) is defined as the Y-axis direction, and the direction in which the third actuator 1400 vibrates the table, i.e., the vertical direction (the direction perpendicular to the paper surface in FIG. 1), is defined as the Z-axis direction. The X-axis direction and the Y-axis direction are horizontal directions that are orthogonal to each other.

[0012] The first actuator 1200, the second actuator 1300, and the third actuator 1400 are each electric actuators that vibrate the vibration table 1100 in a predetermined direction, and each includes a servo motor 150 (150X, 150Y, 150Z). The servo motor 150 is, for example, an ultra-low inertia, high-output AC servo motor that is an electric motor that can switch between forward and reverse rotation. The use of such an ultra-low inertia, high-output servo motor 150 enables repeated reciprocating drive (forward / reverse inversion drive) at a high frequency of 100 Hz or more.

[0013] The first, second, and third actuators 1200, 1300, and 1400 are configured such that motors, power transmission members, and the like are attached to base plates 1202, 1302, and 1402, respectively. These base plates 1202, 1302, and 1402 are fixed onto the device base 1002 by bolts (not shown).

[0014] Next, the configuration of the first actuator 1200 will be described. FIG. 2 is a side view of the first actuator 1200 according to the first embodiment of the present invention as viewed in the Y-axis direction (from the right to the left in FIG. 1). FIG. 3 is a plan view of the first actuator 1200. In FIGS. 2 and 3, a portion is shown in cross section to show the internal structure. In the following description, the direction along the X-axis from the first actuator 1200 toward the table 1100 is defined as the "positive X-axis direction," and the direction along the X-axis from the table 1100 toward the first actuator is defined as the "negative X-axis direction."

[0015] 2, a frame 1222 consisting of a plurality of beams 1222a and a top plate 1222b fixed to each other by welding or the like (welding, brazing, adhesive, screw fixing, caulking, or other fixing methods; the same applies below) is fixed onto the base plate 1202 by welding or the like. In addition, a bottom plate 1242 of a support mechanism 1240 for supporting a drive mechanism 1210 for vibrating the table 1100 (FIG. 1) and a linking mechanism 1230 for transmitting the vibration motion of the drive mechanism 1210 to the table 1100 is fixed onto the top plate 1222b of the frame 1222 via bolts (not shown).

[0016] The drive mechanism 1210 includes a servo motor 150X, a coupling 1260, a bearing 1216, a ball screw 1218, and a ball nut 1219. The coupling 1260 connects the drive shaft 150a of the servo motor 150X to the ball screw 1218. The bearing 1216 is supported by a bearing support plate 1244 that is fixed perpendicularly to the bottom plate 1242 of the support mechanism 1240 by welding or the like, and rotatably supports the ball screw 1218. The ball nut 1219 is supported by the bearing support plate 1244 to prevent movement around its axis and engages with the ball screw 1218. Therefore, when the servo motor 150X is driven, the ball screw rotates, and the ball nut 1219 moves forward and backward in its axial direction (i.e., the X-axis direction). The movement of the ball nut 1219 is transmitted to the table 1100 via the connecting mechanism 1230, thereby driving the table 1100 in the X-axis direction. Then, by controlling the servo motor 150X so that the rotation direction of the servo motor 150X is switched at short intervals, it is possible to vibrate the table 1100 in the X-axis direction at a desired amplitude and interval.

[0017] A motor support plate 1246 is fixed vertically to the upper surface of the bottom plate 1242 of the support mechanism 1240 by welding or the like. A servo motor 150X is cantilevered on one surface (the surface on the X-axis negative direction side) of the motor support plate 1246 so that its drive shaft 150a is perpendicular to the motor support plate 1246. An opening 1246a is formed in the motor support plate 1246, and the drive shaft 150a of the servo motor 150X passes through this opening 1246a and is connected to the ball screw 1218 on the other surface of the motor support plate 1246.

[0018] Since the servo motor 150X is cantilevered on the motor support plate 1246, a large bending stress is applied to the motor support plate 1246, particularly at the fixed portion with the bottom plate 1242. To alleviate this bending stress, a rib 1248 is provided between the bottom plate 1242 and the motor support plate 1246.

[0019] The bearing unit 1216 has a pair of bearings (e.g., a pair of angular contact ball bearings 1216a and 1216b assembled face-to-face. The bearing 1216a is on the negative X-axis side, and the bearing 1216b is on the positive X-axis side). The bearings 1216a and 1216b are housed in a hollow portion of a bearing support plate 1244. A bearing pressing plate 1216c is provided on one surface of the bearing 1216b (the surface on the positive X-axis side). By fixing this bearing pressing plate 1216c to the bearing support plate 1244 using bolts 1216d, the bearing 1216b is pressed in the negative X-axis direction. In addition, a threaded portion 1218a is formed on the cylindrical surface of the ball screw 1218 adjacent to the negative X-axis side of the bearing unit 1216. A collar 1217 having an internal thread formed on its inner periphery is attached to this threaded portion 1218a. By rotating the collar 1217 relative to the ball screw 1218 and moving it in the positive direction of the X-axis, the bearing 1216a is pressed in the positive direction of the X-axis. In this way, the bearings 1216a and 1216b are pressed in directions toward each other, so that they come into close contact with each other and an appropriate preload is applied to the bearings 1216a and 1216b.

[0020] Next, the configuration of the coupling mechanism 1230 will be described. The coupling mechanism 1230 includes a linear motion unit 1232, a pair of Y-axis rails 1234, a pair of Z-axis rails 1235, an intermediate stage 1231, a pair of X-axis rails 1237, a pair of X-axis runner blocks 1233 (carriages), and a runner block mounting member 1238. The X-axis rail 1237 and one or more X-axis runner blocks 1233 form a guideway-type circulating linear bearing (hereinafter referred to as a "linear guide"). Similarly, the Y-axis rail 1234 and one or more Y-axis runner blocks 1231a, and the Z-axis rail 1235 and one or more Z-axis runner blocks 1231b form linear guides, respectively. The "runner blocks," also called "carriages," engage with the rails so as to be able to travel in the extension direction of the rails.

[0021] The linear motion unit 1232 is fixed to the ball nut 1219. The pair of Y-axis rails 1234 are rails that both extend in the Y-axis direction and are fixed side by side in the vertical direction to the end of the linear motion unit 1232 on the X-axis positive side. The pair of Z-axis rails 1235 are rails that both extend in the Z-axis direction and are fixed side by side in the Y-axis direction to the end of the table 1100 on the X-axis negative side. The intermediate stage 1231 is a block in which Y-axis runner blocks 1231a that engage with each of the Y-axis rails 1234 are provided on the surface on the X-axis negative side, and Z-axis runner blocks 1231b that engage with each of the Z-axis rails 1235 are provided on the surface on the X-axis positive side, and is configured to be slidable with respect to both the Y-axis rails 1234 and the Z-axis rails 1235.

[0022] That is, the intermediate stage 1231 is slidable in the Z-axis direction relative to the table 1100, and is slidable in the Y-axis direction relative to the linear motion unit 1232. Therefore, the linear motion unit 1232 is slidable in the Y-axis direction and the Z-axis direction relative to the table 1100. For this reason, even if the table 1100 is vibrated in the Y-axis direction and / or the Z-axis direction by the other actuators 1300 and / or 1400, the linear motion unit 1232 is not displaced by the vibration. In other words, bending stress caused by displacement of the table 1100 in the Y-axis direction and / or the Z-axis direction is not applied to the ball screw 1218, the bearing unit 1216, the coupling 1260, etc.

[0023] The pair of X-axis rails 1237 are rails that both extend in the X-axis direction and are fixed side by side in the Y-axis direction on the bottom plate 1242 of the support mechanism 1240. The X-axis runner blocks 1233 engage with each of the X-axis rails 1237 and are slidable along the X-axis rails 1237. The runner block mounting members 1238 are members fixed to the bottom surface of the linear motion unit 1232 so as to protrude outward on both sides in the Y-axis direction, and the X-axis runner blocks 1233 are fixed to the bottom of the runner block mounting members 1238. In this way, the linear motion unit 1232 is guided by the X-axis rails 1237 via the runner block mounting members 1238 and the X-axis runner blocks 1233, and is thereby movable only in the X-axis direction.

[0024] In this way, since the movement direction of the linear motion part 1232 is limited to only the X-axis direction, when the servo motor 150X is driven to rotate the ball screw 1218, the linear motion part 1232 and the table 1100 connected to this linear motion part 1232 move forward and backward in the X-axis direction.

[0025] Furthermore, restricting blocks 1236 are provided on the bottom plate 1242 of the support mechanism 1240, sandwiching the X-axis runner block 1233 from both sides in the X-axis direction. These restricting blocks 1236 are intended to limit the range of movement of the linear motion unit 1232. That is, when the servo motor 150X is driven to continue moving the linear motion unit 1232 in the positive direction of the X-axis, the restricting block 1236 located on the positive side of the X-axis eventually comes into contact with the runner block mounting member 1238, preventing the linear motion unit 1232 from moving any further in the positive direction of the X-axis. The same is true when the linear motion unit 1232 continues to move in the negative direction of the X-axis; the restricting block 1236 located on the negative side of the X-axis comes into contact with the runner block mounting member 1238, preventing the linear motion unit 1232 from moving any further in the negative direction of the X-axis.

[0026] The first actuator 1200 and the second actuator 1300 described above have the same structure except for the direction in which they are installed (the X-axis and the Y-axis are interchanged). Therefore, a detailed description of the second actuator 1300 will be omitted.

[0027] Next, the configuration of the third actuator 1400 according to an embodiment of the present invention will be described. FIG. 4 is a side view of the table 1100 and the third actuator 1400 as viewed from the X-axis direction (from bottom to top in FIG. 4). This side view also includes a partial cross-section to show the internal structure. FIG. 5 is a side view of the table 1100 and the third actuator 1400 according to an embodiment of the present invention as viewed from the Y-axis direction (from left to right in FIG. 1). FIG. 5 also includes a partial cross-section to show the internal structure. In the following description, the direction along the Y-axis from the second actuator 1300 to the table 1100 is defined as the positive Y-axis direction, and the direction along the Y-axis from the table 1100 to the second actuator 1300 is defined as the negative Y-axis direction.

[0028] 4 and 5 , a frame 1422 is provided on the base plate 1402, and the frame 1422 is made up of multiple beams 1422a extending vertically and a top plate 1422b arranged to cover the multiple beams 1422a. The lower end of each beam 1422a is fixed to the upper surface of the base plate 1402, and the upper end is fixed to the lower surface of the top plate 1422b by welding or the like. A bearing support plate 1442 of the support mechanism 1440 is fixed to the top plate 1422b of the frame 1422 via bolts (not shown). The bearing support plate 1442 is a member for supporting the drive mechanism 1410, which vibrates the table 1100 ( FIG. 1 ) in the vertical direction, and the coupling mechanism 1430, which transmits the vibration motion generated by the drive mechanism 1410 to the table.

[0029] The drive mechanism 1410 includes a servo motor 150Z, a coupling 1460, a bearing 1416, a ball screw 1418, and a ball nut 1419. The coupling 1460 connects the drive shaft 150a of the servo motor 150Z to the ball screw 1418. The bearing 1416 is fixed to the aforementioned bearing support plate 1442 and rotatably supports the ball screw 1418. The ball nut 1419 is supported by the bearing support plate 1442 to prevent movement around its axis and engages with the ball screw 1418. Therefore, when the servo motor 150Z is driven, the ball screw rotates and the ball nut 1419 moves forward and backward in its axial direction (i.e., the Z-axis direction). The movement of the ball nut 1419 is transmitted to the table 1100 via the connecting mechanism 1430, thereby driving the table 1100 in the Z-axis direction. By controlling the servo motor 150Z so that the rotation direction of the servo motor 150Z is switched at short intervals, it is possible to vibrate the table 1100 in the Z-axis direction (vertical direction) at a desired amplitude and interval.

[0030] A motor support plate 1446 extending in the horizontal direction (XY plane) is fixed to the lower surface of the bearing support plate 1442 of the support mechanism 1440 via two connecting plates 1443. A servo motor 150Z is suspended and fixed to the lower surface of the motor support plate 1446. An opening 1446a is provided in the motor support plate 1446, and the drive shaft 150a of the servo motor 150Z passes through this opening 1446a and is connected to the ball screw 1418 on the upper surface side of the motor support plate 1446.

[0031] In this embodiment, the axial dimension (vertical direction, Z-axis direction) of the servo motor 150Z is greater than the height of the frame 1422, and therefore most of the servo motor 150Z is disposed at a position lower than the base plate 1402. For this reason, the device base 1002 is provided with a hollow portion 1002a for accommodating the servo motor 150Z. The base plate 1402 is also provided with an opening 1402a for passing the servo motor 150Z through.

[0032] The bearing portion 1416 is provided so as to penetrate the bearing support plate 1442. The structure of the bearing portion 1416 is similar to that of the bearing portion 1216 in the first actuator 1200 (FIGS. 2 and 3), and therefore detailed description thereof will be omitted.

[0033] Next, we will explain the configuration of the coupling mechanism 1430. The coupling mechanism 1430 has a movable frame 1432, a pair of X-axis rails 1434, a pair of Y-axis rails 1435, a plurality of intermediate stages 1431, two pairs of Z-axis rails 1437, and two pairs of Z-axis runner blocks 1433.

[0034] The movable frame 1432 has a frame portion 1432a fixed to the ball nut 1419, a top plate 1432b fixed to the upper end of the frame portion 1432a, and side walls 1432c fixed to extend downward from both edges of the top plate 1432b in the X-axis direction. A pair of Y-axis rails 1435 are rails that both extend in the Y-axis direction and are fixed to the upper surface of the top plate 1432b of the movable frame 1432, aligned in the X-axis direction. In addition, a pair of X-axis rails 1434 are rails that both extend in the X-axis direction and are fixed to the underside of the table 1100, aligned in the Y-axis direction. The intermediate stage 1431 is a block having an X-axis runner block 1431a at its upper portion that engages with the X-axis rails 1434 and Y-axis runner blocks 1431b at its lower portion that engage with each of the Y-axis rails 1435, and is configured to be slidable relative to both the X-axis rails 1434 and the Y-axis rails 1435. One intermediate stage 1431 is provided at each position where the X-axis rail 1434 and the Y-axis rail 1435 intersect. Since two X-axis rails 1434 and two Y-axis rails 1435 are provided, the X-axis rails 1434 and the Y-axis rails 1435 intersect at four points. Therefore, in this embodiment, four intermediate stages 1431 are used.

[0035] In this way, each of the intermediate stages 1431 is slidable in the X-axis direction relative to the table 1100, and is slidable in the Y-axis direction relative to the movable frame 1432. That is, the movable frame 1432 is slidable in the X-axis direction and the Y-axis direction relative to the table 1100. Therefore, even if the table 1100 is vibrated in the X-axis direction and / or the Y-axis direction by the other actuators 1200 and / or 1300, the movable frame 1432 is not displaced by the vibration. That is, bending stress caused by displacement of the table 1100 in the X-axis direction and / or the Y-axis direction is not applied to the ball screw 1418, the bearing 1416, the coupling 1460, etc.

[0036] Furthermore, in this embodiment, since the movable frame 1432 supports the table 1100 and workpiece, which are relatively heavy, the spacing between the X-axis rails 1434 and the Y-axis rails 1435 is wider than the Y-axis rails 1234 and the Z-axis rails 1235 of the first actuator 1200. For this reason, if the table 1100 and the movable frame 1432 were connected by only one intermediate stage, as with the first actuator 1200, the intermediate stage would become larger, and the load applied to the movable frame 1432 would increase. For this reason, in this embodiment, a small intermediate stage 1431 is arranged at each intersection of the X-axis rail 1434 and the Y-axis rail 1435, thereby minimizing the magnitude of the load applied to the movable frame 1432.

[0037] The two pairs of Z-axis rails 1437 extend in the Z-axis direction and are fixed, one pair at a time, to each of the side walls 1432c of the movable frame 1432, aligned in the Y-axis direction. The Z-axis runner blocks 1433 engage with each of the Z-axis rails 1437 and are slidable along the Z-axis rails 1437. The Z-axis runner blocks 1433 are fixed to the upper surface of the top plate 1422b of the frame 1422 via runner block mounting members 1438. The runner block mounting member 1438 has a side plate 1438a disposed substantially parallel to the side wall 1432c of the movable frame 1432 and a bottom plate 1438b fixed to the lower end of the side plate 1438a, forming an L-shaped cross section overall. Furthermore, in this embodiment, when a particularly heavy workpiece with a high center of gravity is fixed on the table 1100, a large moment about the X-axis and / or the Y-axis is likely to be applied to the movable frame 1432. For this reason, the runner block mounting member 1438 is reinforced with ribs to withstand this rotational moment. Specifically, a pair of first ribs 1438c are provided at the corners formed by the side plates 1438a and bottom plates 1438b at both ends of the runner block mounting member 1438 in the Y-axis direction, and a second rib 1438d is further provided spanning between the pair of first ribs 1438c.

[0038] In this way, the Z-axis runner block 1433 is fixed to the frame 1422 and is slidable relative to the Z-axis rail 1437. Therefore, the movable frame 1432 is slidable in the vertical direction, and movement of the movable frame 1432 in any direction other than the vertical direction is restricted. Because the movement direction of the movable frame 1432 is restricted to only the vertical direction, when the servo motor 150Z is driven to rotate the ball screw 1418, the movable frame 1432 and the table 1100 engaged with this movable frame 1432 move forward and backward in the vertical direction.

[0039] As described above, in this embodiment, two pairs of rails and an intermediate stage configured to slide relative to the rails are provided between the table 1100 and each actuator, whose drive axes are perpendicular to one another. This allows the table 1100 to slide in any direction on a plane perpendicular to the drive direction of the actuator. Therefore, even if the table 1100 is displaced by one actuator, the load or moment caused by this displacement is not applied to the other actuators, and the other actuators and the table 1100 are maintained in engagement with each other via the intermediate stage. In other words, even if the table is displaced to any position, each actuator remains capable of displacing the table. Therefore, in this embodiment, the three actuators 1200, 1300, and 1400 can be simultaneously driven to vibrate the table 1100 and the workpiece fixed thereon in three axial directions.

[0040] In this embodiment, as described above, connecting mechanisms 1230, 1330, and 1430, each equipped with a guide mechanism combining a rail and a runner block, are provided between the actuators 1200, 1300, and 1400 and the table 1100. Similar guide mechanisms are also provided in the actuators 1200, 1300, and 1400, and these guide mechanisms are used to guide the nuts of the ball screw mechanisms of each actuator.

[0041] FIG. 6 is a block diagram showing a schematic configuration of a control system for a vibration testing apparatus 1000 according to a first embodiment of the present invention. The servo motor 150 is connected to a control unit C1 via a servo amplifier 1850. The control unit C1 may be, for example, a programmable logic controller (PLC) or an industrial personal computer (IPC). The servo motor 150 includes a rotary encoder 150e that detects the rotational position of the drive shaft 150a. The rotary encoder 150e is connected to the control unit C1. The control unit C1 feedback-controls the first actuator 1200, the second actuator 1300, and the third actuator 1400 (specifically, the servo motors 150X, 150Y, and 150Z) based on the signal from the rotary encoder 150e, thereby vibrating the table 1100 and the workpiece mounted thereon with a desired amplitude and frequency (or a predetermined vibration waveform).

[0042] Although the three actuators and the servo amplifier 1850 are shown as separate components in FIG. 6, the set of the three actuators and the servo amplifier 1850 may be regarded as a single electric actuator of the vibration testing device 1000, and the control unit C1 may be regarded as a controller that controls the electric actuator.

[0043] Fig. 7 is a block diagram showing a schematic configuration of a power supply system 1800 that supplies power to the servo motor 150. Fig. 8 is a diagram showing a circuit configuration of the power supply system 1800.

[0044] The primary power source 1810 (and the primary power source in each of the following embodiments) is a commercial power source or a power supply device (e.g., an AC generator) and supplies, for example, three-phase AC power. The power supplied from the primary power source 1810 is supplied to a servo amplifier 1850 (drive device) via a circuit breaker 1820, an electromagnetic switch 1830, and a reactor 1840. The servo amplifier 1850 has an output terminal connected to the servo motor 150 and supplies drive power to the servo motor 150. The servo amplifier 1850 is communicably connected to a control unit C1 and operates under the control of the control unit C1.

[0045] The servo amplifier 1850 includes a power regeneration converter 1851, an inverter 1852, and a capacitor 1853 (first capacitor) provided between the power regeneration converter 1851 and the inverter 1852 (servo motor 150). The power regeneration converter 1851 is, for example, a PWM (Pulse Width Modulation) converter that converts the power supply side current into a sine wave using PWM control. The power regeneration converter 1851 may also be one that performs power conversion using a 120° conduction method. The inverter 1852 is, for example, a PWM inverter that controls the output power using PWM control.

[0046] The servo amplifier 1850 including the inverter 1852 is a driving device that receives power from the primary power supply 1810 and is controlled by the control unit C1, which is a controller, to supply drive power to the servo motor 150, which is an electric motor, to vibrate the vibration table 1100 at a desired amplitude and frequency. A power regeneration converter 1851 included in the servo amplifier 1850 regenerates, to the power supply, the power that is regenerated from the servo motor 150, which is an electric motor, but is not consumed in accelerating the servo motor 150, when the vibration table 1100 is vibrated at a desired amplitude and frequency.

[0047] Furthermore, the power regeneration converter 1851 of this embodiment has both the function of rectifying AC supplied from the primary power supply 1810 during power running operation (i.e., an operation mode in which the servo motor 150 is driven by power supplied from the servo amplifier 1850) and the function of generating AC of the same quality as the system power to be fed back to the primary power supply 1810 during regenerative operation (i.e., an operation mode in which the servo motor 150 generates regenerative power and supplies it to the servo amplifier 1850), but a converter dedicated to power running operation and a converter dedicated to power regeneration may be provided separately.

[0048] The power supply regeneration converter 1851 includes switching elements SW1 to SW14, a capacitor C, and a transformer Tr. Each inverter 1852 includes switching elements SW15 to SW20. The switching elements SW1 to SW20 are, for example, IGBTs.

[0049] When power is supplied from a primary power source 1810 (for example, a single-phase three-wire commercial power source or a three-phase three-wire commercial power source) to servo motors 150X, 150Y, and 150Z, the control unit C1 repeatedly turns on and off switching elements SW1 to SW6 in accordance with the frequency of the AC power supplied from primary power source 1810, thereby rectifying the AC power supplied from primary power source 1810.

[0050] When power is supplied from the primary power supply 1810 to the servo motors 150X, 150Y, and 150Z, the power is rectified by the switching elements SW1 to SW6 and smoothed by the capacitor C.

[0051] Furthermore, when power is supplied from the primary power supply 1810 to the servo motors 150X, 150Y, and 150Z, the control unit C1 alternately turns on and off the switching elements SW7 and SW10 and the switching elements SW8 and SW9, and the power smoothed by the capacitor C is transmitted from the primary coil L1 to the secondary coil L2 of the transformer Tr.

[0052] Furthermore, when power supplied from the primary power supply 1810 is supplied to the servo motors 150X, 150Y, and 150Z, the control unit C1 repeatedly turns on and off the switching elements SW11 and SW14 and the switching elements SW12 and SW13 alternately, thereby rectifying the power transmitted from the primary coil L1 to the secondary coil L2.

[0053] Furthermore, when power supplied from the primary power supply 1810 is supplied to the servo motors 150X, 150Y, and 150Z, the power rectified by the switching elements SW11 to SW14 is smoothed by the capacitor 1853.

[0054] Furthermore, when power supplied from primary power supply 1810 is supplied to servo motors 150X, 150Y, and 150Z, control unit C1 repeatedly turns on and off switching elements SW15 to SW20, respectively, and the power smoothed by capacitor 1853 is converted into AC power with phases that differ by 120 degrees and supplied to servo motors 150X, 150Y, and 150Z.

[0055] In addition, when the power regenerated from the servo motors 150X, 150Y, and 150Z is supplied to the servo amplifier 1850, the three-phase AC power supplied from each of the servo motors 150X, 150Y, and 150Z is rectified by the diodes connected in parallel to the switching elements SW15 to SW20.

[0056] Furthermore, when the power regenerated from the servo motors 150X, 150Y, and 150Z is supplied to the servo amplifier 1850, the power rectified by the diodes connected in parallel to the switching elements SW15 to SW20 is smoothed by the capacitor 1853.

[0057] Furthermore, when power regenerated from the servo motors 150X, 150Y, and 150Z is supplied to the servo amplifier 1850, the control unit C1 repeatedly turns on and off the switching elements SW11 and SW14 and the switching elements SW12 and SW13, and the power smoothed by the capacitor 1853 is transmitted from the secondary coil L2 of the transformer Tr to the primary coil L1.

[0058] In addition, when the power regenerated from the servo motors 150X, 150Y, and 150Z is supplied to the servo amplifier 1850, the power transmitted from the secondary coil L2 to the primary coil L1 is rectified by each diode connected in parallel to the switching elements SW7 to SW10.

[0059] Furthermore, when the power regenerated from the servo motors 150X, 150Y, and 150Z is supplied to the servo amplifier 1850, the power rectified by the diodes connected in parallel to the switching elements SW7 to SW10 is smoothed by the capacitor C.

[0060] In addition, when the power regenerated from the servo motors 150X, 150Y, and 150Z is supplied to the servo amplifier 1850, the control unit C1 repeatedly turns on and off the switching elements SW1 to SW6, respectively, and the power smoothed by the capacitor C is converted into AC power and supplied to the primary power source 1810.

[0061] When driving the servo motor 150 (during power running), the AC power output from the reactor 1840 is converted to DC by a bridge circuit (e.g., an IGBT bridge circuit) of the power supply regeneration converter 1851, smoothed by a capacitor 1853, and then converted into AC (e.g., a pulse train) drive power by an inverter 1852. The drive power output from the inverter 1852 is input to the servo motor 150 and drives the servo motor 150 to rotate.

[0062] When the servo motor 150 generates regenerative power (during regenerative operation), the regenerative power output from the servo motor 150 is converted to DC by the inverter 1852 and input to the power supply regeneration converter 1851 via the DC bus 1854. The power supply regeneration converter 1851 converts the DC power supplied from the DC bus 1854 into sine-wave AC and outputs it to the primary power supply 1810 via the reactor 1840, the electromagnetic switch 1830, and the circuit breaker 1820. More specifically, the control unit C1 controls the servo motor 150 so that the servo motor 150 repeatedly rotates forward and reverse at a required frequency during the drive period of the servo motor 150. The control unit C1 may, for example, control the inverter 1852 so that the servo motor 150 repeatedly rotates forward and reverse at a required frequency of 3 Hz or more during the drive period. The power regeneration converter 1851 outputs a portion of the power regenerated from the servo motor 150 to the primary power source 1810 during the deceleration process of the servo motor 150 during forward and reverse rotation.

[0063] FIG. 9( a) is a graph showing the drive waveform of one cycle of the servo motor 150 when vibration is applied with a sine wave. FIG. 9( b) is a graph showing, in a simplified form, the change in the rotation speed [rpm] of the servo motor 150 in the first half of one cycle of the servo motor 150, and FIG. 9( c) is a graph showing, in a simplified form, the change in the rotation speed of the servo motor 150 in the second half of one cycle of the servo motor 150. FIG. 9( d) is a graph showing, in a simplified form, the change in the torque [Nm] of the servo motor 150 in the first half of one cycle of the servo motor 150, and FIG. 9( e) is a graph showing, in a simplified form, the change in the torque of the servo motor 150 in the second half of one cycle of the servo motor 150. In FIG. 9( a), the horizontal axis represents time t, and the vertical axis represents the angular position θ of the drive shaft 150 a. In FIGS. 9( b) and 9( c), the horizontal axis represents time t, and the vertical axis represents the rotation speed of the servo motor 150. 9(d) and 9(e), the horizontal axis represents time t, and the vertical axis represents the torque of the servo motor 150. The time widths of each of Figures 9(a) to 9(e) are the same.

[0064] The servo motor 150 is driven so that the angular position θ of the drive shaft 150a repeatedly varies in the range of -θa to θa according to a sine wave drive waveform while the time t repeatedly passes from time t0 to time t6. The drive waveform of the servo motor 150 is not limited to a sine wave. If the drive waveform of the servo motor 150 is a sine wave drive waveform, the waveform of the rotation speed (number of rotations) of the servo motor will actually be a cosine waveform. However, for ease of explanation, in Figures 9(b) and 9(c), the rotation speed waveform of the servo motor is simplified by showing a constant speed change in the range where the rotation speed changes significantly and no speed change (constant number of rotations) in the range where the rotation speed changes less significantly.

[0065] During section A shown in FIG. 9A, more specifically, during a first period from time t0 to time t1, for example, the drive shaft 150a is accelerated in the positive rotation direction. That is, during the first period, the rotation speed of the servo motor 150 rotating in the forward direction increases, and the torque generated at this time is defined as positive torque (acceleration torque). At this time, power is supplied from the servo amplifier 1850 to the servo motor 150 (powering operation). For example, during the first period, power stored in capacitor 1853 and capacitor C is supplied to the servo motor 150, and the shortage of power is supplied from the primary power supply 1810 (via the servo amplifier 1850) to the servo motor 150.

[0066] During section B shown in FIG. 9A, more specifically, during a second period from time t2 to time t3, for example, the drive shaft 150a is decelerated in the positive rotation direction. That is, during the second period, the rotation speed of the servo motor 150, which is rotating in the positive direction, decreases, generating negative torque (deceleration torque). At this time, regenerative power is supplied from the servo motor 150 to the servo amplifier 1850 (regenerative operation). For example, during the second period, power regenerated from the servo motor 150 is stored in capacitors 1853 and C, and the regenerated power exceeding the capacity of these capacitors is output to the primary power supply 1810. That is, the power regeneration converter 1851 regenerates a portion of the power regenerated from the servo motor 150 to the primary power supply 1810 via capacitors 1853 and C.

[0067] During section C shown in FIG. 9A, more specifically, during a third period from time t3 to time t4, for example, the drive shaft 150a is accelerated in the negative rotation direction. That is, during the third period, the rotation speed of the reverse-rotating servo motor 150 increases, and the torque generated at this time is defined as positive torque (acceleration torque). At this time, power is supplied from the servo amplifier 1850 to the servo motor 150 (powering operation). For example, during the third period, power stored in capacitor 1853 and capacitor C is supplied to the servo motor 150, and the shortage of power is supplied from the primary power supply 1810 (via the servo amplifier 1850) to the servo motor 150.

[0068] During interval D shown in FIG. 9A, more specifically, during a fourth period from time t5 to time t6, for example, the drive shaft 150a is decelerated in the negative rotation direction. That is, during the fourth period, the rotation speed of the reverse-rotating servo motor 150 decreases, generating negative torque (deceleration torque). At this time, regenerative power is supplied from the servo motor 150 to the servo amplifier 1850 (regenerative operation). For example, during the fourth period, power regenerated from the servo motor 150 is stored in capacitor 1853 and capacitor C, and the regenerated power exceeding the capacity of these capacitors is output to the primary power supply. That is, the power regeneration converter regenerates a portion of the power regenerated from the servo motor 150 to the primary power supply 1810 via capacitor 1853 and capacitor C.

[0069] As described above, in the vibration testing apparatus 1000, the vibration table 1100 moves in the forward direction during the forward rotation periods of the servo motor 150, and moves in the reverse direction during the reverse rotation periods of the continuously repeated forward rotation periods (sections A and B) and reverse rotation periods (sections C and D). As shown in Fig. 9B, the forward rotation periods include a first acceleration period (first period) of the servo motor 150 that starts when the vibration table 1100 starts moving (time t0) and a first deceleration period (second period) of the servo motor 150 that ends when the vibration table 1100 stops moving (time t3). As shown in Fig. 9C, the reverse rotation periods include a second acceleration period (third period) of the servo motor 150 that starts when the vibration table 1100 starts moving (time t3) and a second deceleration period (fourth period) of the servo motor 150 that ends when the vibration table 1100 stops moving (time t6).

[0070] As shown in Fig. 9(d), the control unit C1 accelerates the servo motor 150 in a first acceleration period (first period) so that the torque of the servo motor 150 becomes positive, and decelerates the servo motor 150 in a first deceleration period (second period) so that the torque of the servo motor 150 becomes negative. Also, as shown in Fig. 9(e), the control unit C1 accelerates the servo motor 150 in a second acceleration period (third period) so that the torque of the servo motor 150 becomes positive, and decelerates the servo motor 150 in a second deceleration period (fourth period) so that the torque of the servo motor 150 becomes negative.

[0071] In addition, the control unit C1 controls the inverter 1852 so that, for example, the energy regenerated from the servo motor 150 and stored in the capacitor during the first deceleration period is supplied to the servo motor 150 in priority over the energy supplied from the primary power source 1810 during the second acceleration period, and the energy regenerated from the servo motor 150 and stored in the capacitor during the second deceleration period is supplied to the servo motor 150 in priority over the energy supplied from the primary power source 1810 during the first acceleration period.

[0072] Furthermore, the control unit C1 repeats an energy cycle consisting of, for example, a first acceleration period (first period), a first deceleration period (second period), a second acceleration period (third period), and a second deceleration period (fourth period) during the above-described driving period of the servo motor 150. During the first acceleration period, the energy stored in the capacitor during at least the second deceleration period of the previous energy cycle is supplied to the servo motor 150. During the first deceleration period, energy regenerated from the servo motor 150 is stored in the capacitor. During the second acceleration period, the energy stored in the capacitor during at least the first deceleration period of the current energy cycle is supplied to the servo motor 150. During the second deceleration period, the energy regenerated from the servo motor 150 is stored in the capacitor.

[0073] In the vibration testing apparatus 1000, by repeating powering operation and regenerative operation, the power stored in the capacitor 1853 and the capacitor C during regeneration can be used to drive the servo motor 150 during the next powering operation, thereby reducing the power supplied from the primary power supply 1810 to the servo motor 150 during the next powering operation. This allows for power saving in the power supply system 1800. Furthermore, by repeating acceleration (powering operation) and deceleration (regenerative operation) while alternating directions, the drive shaft 150a of the servo motor 150 rotates back and forth. Such back and forth rotation is repeated at a repetition frequency of, for example, a maximum of 500 Hz.

[0074] As described above, in this embodiment, in order to cause the servo motor 150 to repeatedly accelerate and decelerate, the supply of power to the servo motor 150 and the generation of regenerative power by the servo motor 150 are alternately repeated. Short-term (e.g., about one cycle of the servo motor 150) voltage fluctuations on the DC bus 1854 that accompany the exchange of power with the servo motor 150 are adjusted mainly by the capacitor 1853. Therefore, most of the power supplied to the servo motor 150 in sections A and C is recovered as regenerative power in sections B and D, making it possible to drive the servo motor 150 with almost no consumption of the power supplied from the primary power supply 1810.

[0075] An experiment was conducted to examine the energy-saving performance of the vibration testing device 1000. Table 1 lists the experimental conditions and results. In this experiment, only the servo motor 150X was operated.

[0076]

[0077] The "frequency F" is the number of times per second that one cycle of driving shown in FIG. 9 is repeated. In this experiment, the frequency F was changed in 25 Hz increments up to a maximum of 200 Hz, and the power consumption value W at each frequency F was Ａ and the output power value W Ｂ However, since measurement is impossible or measurement accuracy is reduced at frequencies F of 0 Hz or nearby, the minimum frequency was set to 10 Hz.

[0078] "Torque T ０ " is the maximum value (amplitude) of the relative torque (the ratio to the rated torque expressed as a percentage) of the drive shaft 150a of the servo motor 150. Ａ " is the average power consumption of the entire power supply system 1800 measured by the power meter PM upstream of the circuit breaker 1820 (FIG. 7). Ｂ " is the average value of the power output from the servo amplifier 1850 to the servo motor 150. "Energy saving rate R" is the rate of power consumption reduced by reusing regenerative power, and R = 100 × (1 - W Ａ / W Ｂ ) is calculated by

[0079] By using the vibration testing apparatus 1000 (specifically, the power supply system 1800) of this embodiment, an energy saving rate of more than 70% can be achieved at frequencies F of 200 Hz or less. In particular, an energy saving rate of more than 90% can be achieved in the low frequency range of 75 Hz or less.

[0080] The power consumption reduction effect of the power supply system 1800 of this embodiment can be obtained even when the repetition frequency of the reciprocating rotation of the servo motor 150 is set to 1 Hz, but when the repetition frequency is set to 3 Hz or more (more preferably 5 Hz or more), the regenerative power can be efficiently reused by the servo motor 150 itself, resulting in a good energy saving rate.

[0081] FIG. 10(a) is a graph that schematically shows the drive waveform of a typical conventional motor, and FIG. 10(b) is a graph that schematically shows the drive waveform of the servo motor 150 in this embodiment.

[0082] As shown in FIG. 10(a), in a typical conventional motor drive, the period T １ After accelerating to a predetermined rotation speed in the period T ２ ), and at the end, it is decelerated and stopped (section T ３ In this type of driving, the regenerative power is ３Therefore, the effect of reducing power consumption by using regenerative power is small.

[0083] On the other hand, in this embodiment, as shown in FIG. 10B, the servo motor 150 is repeatedly accelerated and decelerated at a high frequency throughout the entire period from the start to the end of driving. Regenerative power is repeatedly generated at a high frequency at the timing of deceleration of the servo motor 150. In other words, regenerative power is constantly generated from the start to the end of driving. Therefore, in this embodiment, the effect of reducing power consumption by using regenerative power is extremely large.

[0084] Second Embodiment Next, an example in which the present invention is applied to a tire testing device will be described. The tire testing device according to the second embodiment of the present invention described below is a testing device capable of conducting tire wear tests, durability tests, running stability tests, etc.

[0085] 11 and 12 are perspective views of a tire testing apparatus 2000 according to a second embodiment of the present invention, as seen from different directions. The tire testing apparatus 2000 of this embodiment includes a rotating drum 2010 having a simulated road surface formed on its outer circumferential surface, an alignment adjustment mechanism 2160 that rotatably holds the tire T in a state where the tire T is in contact with the simulated road surface in a predetermined attitude, a torque generating device 130 (slip ratio control device) that generates torque to be applied to the tire T, and an inverter motor 80 that rotationally drives the casings of the rotating drum 2010 and the torque generating device 130.

[0086] The rotating drum 2010 is rotatably supported by a pair of bearings 2011a. A pulley 2012a is attached to the output shaft of the inverter motor 80, and a pulley 2012b is attached to one of the shafts of the rotating drum 2010. The pulleys 2012a and 2012b are connected by a drive belt 2015 (e.g., a toothed belt). A pulley 2012c is attached to the other shaft of the rotating drum 2010 via an intermediate shaft 2013. The intermediate shaft 2013 is rotatably supported by a bearing 2011b near one end where the pulley is attached. The pulley 2012c is connected to a pulley 2012d by a drive belt 2016. The pulley 2012d is coaxially fixed to the pulley 2012e and rotatably supported together with the pulley 2012e by a bearing 2011c ( FIG. 12 ). The pulley 2012e is connected to a shaft 131a of a casing 131 (described later) of the torque generating device 130 by a drive belt 2017.

[0087] FIG. 13 is a diagram showing the internal structure of the torque generator 130. The torque generator 130 includes a casing 131, a servo motor 150 fixed inside the casing 131, and a reducer 133. Note that in this embodiment, a servo motor 150 having the same configuration as that in the first embodiment is used. Cylindrical shaft portions 131a and 131b are formed at both axial ends of the casing 131. The casing 131 is rotatably supported by bearing portions 2020 and 2030 at the shaft portions 131a and 131b. A pulley 2012f is attached to the outer periphery of the shaft portion 131a at one end (the right end in FIG. 13).

[0088] The reducer 133 has an input shaft 133a and an output shaft 133b, and reduces the rotational motion input to the input shaft 133a and outputs it to the output shaft 133b. The input shaft 133a of the reducer 133 is connected to a drive shaft 150a of the servo motor 150 by a coupling 134. A connecting shaft 135 is connected to the output shaft 133b of the reducer 133. The reducer 133 may be optionally provided in the torque generator 130. The connecting shaft 135 may be directly connected to the drive shaft 150a of the servo motor 150 without providing the reducer 133 in the torque generator 130.

[0089] The reducer 133 is an input shaft. The connecting shaft 135 passes through the hollow portion of the cylindrical shaft portion 131a of the casing 131 and is rotatably supported by a pair of bearings 136 provided on the inner periphery of the shaft portion 131a. The tip of the connecting shaft 135 protrudes from the tip of the shaft portion 131a. The connecting shaft 135 protruding from the shaft portion 131a is connected to the spindle of the alignment adjustment mechanism 2160 via a constant velocity joint 2014 (FIG. 11). A wheel with a tire T mounted thereon is attached to the spindle of the alignment adjustment mechanism 2160. That is, the servo motor 150 has a rotating shaft (drive shaft 150a) connected to the central axis of the tire T.

[0090] As a result, when the inverter motor 80 is driven, the rotating drum 2010 rotates, and the casing 131 of the torque generating device 130 connected to the inverter motor 80 via the rotating drum 2010 also rotates. Furthermore, when the torque generating device 130 is not operating, the rotating drum 2010 and the tire T rotate in opposite directions so that the peripheral speeds at the contact points are the same. Furthermore, by operating the torque generating device 130, dynamic or static driving force and braking force can be applied to the tire T.

[0091] In the present embodiment, the power output from the inverter motor 80 is transmitted again to the rotating drum 2010 via the rotating drum 2010, intermediate shaft 2013, torque generator 130, constant velocity joint 2014, the spindle of the alignment adjustment mechanism 2160, and tire T. In other words, the power transmission path made up of the rotating drum 2010, intermediate shaft 2013, torque generator 130, constant velocity joint 2014, the spindle of the alignment adjustment mechanism 2160, and tire T constitutes a power circulation system. Therefore, the power of the inverter motor 80 is used efficiently, enabling operation with low power consumption.

[0092] The alignment adjustment mechanism 2160 of this embodiment is a mechanism that rotatably supports a tire T, which is a test specimen, mounted on a wheel, presses the tread portion of the tire T against the simulated road surface of the rotating drum 2010, and adjusts the orientation of the tire T with respect to the simulated road surface and the tire load (ground contact pressure) to set states. The alignment adjustment mechanism 2160 includes a tire load adjustment unit 2161 that adjusts the tire load by moving the position of the rotation axis of the tire T in the radial direction of the rotating drum 2010, a slip angle adjustment unit 2162 that adjusts the slip angle of the tire T with respect to the simulated road surface by tilting the rotation axis of the tire T about a line perpendicular to the simulated road surface, a camber angle adjustment unit 2163 that adjusts the camber angle by tilting the rotation axis of the tire T with respect to the rotation axis of the rotating drum 2010, and a traverse device 2164 that moves the tire T in the direction of the rotation axis. The tire load adjustment unit 2161, the slip angle adjustment unit 2162, the camber angle adjustment unit 2163, and the traverse device 2164 are respectively equipped with servo motors M1, M2, M3, and M4. The servo motors M1, M2, M3, and M4 are, for example, AC servo motors.

[0093] FIG. 14 is a block diagram showing a schematic configuration of a power supply system 2800 according to a second embodiment of the present invention, which supplies power to the servo motor 150 and the inverter motor 80.

[0094] The power supply system 2800 of this embodiment differs from the power supply system 1800 of the first embodiment in that it includes a power supply system 2860 (reactor 2870, driver 2880) that supplies power to the inverter motor 80 branching off from the stage subsequent to the electromagnetic switch 2830, and power supply systems 2891 (reactor R1, servo amplifier A1), 2892 (reactor R2, servo amplifier A2), 2893 (reactor R3, servo amplifier A3), and 2894 (reactor R4, servo amplifier A4) that supply power to the servo motors M1, M2, M3, and M4 of the alignment adjustment mechanism 2160, respectively, and in that the servo amplifier 2850 is provided with only one inverter 2852. The driver 2880 is a device that generates drive power for the inverter motor 80 and includes an inverter circuit (not shown). The driver 2880 and the servo amplifiers A1 to A4 are each connected to the control unit C2 so as to be able to communicate with each other, and operate under the control of the control unit C2. The servo amplifiers A1, A2, A3, and A4 have the same configuration as the servo amplifier 2850.

[0095] In a test using the tire testing apparatus 2000 of this embodiment, a rotational motion is applied to the tire T, which is a combination of the rotation speed output by the inverter motor 80 and the torque generated by the torque generating device 130 (specifically, the servo motor 150). In one example of a test using the tire testing apparatus 2000, the inverter motor 80 is controlled to output a constant rotation speed, and the servo motor 150 is controlled to output a fluctuating torque (e.g., random vibration torque). Specifically, the servo motor 150 is driven to rotate back and forth while changing the amplitude and period based on predetermined vibration waveform data. In other words, the control unit C2 controls the servo motor 150 to rotate forward and backward repeatedly. As a result, the servo motor 150 is repeatedly accelerated and decelerated, and therefore, the servo amplifier 2850 repeatedly supplies driving power to the servo motor 150, and the servo motor 150 repeatedly supplies regenerative power to the servo amplifier 2850.

[0096] Most of the regenerative power generated by the servo motor 150 is temporarily stored in a capacitor 2853 and then used to drive the servo motor 150. The surplus regenerative power is supplied to power supply systems 2860, 2891, 2892, 2893, and 2894 via a power supply regenerative converter 2851 and a reactor 2840, and is used to drive the inverter motor 80 and servo motors M1, M2, M3, and M4. Therefore, most of the regenerative power generated by the servo motor 150 is reused to drive the servo motors 150, M1 to M4, and the inverter motor 80, and the power consumption of the primary power supply 2810 used to drive the servo motor 150 is slightly reduced. In addition, the regenerative power generated by the inverter motor 80 and the servo motors M1, M2, M3, and M4 is also reused to drive other motors (i.e., the servo motors 150, M1, M2, M3, and M4 and the inverter motor 80), further reducing the power consumption of the primary power source 2810.

[0097] By setting the tire T in the tire testing apparatus 2000 configured as described above and driving the inverter motor 80 for rotational drive, the tire T and the rotating drum 2010 rotate at the same peripheral speed. In this state, by driving the servo motor 150 of the torque generating device 130 to apply a driving force or a braking force to the tire T, it becomes possible to perform tire wear tests, durability tests, running stability tests, and the like that simulate actual running conditions.

[0098] The tire testing apparatus 2000 includes an electric actuator that applies torque to the tire T, and a control unit C2. As shown in FIG. 14 , the electric actuator of the tire testing apparatus 2000 includes a servo motor 150, an inverter 2852, and a power regeneration converter 2851, which is similar to the vibration testing apparatus 1000.

[0099] In tire testing apparatus 2000, servo amplifier 2850 including inverter 2852 is a drive device that receives energy from a power supply and is controlled by control unit C2 to supply drive power to servo motor 150 that generates fluctuating torque in servo motor 150. Furthermore, power supply regeneration converter 2851 included in servo amplifier 2850 regenerates, to the power supply, the energy that is regenerated from servo motor 150 but is not consumed in accelerating servo motor 150 when control unit C2 controls servo amplifier 2850 (inverter 2852) to generate fluctuating torque in servo motor 150.

[0100] By configuring the tire testing device 2000 as described above, it is possible to effectively utilize regenerative energy in various tests that are performed by applying fluctuating torque (driving force, braking force) to the tire T, and to reduce the amount of power consumption required for the tests.

[0101] Third Embodiment Next, an example in which the torsion test apparatus of the present invention is applied will be described. The torsion test apparatus according to the third embodiment of the present invention described below is an apparatus capable of performing a so-called rotational torsion test in which a rotational motion of a predetermined rotation speed and torque is applied to a test specimen, and can be used, for example, to test the performance and durability of automotive power transmission devices (e.g., clutches, propeller shafts, differential gears, transmissions, torque converters, etc.).

[0102] FIG. 15 is a side view of a torsion test apparatus 3000 according to a third embodiment of the present invention. The torsion test apparatus 3000 of this embodiment is capable of performing a rotational torsion test on a specimen W (e.g., a transmission unit for an FR vehicle) having two rotational axes. Specifically, the torsion test apparatus 3000 can apply torque to each of the two rotational axes of the specimen W while rotating them synchronously by providing a phase difference between the rotations of the two rotational axes. The torsion test apparatus 3000 of this embodiment includes a first drive unit 3010, a second drive unit 3020, and a control unit C3 that comprehensively controls the operation of the torsion test apparatus 3000.

[0103] First, the structure of the first drive unit 3010 will be described. FIG. 16 is a side view of the first drive unit 3010. In FIG. 16, the case 3014 is shown in cross section to illustrate the internal structure of the case 3014. The first drive unit 3010 includes a main body 3010a and a base 3010b that supports the main body 3010a at a predetermined height. The main body 3010a includes a servo motor 150, a reducer 3013, a case 3014, a spindle 3015, a chuck device 3016, a torque sensor 3017, a slip ring 3019a, and a brush 3019b. The main body 3010a is assembled on a movable plate 3011 that is horizontally disposed on the top of the base 3010b. The servo motor 150 is the same as that in the first embodiment. The servo motor 150 is fixed on the movable plate 3011 with its output shaft (not shown) facing horizontally. The movable plate 3011 of the base 3010b is provided so as to be slidable in the direction of the output axis of the servo motor 150 (the left-right direction in FIG. 15).

[0104] The output shaft (not shown) of the servo motor 150 is connected to the input shaft (not shown) of the reducer 3013 by a coupling (not shown). The output shaft (not shown) of the reducer 3013 is connected to one end of a torque sensor 3017. The other end of the torque sensor 3017 is connected to one end of a spindle 3015. The spindle 3015 is rotatably supported by a bearing 3014a fixed to a frame 3014b of the case 3014. A chuck device 3016 is fixed to the other end of the spindle 3015 for attaching one end (one of the rotation shafts) of the specimen W to the first drive unit 3010. When the servo motor 150 is driven, the rotational motion of the output shaft of the servo motor 150 is decelerated by the reducer 3013 and then transmitted to one end of the specimen W via the torque sensor 3017, the spindle 3015, and the chuck device 3016. That is, the servo motor 150 has a rotation shaft (output shaft) coupled to the specimen W. In addition, a rotary encoder (not shown) that detects the rotation angle of the spindle 3015 is attached to the spindle 3015.

[0105] 16 , the reducer 3013 is fixed to a frame 3014b of the case 3014. The reducer 3013 also includes a gear case and a gear mechanism rotatably supported by the gear case via bearings (not shown). That is, the case 3014 covers the power transmission shaft extending from the reducer 3013 to the chuck device 3016 and also functions as a device frame that rotatably supports this power transmission shaft at the positions of the reducer 3013 and the spindle 3015. That is, the gear mechanism of the reducer 3013, to which one end of the torque sensor 3017 is connected, and the spindle 3015, to which the other end of the torque sensor 3017 is connected, are both rotatably supported by the frame 3014b of the case 3014 via bearings. Therefore, the torque sensor 3017 is not subjected to bending moments due to the gear mechanism of the reducer 3013 or the weight of the spindle 3015 (and chuck device 3016), and is only subjected to the test load (torsion load), so the test load can be detected with high accuracy.

[0106] A plurality of slip rings 3019a are formed on the cylindrical surface at one end of the torque sensor 3017. Meanwhile, a brush holding frame 3019c is fixed to the movable plate 3011 so as to surround the slip rings 3019a from the outer periphery. A plurality of brushes 3019b are attached to the inner periphery of the brush holding frame 3019c, each of which contacts a corresponding slip ring 3019a. When the servo motor 150 is driven and the torque sensor 3017 is rotating, the brushes 3019b slip on the slip ring 3019a while maintaining contact with the slip ring 3019a. The output signal of the torque sensor 3017 is configured to be output to the slip ring 3019a, and the output signal of the torque sensor 3017 can be taken out of the first drive unit 3010 via the brushes 3019b in contact with the slip ring 3019a.

[0107] The second driving unit 3020 (FIG. 15) has the same structure as the first driving unit 3010, and when the servo motor 150 is driven, a chuck device 3026 rotates. The other end (one of the rotation axes) of the specimen W is fixed to the chuck device 3026. The housing of the specimen W is fixed to the support frame S.

[0108] In the torsion test apparatus 3000 of this embodiment, the output shaft O and input shaft I (engine side) of a specimen W, which is a transmission unit for an FR vehicle, are fixed to chuck devices 3016 and 3026 of a first drive unit 3010 and a second drive unit 3020, respectively, and are rotated synchronously by servo motors 150, 150, while a difference is created between the rotational speeds (or rotation phases) of the chuck devices 3016 and 3026, thereby applying a torsional load to the specimen W. For example, the chuck device 3026 of the second drive unit 3020 is rotated at a constant speed, and the chuck device 3016 is rotated so that the torque detected by the torque sensor 3017 of the first drive unit 3010 fluctuates according to a predetermined waveform, thereby applying a periodically fluctuating torque to the specimen W, which is a transmission unit.

[0109] In this way, the torsion testing device 3000 of this embodiment is capable of precisely driving both the input shaft I and the output shaft O of the transmission unit using the servo motors 150, 150, and therefore, by applying a fluctuating torque to each shaft of the transmission unit while driving the transmission unit to rotate, it is possible to perform testing under conditions that are close to the actual driving conditions of an automobile.

[0110] When performing a rotational torsion test on a device in which the input shaft I and the output shaft O are connected via gears or the like, such as a transmission unit, the magnitude of the torque applied to the input shaft I and the output shaft O do not necessarily match. Therefore, in order to more accurately grasp the behavior of the test piece W during the torsion test, it is preferable to be able to measure the torque separately on the input shaft I side and the output shaft O side. In this embodiment, since torque sensors are provided on both the first drive unit 3010 and the second drive unit 3020 as described above, the torque can be measured separately on the input shaft I side and the output shaft O side of the transmission unit (test piece W).

[0111] Although the above example illustrates a configuration in which the input shaft I of the transmission unit is driven to rotate at a constant speed and torque is applied to the output shaft O, the present invention is not limited to the above example. That is, the output shaft O of the transmission unit may be driven to rotate at a constant speed and a variable torque may be applied to the input shaft I. Alternatively, both the input shaft I and the output shaft O of the transmission unit may be driven to rotate at variable rotation speeds. Furthermore, a configuration in which only the torque of each shaft is controlled without controlling the rotation speed may be used. Furthermore, a configuration in which the torque or rotation speed is varied according to a predetermined waveform may be used. The torque or rotation speed can be varied according to an arbitrary waveform generated, for example, by a function generator. Furthermore, the torque and rotation speed of each shaft of the test specimen W can be controlled based on waveform data of the torque and rotation speed measured in an actual driving test.

[0112] The torsion test apparatus 3000 of this embodiment is capable of adjusting the distance between the chuck devices 3016 and 3026 so as to accommodate transmission units of various sizes. Specifically, a movable plate drive mechanism (not shown) enables the movable plate 3011 of the first drive unit 3010 to move relative to the base 3010b in the direction of the rotation axis of the chuck device 3016 (left and right in FIG. 15 ). Note that while a rotational torsion test is being performed, the movable plate 3011 is firmly fixed to the base 3010b by a locking mechanism (not shown). The second drive unit 3020 also has a movable plate drive mechanism with the same configuration as the first drive unit 3010.

[0113] FIG. 17 is a block diagram showing a schematic configuration of a power supply system 3800 according to the third embodiment of the present invention, which supplies power to the servo motors 150 of the first driving unit 3010 and the second driving unit 3020.

[0114] The power supply system 3800 of this embodiment has the same configuration as the power supply system 1800 of the first embodiment, except that the number of inverters 3852 provided in the servo amplifier 3850 is two.

[0115] In one example of a test using the torsion test apparatus 3000 of this embodiment, the servo motor 150 of the first drive unit 3010 is driven to apply a fluctuating torque (e.g., random vibration torque) to the output shaft O of the specimen W while rotating it at a constant rotation speed. Specifically, the servo motor 150 of the first drive unit 3010 is controlled to rotate at a predetermined rotation speed while changing the phase of rotation so that a vibration torque is applied to the output shaft O based on predetermined waveform data. In other words, as the servo motor 150 of the first drive unit 3010 is repeatedly accelerated and decelerated, the servo amplifier 3850 repeatedly supplies drive power to the servo motor 150 of the first drive unit 3010, and the servo motor 150 of the first drive unit 3010 repeatedly supplies regenerative power to the servo amplifier 3850.

[0116] Similarly, the servo motor 150 of the second drive unit 3020 is driven to apply a fluctuating torque (e.g., random vibration torque) to the input shaft I of the specimen W while rotating it at a constant rotation speed. Specifically, the servo motor 150 of the second drive unit 3020 is controlled to rotate at a predetermined rotation speed while changing the phase of rotation based on predetermined waveform data to apply a vibration torque to the input shaft I. In other words, because the servo motor 150 of the second drive unit 3020 is repeatedly accelerated and decelerated, the supply of drive power from the servo amplifier 3850 to the servo motor 150 of the second drive unit 3020 and the supply of regenerative power from the servo motor 150 of the second drive unit 3020 to the servo amplifier 3850 are repeatedly performed.

[0117] Most of the regenerative power generated by each servo motor 150 is temporarily stored in a capacitor 3853 and then reused to drive the servo motors 150 of the first driving unit 3010 and the second driving unit 3020. This slightly reduces the amount of power consumed by the primary power supply 3810 used to drive the servo motors 150. Excess regenerative power is converted into sine wave AC by the power supply regeneration converter 3851 and output to the primary power supply via the reactor 3840, the electromagnetic switch 3830, and the circuit breaker 1820.

[0118] The torsion test apparatus 3000 is equipped with an electric actuator that applies a rotational motion of a predetermined rotation speed and torque to the specimen W, and a control unit C3. As shown in Fig. 17 , the electric actuator of the torsion test apparatus 3000 is equipped with a servo motor 150, an inverter (inverter 3852), and a power regeneration converter (power regeneration converter 3851), and in this respect is the same as that of the vibration test apparatus 1000.

[0119] In the torsion test apparatus 3000, the servo amplifier 3850 including the inverter 3852 is a drive device that receives energy from a power supply and is controlled by the control unit C3 to supply the servo motor 150 with drive power that generates a fluctuating torque in the servo motor 150. Furthermore, when the control unit C3 controls the servo amplifier 3850 (inverter 3852) to generate a fluctuating torque in the servo motor 150, the power supply regeneration converter 3851 regenerates, to the power supply, the energy regenerated from the servo motor 150 that is not consumed in accelerating the servo motor 150.

[0120] By configuring the torsion test apparatus 3000 as described above, it is possible to effectively utilize regenerative energy in a torsion test that is performed by applying a fluctuating torque (rotational movement of a predetermined rotation speed and torque) to the test specimen W, thereby reducing the amount of power consumption required for the test.

[0121] The torsion test apparatus 3000 according to the third embodiment of the present invention described above is used to perform a rotational torsion test on a transmission unit for an FR vehicle. However, the present invention is not limited to the basic configuration of the third embodiment described above, and the present invention also includes apparatuses for performing rotational torsion tests on other power transmission mechanisms.

[0122] Fourth Embodiment Next, an example in which the present invention is applied to a tension-compression testing device will be described. A tension-compression testing device 4000 according to a fourth embodiment of the present invention described below is a device capable of performing a fatigue test in which a tensile force or a compressive force is repeatedly applied to a test specimen.

[0123] Fig. 18 is a side view of a tension-compression testing device 4000 according to a fourth embodiment of the present invention. Fig. 19 is a front view of the tension-compression testing device 4000 according to the fourth embodiment.

[0124] The tension / compression test device 4000 includes a frame 4001 fixed to a horizontal surface, a support 4002 and a base 4003 fixed to the frame 4001, and an electric actuator 4010. The electric actuator 4010 is fixed to the support 4002 standing upright on the top surface of the frame 4001.

[0125] The pedestal 4003 is fixed to the frame 4001 vertically below the electric actuator 4010 fixed to the support 4002. A holding member 4004 that holds the specimen W is fixed to the pedestal 4003. The configuration of the holding member 4004 is not particularly limited as long as it is capable of applying a tensile force or a compressive force to the specimen W via the holding member 4004.

[0126] The electric actuator 4010 includes a servo motor 150, which is an electric motor capable of switching between forward and reverse rotation, a ball screw unit 4011 that converts the rotational motion of the servo motor 150 into linear motion, a piston 4012 attached to the tip (nut) of the ball screw unit 4011, and a servo amplifier 4850 (see FIG. 20 ), which will be described later. The ball screw unit 4011 is an example of a motion converter that outputs reciprocating linear motion in response to the forward and reverse rotation of the servo motor 150. The piston 4012 is an example of a movable part that receives the reciprocating linear motion of the ball screw unit 4011 and transmits a compressive force or a tensile force to the specimen W.

[0127] The height at which the electric actuator 4010 is fixed to the support 4002 can be adjusted by an elevating mechanism 4005 provided between the electric actuator 4010 and the support 4002. The height of the electric actuator 4010 is adjusted by the elevating mechanism 4005 so that the piston 4012 comes into contact with the upper surface of a holding member 4004 that holds a specimen W, for example, as shown in Fig. 18 . Thereafter, the piston 4012 and the holding member 4004 are fixed.

[0128] In the tension-compression testing device 4000 configured as described above, as in the first embodiment, the servo motor 150 is driven to rotate back and forth, causing the piston 4012 to perform a reciprocating linear motion, and as a result, compressive and tensile forces can be repeatedly applied to the test piece W.

[0129] FIG. 20 is a block diagram showing a schematic configuration of a power supply system 4800 according to a fourth embodiment of the present invention, which supplies power to the servo motor 150 of the electric actuator 4010.

[0130] The power supply system 4800 of this embodiment has the same configuration as the power supply system 1800 of the first embodiment, except that the number of inverters 4852 provided in the servo amplifier 4850 is one. The electric actuator 4010 is controlled by a control device C4.

[0131] In the tension / compression testing apparatus 4000, the servo amplifier 4850 including the inverter 4852 is supplied with energy from a power supply and is controlled by the control device C4 to supply drive power to the servo motor 150 for reciprocating linear motion of the ball screw portion 4011 at a desired amplitude and frequency. Furthermore, when the control device C4 controls the servo amplifier 4850 (inverter 4852) to cause the ball screw portion 4011 to reciprocate linearly at a desired amplitude and frequency, the power supply regeneration converter 4851 regenerates to the power supply the energy regenerated from the servo motor 150 that is not consumed by accelerating the servo motor 150.

[0132] By configuring the tensile / compression testing device 4000 as described above, it is possible to effectively utilize regenerative energy in tensile / compression tests that involve repeatedly applying tensile or compressive forces to the test specimen W, thereby reducing the amount of power consumed in the tests.

[0133] 21 is a perspective view of a collision simulation test apparatus 5000 according to a fifth embodiment of the present invention. The collision simulation test apparatus 5000 is an apparatus capable of reproducing the impact that is applied to an automobile or the like, its occupants, and its equipment when a transportation machine such as an automobile (including a railway vehicle, an aircraft, or a ship) collides with the automobile or the like.

[0134] The crash simulation test device 5000 includes a table 5240 that resembles the frame of an automobile vehicle. A test object, such as a seat carrying a passenger dummy or a high-voltage battery for an electric vehicle, is attached to the table 5240. In other words, the table 5240 is an example of a mounting portion to which the test object is attached. When the table 5240 is driven at a set acceleration (e.g., acceleration corresponding to the impact applied to the vehicle frame during a collision), an impact similar to that of an actual collision is applied to the test object attached to the table 5240. The safety of the occupants is evaluated based on the damage sustained by the test object at this time (or damage predicted from the measurement results of an acceleration sensor or the like attached to the test object).

[0135] The collision simulation test apparatus 5000 of this embodiment is configured to be able to drive the table 5240 in only one horizontal direction. As shown by the coordinate axes in FIG. 21 , the movable direction of the table 5240 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. Furthermore, with respect to the traveling direction of the vehicle being simulated, the positive X-axis direction is referred to as the forward direction, the negative X-axis direction as the backward direction, the negative Y-axis direction as the rightward direction, and the positive Y-axis direction as the leftward direction. Furthermore, the X-axis direction in which the table 5240 is driven is referred to as the "driving direction." Note that, in a collision simulation test, a large acceleration is applied to the table 5240 in the direction opposite to the traveling direction of the vehicle (i.e., backward).

[0136] The collision simulation test device 5000 includes a test section 5200 having a table 5240, a front drive section 5300 and a rear drive section 5400 that drive the table 5240, four belt mechanisms 5100 (belt mechanisms 5100a, 5100b, 5100c, and 5100d) that convert the rotational motion generated by each of the drive sections 5300 and 5400 into translational motion in the X-axis direction and transmit the translational motion to the table 5240, and a control unit C3. Each of the four belt mechanisms 5100 is an example of a transmission mechanism that converts the unidirectional rotational motion output by each of the drive sections 5300 and 5400 into linear motion and transmits the translational motion to the table 5240, which is a mounting section.

[0137] The test section 5200 is disposed at the center of the collision simulation test device 5000 in the X-axis direction, and the front drive section 5300 and the rear drive section 5400 are disposed adjacent to the front and rear of the test section 5200, respectively.

[0138] Fig. 22 is a perspective view showing the structures of the testing unit 5200 and the belt mechanism 5100. For ease of explanation, Fig. 22 omits illustration of a table 5240 and a base block 5210 (described later), which are components of the testing unit 5200.

[0139] In addition to the table 5240, the testing section 5200 includes a base block 5210 (FIG. 21), a frame 5220 attached to the base block 5210, and a pair of linear guides 5230 (guideway-type circulating linear bearings) attached to the frame 5220. The pair of linear guides 5230 support the table 5240 so that it can move only in the X-axis direction (drive direction).

[0140] 22, the frame 5220 has a pair of left and right half frames (a right frame 5220R and a left frame 5220L) connected by a plurality of connecting bars 5220C extending in the Y-axis direction. Since the right frame 5220R and the left frame 5220L have the same structure (more precisely, a mirror image relationship), only the left frame 5220L will be described in detail.

[0141] The left frame 5220L has an attachment portion 5221 and a rail support portion 5222 that each extend in the X-axis direction, and three connecting portions 5223 (5223a, 5223b, 5223c) that extend in the Z-axis direction and connect the attachment portion 5221 and the rail support portion 5222. As shown in Fig. 21 , the length of the attachment portion 5221 is approximately equal to the length of the base block 5210 in the X-axis direction, and its entire length is supported by the base block 5210. In addition, the rear ends of the attachment portion 5221 and the rail support portion 5222 are connected to each other by the connecting portion 5223a.

[0142] The rail support portion 5222 is longer than the mounting portion 5221 (i.e., longer than the base block 5210 ), and its tip portion protrudes forward beyond the base block 5210 and is positioned above the front drive portion 5300 .

[0143] The linear guide 5230 includes a rail 5231 extending in the X-axis direction and two carriages 5232 that run on the rail 5231 via rolling elements. The rails 5231 of the pair of linear guides 5230 are fixed to the upper surfaces of rail support portions 5222 of the right frame 5220R and the left frame 5220L, respectively. The length of the rail 5231 is approximately equal to the length of the rail support portions 5222, and the entire length of the rail 5231 is supported by the rail support portions 5222. A plurality of mounting holes (screw holes) are formed on the upper surface of the carriage 5232, and a plurality of through-holes corresponding to the mounting holes of the carriage 5232 are formed in the table 5240. The carriage 5232 is fastened to the table 5240 by fitting bolts (not shown) passed through each through-hole of the table 5240 into each mounting hole of the carriage 5232. The table 5240 and the four carriages 5232 form a sled.

[0144] Furthermore, the table 5240 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 mounted directly on the table 5240. 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.

[0145] As shown in FIG. 22, each belt mechanism 5100 includes a toothed belt 5120, a pair of toothed pulleys (first pulley 5140, second pulley 5160) around which the toothed belt 5120 is wound, and a pair of belt clamps 5180 for fixing the toothed belt 5120 to the table 5240.

[0146] Four toothed belts 5120 are arranged in parallel between the right frame 5220R and the left frame 5220L. Each toothed belt 5120 is fixed to the table 5240 by belt clamps 5180 at two locations in the length direction.

[0147] As shown in FIG. 21 , the front drive unit 5300 includes a base block 5310 and four electric actuators 5320 (5320a, 5320b, 5320c, and 5320d) installed on the base block 5310. The rear drive unit 5400 includes a base block 5410 and four electric actuators 5420 (5420a, 5420b, 5420c, and 5420d) installed on the base block 5410. Although there are slight differences in the installation positions and orientations, lengths of the components, and spacing between components, the total of eight electric actuators share a common basic configuration. The front drive unit 5300 and the rear drive unit 5400 also share a common basic configuration.

[0148] Based on the input acceleration waveform, the control unit C3 synchronously controls the driving of the motors 10 of the electric actuators 5320a-d and 5420a-d, thereby applying acceleration to the table 5240 in accordance with the acceleration waveform. In this embodiment, all eight servo motors are driven to rotate back and forth in the same phase.

[0149] In this embodiment, the toothed pulley can be rotated using regenerative energy by using the electric actuator 100 that outputs a unidirectional rotational motion, which will be described later, as the electric actuator 5420. This allows the table 5240 to be accelerated while suppressing power consumption, making it possible to perform a crash simulation test.

[0150] Fig. 23 is a perspective view showing the schematic structure of the electric actuator 100. Fig. 24 is a plan view showing the schematic structure of the electric actuator 100. Fig. 25 is a side view of the connecting rod 60 included in the electric actuator 100. Fig. 26 is a side view of the crankshaft 70 included in the electric actuator 100.

[0151] As shown in FIG. 23, the electric actuator 100 includes a drive unit 100d and a crankshaft 70.

[0152] The drive unit 100 d includes a motor 10 (electric motor), a bearing 30 , a ball screw 40 (feed screw mechanism), a linear motion part 50 (hereinafter referred to as “piston 50 ”), and a connecting rod 60 .

[0153] The motor 10 is, for example, an ultra-low inertia, high-output AC servo motor. By using such an ultra-low inertia, high-output motor 10, reciprocating reverse driving at a high frequency of, for example, 100 Hz or more is possible.

[0154] The screw shaft 41 of the ball screw 40 is rotatably supported by a bearing 30 fixed to the base block 5410 or 5310. The screw shaft 41 is connected to the shaft 11 of the motor 10 by a shaft coupling 20.

[0155] The piston 50 is a cylindrical member having a hollow portion 50a extending in the direction of the axis Ax1. The axis Ax1 is the center line of the drive unit 100d and is a straight line common to the rotation axes of the motor 10 and the ball screw 40. The nut 42 of the ball screw 40 is housed in, for example, one end (the left end in FIG. 24 ) of the hollow portion 50a of the piston 50 and is fixed to the piston 50.

[0156] A pin 52 is attached to the other end of the piston 50 (the right end in FIG. 24) perpendicular to the axis of the piston 50 (in other words, parallel to the crankshaft 70).

[0157] 25 is a side view of the connecting rod 60. The connecting rod 60 has a small end 62 with a small-diameter pin hole 62a formed therein, a big end 64 with a large-diameter pin hole 64a formed therein, and a rod portion 66 connecting the small end 62 and the big end 64. The pin holes 62a and 64a are formed parallel to each other.

[0158] The pin 52 is inserted into the pin hole 62a of the small end 62, for example, via a bushing (not shown). Both ends of the pin 52 are inserted into a pair of pin holes 50b (FIG. 24) formed in the other end of the piston 50, and fixed to the piston 50. As a result, the connecting rod 60 is connected at the small end 62 to the other end of the piston 50 via the pin 52 so as to be rotatable within a certain angular range around the pin 52 as the rotation axis. In addition to the pin 52 (first pin), the connecting rod 60 is also rotatably connected to a crank pin 72 (second pin), which will be described later.

[0159] 26 is a side view of a crankshaft 70. The crankshaft 70 includes a pair of coaxially arranged crank journals 71 (i.e., so that their rotation axes or center lines coincide), a crank pin 72 arranged eccentrically with respect to the axis of the crank journal 71 (i.e., the axis Ax2 that is the rotation axis of the crankshaft 70), a pair of crank arms 73 connecting the crank journal 71 and the crank pin 72, a pair of balance weights 74 provided on opposite sides of each crank arm 73 with respect to the axis Ax2, and an output shaft 75 coaxially coupled to one of the crank journals 71. The balance weight 74 is formed to cancel out imbalance caused by the crank pin 72 and crank arm 73 that are eccentric with respect to the axis Ax2.

[0160] The crankshaft 70 is rotatably supported at a pair of crank journals 71 by a pair of bearings (for example, rolling bearings) (not shown) fixed to the base block 5410 or 5310 .

[0161] The crank pin 72 is inserted into the pin hole 64a of the big end 64 of the connecting rod 60 via, for example, a bushing (not shown), so that the crankshaft 70 is rotatably coupled to the connecting rod 60.

[0162] It should be noted that oil-free bushings, for example, are used as the bushings that fit into the pin holes 62a and 64a of the connecting rod 60. Also, instead of bushings, other types of bearings, such as rolling bearings, may be used.

[0163] Motor 10 is an electric motor that can switch between forward and reverse rotation, and is driven so that shaft 11 repeatedly rotates back and forth within a predetermined angular range. The rotation of motor 10 is converted into linear motion by ball screw 40 and transmitted to piston 50. As a result, piston 50 performs a reciprocating linear motion on axis Ax1 with a predetermined stroke. In other words, ball screw 40 functions as a first motion converter that converts the reciprocating rotational motion of motor 10 into reciprocating linear motion.

[0164] The reciprocating linear motion of piston 50 in the direction of axis Ax1 is transmitted by connecting rod 60 to eccentric crank pin 72 of crankshaft 70, and converted into rotational motion of crankshaft 70. In other words, connecting rod 60 and crankshaft 70 (as well as pin 52 that rotatably supports connecting rod 60 and a bearing (not shown) that rotatably supports crankshaft 70) form a crank mechanism (more specifically, a slider-crank mechanism) as a second motion converter that converts reciprocating motion (reciprocating linear motion) into unidirectional rotational motion (hereinafter referred to as "unidirectional rotational motion").

[0165] In this way, the electric actuator 100 is equipped with a motion converter that converts the forward and reverse rotation of the motor 10 into unidirectional rotational motion, and this motion converter is composed of a ball screw 40, a piston 50, a connecting rod 60, and a crankshaft 70.

[0166] A power supply system 5800 according to the fifth embodiment of the present invention, which supplies power to the servo motor 10 of the electric actuator 100, has the same configuration as the power supply system 3800 shown in Fig. 17 except that the number of inverters 3852 is eight. The electric actuator 100 is controlled by a control unit C3 shown in Fig. 17.

[0167] In the collision simulation test device 5000, the servo amplifier 3850 including the inverter 3852 is supplied with energy from a power supply and is controlled by the control unit C3 to supply the motor 10 with drive power that imparts the desired acceleration to the table 5240. Furthermore, when the control unit C3 controls the servo amplifier 3850 (inverter 3852) to impart the desired acceleration to the table 5240, the power supply regeneration converter 3851 regenerates to the power supply the energy regenerated from the motor 10 that is not consumed in accelerating the motor 10.

[0168] As a result of being configured as described above, the collision simulation test device 5000 can effectively utilize regenerative energy in a simulated collision test in which a desired acceleration is applied to a test specimen to produce an impact similar to that of an actual collision, thereby reducing the amount of power consumed in the test.

[0169] The collision simulation testing device 5000 of this embodiment can be used as an impact testing device that applies a strong shock wave to a product or part to evaluate its durability and reliability against impact, or as a vibration testing device that applies vibration to a product or part.

[0170] In this embodiment, the electric actuator 100 is used as the electric actuator 5320 of the front drive unit 5300 and the electric actuator 5420 of the rear drive unit 5400, but the motor 10 may be used alone instead of the electric actuator 100. In particular, when the collision simulation test device 5000 of this embodiment is used as a vibration test device, acceleration and deceleration are repeated in short cycles, and therefore the regenerative power stored in the capacitor 3853 is efficiently reused by the motor 10, thereby reducing the amount of power consumption required for the test.

[0171] (Sixth Embodiment) A hybrid testing apparatus according to a twelfth embodiment of the present invention, which will be described below, is a testing apparatus capable of conducting a tire uniformity test and a dynamic balancing test. Fig. 27 is a side view showing the basic configuration of a hybrid testing apparatus 6000 for uniformity and dynamic balancing (hereinafter referred to as the hybrid testing apparatus 6000) according to an embodiment of the present invention. Fig. 28 is a schematic diagram showing a method for rotationally driving a spindle 6120 of the hybrid testing apparatus 6000.

[0172] 27 , the composite testing apparatus 6000 is configured to hold the tire T by sandwiching it vertically between a lower rim 6010 and an upper rim 6020. More specifically, the composite testing apparatus 6000 sandwiches and holds the tire T between the lower rim 6010 and the upper rim 6020 by inserting and fixing a lock shaft 6300, to the upper end of which the upper rim 6020 is fixed, into a spindle 6120.

[0173] The uniformity test uses a rotating drum 6030 provided on the side of the spindle 6120. The rotating drum 6030 is an example of a rotating drum that contacts a tire. The rotating drum 6030 is mounted on a movable housing 6032 that can slide on rails 6031 that extend in a direction approaching / moving away from the tire T, and moves in the direction approaching / moving away from the tire T by a rack and pinion mechanism 6035 (pinion 6036 and rack 6038) driven by a motor (not shown). The rotating drum 6030 can be rotated at any rotation speed by an electric actuator (not shown, hereinafter referred to as electric actuator 100a). The configuration of the electric actuator 100a is the same as the electric actuator 100 described above in the fifth embodiment.

[0174] When conducting a uniformity test, the rotating drum 6030 is brought into contact with the tire T by the rack and pinion mechanism 6035, and the rotating drum 6030 is pressed against the tire T with a force of several hundred kgf or more. Next, the rotating drum 6030 is rotated in this state (thus, the tire T in contact with the rotating drum 6030 also rotates along with the rotating drum 6030), and the variation in force generated in the rotating tire due to the fluctuation in load at this time is measured by a triaxial piezoelectric element installed on the side of the spindle housing 6110.

[0175] In this embodiment, the rotating drum 6030 is rotated using an electric actuator 100a. More specifically, the composite testing device 6000 has a power supply system having the same configuration as the power supply system 3800 shown in Fig. 17 , and a control unit C3 controls the electric actuator 100a, which causes the rotating drum 6030 to perform unidirectional rotational motion. This makes it possible to rotate the rotating drum 6030 while utilizing regenerative energy, thereby performing a uniformity test.

[0176] On the other hand, the dynamic balancing test is a test in which the tire T is rotated together with the spindle 6120 with the rotating drum 6030 separated from the tire T, and the eccentricity of the tire is measured from the excitation force generated by the imbalance of the tire T. The spindle 6120 is an example of a spindle to which a tire is attached.

[0177] A pulley 6140 is attached to the lower end of the spindle 6120 for rotating the spindle 6120 during a dynamic balancing test. In addition, an electric actuator 100b that can move horizontally toward and away from the spindle 6120 by a rack and pinion mechanism (not shown) is installed on a base 6050 to which the spindle 6120 is fixed, and the spindle 6120 is rotated by this electric actuator 100b. The configuration of the electric actuator 100b is the same as the electric actuator 100 described above in the fifth embodiment. This makes it possible to rotate the spindle 6120 using regenerative energy and perform a dynamic balancing test.

[0178] A drive pulley 6144 is attached to the output rotation shaft of the electric actuator 100b at the same height as the pulley 6140 of the spindle 6120. Also, as shown in Figure 28, a pair of driven pulleys 6143 are rotatably installed at the same height as the drive pulley 6144 and the pulley 6140 of the spindle 6120. The driven pulley 6143 moves forward and backward together with the electric actuator 100b (drive pulley 6144) by the rack and pinion mechanism (not shown). An endless belt 6142 is stretched between the drive pulley 6144 and the driven pulley 6143, and the electric actuator 100 can move the endless belt 6142 at a predetermined speed.

[0179] By driving the electric actuator 100b with the endless belt 6142 in contact with the pulley 6140 by the rack-and-pinion mechanism (the state shown by the solid line in FIG. 28 ), the pulley 6140 rotates, causing the spindle 6120 to rotate while holding the tire T between the lower rim 6010 and the upper rim 6020. At this time, the excitation force is measured by a triaxial piezoelectric element installed on the side of the spindle housing 6110. The configuration between the electric actuator 100b and the spindle 6120 (pulley 6140, drive pulley 6144, driven pulley 6143, and endless belt 6142) is an example of a transmission mechanism that transmits the unidirectional rotational motion output by the electric actuator 100b to the spindle 6120.

[0180] As described above, the composite testing apparatus 6000 has a power supply system having the same configuration as the power supply system 3800 shown in Fig. 17. The control unit C3 controls the electric actuator 100b, and the transmission mechanism transmits the unidirectional rotational motion output by the electric actuator 100b to the spindle 6120. This makes it possible to rotate the spindle 6120 using regenerative energy and perform a dynamic balancing test.

[0181] In this way, the composite testing device 6000 is provided with two electric actuators 100a and 100b having the same configuration as the electric actuator 100 of the fifth embodiment, with the electric actuator 100a being used to rotate the rotating drum 6030 and the electric actuator 100b being used to rotate the spindle 6120. This makes it possible to perform both the uniformity test and the dynamic balancing test while utilizing regenerative energy.

[0182] More specifically, in the composite testing apparatus 6000, the servo amplifier 3850 including the inverter 3852 is a drive device that receives energy from a power supply and is controlled by the control unit C3 to supply the motor 10 with drive power to rotate the rotating drum 6030 at a predetermined speed. When the control unit C3 controls the servo amplifier 3850 (inverter 3852) to rotate the rotating drum 6030 at a predetermined speed, the power supply regeneration converter 3851 regenerates to the power supply the energy regenerated from the motor 10 that is not consumed by accelerating the motor 10. Furthermore, the servo amplifier 3850 including the inverter 3852 is also a drive device that receives energy from a power supply and is controlled by the control unit C3 to supply the motor 10 with drive power to rotate the spindle 6120 at a predetermined speed. When the control unit C3 controls the servo amplifier 3850 (inverter 3852) to rotate the spindle 6120 at a predetermined speed, the power regeneration converter 3851 regenerates the energy regenerated from the motor 10 that is not consumed by accelerating the motor 10 back into the power supply.

[0183] With the above-described configuration, the composite testing device 6000 can effectively utilize regenerative energy in tire uniformity testing and dynamic balancing testing, thereby reducing the amount of power consumed during the testing.

[0184] Seventh Embodiment A balance measurement device 7000 according to a seventh embodiment of the present invention, which will be described below, is a testing device capable of measuring the balance of a rotating body. FIGS. 29 and 30 are a front view and a side view, respectively, of the balance measurement device 7000 according to this embodiment of the present invention. In the following description, the up-down direction in FIG. 29 is defined as the Y-axis direction, and the direction perpendicular to both the up-down direction and the direction of the rotational axis of the rotating body is defined as the X-axis direction. The rotating body 7100 of this embodiment is, for example, a crankshaft, and the balance measurement device 7000 is, for example, a device capable of measuring the balance of a crankshaft.

[0185] The balance measurement device 7000 has a frame made up of a base 7013, a plurality of springs 7014 extending vertically upward from the base 7013, and a table 7015 supported by the springs 7014. Drive shaft bearings 7012a and 7012b are attached to the underside of the table 7015. The drive shaft 7005 is rotatably supported by the drive shaft bearings 7012a and 7012b. Furthermore, as shown in FIG. 30 , a first side wall 7013a and a second side wall 7013b, which can be considered to be substantially rigid bodies, extend vertically upward from both ends of the base 7013 in the X-axis direction.

[0186] An electric actuator 100 according to the first embodiment, which outputs unidirectional rotational motion, is attached to the base 7013. A pulley 7003 is attached to the drive shaft of the electric actuator 100. Meanwhile, a first pulley 7006 is attached to one end of a drive shaft 7005, and a first endless belt 7004 is stretched between this first pulley 7006 and the pulley 7003 attached to the drive shaft of the electric actuator 100. By driving the electric actuator 100, the drive shaft 7005 can be rotated via the first endless belt 7004.

[0187] Furthermore, a first table sidewall 7017a and a second table sidewall 7017b are fixed vertically above the top surface of the table 7015 and are parallel to each other. The first table sidewall 7017a and the second table sidewall 7017b are rigid bodies having extremely high rigidity compared to the spring constant of the spring 7014. Driven shaft bearings 7016a and 7016c are fixed to the first table sidewall 7017a, and driven shaft bearings 7016b and 7016d are fixed to the second table sidewall 7017b. Note that only driven shaft bearings 7016a and 7016b are shown in FIG. 29, and driven shaft bearings 7016c and 7016d are located on the far side of driven shaft bearings 7016a and 7016b, respectively, in FIG. 29. The driven shaft bearings 7016a, 7016b, 7016c, and 7016d rotatably support the driven shafts 7010a, 7010b, 7010c, and 7010d (only 7010a and 7010b are shown in Figure 29), respectively.

[0188] Pulleys 7009a, 7009b, 7009c, and 7009d are attached to one ends of driven shafts 7010a, 7010b, 7010c, and 7010d, respectively. Second pulleys 7007a and 7007b are attached to one end of drive shaft 7005 adjacent to pulley 7006 and to the other end of drive shaft 7005. Second endless belts 7008a and 7008b are passed between the second pulley 7007a and pulley 7009a attached to driven shaft 7010a, pulley 7009c attached to driven shaft 7010c, second pulley 7007b and pulley 7009b attached to driven shaft 7010b, and pulley 7009d attached to driven shaft 7010d, respectively. Therefore, when the drive shaft 7005 rotates, its power is transmitted to the driven shafts 7010a and 7010c via the second endless belt 7008a, causing the driven shafts 7010a and 7010c to rotate. Furthermore, the power from the drive shaft 7005 is also transmitted to the driven shafts 7010b and 7010d via the second endless belt 7008b, causing the driven shafts 7010b and 7010d to also rotate.

[0189] Rollers 7011a, 7011b, 7011c, and 7011d are attached to the other ends of driven shafts 7010a, 7010b, 7010c, and 7010d, respectively. One end 7110a of the rotating shaft of rotating body 7100 is placed on rollers 7011a and 7011c, and the other end 7110b of the rotating shaft of rotating body 7100 is placed on rollers 7011b and 7011d. Rotating body 7100 rotates in response to the rotation of rollers 7011a, 7011b, 7011c, and 7011d. In other words, by driving electric actuator 100, rotating body 7100 can be rotated using regenerative energy.

[0190] The configuration between the electric actuator 100 and the rotating body 7100 (shaft, pulley, roller, belt) is an example of a transmission mechanism that transmits the unidirectional rotational motion output by the electric actuator 100 to the rotating body 7100, which is the test specimen.

[0191] A key groove 7102 is formed on the other end 7110b of the rotor 7100. The balance measuring device 7000 further includes a sensor S for detecting the key groove 7102.

[0192] 29 and 30 , vibration pickups VDL and VDR are attached between the first side wall 7013a of the base 7013 and the table 7015. The rotating body 7100, which is a crankshaft having a dynamic imbalance, vibrates when it rotates. In the balance measuring device of this embodiment, the vibration of the rotating body 7100 (crankshaft) is transmitted to the table 7015 via rollers 7011a, 7011b, 7011c, 7011d, first and second table side walls 7017a, 7017b, etc. The vibration pickups VDL and VDR detect the vibration transmitted from the rotating rotating body 7100 (crankshaft) to the table 7015. In other words, the vibration pickups VDL and VDR detect the fluctuations in the load that the rotating rotor 7100 (crankshaft) applies to the rollers 7011a, 7011b, 7011c, and 7011d.

[0193] The vibration pickups VDL and VDR are acceleration sensors capable of measuring two components (X-axis direction and Y-axis direction) of acceleration perpendicular to the rotation axis of the rotating body 7100. The vibration pickup VDL is attached on the same XY plane as the first table side wall 7017a, and the vibration pickup VDR is attached on the same XY plane as the second table side wall 7017b.

[0194] Furthermore, piezoelectric actuators VL and VR are attached between the second side wall 7013b of the base 7013 and the table 7015. Piezoelectric actuator VL is attached on the same XY plane as the first table side wall 7017a, and piezoelectric actuator VR is attached on the same XY plane as the second table side wall 7017b. Piezoelectric actuators are members that can expand and contract depending on the magnitude of the voltage applied to them, thereby displacing an object that they come into contact with. Therefore, by controlling the signals input to piezoelectric actuators VL and VR, it is possible to freely vibrate the table 7015.

[0195] The balance measurement device 7000 has a power supply system with the same configuration as the power supply system 4800 shown in Fig. 20. A control device C4 controls the electric actuator 100, and a transmission mechanism transmits the unidirectional rotational motion output by the electric actuator 100 to a rotating body 7100, which is a test specimen. This makes it possible to rotate the rotating body 7100 while utilizing regenerative energy, thereby performing a dynamic balance test.

[0196] More specifically, in the balance measurement device 7000, the servo amplifier 4850 including the inverter 4852 is a drive device that receives energy from a power supply and is controlled by the control device C4 to supply drive power to the motor 10 to rotate the rotating body 7100 at a predetermined speed. When the control device C4 controls the servo amplifier 4850 (inverter 4852) to rotate the rotating body 7100 at a predetermined speed, the power supply regeneration converter 4851 regenerates, to the power supply, the energy regenerated from the motor 10 that is not consumed by accelerating the motor 10.

[0197] By configuring the balance measurement device 7000 as described above, it is possible to effectively utilize regenerative energy in dynamic balance tests of rotating bodies such as crankshafts, and to reduce the amount of power consumed in the tests.

[0198] Eighth Embodiment Figures 31, 32 and 33 are a perspective view, a side view and a plan view, respectively, of a hedge trimmer 8000 according to an eighth embodiment of the present invention. Note that a piston 8050, which will be described later, is shown in cross section in Figures 32 and 33. Also, a frame 8002, which will be described later, is not shown in Figure 33.

[0199] The hedge trimmer 8000 is an electric agricultural implement (i.e., electrical equipment) used for pruning hedges and trees. The hedge trimmer 8000 includes a frame 8002, an electric actuator 8100 according to one embodiment of the present invention, and a pair of blades 8060 (8060A, 8060B). The electric actuator 8100 is a linear actuator that generates linear motion in the direction of an axis Ax, and causes the blade 8060 to move back and forth in a linear manner, as described below.

[0200] The hedge trimmer 8000 is equipped with a cover that covers the internal structure of the electric actuator 8100, a handle attached to, for example, the frame 8002 for holding the hedge trimmer 8000, and an operating section that includes, for example, an operating button or operating switch for operating the hedge trimmer 8000, but for the sake of convenience of explanation, these components are omitted from the illustration.

[0201] The frame 8002 has a base 8002a that supports the electric actuator 8100, and a rod 8002b that stands upright at one end of the base 8002a.

[0202] The electric actuator 8100 includes a motor 8010 (drive unit), a ball screw 8030 (feed screw mechanism) that is a motion converter that converts the power (rotational motion) output by the motor 8010 into linear motion, a piston 8050 (linear motion unit) that is driven in the direction of the axis Ax by the ball screw 8030, and a linear guide 8040 that supports the piston 8050 movably in the direction of the axis Ax. The motor 8010 and the linear guide 8040 are attached to a base 802a.

[0203] The motor 8010 is an electric motor that can switch between forward and reverse rotation, and is, for example, an ultra-low inertia, high-output AC servo motor. By using an electric motor with ultra-low inertia and high output, repeated reciprocating reverse driving at a high frequency of, for example, 100 Hz or more is possible.

[0204] The ball screw 8030 includes a plurality of balls (not shown) serving as rolling elements, a screw shaft 8031 ​​having a first spiral thread groove formed on its outer circumferential surface, and a nut 8032 having a cylindrical through hole (not shown) through which the screw shaft 8031 ​​passes. A second screw groove (not shown) is formed on the inner circumferential surface of the through hole of the nut 8032 at a position opposite the first screw groove. A plurality of balls are filled in a rolling path surrounded by the first screw groove and the second screw groove, and the screw shaft 8031 ​​and the nut 8032 engage with each other via the balls. Both ends of the rolling path are connected to a return path, forming a circulation path (closed path) through which the balls circulate. Note that rollers may be used as rolling elements instead of balls.

[0205] A screw shaft 8031 ​​of the ball screw 8030 is connected coaxially (i.e., so that the rotation axes or center lines coincide) to a shaft 8011 of the motor 8010 by a shaft coupling 8012. Note that the axis Ax of the electric actuator 8100 in this embodiment is the center line of the shaft 8011 of the motor 8010 and the screw shaft 8031 ​​of the ball screw 8030.

[0206] The piston 8050 is a member having a cylindrical hollow portion 8050a formed therein and centered on the axis Ax. The nut 8032 of the ball screw 8030 is housed in the hollow portion 8050a and fixed to the piston 8050.

[0207] The linear guide 8040 of this embodiment is a guideway-type circulating linear bearing, and includes a rail 8041 and a carriage 8042 that can run on the rail 8041. Note that the linear guide 8040 may use a different type of linear bearing (for example, a rolling bearing or a sliding bearing) or other linear guide mechanism.

[0208] The blade 8060 is a steel plate that is long in the direction of the axis Ax and has a plurality of teeth 8062 ( FIG. 33 ) formed on both edges of the plates. The pair of blades 8060 are stacked, with one (blade 8060A) fixed to one end of the piston 8050 in the direction of the axis Ax, and the other (blade 8060B) fixed to the tip of the rod 8002b. In other words, the blade 8060A can be driven in the direction of the axis Ax by the electric actuator 8100 relative to the fixed blade 8060B.

[0209] The motor 8010 is driven so that the shaft 8011 repeatedly rotates back and forth within a predetermined angular range. The rotation of the shaft 8011 is converted into linear motion by the ball screw 8030 and transmitted to the piston 8050. That is, the piston 8050 and the blade 8060A repeatedly perform linear reciprocating motion in the direction of the axis Ax at a predetermined stroke. Then, as the blade 8060A repeatedly moves back and forth in the direction of the axis Ax relative to the fixed blade 8060B, the object to be cut, such as branches and leaves, is sandwiched between the teeth 8062 of the pair of blades 8060A and 8060B and cut.

[0210] The configuration of the power supply system that supplies driving power to the motor 8010 is the same as that of the power supply system 4800 of the fourth embodiment shown in FIG. 20, but will be explained again here.

[0211] The primary power supply 4810 is a commercial power supply or a power supply device, and supplies, for example, single-phase AC or three-phase AC power (hereinafter referred to as "grid power"). The grid power supplied from the primary power supply 4810 is supplied to a servo amplifier 4850 (drive device) via an optionally provided circuit breaker 4820, an electromagnetic switch 4830, and a reactor 4840. The servo amplifier 4850 is an inverter device that converts the AC supplied from the primary power supply 4810 into drive power for a motor 8010. The motor 8010 is connected to the output terminal of the servo amplifier 4850, and drive power is supplied from the servo amplifier 4850 to the motor 8010. The servo amplifier 4850 is communicably connected to a control device C4 and operates under the control of the control device C4. The servo amplifier 4850 and the motor 8010 constitute an electric actuator 8100, which is controlled by the control device C4.

[0212] The servo amplifier 4850 includes a power regeneration converter 4851, an inverter 4852, and a capacitor 4853. The power regeneration converter 4851 is a converter suitable for power regeneration, such as a PWM (Pulse Width Modulation) converter that converts the power supply side current into a sine wave using PWM control. The power regeneration converter 4851 may also be one that performs power conversion using a 120° conduction method. The inverter 4852 is, for example, a PWM inverter that controls the output power using PWM control.

[0213] The inverter 4852 is a drive device that receives power from the primary power source 4810, which is a power source, and is controlled by the control device C4, which is a controller, to supply drive power to the motor 8010, which is an electric motor, to cause the blade 8060A to perform a reciprocating linear motion. The power regeneration converter 4851 regenerates, to the power source, the power regenerated from the motor 8010, which is an electric motor, that is not consumed in accelerating the servo motor 150, when the blade 8060A is caused to perform a reciprocating linear motion.

[0214] Furthermore, the power regeneration converter 4851 of this embodiment has both the function of rectifying AC supplied from the primary power supply 4810 during power running operation and the function of generating AC of the same quality as the system power that is fed back to the primary power supply 4810 during regeneration operation, but a converter dedicated to power running operation and a converter dedicated to power regeneration may be provided separately.

[0215] When driving the motor 8010 (during power running), the AC power output from the reactor 4840 is converted to DC by the power supply regeneration converter 4851, smoothed by the capacitor 4853, and then converted into AC (e.g., pulse train) driving power by the inverter 4852. The driving power output from the inverter 4852 is input to the motor 8010 and drives the motor 8010 to rotate.

[0216] When the motor 8010 generates regenerative power (during regenerative operation), the regenerative power output from the motor 8010 is converted to DC by the inverter 4852 and input to the power supply regeneration converter 4851 via the DC bus 4854. Note that one DC bus 4854 is configured from a pair of positive and negative conductors. The power supply regeneration converter 4851 converts the DC power supplied from the DC bus 4854 into sinusoidal AC and outputs it to the primary power supply 4810 via the reactor 4840, the electromagnetic switch 4830, and the circuit breaker 4820.

[0217] The drive waveform of one cycle of the motor 8010 is as shown in FIG. 9. That is, the motor 8010 is driven so that the angular position θ of the shaft 8011 repeatedly varies in the range of -θa to θa according to a sine wave drive waveform. The shaft 8011 of the motor 8010 rotates back and forth by repeatedly alternating between acceleration (powering operation) and deceleration (regenerative operation). Such back and forth rotation is repeated at a repetition frequency of, for example, a maximum of 500 Hz. Note that the drive waveform of the motor 8010 is not limited to a sine wave.

[0218] As described above, in this embodiment, in order to cause the motor 8010 to repeatedly accelerate and decelerate, the supply of power to the motor 8010 and the generation of regenerative power by the motor 8010 are alternately repeated. Short-term (e.g., about one cycle of the motor 8010) voltage fluctuations of the DC bus 4854 caused by the exchange of power with the motor 8010 are adjusted (in other words, leveled) mainly by the capacitor 4853. Therefore, most of the amount of power supplied to the motor 8010 in sections A and C shown in FIG. 9A is recovered as regenerative power in sections B and D (i.e., stored in the capacitor 4853) and reused, making it possible to drive the motor 8010 with almost no consumption of the power supplied from the primary power supply 4810.

[0219] Ninth Embodiment FIG. 34 is a block diagram showing a schematic configuration of a power supply system 290 for an electric actuator according to a ninth embodiment of the present invention.

[0220] The power supply system 290 of the ninth embodiment differs from the power supply system of the fourth embodiment ( FIG. 20 ) in that it includes a plug 291 that is inserted into an outlet (not shown) of the primary power supply, and in the configuration of a servo amplifier 295. Note that the circuit breaker 92, the electromagnetic switch 93, the reactor 94, the power regeneration converter 95 a, the inverter 95 b, the capacitor 95 c, and the DC bus 95 d in FIG. 34 correspond to the circuit breaker 4820, the electromagnetic switch 4830, the reactor 4840, the power regeneration converter 4851, the inverter 4852, the capacitor 4853, and the DC bus 4854 in FIG. 20 , respectively.

[0221] The servo amplifier 295 of the ninth embodiment is equipped with a battery 295e. By providing the battery 295e, the electric actuator of the ninth embodiment can operate using the power stored in the battery 295e even when disconnected from the primary power source. The battery 295e is connected in parallel to the power regeneration converter 95a and the inverter 95b to a DC bus 95d consisting of a pair of conductors.

[0222] When the plug 291 is connected to the primary power supply, the system power supplied from the primary power supply is rectified by the power supply regeneration converter 95a, and then stored and rectified by the capacitor 95c and the battery 295e. During power running, the DC power supplied from the capacitor 95c and the battery 295e via the DC bus 95d is converted by the inverter 95b into drive power and supplied to the motor 8010. When the plug 291 is not connected to the primary power supply, the drive power is generated by the power stored in the battery 295e.

[0223] During regenerative operation, regenerative power supplied from the motor 8010 is converted to direct current by the inverter 95b, and then stored and rectified by the capacitor 95c and the battery 295e. The regenerative power stored in the capacitor 95c and the battery 295e is reused to generate drive power by the inverter 95b during power running. When the plug 291 is connected to the primary power supply, surplus regenerative power is converted by the power supply regeneration converter 95a into sine wave alternating current equivalent to grid power and returned to the primary power supply.

[0224] Tenth Embodiment FIG. 35 is a block diagram showing a schematic configuration of a power supply system 390 for an electric actuator according to a tenth embodiment of the present invention.

[0225] The power supply system 390 of the tenth embodiment differs from the power supply system 4800 of the fourth embodiment in that it includes a generator 8080 and an inverter device 97 that converts the power generated by the generator 8080 into sine wave AC corresponding to grid power and supplies the power to the primary power source side. The generator 8080 is connected, for example, between the motor 8010 and the ball screw 8030. The inverter device 97 is also connected to the control device 96 so as to be able to communicate with the control device 96, and operates under the control of the control device 96.

[0226] The inverter device 97 includes a converter 97a, an inverter 97b, and a capacitor 97c. The converter 97a includes, for example, a full-wave rectifier including a diode bridge circuit. A PWM converter may be provided on the input side of the converter 97a to convert the input current of the converter 97a into a sine wave. The inverter 97b is, for example, a PWM inverter that controls the output power by PWM control.

[0227] The power generated by the generator 8080 is converted to DC by a converter 97a, smoothed by a capacitor 97c, and then input to an inverter 97b. A single DC bus 97d is configured from a pair of positive and negative conductors. The inverter 97b converts the DC power supplied from the DC bus 97d into sine wave AC of the same quality as the system power and outputs it to the primary power source 91.

[0228] The generator 8080 generates electric power using a portion of the power generated by the motor 8010. The electric power generated by the generator 8080 is used to generate drive power for the servo amplifier 95, and the surplus is returned to the primary power supply.

[0229] According to the configuration of this embodiment, the generator 8080 generates electricity not only during regenerative operation but also during powering operation, and supplies power to the primary power source 91, thereby enabling more efficient use of electrical energy.

[0230] Although the generator 8080 in this embodiment is an AC generator, a DC generator may also be used. In this case, rectification of the power generated by the generator is not required, and therefore the converter 97a of the inverter device 97 is not required. For example, the output terminal of the DC generator is connected to the DC bus 97d without going through the converter 97a.

[0231] A battery may be provided in the inverter device 97, and the battery may be connected in parallel with the capacitor 97c to the DC bus 97d.

[0232] Furthermore, a clutch may be provided between the generator 8080 and the motor 8010, and the timing at which the generator 8080 absorbs power may be controlled by connecting and disconnecting the clutch.

[0233] Furthermore, the DC bus 97d, the capacitor 97c, and the inverter 97b of the inverter device 97 may be common to the DC bus 95d, the capacitor 95c, and the power regeneration converter 95a of the servo amplifier 95, respectively.

[0234] Eleventh Embodiment FIG. 36 is a block diagram showing a schematic configuration of a power supply system 490 for an electric actuator 400 according to an eleventh embodiment of the present invention.

[0235] The power supply system 490 of the eleventh embodiment is configured by adding the generator 8080 of the tenth embodiment to the power supply system 290 of the ninth embodiment, and further employing a servo amplifier 495 that incorporates the functions of the inverter device 97 of the tenth embodiment (specifically, by adding the converter 97a of the tenth embodiment).

[0236] In the power supply system 390 of the tenth embodiment, the servo amplifier 95 and the inverter device 97 are separate and connected to the primary power supply 91, and therefore the interface with the primary power supply 91 (power regeneration converter 95a, inverter 97b) and the DC circuits (DC buses 95d, 97d, and capacitors 95c, 97c) are provided separately. In contrast, in the power supply system 490 of the eleventh embodiment (specifically, the servo amplifier 495), the servo amplifier 95 and the inverter device 97 are integrated, thereby eliminating the redundant inverter 97b, DC bus 97d, and capacitor 97c.

[0237] 37 and 38 are a side view and a front view, respectively, of a hedge trimmer 9000 according to a twelfth embodiment of the present invention. Note that in Fig. 37 and Fig. 38, a piston 8050 is shown in cross section. Also, in Fig. 38, the frame 8002 is not shown.

[0238] In the hedge trimmer 8000 of the eighth embodiment described above, only one of the pair of blades 8060 is driven, but the hedge trimmer 9000 of this embodiment is configured so that both of the pair of blades 8060 are driven in opposite directions to each other.

[0239] The electric actuator according to the twelfth embodiment of the present invention includes a pair of ball screws 8030 (8030A, 8030B), linear guides 8040 (8040A, 8040B), and pistons 8050 (8050A, 8050B) corresponding to each of a pair of blades 8060 (8060A, 8060B). In this embodiment, the ball screw 8030A, the linear guide 8040A, and the piston 8050A form a first motion conversion unit, and the ball screw 8030B, the linear guide 8040B, and the piston 8050B form a second motion conversion unit. The second motion conversion unit also includes a bearing 8036 that rotatably supports the ball screw 8030B at one end.

[0240] The blade 8060A is fixed to the piston 8050A of the first motion converter, and the blade 8060B is fixed to the piston 8050B of the second motion converter.

[0241] The frame 8002 of this embodiment does not have a rod 8002b to which the blade 8060B is fixed. That is, the blade 8060B is not fixed to the frame 8002, but is movable together with the piston 8050B. In addition, the motor 8010, the rails 8041 of the pair of linear guides 8040A and 8040B, and the bearings 8036 are fixed to the base 8002a (frame 8002).

[0242] The electric actuator includes a pair of gears 8020 (8020A, 8020B) coaxially coupled to the screw shafts 8031 ​​of a pair of ball screws 8030A, 8030B. The gears 8020 are attached to a support portion 8031a (a portion where no ball grooves are formed) of the screw shafts 8031. The screw shafts 8031 ​​of the pair of ball screws 8030A, 8030B are arranged parallel to each other so that the gears 8020A, 8020B mesh with each other. The gears 8020A and 8020B have the same specifications (for example, spur gears with the same number of teeth). Therefore, when the screw shaft 8031 ​​of the ball screw 8030A rotates, the screw shaft 8031 ​​of the ball screw 8030B rotates in the opposite direction at the same rotation speed.

[0243] Furthermore, because ball screw 8030A and ball screw 8030B have the same specifications, when screw shaft 8031 ​​of ball screw 8030A and screw shaft 8031 ​​of ball screw 8030B rotate in opposite directions at the same rotation speed, nuts 8032 of ball screw 8030A and nuts 8032 of ball screws 8030B move linearly at the same speed in opposite directions along their respective screw shafts 8031. Therefore, blade 8060A fixed to piston 8050A and blade 8060B fixed to piston 8050B also move linearly at the same speed in opposite directions.

[0244] According to the hedge trimmer 9000 of the twelfth embodiment described above, the pair of blades 8060 are driven in opposite directions to each other, so pruning can be performed more efficiently than the hedge trimmer 8000 of the eighth embodiment. Furthermore, the momentum of the object to be cut in the direction of the axis Ax that is received from each of the blades 8060A and 8060B is canceled out, so scattering of cutting chips in the direction of the axis Ax is suppressed.

[0245] 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 concept of the present invention. For example, the embodiments of the present invention also include appropriate combinations of embodiments explicitly shown as examples in the specification or obvious embodiments.

[0246] The above-described first to seventh embodiments are applications of the present invention to a test device, but the present invention is not limited to this and can be applied to any electric motor system that uses an electric motor, such as electric mobility.

[0247] The eighth to twelfth embodiments described above are examples in which the present invention is applied to a hedge trimmer, but the present invention is not limited to this and can be applied to electrical equipment that uses a linear actuator, such as an electric saw (reciprocating saw), an electric hammer, an electric toothbrush, etc. The electric actuator of the present invention can also be used alone without being incorporated into various electrical equipment.

[0248] In the eighth to twelfth embodiments described above, a feed screw mechanism is used as a motion converter that converts rotational motion into linear motion, but other types of motion converters (for example, a mechanism using an eccentric cam as described in Patent Document 1, a slider-crank mechanism, a rack-and-pinion mechanism, etc.) may also be used.

[0249] In the eighth to twelfth embodiments described above, the screw shaft 8031 ​​of the ball screw 8030 is directly connected to the shaft 8011 of the motor 8010, but a configuration may also be adopted in which a reducer is provided in the drive section and the motor 8010 and the ball screw 8030 (or other motion converter) are connected via the reducer.

[0250] The power supply system of the fourth embodiment (FIG. 20) and the power supply system of the tenth embodiment (FIG. 35) may also be configured to include a plug 291 and a battery 295e, similar to the ninth embodiment.

[0251] Furthermore, the plug 291 and the battery 295e may be removed from the power supply system of the ninth embodiment (FIG. 34) or the power supply system of the eleventh embodiment (FIG. 36), and the circuit breaker 92 may be directly connected to the primary power source 91.

[0252] In the power supply system of the ninth embodiment (FIG. 34) or the power supply system of the eleventh embodiment (FIG. 36), the battery 295e may be removed and a capacitor 95c with a large capacitance may be used so that the capacitor 95c also serves as the power storage function of the battery 295e. Also, in addition to the battery 295e, a large-capacity capacitor 95c may be provided in the power supply system.

[0253] In the tenth and eleventh embodiments described above, a configuration in which a generator is provided in the power supply system is exemplified. However, the generator is not limited to the tenth and eleventh embodiments, and may be provided in the power supply system of other embodiments.

[0254] In each of the above embodiments, the motor is an AC servo motor, but other types of electric motors that can control the drive amount (rotation angle), such as a DC servo motor or a stepping motor, may also be used as the motor.

[0255] In each of the above embodiments, the linear actuator is composed of a rotary motor and a motion converter, but instead of the rotary motor and the motion converter, a linear motor may be used as the linear actuator.

[0256] Furthermore, while each of the above embodiments uses an ultra-low inertia servo motor as the torque generating device, the configuration of the present invention is not limited to this. The present invention also includes configurations that use other types of electric motors (e.g., inverter motors) that have a small rotor moment of inertia and can be driven at high acceleration or high jerk. In this case, as in each of the above embodiments, a configuration can be adopted in which an encoder is provided in the electric motor and feedback control is performed based on the rotational state (e.g., rotation speed or angular position) of the output shaft of the electric motor detected by the encoder.

[0257] Furthermore, although the above embodiment is an example in which the present invention is applied mainly to a durability test device for an automotive power transmission device, the present invention is not limited thereto and can be used for various applications in general industry. For example, the present invention can be used in automobiles (two-wheeled vehicles, three-wheeled vehicles, four-wheeled vehicles, buses, trucks, tractors), agricultural machinery, construction machinery, railway vehicles, ships, aircraft, power generation systems, water supply and drainage systems, or various components (electric motor systems) that make up these, or in test systems suitable for evaluating the mechanical properties and durability of these.

[0258] In addition, the electric actuator according to the embodiment of the present invention can also be used as an electric motor system for various industrial machines such as construction machines, agricultural machines, woodworking machines, machine tools, forging machines, injection molding machines, robots, and transport machines (e.g., cranes, elevators, conveyors, etc.).

[0259] Furthermore, the electric actuator according to the embodiment of the present invention can also be used as a prime mover for various home appliances (washing machines, refrigerators, air conditioners, compressors, etc.).

[0260] In each of the above embodiments, a power regeneration converter is used that can return surplus regenerated power from the servo amplifier to the primary power supply, but a converter that does not have a power regeneration function that returns surplus power to the primary power supply may also be used. When using a converter that does not have a power regeneration function, it is desirable to provide the servo amplifier with a device that stores surplus power (for example, a large-capacity capacitor or a large-capacity battery) rather than providing the servo amplifier with a regenerative resistor that absorbs regenerated power.

[0261] In addition, in each of the above embodiments, a system is illustrated in which power supplied from a primary power source is converted to drive an electric motor, but the power supplied from the power source to the system is not limited to AC power. As shown in Figures 34 and 36, DC power supplied from a battery may be converted to drive the electric motor. In this case, the regenerated power may be stored in the battery.

[0262] 39 and 40 are diagrams showing modified examples of a power supply system that supplies power to an electric actuator according to each embodiment. In each of the above embodiments, a system that converts power supplied from a primary power source to drive an electric motor has been described as an example, but the power supplied from the power source to the system is not limited to AC power. As shown in FIGS. 39 and 40 , the motor 10 may be driven by supplying DC power from a battery 791 to an inverter via a converter. In this case, the regenerated power is stored in the battery 791 instead of being output to the primary power source.

[0263] 39 includes a bidirectional DC-DC converter 795a as a converter. First, a charger 792 is connected to a battery 791, and the battery 791 is charged with power supplied via the charger 792 from a plug 291 that is inserted into an outlet (not shown) of a primary power source. Next, the battery 791 is connected to a servo amplifier 795, and power from the battery 791 is supplied to the inverter 95b via the bidirectional DC-DC converter 795a to drive the motor 10, and regenerative power from the inverter 95b is output to the battery 791 via the bidirectional DC-DC converter 795a.

[0264] 40 also includes a bidirectional DC-AC converter 895a upstream of a power regeneration converter 95a. First, a charger 792 is connected to a battery 791, and the battery 791 is charged with power supplied via the charger 792 from a plug 291a that is inserted into an outlet (not shown) of a primary power source. Next, the battery 791 is connected to a servo amplifier 895, and power from the battery 791 is supplied to an inverter 95b via the bidirectional DC-AC converter 895a and the power regeneration converter 95a to drive the motor 10, and regenerative power from the inverter 95b is output to the battery 791 via the power regeneration converter 95a and the bidirectional DC-AC converter 895a. The power regeneration converter 95a and the bidirectional DC-AC converter 895a are also connected to a plug 291b. Power from a plug 291b inserted into an outlet (not shown) of a primary power source is supplied to an inverter 95b via a power regeneration converter 95a, and this power can also be used to drive the motor 10. The power supplied from the plug 291b is also supplied to a battery 791 via a bidirectional DC / AC converter 895a, and this power can also be used to charge the battery 791.

[0265] In each of the above embodiments, power is regenerated from the motor 10 to the primary power source via the inverter 95b and the power regeneration converter 95a, but power may also be regenerated from the motor 10 to the primary power source without passing through the inverter 95b and the power regeneration converter 95a.

[0266] This specification also describes the following inventions. [Supplementary Note 1] An energy-saving electric motor system comprising: an electric motor; a drive device that supplies drive power to the electric motor; and a control device that controls the drive device, wherein the drive device comprises: a converter that converts AC power supplied from a power source into DC power; and an inverter that generates drive power from the DC power, and the control device controls the drive device to repeatedly drive the electric motor in a reciprocating motion. [Supplementary Note 2] The energy-saving electric motor system according to Supplementary Note 1, wherein the drive device comprises: a DC bus consisting of a pair of conductors that connects the converter and the inverter; and a capacitor that connects the pair of conductors. [Supplementary Note 3] The energy-saving electric motor system according to Supplementary Note 1, comprising: a plurality of the electric motors; and the drive device comprises: a single DC bus consisting of a pair of conductors connected to the converter; a plurality of the inverters connected to the single DC bus; and a capacitor that connects the pair of conductors. [Supplementary Note 4] The converter is a PWM converter. An energy-saving electric motor system according to any one of Supplementary Notes 1 to 3. [Supplementary Note 5] An energy-saving electric motor system according to any one of Supplementary Notes 1 to 4, wherein the control device controls the electric motor to repeatedly reciprocate at a frequency of 3 Hz or more. [Supplementary Note 6] A vibration testing apparatus comprising: the energy-saving electric motor system according to any one of Supplementary Notes 1 to 5; a motion converter that converts rotational motion output by the electric motor into linear motion; and a table that is vibrated by the linear motion. [Supplementary Note 7] The vibration testing apparatus according to Supplementary Note 6, wherein the motion converter is a ball screw, and the ball screw comprises: a threaded shaft connected to a shaft of the electric motor; and a nut that engages with the threaded shaft and moves in the axial direction as the threaded shaft rotates, and the table is configured to be coupled to the nut and move in the axial direction together with the nut. [Supplementary Note 8] An energy-saving testing system comprising the energy-saving electric motor system according to any one of Supplementary Notes 1 to 5.[Supplementary Note 11] An electric actuator comprising: an electric motor; a drive device for supplying drive power to the electric motor; a control device for controlling the drive device; and a motion converter for converting rotational motion output by the electric motor into linear motion, wherein the drive device comprises: a converter for converting AC power supplied from a power source into DC power; and an inverter for generating the drive power from the DC power, and the control device controls the drive device so that the electric motor outputs repeated reciprocating rotational motion. [Supplementary Note 12] The electric actuator according to Supplementary Note 11, wherein the drive device comprises: a DC bus consisting of a pair of conductors connecting the converter and the inverter, and a capacitor connecting the pair of conductors. [Supplementary Note 13] The electric actuator according to Supplementary Note 11 or Supplementary Note 12, wherein the converter is a PWM converter. [Supplementary Note 14] The electric actuator according to any of Supplementary Notes 11 to 13, wherein the control device controls the drive device to repeatedly reciprocate the electric motor at a frequency of 3 Hz or more. [Supplementary Note 15] An electric actuator according to any one of Supplementary Notes 11 to 14, comprising a generator that generates electric power using power generated by the electric motor. [Supplementary Note 16] An electric actuator according to Supplementary Note 15, comprising an inverter device that converts the electric power generated by the generator into alternating current equivalent to grid power and supplies it to a power source. [Supplementary Note 17] An electric actuator according to Supplementary Note 16, wherein the motion converter is a ball screw, and the ball screw comprises: a screw shaft connected to a shaft of the electric motor; and a nut that engages with the screw shaft via a plurality of balls that are rolling elements and moves in the axial direction as the screw shaft rotates. [Supplementary Note 18] An electric device comprising an electric actuator according to any one of Supplementary Notes 11 to 17. Furthermore, the recitation of the scope of claims as originally filed of the present application is appended below.[Supplementary Note 21] A vibration testing apparatus comprising: a vibration table on which an object to be vibrated is attached, an electric actuator that vibrates the vibration table in a predetermined direction, and a controller that controls the electric actuator, wherein the electric actuator includes: an electric motor that can switch between forward and reverse rotation, and a drive device that is supplied with power from a power source and is controlled by the controller to supply drive power to the electric motor to vibrate the vibration table at a desired amplitude and frequency, wherein the drive device includes a power regeneration converter that regenerates, to the power source, power that is not consumed in accelerating the electric motor out of power regenerated from the electric motor when the vibration table is vibrated at the desired amplitude and frequency. [Supplementary Note 22] The vibration testing apparatus according to Supplementary Note 21, wherein the controller controls the drive device so that the electric motor repeats forward and reverse rotation at a required frequency during a drive period of the electric motor, and the power regeneration converter outputs to the power source the power regenerated from the electric motor during deceleration processes of both forward and reverse rotation of the electric motor. [Supplementary Note 23] The vibration testing apparatus according to Supplementary Note 21, wherein the forward rotation period and reverse rotation period of the motor are continuously repeated, and the vibration table moves in the forward direction during the forward rotation period and moves in the reverse direction during the reverse rotation period; the forward rotation period includes a first acceleration period of the motor starting from when the vibration table starts to move and a first deceleration period of the motor ending from when the vibration table stops to ...[Supplementary Note 24] The vibration testing apparatus according to Supplementary Note 23, wherein the drive device further includes a capacitor provided between the power supply regeneration converter and the electric motor, and the controller controls the drive device so that energy regenerated from the electric motor and stored in the capacitor during the first deceleration period is supplied to the electric motor with priority over energy supplied from the power supply during the second acceleration period, and so that energy regenerated from the electric motor and stored in the capacitor during the second deceleration period is supplied to the electric motor with priority over energy supplied from the power supply during the first acceleration period. [Supplementary Note 25] The vibration testing apparatus according to Supplementary Note 23, wherein the drive device further includes a capacitor provided between the power supply regeneration converter and the electric motor, and the controller repeats an energy cycle consisting of the first acceleration period, the first deceleration period, the second acceleration period, and the second deceleration period during the drive period, and during the first acceleration period, energy stored in the capacitor during at least the second deceleration period of a previous energy cycle is supplied to the electric motor, and during the first deceleration period, energy regenerated from the electric motor is stored in the capacitor, and during the second acceleration period, energy stored in the capacitor during at least the first deceleration period of a current energy cycle is supplied to the electric motor, and energy regenerated from the electric motor is stored in the capacitor during the second deceleration period. [Supplementary Note 26] The vibration testing apparatus according to Supplementary Note 22, wherein the controller controls the drive device so that during the drive period, the electric motor repeatedly rotates forward and backward at a required frequency of 3 Hz or more. [Supplementary Note 27] The vibration testing device according to Supplementary Note 21, wherein the power supply is an AC power supply, and the power regeneration converter is a bidirectional AC-DC converter. [Supplementary Note 28] The vibration testing device according to Supplementary Note 21, wherein the power supply is a DC power supply, and the power regeneration converter is a bidirectional DC-DC converter.[Supplementary Note 29] A tire testing apparatus comprising: an electric actuator; and a controller that controls the electric actuator, wherein the electric actuator includes: an electric motor having a rotation shaft connected to a central axis of a tire; and a drive device that is supplied with energy from a power source and is controlled by the controller to supply to the electric motor drive power that causes the electric motor to generate fluctuating torque, and the drive device includes a power supply regeneration converter that, when the controller controls the drive device to cause the electric motor to generate fluctuating torque, regenerates to the power source energy that is regenerated from the electric motor but is not consumed in accelerating the electric motor. [Supplementary Note 30] A torsion test device comprising: an electric actuator; and a controller that controls the electric actuator, wherein the electric actuator comprises: an electric motor having a rotating shaft coupled to a specimen; and a drive device that receives energy from a power source and is controlled by the controller to supply drive power to the electric motor that causes a fluctuating torque to be generated in the electric motor, the drive device including a power regeneration converter that, when the controller controls the drive device to cause the electric motor to generate a fluctuating torque, regenerates to the power source energy that is regenerated from the electric motor but is not consumed in accelerating the electric motor. [Supplementary Note 31] A tension / compression testing apparatus comprising: an electric actuator; and a controller that controls the electric actuator, wherein the electric actuator comprises: an electric motor that can switch between forward and reverse rotation; a motion converter that performs reciprocating linear motion in accordance with the forward and reverse rotation of the electric motor; a movable part that receives the reciprocating linear motion of the motion converter and transmits a compressive force or a tensile force to a test piece; and a drive device that is supplied with energy from a power source and is controlled by the controller to supply drive power to the electric motor that causes the motion converter to perform reciprocating linear motion at a desired amplitude and frequency, wherein the drive device includes a power regeneration converter that, when the controller controls the drive device to cause the motion converter to perform reciprocating linear motion at the desired amplitude and frequency, regenerates to the power source energy that is regenerated from the electric motor but is not consumed in accelerating the electric motor.[Supplementary Note 32] A dynamic balancing composite testing apparatus comprising: a spindle to which a tire is attached; an electric actuator that outputs unidirectional rotational motion; a transmission mechanism that transmits the unidirectional rotational motion to the spindle; and a controller that controls the electric actuator, wherein the electric actuator comprises: an electric motor that can switch between forward and reverse rotation; a motion converter that converts the forward and reverse rotation of the electric motor into the unidirectional rotational motion; and a drive device that is supplied with energy from a power source and is controlled by the controller to supply drive power to the electric motor to rotate the spindle at a predetermined speed, wherein the drive device includes a power regeneration converter that, when the controller controls the drive device to rotate the spindle at the predetermined speed, regenerates to the power source energy that is regenerated from the electric motor but is not consumed by acceleration of the electric motor. [Supplementary Note 33] A uniformity testing apparatus comprising: a rotating drum that contacts a tire; an electric actuator that causes the rotating drum to perform unidirectional rotational motion; and a controller that controls the electric actuator, wherein the electric actuator comprises: an electric motor that can switch between forward and reverse rotation; a motion converter that converts the forward and reverse rotation of the electric motor into the unidirectional rotational motion; and a drive device that is supplied with energy from a power source and is controlled by the controller to supply drive power to the electric motor to rotate the rotating drum at a predetermined speed, wherein the drive device includes a power regeneration converter that, when the controller controls the drive device to rotate the rotating drum at the predetermined speed, regenerates to the power source energy that is regenerated from the electric motor but is not consumed by acceleration of the electric motor.[Supplementary Note 34] A balance measurement device comprising: an electric actuator that outputs unidirectional rotational motion; a transmission mechanism that transmits the unidirectional rotational motion to a specimen; and a controller that controls the electric actuator, wherein the electric actuator comprises: an electric motor that can switch between forward and reverse rotation; a motion converter that converts the forward and reverse rotation of the electric motor into the unidirectional rotational motion; and a drive device that is supplied with energy from a power source and is controlled by the controller to supply drive power to the electric motor to rotate the specimen at a predetermined speed, wherein the drive device includes a power regeneration converter that, when the controller controls the drive device to rotate the specimen at the predetermined speed, regenerates to the power source energy that is regenerated from the electric motor but is not consumed by accelerating the electric motor. [Supplementary Note 35] A collision simulation test device comprising: a mounting portion to which a specimen is attached; an electric actuator that outputs unidirectional rotational motion; a transmission mechanism that converts the unidirectional rotational motion into linear motion and transmits the linear motion to the mounting portion; and a controller that controls the electric actuator, wherein the electric actuator comprises: an electric motor that can switch between forward and reverse rotation; a motion converter that converts the forward and reverse rotation of the electric motor into the unidirectional rotational motion; and a drive device that is supplied with energy from a power source and is controlled by the controller to supply to the electric motor drive power that imparts a desired acceleration to the mounting portion, and the drive device includes a power regeneration converter that, when the controller controls the drive device to impart a desired acceleration to the mounting portion, regenerates to the power source energy that is regenerated from the electric motor and not consumed in accelerating the electric motor.[Supplementary Note 36] A hedge trimmer comprising: a blade; an electric actuator for linearly reciprocating the blade; and a controller for controlling the electric actuator, wherein the electric actuator comprises: an electric motor capable of switching between forward and reverse rotation; and a drive device that is supplied with energy from a power source and is controlled by the controller to supply drive power to the electric motor for linearly reciprocating the blade, wherein the drive device includes a power regeneration converter that, when the controller controls the drive device to cause linear reciprocating motion of the blade, regenerates to the power source energy regenerated from the electric motor that is not consumed in accelerating the electric motor. [Supplementary Note 37] An electric actuator comprising: at least one electric motor; a drive device that supplies drive power to the electric motor; and a controller that controls the drive device so that the electric motor repeatedly accelerates and decelerates, wherein the drive device includes a first capacitor that stores power regenerated from the electric motor during the deceleration process of the electric motor. [Supplementary Note 38] The electric actuator according to Supplementary Note 37, wherein the controller controls the drive device so that the electric motor repeatedly rotates in a forward direction and a reverse direction at a required frequency in a drive section of the electric motor, and the first capacitor stores electric power regenerated from the electric motor during deceleration processes during both the forward and reverse rotations of the electric motor.[Supplementary Note 39] The electric actuator according to Supplementary Note 37, wherein forward rotation periods and reverse rotation periods of the motor are continuously repeated, the vibration table moves in the forward direction during the forward rotation periods and moves in the reverse direction during the reverse rotation periods, the forward rotation periods include a first acceleration period of the motor starting from when the vibration table starts to move and a first deceleration period of the motor ending from when the vibration table stops to when the vibration table stops to when the vibration table stops to when the vibration table stops, and the reverse rotation periods include a second acceleration period of the motor starting from when the vibration table starts to move and a second deceleration period of the motor ending from when the vibration table stops to when the vibration table stops to when the controller accelerates the motor during the first acceleration period so that the torque of the motor becomes positive torque, decelerates the motor during the first deceleration period so that the torque of the motor becomes negative torque, accelerates the motor during the second acceleration period so that the torque of the motor becomes positive torque, and decelerates the motor during the second deceleration period so that the torque of the motor becomes negative torque. [Supplementary Note 40] The electric actuator according to Supplementary Note 37, wherein the drive device includes a power supply regeneration converter that regenerates power regenerated from the electric motor to the power supply via the first capacitor.

[0267] 10, 150: Servo motor 91, 1810, 2810, 3810, 4810: Primary power supply 95a, 1851, 2851, 3851, 4851: Power regeneration converter 95b, 1852, 2852, 3852, 4852: Inverter 95c, 1853, 2853, 3853, 4853: Capacitor 96: Control device 100, 400, 4010, 5320, 5420, 8100: Electric actuator 295e: Battery 1000: Vibration test device 1100: Vibration table 1200, 1300, 1400: Actuator 2000: Tire test device 3000: Torsion test device 4000: Tension / compression test device 5000: Collision simulation test device 6000: Dynamic balance combined test device 7000: Balance measurement device 8000, 9000: Hedge trimmer 8080: Generator C1, C2, C3: Control unit

Claims

1. A vibration table on which an object to be vibrated is attached; an electric actuator that vibrates the vibration table in a predetermined direction; A controller for controlling the electric actuator, The electric actuator includes: A motor that can switch between forward and reverse rotation; a drive device that receives power from a power source and is controlled by the controller to supply drive power to the electric motor to vibrate the vibration table at a desired amplitude and frequency; The driving device includes a power regeneration converter that regenerates, to the power source, the power that is not consumed in accelerating the electric motor out of the power regenerated from the electric motor when the vibration table is vibrated at the desired amplitude and frequency. Vibration test equipment.

2. the controller controls the drive device so that the motor repeats forward and reverse rotations at a required frequency during a drive period of the motor; The power regeneration converter outputs the power regenerated from the motor to the power source during deceleration processes of the motor in both forward and reverse rotation.

2. The vibration testing apparatus of claim 1.

3. The vibration table moves in the forward direction during the forward rotation period of the motor and in the reverse rotation period of the motor which are continuously repeated, and the vibration table moves in the reverse direction during the reverse rotation period, the forward rotation period includes a first acceleration period of the motor, the start point of which is a time point when the vibration table starts moving, and a first deceleration period of the motor, the end point of which is a time point when the vibration table stops moving, the reverse rotation period includes a second acceleration period of the motor, the start point of which is when the vibration table starts moving, and a second deceleration period of the motor, the end point of which is when the vibration table stops moving, The controller: accelerating the electric motor so that a torque of the electric motor becomes a positive torque during the first acceleration period; decelerating the electric motor so that the torque of the electric motor becomes negative during the first deceleration period; accelerating the motor so that the torque of the motor becomes positive during the second acceleration period; The motor is decelerated so that the torque of the motor becomes negative during the second deceleration period.

2. The vibration testing apparatus of claim 1.

4. The driving device further includes a capacitor provided between the power regeneration converter and the electric motor, The controller controls the drive device so that the energy regenerated from the electric motor and stored in the capacitor during the first deceleration period is supplied to the electric motor with priority over the energy supplied from the power source during the second acceleration period, and so that the energy regenerated from the electric motor and stored in the capacitor during the second deceleration period is supplied to the electric motor with priority over the energy supplied from the power source during the first acceleration period.

4. The vibration testing apparatus according to claim 3.

5. The driving device further includes a capacitor provided between the power regeneration converter and the electric motor, the controller repeats energy circulation including the first acceleration period, the first deceleration period, the second acceleration period, and the second deceleration period during the driving period; During the first acceleration period, the energy stored in the capacitor during at least the second deceleration period in the previous energy cycle is supplied to the electric motor; During the first deceleration period, energy regenerated from the motor is stored in the capacitor, During the second acceleration period, the energy stored in the capacitor during at least the first deceleration period of the current energy cycle is supplied to the motor; During the second deceleration period, the energy regenerated from the motor is stored in the capacitor.

4. The vibration testing apparatus according to claim 3.

6. The controller controls the drive device so that the motor repeats forward and reverse rotations at a required frequency of 3 Hz or more during the drive period.

3. The vibration testing apparatus of claim 2.

7. The power source is an AC power source, The power regeneration converter is configured as a bidirectional AC-DC converter.

2. The vibration testing apparatus of claim 1.

8. The power source is a DC power source, The power regeneration converter is configured as a bidirectional DC-DC converter.

2. The vibration testing apparatus of claim 1.

9. Electric actuator and A controller for controlling the electric actuator, The electric actuator includes: An electric motor having a rotating shaft connected to a central axis of the tire; a drive device that receives energy from a power source and is controlled by the controller to supply drive power to the electric motor to generate a fluctuating torque in the electric motor; The drive device includes a power source regeneration converter that regenerates, to the power source, energy that is regenerated from the electric motor and not consumed in accelerating the electric motor when the controller controls the drive device to generate a fluctuating torque in the electric motor. Tire testing equipment.

10. Electric actuator and A controller for controlling the electric actuator, The electric actuator includes: an electric motor having a rotating shaft coupled to the specimen; a drive device that receives energy from a power source and is controlled by the controller to supply the electric motor with drive power that generates a fluctuating torque in the electric motor; The drive device includes a power source regeneration converter that regenerates, to a power source, energy that is not consumed in accelerating the electric motor out of the energy regenerated from the electric motor when the controller controls the drive device to generate a fluctuating torque in the electric motor. Torsion test equipment.

11. Electric actuator and A controller for controlling the electric actuator, The electric actuator includes: A motor that can switch between forward and reverse rotation; a motion converter that performs a reciprocating linear motion in response to forward and reverse rotation of the electric motor; a movable part that receives the reciprocating linear motion of the motion converter and transmits a compressive force or a tensile force to a specimen; a drive device that receives energy from a power source and is controlled by the controller to supply drive power to the electric motor for causing the motion converter to perform reciprocating linear motion at a desired amplitude and frequency; The drive device includes a power regeneration converter that regenerates, to a power source, energy that is not consumed in acceleration of the electric motor, among energy regenerated from the electric motor when the controller controls the drive device to cause the motion converter to perform reciprocating linear motion at the desired amplitude and frequency. Tension and compression testing equipment.

12. a spindle on which the tire is mounted; An electric actuator that outputs unidirectional rotational motion; a transmission mechanism that transmits the unidirectional rotational motion to the spindle; A controller for controlling the electric actuator, The electric actuator includes: A motor that can switch between forward and reverse rotation; a motion converter that converts the forward and reverse rotation of the electric motor into the unidirectional rotational motion; a drive device that receives energy from a power source and is controlled by the controller to supply drive power to the electric motor to rotate the spindle at a predetermined speed; The drive device includes a power regeneration converter that regenerates, to a power source, energy that is not consumed in accelerating the electric motor out of energy regenerated from the electric motor when the controller controls the drive device to rotate the spindle at the predetermined speed. Dynamic balancing complex test equipment.

13. A rotating drum that contacts the tire; an electric actuator that causes the rotating drum to rotate in one direction; A controller for controlling the electric actuator, The electric actuator includes: A motor that can switch between forward and reverse rotation; a motion converter that converts the forward and reverse rotation of the electric motor into the unidirectional rotational motion; a drive device that receives energy from a power source and is controlled by the controller to supply drive power to the electric motor to rotate the rotating drum at a predetermined speed; The drive device includes a power regeneration converter that regenerates, to a power source, energy that is not consumed in acceleration of the electric motor out of energy regenerated from the electric motor when the controller controls the drive device to rotate the rotating drum at the predetermined speed. Uniformity testing equipment.

14. An electric actuator that outputs unidirectional rotational motion; a transmission mechanism for transmitting the unidirectional rotational motion to a specimen; A controller for controlling the electric actuator, The electric actuator includes: A motor that can switch between forward and reverse rotation; a motion converter that converts the forward and reverse rotation of the electric motor into the unidirectional rotational motion; a drive device that receives energy from a power source and is controlled by the controller to supply drive power to the electric motor to rotate the specimen at a predetermined speed; The drive device includes a power supply regeneration converter that regenerates, to a power supply, energy that is not consumed in accelerating the electric motor out of the energy regenerated from the electric motor when the controller controls the drive device to rotate the specimen at the predetermined speed. Balance measuring device.

15. A mounting portion to which the specimen is attached; An electric actuator that outputs unidirectional rotational motion; a transmission mechanism that converts the unidirectional rotational motion into a linear motion and transmits the linear motion to the mounting portion; A controller for controlling the electric actuator, The electric actuator includes: A motor that can switch between forward and reverse rotation; a motion converter that converts the forward and reverse rotation of the electric motor into the unidirectional rotational motion; a drive device that receives energy from a power source and is controlled by the controller to supply drive power to the electric motor to apply a desired acceleration to the mounting portion, The drive device includes a power supply regeneration converter that regenerates, to a power supply, energy that is not consumed in the acceleration of the electric motor, among energy regenerated from the electric motor, when the controller controls the drive device to apply a desired acceleration to the mounting portion. Crash simulation test device.

16. Blade and an electric actuator that causes the blade to move in a reciprocating linear motion; A controller for controlling the electric actuator, The electric actuator includes: A motor that can switch between forward and reverse rotation; a drive device that receives energy from a power source and is controlled by the controller to supply drive power to the electric motor for causing the blade to perform a reciprocating linear motion; The drive device includes a power regeneration converter that regenerates, to a power source, energy that is not consumed in acceleration of the electric motor out of energy regenerated from the electric motor when the controller controls the drive device to cause the blade to perform reciprocating linear motion. Hedge trimmer.