Test device

Abstract

A test device includes a base plate configured to move on a slipping floor in X-Y directions substantially parallel to the slipping floor by an air bearing, and rotate around an axis substantially perpendicular to the slipping floor, and a platform connected to the base plate by a movement connecting mechanism. The base plate is between the slipping floor and the platform. The movement mechanism connected pivotally with the base plate is configured to move on the slipping floor in the X-Y directions, and rotate around the axis. When the base plate is at substantially a center of the slipping floor's upper surface, the tips of the movement mechanism are directed to points on a circle C or points close to C, and a central angle between a line from C's center to one of the tips and a line from C's center to another tip is 120.

Claims

1. A test device for simulating a driving state according to a driving operation of an operator, comprising: a base plate, which can be moved on a slipping floor in directions of X-Y by an air bearing, and is disposed so that the base plate can be moved freely to rotate around a Z axis, wherein the X-Y directions are substantially parallel to the slipping floor, and the Z axis is substantially perpendicular to the slipping floor; and a platform, which is connected on the base plate by a movement connecting mechanism, and on which a part to be driven is provided, wherein the base plate is disposed between the slipping floor and the platform, wherein the base plate is connected with a movement mechanism, which can be moved on the slipping floor in the directions of X-Y, and is disposed so that the base plate can be moved freely to rotate around the Z axis, the movement mechanism is connected pivotally on the base plate, such that in a top plane view, when the base plate is positioned at substantially a center of an upper surface of the slipping floor at an initial position, a central angle degree forms 120, and when tips of the movement mechanism are positioned at an initial position, the tips are directed to points on a circle C or points close to the circle C, wherein the central angle degree is an angle between a line from a center of the circle C to one of the tips and a line from the center of the circle C to another tip among the tips.

2. The test device of claim 1, wherein a magnetizing device, which is disposed on a lower surface of the base plate to face the slipping floor, is provided, a magnetizing force of the magnetizing device to the slipping floor when the air bearing operates is stronger than a magnetizing force of the magnetizing device to the slipping floor when the air bearing does not operate.

3. The test device of claim 2, wherein the magnetizing device can abut the slipping floor and separate from the slipping floor, and a strength of the magnetizing force to the slipping floor can be increased and decreased.

4. The test device of claim 3, wherein the magnetizing device is provided with a magnet member, which can abut the slipping floor and separate from the slipping floor.

5. The test device of claim 4, wherein the magnet member comprises a permanent magnet.

6. The test device of claim 2, wherein the magnetizing device is provided with a magnet member, which includes an electromagnet.

7. The test device of claim 2, wherein the magnetizing device includes a plurality of magnet members, which can abut the slipping floor and separate from the slipping floor, and the plurality of magnet members are disposed so that directions of poles are mutually perpendicular.

8. The test device of claim 2, wherein a plurality of air bearings are provided on the lower surface in the base plate via a sphere seat, and a plurality of magnetizing devices are provided corresponding to the plurality of air bearings, wherein a magnetizing force of each magnetizing device to the slipping floor when the air bearing operates is stronger than a magnetizing force of each magnetizing device to the slipping floor when the air bearing does not operate.

9. The test device of claim 2, wherein a friction decrease treatment is applied to at least one of a surface of the air bearing facing the slipping floor, or the upper surface of the slipping floor.

10. The test device of claim 2, wherein an air pressure of the air bearing when the air bearing operates is higher than an air pressure of the air bearing when the air bearing does not operate.

11. A test device, comprising: an air bearing; a base plate configured to move on a slipping floor in X-Y directions by an air bearing, and rotate around a Z axis, wherein the X-Y directions are substantially parallel to the slipping floor, and the Z axis is substantially perpendicular to the slipping floor; a movement connecting mechanism; a platform connected to the base plate by the movement connecting mechanism; and a movement mechanism connected pivotally with the base plate, wherein the base plate is disposed between the slipping floor and the platform, wherein the movement mechanism is configured to move on the slipping floor in the X-Y directions, and rotate around the Z axis, wherein when the base plate is positioned at substantially a center of an upper surface of the slipping floor, a central angle is 120, and end portions of the movement mechanism are directed to points on a circle C or points close to the circle C, and wherein the central angle is an angle between a line from a center of the circle C to one of the end portions and a line from the center of the circle C to another end portion among the end portions.

12. The test device of claim 11, further comprising: a magnetizing device disposed on a lower surface of the base plate to face the slipping floor, wherein a magnetizing force of the magnetizing device to the slipping floor when the air bearing operates is stronger than a magnetizing force of the magnetizing device to the slipping floor when the air bearing does not operate.

13. The test device of claim 12, wherein the magnetizing device is configured to abut the slipping floor and separate from the slipping floor, and a strength of the magnetizing force to the slipping floor is capable of being increased or decreased.

14. The test device of claim 13, wherein the magnetizing device includes a magnet member configured to abut the slipping floor and separate from the slipping floor.

15. The test device of claim 14, wherein the magnet member includes a permanent magnet.

16. The test device of claim 13, wherein the magnetizing device includes a plurality of magnet members configured to abut the slipping floor and separate from the slipping floor, and pole directions of the plurality of magnet members are mutually perpendicular.

17. The test device of claim 12, wherein the magnetizing device includes a magnet member, which includes an electromagnet.

18. The test device of claim 12, wherein a friction decrease treatment is applied to at least one of a surface, which faces the slipping floor, of the air bearing, or the upper surface of the slipping floor.

19. The test device of claim 12, wherein an air pressure of the air bearing when the air bearing operates is higher than an air pressure of the air bearing when the air bearing does not operate.

20. The test device of claim 11, further comprising: a plurality of air bearings disposed on the lower surface of the base plate via a sphere seat; and a plurality of magnetizing devices disposed corresponding to the plurality of air bearings, wherein a magnetizing force of each magnetizing device to the slipping floor when the plurality of air bearings operate is stronger than a magnetizing force of each magnetizing device to the slipping floor when the plurality of air bearings do not operate.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) FIG. 1 is a top view of the test device which is the test device of the invention is applied as a simulation device.

(2) FIG. 2 is a partial enlarged view of FIG. 1.

(3) FIG. 3 is a front view seen from the direction of A of FIG. 1.

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

(5) FIG. 5 is a top view of the base plate portion of FIG. 1.

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

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

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

(9) FIG. 9 is an enlarged view of the operating state in which an air pressure of the air bearing is high, in the air bearing and the portion of the magnetizing device of FIG. 7.

(10) FIG. 10 is an enlarged view of non-operating state in which an air pressure of the air bearing is low, in the air bearing and the portion of the magnetizing device of FIG. 7.

(11) FIG. 11 is a top view of the air bearing and the portion of the magnetizing device of FIG. 7.

(12) FIG. 12 is a top view explaining the state that the base plate is rotated and moved in a directions of X-Y and around Z axis on the slipping floor.

(13) FIG. 13 is a top view explaining the state that the base plate is rotated and moved in a directions of X-Y and around Z axis on the slipping floor.

(14) FIG. 14 is a top view explaining the state that the base plate is rotated and moved in a directions of X-Y and around Z axis on the slipping floor.

(15) FIG. 15 is a top view explaining the state that the base plate is rotated and moved in a directions of X-Y and around Z axis on the slipping floor.

(16) FIG. 16 is a top view explaining the state that the base plate is rotated and moved in a directions of X-Y and around Z axis on the slipping floor.

(17) FIG. 17 is a top view similar to FIG. 1 of the test device of another Embodiment of the invention.

(18) FIG. 18 is a perspective view of the conventional driving simulation test device 100.

(19) FIG. 19 is a partial enlarged side view of the conventional driving simulator 200.

(20) FIG. 20 is a top view of the simulation device to describe the problem of the simulation device of the invention.

DESCRIPTION OF EMBODIMENTS

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

Embodiment 1

(22) FIG. 1 is a top view of the test device applied the test device of the invention as a simulation device.

(23) FIG. 2 is a partial enlarged view of FIG. 1.

(24) FIG. 3 is a front view seen from the direction of A of FIG. 1.

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

(26) FIG. 5 is a top view of the base plate portion of FIG. 1.

(27) FIG. 6 is a top view that omits a part of the movement connecting mechanism of the base plate portion in FIG. 5.

(28) FIG. 7 is a drawing that the back view of FIG. 6 is rotated right by 180 degrees.

(29) FIG. 8 is a drawing that the side view in the direction of C of FIG. 6 is rotated right by 90 degrees.

(30) FIG. 9 is an enlarged view of the operating state in which air pressure of the air bearing is high, in the air bearing and the portion of the magnetizing device of FIG. 7.

(31) FIG. 10 is an enlarged view of non-operating state in which an air pressure of the air bearing is low, in the air bearing and the portion of the magnetizing device of FIG. 7.

(32) FIG. 11 is a top view of the air bearing and the portion of the magnetizing device of FIG. 7.

(33) FIG. 12 to FIG. 16 is a top view explaining the state that the base plate is rotated and moved in a directions of X-Y and around Z axis on the slipping floor.

(34) In FIG. 1, the reference numeral 10 shows the test device that applies the test device of the invention as a whole as the simulation device.

(35) In the test device 10 of this Embodiment, as shown in FIG. 1, an embodiment which is applied to the test device according to the driving operation of the operator to simulate driving state.

(36) That is, for instance, in the transportation apparatuses such as the car, the motorcycle, the train, aircraft, and ships, the object of the invention is for research and development of these transportation apparatuses and for improvement of driving abilities of operator who drive the transportation apparatus.

(37) In addition, the object of the invention is for simulating driving state etc. corresponding to the driving operation of the operator.

(38) In this Embodiment, the case of the car is shown in the drawings as one example of the vehicle apparatus.

(39) Moreover, though not shown in the drawing, in test device 10 of the invention, the screen etc. is provided at the periphery of the test device 10 if required.

(40) The driving state can visually be simulated according to the driving operation of operator S.

(41) Therefore, for instance, when only the test of the accelerated velocity test etc. is performed, such a screen might not be installed.

(42) As shown in FIG. 1-FIG. 4, in the test device 10 of the invention, a slipping floor 12 is provided.

(43) As described later, on this slipping floor 12, a base plate 14 which is substantially triangular in the top plan view is disposed, such that it is disposed so that it can be moved freely to rotate around Z axis (Yaw movement).

(44) On this base plate 14, as shown in FIG. 5-FIG. 7, a movement connecting mechanism 16 is provided.

(45) By the movement connecting mechanism 16, a platforms 18, which comprises the moving part which is substantially triangular in the top plan view, is connected.

(46) As shown in FIG. 5-FIG. 6, the platform 18 comprises the pipe having a so-called truss construction for light-weighting.

(47) As shown in FIG. 5-FIG. 8, the movement connecting mechanism 16, in this Embodiment, six degrees of freedom parallel mechanism, which is so-called Stewart platform (it is also called Hexapod), is adopted.

(48) In addition, the movement connecting mechanism 16 comprises six links 16a-16f, which are connected in parallel and are expanding and contracting.

(49) Moreover, these six links 16a-16f, which are connected in parallel and are expanding and contracting, are operated cooperatively.

(50) As a result, though not shown in the drawing, the platform 18 can be moved in the directions of X-Y-Z.

(51) Moreover, the platform 18 can be moved freely so that it can be rotated around X axis (Roll), around Y axis (Pitch), and around Z axis (Yaw movement).

(52) That is, these links 16a-16f are respectively the structure in which the piston cylinder mechanism is operated and expanded and contracted, by operating electricity or oil pressure drive devices 20a-20f (the drawing shows the example of electricity).

(53) Moreover, the bottom of these links 16a-16f, as shown in FIG. 7, is respectively pivotally connected with bracket 24a-24f, which is formed to the corner portion of the base plate 14 in three places, through pivot shafts 22a-22f.

(54) On the other hand, the tops of these links 16a-16f, as shown in FIG. 7, are respectively pivotally connected with support portions 28a-28f, which are provided at the three corner portions of the platform 18, through pivot shafts 26a-26f.

(55) Moreover, as shown in FIG. 3-FIG. 4, on the platform 18, for instance, a part to be driven that includes the transportation apparatus such as cockpit and half car model, etc., a vehicle 30 of the car is provided for this Embodiment.

(56) Excluding FIG. 3-FIG. 4, the part to be driven 30 (vehicle) is omitted and shown for convenience' sake about the explanation.

(57) On the other hand, as shown in FIG. 5-FIG. 7, under the lower surface of the base plate 14, a plurality of air bearing units 32 are provided to face the upper surface of the slipping floor 12.

(58) That is, in this Embodiment, as shown in FIG. 5-FIG. 6, it is formed to the corner portion of the base plate 14 in three places.

(59) Moreover, as shown in FIG. 7, and FIG. 9-FIG. 11, the air bearing unit 32 is provided with two air bearings 34, which are disposed on the lower surface of the base plate 14 at constant intervals and are disposed, such that they face the upper surface of the slipping floor 12.

(60) These air bearings 34 are respectively provided to a sphere seat 36 fixed to the lower surface of the base plate 14, such that it is possible to turn freely by a installation portion 38.

(61) The error margin of the profile irregularity of slipping floor 12 and parallelism of the run upon a bank portion is absorbed.

(62) Moreover, between these two air bearings 34, as shown in FIG. 9-FIG. 10, a magnetizing device 40, in which magnetizing force to the slipping floor can be changed, is disposed on the lower surface of base plate 14, such that it faces the upper surface of the slipping floor 12.

(63) This magnetizing device 40, as shown in FIG. 9-FIG. 11, includes a piston cylinder mechanism 42.

(64) In addition, a base board 46 is fixed to the bottom of a piston 44 of this piston cylinder mechanism 42.

(65) For instance, a magnet member 48 that includes a permanent magnet is disposed on the lower surface of this base board 46.

(66) Thus, if the magnet member 48 includes a permanent magnet, a cheap, permanent magnet can be used as the magnet member 48 of the magnetizing device 40.

(67) As a result, the cost can be decreased, power is not needed, and the energy-saving effect can be expected.

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

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

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

(71) In this case, a plurality of the magnetizing devices 40 are provided corresponding to a plurality of air bearings 34.

(72) As a result, the state of Pre-Load in the vertical direction of the air bearing 34, in which the magnetic force (magnetizing force) by the magnetizing device 40 and the weight of the platform 18 are combined, becomes uniform in the entire base plate 14.

(73) Therefore, it takes charge of the reaction force and the moment in the vertical direction.

(74) Moreover, the air bearing unit 32 is composed that, in the operating state in which an air pressure of the air bearing 34 is high, the magnetizing force of the magnetizing device 40 to the slipping floor 12 is strong.

(75) That is, in this Embodiment, as shown in FIG. 9, in the operating state in which an air pressure of the air bearing 34 is high, the piston cylinder mechanism 42 is operated.

(76) Consequently, the piston 44 is expanded downwardly against the urging force of the spring member 45.

(77) As a result, the base board 46 fixed to the bottom of the piston 44 is moved to the lower side toward the upper surface of the slipping floor 12.

(78) Consequently, the distance between the magnet member 48 disposed on the lower surfaces of the base board 46 and the upper surfaces of the slipping floor 12 becomes close.

(79) The magnetizing force of the magnetizing device 40 to the slipping floor 12 is strong.

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

(81) That is, the magnetic force (magnetizing force) by the magnetizing device 40 and the weight of the platform 18 are combined.

(82) As a result, it enters the state of Pre-Load in the vertical direction of the air bearing 34, so that it takes charge of the reaction force and the moment in the vertical direction.

(83) Consequently, a steady simulation and the test become possible.

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

(85) Moreover, a plurality of the magnetizing devices 40 are provided corresponding to the plurality of the air bearings 34.

(86) As a result, the state of Pre-Load in the vertical direction of the air bearing 34, in which the magnetic force (magnetizing force) by the magnetizing device 40 and the weight of the platform 18 are combined, becomes uniform in the entire base plate 14.

(87) Therefore, it takes charge of the reaction force and the moment in the vertical direction.

(88) Consequently, a steady simulation and the test become possible.

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

(90) On the other hand, the air bearing unit 32 is composed that, in non-operating state in which an air pressure of the air bearing 34 is low, the magnetizing force of magnetizing device 40 to the slipping floor 12 may is weak.

(91) That is, in this Embodiment, as shown in FIG. 10, in non-operating state in which an air pressure of the air bearing 34 is low, the operation of the piston cylinder mechanism 42 is stopped.

(92) As a result, the piston 44 is retreated upwardly by the urging force of spring member 45.

(93) Consequently, the base board 46, which is fixed to the bottom of the piston 44, is moved upwardly in the direction separating from the upper surface of the slipping floor 12.

(94) As a result, the distance between the magnet member 48 disposed on the lower surfaces of the base board 46 and the upper surfaces of the slipping floor 12 becomes large.

(95) The magnetizing force of the magnetizing device 40 to the slipping floor 12 is weak.

(96) Therefore, the state is detected by the pressure sensor in non-operating state in which an air pressure of the air bearing 34 is low, so that the test device 10 is stopped.

(97) However, the base plate 14 is moved in a constant distance until it stops because of inertia.

(98) That is, in this Embodiment, the distance between the magnet member 48 disposed on the lower surfaces of the base board 46 and the upper surfaces of the slipping floor 12 becomes large.

(99) As a result, the magnetic force is not acted and the frictional force between the magnet member 48 and the upper surfaces of the slipping floor 12 can be decreased and wear-out is decreased, so that lengthening the maintenance cycle of the test device 10 becomes possible.

(100) By composing like this, by changing the distance to the slipping floor 12 of the magnetizing device 40, the strength of the magnetizing force to the slipping floor 12 can be switched to be strong from weak or vice versa.

(101) As a result, the magnetic force suitable for the test device 10 can be adjusted.

(102) In addition, a friction decrease treatment may be applied to a surface facing the slipping floor 12 of the air bearing 34, or to at least other surface of the upper surface of the slipping floor 12.

(103) In FIG. 7, the state, in which the friction decrease treatment 11 is applied to the upper surface of the slipping floor 12, is shown.

(104) Thus, for example, a sheet comprising, fluorine-based resin; such as

(105) polytetrafluoroethylene resin (PTFE),

(106) tetrafluoroethylene-par fluoro alkyl vinyl ether copolymer resin (PFA),

(107) tetrafluoroethylene-hexafluoropropylene copolymer resin (FEP),

(108) polychlorotrifluoroethylene copolymer resin,

(109) tetrafluoroethylene-ethylene copolymer resin,

(110) chlorotrifluoroethylene-ethylene copolymer resin,

(111) polyvinylidene fluoride resin,

(112) polyvinyl fluoride resin, or

(113) tetrafluoroethylene-hexafluoropropylene-par fluoro alkyl vinyl ether copolymer resin; or

(114) polyimide resin (PI);

(115) polyamide 6 resin (PA6);

(116) polyamide-imide resin (PAI); or

(117) peak resin (PEEK) is stuck.

(118) Moreover, single resin of these resins and mixture thereof is treated by baking-coating.

(119) As a result, friction decrease treatment may be applied to a surface facing the slipping floor 12 of the air bearing 34, or to at least other surface of the upper surface of the slipping floor 12.

(120) As a result, in case of the emergency stopping etc. or in case that a load which is larger than assumption is applied while operating,

(121) the air bearing 34 can be prevented from being damaged when the air bearing 34 comes in contact with the slipping floor 12, so that the life-span of the device becomes long.

(122) Moreover, because such a friction decrease treatment is applied, the air bearing 12 can be prevented from being damaged even if it comes in contact somewhat between the air bearing 34 and the slipping floor 12.

(123) As a result, because accuracy on the surface of the slipping floor 12 can be somewhat lowered, the cost can be decreased.

(124) In addition, as for the magnet member 48, which is disposed on the lower surface of the base board 46 of the magnetizing device 40, as shown in FIG. 12, the magnet member 48 may include a plurality of the magnet members 48.

(125) These magnet members 48 may be disposed so that poles are mutually perpendicular.

(126) Like this, magnet members 48 are disposed so that poles are mutually perpendicular.

(127) As a result, it is possible to keep the resistance by the eddy current in the direction of each movement (directions of X-Y and Yaw rotation) in the same level.

(128) Consequently, an accurate simulation and the test can be performed.

(129) On the other hand, as shown in FIG. 1-FIG. 4, the base plate 14 is connected with a movement mechanism 50, so that it can be moved on the slipping floor 12 in the directions of X-Y and can be moved freely to rotate around Z axis (Yaw movement).

(130) That is, the movement mechanism 50, as shown in FIG. 1, includes movement drive devices 52a, 52b, and 52c, which comprise of three piston cylinder mechanisms that are disposed separately mutually at the angle where the central angle degree is 120.

(131) The respective base edge of these movement drive devices 52a, 52b, and 52c are connected pivotally by pivots 56a, 56b, and 56c, to three fixing brackets 54a, 54b, and 54c, which are fixed as spaced to the upper surface of the slipping floor 12 mutually at the angle where the central angle degree is 120.

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

(133) Moreover, the extension line at the tips of these pistons 58a, 58b, and 58c are provided in the state of FIG. 1 as shown with the chain line of FIG. 1, that is, in the top plan view, when the base plate 14 is positioned at substantially the center of the upper surface of the slipping floor 12 (when initial position), such that the pistons 58a, 58b, and 58c touch the round circle C or they are provided that they become angling to almost touch the round circle C.

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

(135) In the movement mechanism 50 composed like this, according to the operation of operator S, by controlling of the controller (not shown in the drawing), in the operating state in which an air pressure of the air bearing 34 is high, according to the air pressure of the air bearing 34, the base plate 14 is floated, and the air layer can be generated between the base plate and the slipping floor 12.

(136) As a result, the magnetizing force of magnetizing device 40 to the slipping floor 12 is strong, and it becomes Pre-Load state.

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

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

(139) In addition, in FIG. 12-FIG. 16, Example is merely shown in the movement of the directions of X-Y and the rotation around the Z axis (Yaw movement).

(140) Of course, the combination of other positions may be freely applied.

(141) By composing like this, in the state of FIG. 1, that is, in the top plan view, when the base plate 14 is positioned at substantially the center of the upper surface of the slipping floor 12, such that the pistons 58a, 58b, and 58c touch the round circle C or they are provided so that they become angling to almost touch the round circle C.

(142) As a result, when rotating (Yaw movement) around the Z axis, the necessary velocity and the accelerated velocity of a vibrator can be reduced.

(143) The extension line at the tips of the pistons 58a, 58b, and 58c are provided that, in the state of FIG. 1 as shown by the chain line of FIG. 2, that is, in the top plan view, when the base plate 14 is positioned at substantially the center of the upper surface of the slipping floor 12 (when initial position), the pistons 58a, 58b, and 58c touch the round circle C or they are provided that they become angling to almost touch the round circle C.

(144) As a result, the extension line at the tips of the pistons 58a, 58b, and 58c are shifted from center O of the base plate 14.

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

(146) Moreover, the diameter of the round circle C is a comparatively small.

(147) As a result, the stroke and the velocity of the piston cylinder mechanism of the movement drive devices 52a, 52b, and 52c that are the actuators, which are necessary for the Yaw movement, become small.

(148) Consequently, a simulator having more high performance can be offered.

(149) In addition, the accelerated velocity of the piston cylinder mechanism of the movement drive devices 52a, 52b, and 52c that are the actuators becomes small.

(150) As a result, the torque necessary for the equivalent mass of the actuator is decreased, the torque to the base plate 14 in the direction of Yaw is increased, and it becomes efficient.

(151) Moreover, the shaft line of the piston cylinder mechanism of the movement drive devices 52a, 52b, and 52c, which are the actuators, and the distance at rotation center can be enlarged.

(152) Moreover, at the angle where the range of motion of the movement drive devices 52a, 52b, and 52c becomes the maximum, the movement drive devices 52a, 52b, and 52c that are the actuators are disposed.

(153) Therefore, the space necessary to provide the movement drive devices 52a, 52b, and 52c that are the actuators becomes small and the test device 10 can be miniaturized.

(154) In addition, the range of movement of the compound movement by the movement of the directions of X-Y and the rotation around the Z axis (Yaw movement) is enlarged.

(155) Though not shown in the drawing, the piston cylinder mechanism of movement drive devices 52a, 52b, and 52c that are the actuators is disposed on the base plate 14.

(156) As a result, the interference generated in the movement drive devices 52a, 52b, and 52c can be prevented by the limit switch.

Embodiment 2

(157) FIG. 17 is a top view similar to FIG. 1 of the test device of another Embodiment of the invention.

(158) The test device 10 of this Embodiment is basically similar composition of the test device 10 shown in Embodiment 1. The same reference numerals are refer to the same composition members, and the detailed explanation is omitted.

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

(160) Moreover, the extension line at the tips of these pistons 58a, 58b, and 58c is provided that in the state of FIG. 1 as shown with the chain line of FIG. 17, that is, in the top plan view, when the base plate 14 is positioned at substantially the center of the upper surface of the slipping floor 12 (when initial position), such that the pistons 58a, 58b, and 58c touch the round circle E.

(161) Therefore, compared with the test device 10 of Embodiment 1, the angle and the range of the velocity in the direction of Yaw are small, and moreover, necessary space is large.

(162) However, the torque in the direction of Yaw can be greatly taken.

(163) Compared with the simulation device 300 shown in FIG. 20, the movement in the direction of Yaw is possible and it can be used by smaller power and in a small space.

(164) Therefore, in the test device 10 of the invention, according to the purpose and the use of the test device 10, it may be changed arbitrarily.

(165) Moreover, sizes of the round Circle C (E) are not limited.

(166) Although preferable embodiment of the invention is described above, the invention is not limited to this embodiment.

(167) In the above-mentioned Embodiment, as for the movement connecting mechanism 16, six degrees of freedom parallel mechanism, which is so-called Stewart platform (it is also called Hexapod), is adopted.

(168) However, it is also possible to adopt other movement connecting mechanisms 16.

(169) Moreover, in the above-mentioned Embodiment, as for the magnet member 48 disposed on the lower surface of the base board 46 of the magnetizing device 40, a permanent magnet is used.

(170) However, the magnetizing device 40 may be provided with the magnet member 48 including the electromagnet.

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

(172) In addition, in the above-mentioned Embodiment, the piston cylinder mechanism is used as the movement drive devices 52a, 52b, and 52c that are the actuators.

(173) However, it is also possible to use other actuators.

INDUSTRIAL APPLICABILITY

(174) The invention can be applied to a test device for executing various tests; for example,

(175) a loading test by adding the external force or vibration test by adding the vibration against construction to be tested, for instance,

(176) the transportation apparatuses such as the car, the motorcycle, the train, aircraft, and ships, or

(177) constructions such as bridge, building, houses, and buildings, or

(178) parts etc. thereof, or

(179) a simulation test etc. of the driving state according to the driving operation by operator.

EXPLANATION OF LETTERS OR NUMERALS

(180) 10 Test device 12 Slipping floor 14 Base plate 16 Movement connecting mechanism 16a-16f Link 18 Platform 20a-20f Drive device 22a-22f Pivot shaft 24a-24f Bracket 26a-26f Pivot shaft 28a-28f Support portion 30 Vehicle (parts to be driven) 32 Air bearing unit 34 Air bearing 36 Sphere seat 38 Installation portion 40 Magnetizing device 41 Guide member 41a Flange 42 Piston cylinder mechanism 44 Piston 45 Spring member 46 Base board 48 Magnet member 50 Movement mechanism 52a-52c Movement drive device 54a-54c Fixing bracket 56a-56c Pivot 58a-58c Piston 60a-60c Fixing bracket 62a-62c Pivot 64a-64c Drive device 100 Driving simulation test device 102 Movement connecting mechanism 104 Base 106 Platform 108 Dome 110 X axial rail 112 Y axial rail 200 Driving simulator 202 Movement connecting mechanism 204 Base 206 Platform 208 Dome 210 Slide surface 212 Air bearing 300 Simulation device 312 Slipping floor 314 Base plate 316 Movement connecting mechanism 318 Platform 332 Air bearing unit 334 Air bearing 340 Magnetizing device 350 Movement mechanism 352a352c Movement drive device 354a354c Fixing bracket 356a356c Pivot 358a358c Piston C Round Circle D Round Circle E Round Circle Center S Operator A Central angle degree B Central angle degree