ࢫࢱࣝ㸦⧊≀㸧࡛ໟࡳ㎸ࢇࡔࠕᅵࡢ࠺ࠖࢆ✚ࡳୖࡆࡿࠋࡇࡢᕤἲࡼࡗ࡚㸪ࣜࢫࢡࡢࡁ࠸᭷ேᏱᐂసᴗࢆ᭱ᑠ㝈ࡵ࡞ ࡀࡽ㸪᭶㠃ᇶᆅࡢ⤒῭ⓗ࡞ᘓタࡀྍ⬟࡞ࡿࠋᆅୖ࠾࠸࡚ࡶ㸪㢼Ỉ⅏ᐖᑐ⟇ࡸ᭷ᐖ≀㉁ฎ⌮ࡢά⏝ࡀᮇᚅࡉࢀࡿࠋⴭ⪅ࡽࡣ ࡇࡢᕤἲࡘ࠸࡚ᐇ㦂ⓗ࡞᳨ドࢆ⾜ࡗࡓࠋࡲࡎ᧦ቨᚲせ࡞ᙧ≧ࢆ᫂ࡽࡍࡿࡓࡵ㸪ᅵࡢ࠺✚ᒙయࡢ㟼ຊᏛࣔࢹࣝࢆゎᯒࡋ㸪 ᭶ࡢᶍᨃ◁ࢆࡗࡓ1/40 ࢫࢣ࣮ࣝࡢ㐲ᚰᶍᆺᐇ㦂ࡼࡾ☜ㄆࡋࡓࠋḟࡑࡢ⤖ᯝᇶ࡙࠸࡚ᅵࡢ࠺⿄࠾ࡼࡧࣟ࣎ࢵࢺࢆタィࡋ㸪 1/10 ࢫࢣ࣮ࣝヨసᶵࢆ⏝࠸ࡓᅵࡢ࠺ሸ⋡ࡢホ౯ᐇ㦂ࢆ⾜ࡗࡓࠋࡇࢀࡽࡢ᳨ドࡼࡾ㸪ᥦᕤἲࡢ᭷ຠᛶࡀᐇ㦂ⓗ☜ㄆࡉࢀࡓࠋ 㺕㺎㺺㺎㺢㺼㸸 ᭶㠃ᇶᆅ㸪↓ேᕤ㸪ᅵࡢ࠺᧦ቨ㸪㐲ᚰᶍᆺᐇ㦂㸪ໟᶵᲔ ┠ ḟ㸸 ⫼ᬒ┠ⓗ ᅵࡢ࠺✚ᒙࡢࡓࡵࡢ᪼㝆⨨タィ ࣝࢼ࣮࣭ࢸ࢟ࢫࢱࣝᕤἲ ᅵࡢ࠺〇㐀⨨ࡢタィホ౯ ᅵࡢ࠺✚ᒙయࡢᏳᐃᙧ≧タィ ࡲࡵ Ᏻᐃᛶ᳨ドࡢࡓࡵࡢ㐲ᚰᶍᆺᐇ㦂 ⫼ᬒ┠ⓗ ᭶㠃㛤Ⓨࢆຠ⋡ⓗ⾜࠺ࡓࡵࡣ㸪᭶㠃ேࡀᅾ ࡍࡿࡓࡵࡢᣐⅬࡀᚲせ࡞ࡿࠋࡇࢁࡀ᭶㠃࡛ࡣ㸪 ኪࡢ ᗘᕪ㸪Ᏹᐂᨺᑕ⥺㸪㞳╔㝣క࠺ࢧࣥࢻࣈࣛࢫ ࢺ㸪㝹▼࡞ᵝࠎ࡞⬣ጾࡀᏑᅾࡍࡿࠋᣐⅬࡢࠕᇙタࠖ ࡼࡗ࡚ࡇࢀࡽࡢ⬣ጾࡽேࡸᶵᮦࢆᏲࡿࡇࡀ࡛ࡁ ࡿࠋ᭶㠃ࡢࡼ࠺࡞ᴟ㝈⎔ቃ࠾࠸࡚ᇙタసᴗࢆຠ⋡ⓗ ⾜࠺ࡓࡵࡣᘓタࣟ࣎ࢵࢺᢏ⾡ࡀྍḞ࡛࠶ࡿࠋ᭶ 㠃᥈ᰝࣟ࣎ࢵࢺࡘ࠸࡚ࡣከࡃࡢ◊✲ࡀ࡞ࡉࢀ࡚࠸ࡿ ࡀ㸪ᇙタࡢࡼ࠺࡞㔜సᴗࢆ᭶㠃࡛⾜࠺ࣟ࣎ࢵࢺࡘ࠸ ࡚ࡣ◊✲ࡀࢇ㐍ࢇ࡛࠸࡞࠸ࠋᇙタᕤἲࡑࡢࡶࡢ ࡘ࠸࡚ࡣ࠸ࡃࡘࡢࢹࡀᥦࡉࢀ࡚࠸ࡿࡶࡢ ࡢ㸪ලయⓗ࡞᳨ドࡣ㊊ࡋ࡚࠸ࡿࠋ ࡇࡢࡼ࠺࡞⫼ᬒࡢࡶ㸪ᙜ♫࡛ࡣ᭶㠃ᣐⅬࡢᇙタ 㐺ࡋࡓࣟ࣎ࢵࢺᕤἲࢆᥦࡋ࡚࠸ࡿ㸯㸧ࠋࡇࡢᕤἲ࡛ࡣ ᣐⅬࡢ࿘ᅖᅵࡢ࠺✚ᒙయࢆᘓタࡋ㸪ࡇࢀࢆ⏝࠸࡚ᇙ タࢆ⾜࠺ࠋᮏ✏࡛ࡣ㸪ࡇࡢᕤἲ࠾࠸࡚᭱ࡶࢡࣜࢸ ࢝ࣝ࡞せ⣲࡛࠶ࡿࠕᅵࡢ࠺ࠖ↔Ⅼࢆ࠶࡚㸪ᅵᅽゎᯒ ᇶ࡙࠸ࡓᇶᮏタィ㸪ᶍᆺᐇ㦂ࡼࡿጇᙜᛶホ౯ࢆ ⾜࠺ࠋࡲࡎᅵࡢ࠺ᚲせ࡞ᙧ≧ࢆぢᴟࡵࡿࡓࡵ㟼ຊᏛ ࣔࢹࣝࢆゎᯒࡋ㸪㐲ᚰᶍᆺᐇ㦂ࡼࡾ☜ㄆࡍࡿࠋࡑࡋ ࡚せồࡉࢀࡿᙧ≧ࡢᅵࡢ࠺ࢆ↓ே〇㐀ࡍࡿ⨨ࢆタィ ࡋ㸪1/10 ࢫࢣ࣮ࣝヨసᶵࡼࡿᛶ⬟☜ㄆࢆ⾜࠺ࠋࡇࢀ ࡽࡢ᳨ウࡼࡾ㸪ᥦࢩࢫࢸ࣒ࡢᇶᮏタィࡘ࠸࡚ጇ ᙜᛶࢆ☜ㄆࡍࡿࠋ ࣝࢼ࣮࣭ࢸ࢟ࢫࢱࣝᕤἲ ᭶㠃ᣐⅬࡢᇙタᕤἲࡣ㸪ᅗ㸯ᣲࡆࡿ㸴✀㢮ࡀ⪃࠼ ࡽࢀࡿࠋᅗ୰ࡢ㸯ࡣᅵ㸪㸰ࡣᨭᣢࣇ࣮࣒ࣞࢆ♧ࡍࠋᕤ ἲ a1) ࡣᣐⅬᅵࢆ┤᥋ࡪࡏࡿ᭱ࡶ༢⣧࡞ᕤἲ࡛࠶ ࡿࠋ᭱㡬㒊ࢆ༑ศそᅵࡍࡿࡓࡵ㠀ᖖከࡃࡢᅵࢆ 㞟࣭ᥭ㔜ࡍࡿᚲせࡀ࠶ࡿࠋᕤἲ b1), b2) ࡛ࡣᆅ┙ࢆ ᥀๐ࡍࡿࡇ࡛ᥭ㔜㧗ࡉࢆ┦ᑐⓗᑠࡉࡃࡍࡿࠋࡋ ࡋ᭶㠃ࡣ◁₍ࡢࡼ࠺⇱ࡋࡓ⣽࠸◁࡛そࢃࢀ࡚࠾ ࡾ㸪᥀๐ࡀᅔ㞴࡛࠶ࡿࠋ㔜ຊࡀᑠࡉ࠸ࡓࡵ㸪᥀๐ຊࡢ ☜ಖࡶ㞴ࡋ࠸ࠋࢡ࣮ࣞࢱ࡞ࡢ⮬↛ᆅᙧࢆ⏝ࡍࡿሙ ྜ㸪ᣐⅬࡢᘓタᆅࡀไ㝈ࡉࢀࡿࠋᕤἲ a2) ࡛ࡣᣐⅬ࿘ ᅖᨭᣢࣇ࣮࣒ࣞࢆᵓ⠏ࡋࡓᚋそᅵࡍࡿࡇ࡛㸪ᇙ タࡢᚲせᅵ㔞ࢆῶࡽࡋ࡚࠸ࡿ㸰㸧㸪㸱㸧ࠋᕤἲb3) ࡣ᥀๐ ᨭᣢࣇ࣮࣒ࣞࢆే⏝ࡍࡿ᪉ἲ㸲㸧࡛࠶ࡿࠋࡋࡋᨭᣢࣇ ࣓࢝ࢺࣟࢢ࣮ࣝࣉ ᢏ⾡◊✲ᡤ ᅗ ᭶㠃ᣐⅬᇙタᕤἲ 㸦1: ᅵ◁, 2: ᨭᣢࣇ࣮࣒ࣞ, 3: ᅵࡢ࠺㸧 65 * メカトログループ ** 技術研究所
࣮࣒ࣞࡣᆅ⌫ࡽ㐠ᦙࡋ࡞ࡅࢀࡤ࡞ࡽ࡞࠸ࡓࡵ㸪ᕤ ຠ⋡㝈⏺ࡀ⏕ࡌࡿࠋᕤἲ a3) ࡣ᥀๐ࡶᨭᣢࣇ࣮࣒ࣞ ࡶ⏝࠸ࡎ㸪ᅵࡢ࠺ࢆ✚ᒙࡋ࡚᧦ቨࢆᵓ⠏ࡍࡿࡇ࡛ᚲ せᅵ㔞ࢆᑡ࡞ࡃࡍࡿ㸯㸧ࠋⴭ⪅ࡽࡣᇙタࡢࡓࡵࡢ㈨ᮦࡸ ᆅ┙᥀๐ࢆࢇᚲせࡋ࡞࠸ࡇࡢᕤἲࡀ᭱ࡶᐇ⌧ ᛶࡀ㧗࠸⪃࠼㸪ࡇࢀࢆᐇ⌧ࡍࡿࣟ࣎ࢵࢺᕤἲࡋ࡚ ࠕࣝࢼ࣮࣭ࢸ࢟ࢫࢱࣝᕤἲࠖࢆ㛤Ⓨࡋ࡚࠸ࡿࠋ ࡇࡢᕤἲࡢⅬࡣ1) ༢⣧సᴗࡢ⧞ࡾ㏉ࡋ࡛࠶ࡿࡓࡵ ࣟ࣎ࢵࢺࡀẚ㍑ⓗᐜ࡛᫆࠶ࡿࡇ㸪2) ᚲせ㈨ᮦࡀ㍍ 㔞ࡘᑡ࡞࠸ࡓࡵᆅ⌫ࡽࡢ㐠ᦙࢥࢫࢺࢆపῶ࡛ࡁࡿ ࡇ㸪3) ᆅ┙ࡢ῝࠸᥀๐ࡀせ࡛࠶ࡾᢏ⾡ⓗ㞀ቨࡀᑠ ࡉ࠸ࡇ㸪࡛࠶ࡿࠋࡋࡓࡀࡗ࡚ᚑ᮶ᥦࡉࢀ࡚࠸ࡿᇙ タᕤἲẚ㸪Ᏻࡘ⤒῭ⓗ࡞ᇙタࡀྍ⬟࡞ࡿࠋ ᅗ ࡣᥦࡍࡿᕤࣟ࣎ࢵࢺࡢᴫᛕᅗ࡛࠶ࡿࠋࣟ࣎ ࢵࢺࡣ⬗య㒊⬮㒊ࡽᵓᡂࡉࢀࡿࠋ⬗య㒊ࡣᅵࡢ࠺ 〇㐀ᶵ⬟ࢆᢸ࠸㸪A) ᅵࡢ࠺⿄ࡢᕳ≀㸪B) ◁㈓ⶶ⨨㸪 C) ◁౪⤥⨨㸪D) ◁Ვໟ⨨㸪E) ᅵࡢ࠺ฟ⨨ࢆ ᭷ࡍࡿࠋ⬮㒊ࡣᅵࡢ࠺✚ᒙᶵ⬟ࢆᢸ࠸㸪F) ㉮⾜⨨㸪 G) ᪼㝆⨨ࢆ᭷ࡍࡿࠋ᪼㝆⨨ࡣ╔㝣ᶵࡽࣟ࣎ࢵࢺ ࢆ㝆ࢁࡍࡓࡵࡶව⏝ࡉࢀࡿ㸦ᅗ ୗ㸧ࠋ╔㝣ᶵタࡅ ࡽࢀࡓࢫࣛࢲ࡛ࣟ࣎ࢵࢺࢆᙇฟࡋࡓᚋ㸪᪼㝆⨨ࢆ ఙࡤࡍࡇࡼࡾⲴ㝆ࢁࡋࡀࡍࡿࠋ ࡇࡢᵓᡂࡼࡾ㸪ᅗ ࡢࡼ࠺࡞ᡭ㡰࡛ᣐⅬᇙタࡀྍ ⬟࡞ࡿࠋ1) ᕤࣟ࣎ࢵࢺࡣᆅ┙ࢆ࠶ࡿ⛬ᗘᩚᆅࡍࡿࠋ ᇙタᚲせ࡞ᅵࡣ㸪ࢻ࣮ࢨࢱࣉࡢ⛣ືࣟ࣎ࢵࢺ⩌ ࡼࡗ࡚࿘㎶ࡽ㞟ࡵࡽࢀࡿ㸦ᅗ 㸧ࠋ2) 㞟ࡵࡽࢀࡓᅵࢆ ᕤࣟ࣎ࢵࢺ⬗యෆ㒊ഛ࠼ࡓ⧄⥔ࢩ࣮ࢺ࡛ໟࡳ㸪ᅵ ࡢ࠺ࢆᵓ⠏ࡍࡿࠋ3) ࡑࢀࢆᆶ┤✚ࡳ࠶ࡆࡿࡇ࡛㸪 ᧦ቨࢆᘓタࡍࡿࠋ4) ࡇࡢ᧦ቨࢆ」ᩘᘓタࡋ࡚ᣐⅬࢆᅖ ࠺㸦ᅗ 㸧ࠋ5) ࡑࡢୖࡽᅵࢆࡪࡏࡿࠋ6) ᣐⅬࡀ㟢 ฟ࡞ࡃᇙタࡉࢀࡓࡇࢆ☜ㄆࡍࡿࠋ ᅵࡢ࠺✚ᒙయࡢᏳᐃᙧ≧タィ ᥦᕤἲ࠾࠸࡚᭱ࡶ᳨ウࡍࡁⅬࡢࡦࡘࡣ㸪✚ ᒙࡋࡓᅵࡢ࠺ࡢ㌿ಽື࡛࠶ࡿࠋᆅୖ࠾࠸࡚ࡣ୍ ⯡ⓗ㸪ᅵࡢ࠺✚ᒙయࡢ⾲㠃ࢆᨭᣢࣇ࣮࣒ࣞࡸࢥࣥࢡ ࣮ࣜࢺ࡛⿵ᙉࡍࡿࠋࡋࡋึᮇࡢ᭶㠃㛤Ⓨ࡛ࡣࡇࢀࡽ ࡢ⏝ࡀᅔ㞴࡛࠶ࡿࡓࡵ㸪⿵ᙉ↓ࡋ࡛Ᏻᐃࡉࡏࡿࡇ ࡀᮃࡲࡋ࠸ࠋᮏ⠇࡛ࡣ㸪ᅵࡢ࠺✚ᒙయࡢ㒊ศⓗ࡞㌿ ಽ࣭ືᑐࡍࡿ㟼ຊᏛⓗ࡞Ᏻᐃᛶゎᯒࡘ࠸࡚㏙ ࡿࠋࡇࡢ⤖ᯝᇶ࡙ࡁ㸪ᥦࡍࡿࣟ࣎ࢵࢺࡢసᴗᑐ㇟ ≀࡛࠶ࡿᅵࡢ࠺✚ᒙయࡢᙧ≧ࢆỴᐃࡍࡿࠋ ㌿ಽືᑐࡍࡿᏳᐃゎᯒ ᮏゎᯒ࡛ࡣ㸪ᅵࡢ࠺✚ᒙయࢆᅗ ࡢࡼ࠺࡞㸰ḟඖ᩿ 㠃࡛ࣔࢹࣝࡍࡿࠋ✚ᒙయࡢእᙧࡣ㸪㧗ࡉ H㸪ᖜ B㸪 ⣬㠃ዟ⾜ࡁ᪉ྥࡢ㛗ࡉ L ࡍࡿࠋ᭶㠃ࡢ㔜ຊ g ࡣᆅ⌫ ୖࡢ 1/6 ࡍࡿࠋ✚ᒙయࡀཷࡅࡿാᅵᅽ PA ࡣ㸪 ᅗ ࢻ࣮ࢨࢱࣉࡢᅵ◁౪⤥ࣟ࣎ࢵࢺ ᅗ ᅵࡢ࠺᧦ቨ࡛ᅖࢃࢀࡓ᭶㠃ᣐⅬ ᅗ ᅵࡢ࠺᧦ቨᘓタࣟ࣎ࢵࢺࡢ࣓࣮ࢪ ᅗ ࣟ࣎ࢵࢺࡼࡿ᭶㠃ᣐⅬࡢᇙタᕤᡭ㡰
Coulomb ࡢࡃࡉࡧ⌮ㄽᇶ࡙࠸࡚ᘧ(1)࡛ồࡵࡽࢀࡿࠋ c ࡣ⢓╔ຊ㸪ȭࡣෆ㒊ᦶ᧿ゅ㸪KA ࡣാᅵᅽಀᩘ㸪HZ ࡣಽቯࡋࡓᅵࡢ࠺ࡢ㧗ࡉ㸪Țࡣ㎸ᅵࡢࡉᐦᗘ㸪ȚS ࡣᅵࡢ࠺ࡢࡉᐦᗘ࡛࠶ࡿࠋືᅵᅽࡼࡿ㌿ಽࡸ ືᑐࡍࡿᏳ⋡ࢆ FSࡍࡿ㸪PA࠾ࡼࡧ✚ᒙయࡢ⮬ 㔜 W ࡼࡿⅬ Q ࡲࢃࡾࡢ࣮࣓ࣔࣥࢺࡢ㔮ࡾྜ࠸ࡽ㸪 ࡞࠾᭶㠃ࡣ㧗┿✵ࡢࡓࡵ㢼ຊࡣ⪃៖ࡋ࡞࠸ࠋᆅ㟈ືࡶ ࡛࣐᭱ࢢࢽࢳ࣮ࣗࢻ㸱⛬ᗘ࡛࠶ࡿࡓࡵ┬␎ࡋࡓ㸳㸧ࠋ ᘧ(4)ࡽ㸪PAࡀ᭱㸦c=0㸧ࡘț=0 ࡢࡁ FSࡀ᭱ ᑠ࡞ࡾ㸪᭱ࡶᏳᐃ࡞ࡿࡇࡀࢃࡿࠋࡇࡢࡁ ᘧ(1)ࢆᘧ(4)௦ධࡍࡿ㸪 ḟືࡘ࠸࡚ࡢᏳ⋡ࢆ⟬ฟࡍࡿࠋᅵࡢ࠺㛫ࡢᦶ ᧿ゅࢆȜࡍࡿ㸪Ỉᖹ᪉ྥࡢຊࡢ㔮ྜ࠸ࡽ ᘧ(7)ࡘ࠸࡚ࡶᘧ(4)ྠᵝ㸪ț=c=0 ࡢࡁ FSࡀ ᭱ᑠ࡞ࡿࡇࡀࢃࡿࠋᘧ(1)ࢆ௦ධࡍࡿ ࡓࡔࡋ✚ᒙయయࡢືࢆ⪃࠼ࡿ㝿ࡣ㸪Ȝࢆᅵࡢ࠺ᗏ 㠃◁ࡢᦶ᧿ゅ⨨࠼ࡿᚲせࡀ࠶ࡿࠋ ᘧ(5)(8)ࡽ㸪HZࡀᑠࡉ࠸Ᏻ࡛࠶ࡿࡇࡀࢃ ࡿࠋࡋࡓࡀࡗ࡚ HZ=H ࡋ㸪᭱ࡶ༴㝤᮲௳࡛࠶ࡿᅵ ࡢ࠺✚ᒙయయࡘ࠸࡚Ᏻᛶࢆ᳨ウࡍࡿࡇ࡛㸪㒊 ศⓗ࡞ᔂቯᑐࡍࡿᏳᛶࡶಖドࡉࢀࡿࠋ ᅵࡢ࠺✚ᒙయࡢᙧ≧タィ ᅵࡢ࠺✚ᒙయࡢᙧ≧ࢆタィࡍࡿ࠶ࡓࡾ㸪ᇙタᑐ㇟ ≀ᅵ◁ࡢࣃ࣓࣮ࣛࢱࢆỴࡵࡿᚲせࡀ࠶ࡿࠋᇙタᑐ㇟ ࡣ┤ᚄ D = 4 m㸪㛗ࡉ E = 5 m ࡢᰕࢆᐃࡍࡿࠋ◁ࡢ ࡪ ࡾ ཌ t Ӎ 0.3 m ࡍ ࡿ 㸪 ✚ ᒙ య ࡢ ᙧ ≧ ࡣ
m
4.3
t
D
t
H
,L
t
E
2
t
5
.6
m
ࢆ‶ࡓࡍᚲせࡀ ࠶ࡿࠋࡲࡓ H ࡣᅵࡢ࠺㸯ࡘࡢ㧗ࡉ s ࡢಸᩘ㸪L ࡣᚋ ㏙ࡍࡿᅵࡢ࠺࣏ࢣࢵࢺ㛗ࡉࡢᩚᩘಸࡍࡿᚲせࡀ࠶ࡿࠋ ᆅୖ࡛ࡢᇶ‽್ೌ࠸ s = 0.3 m ࡍࡿ㸪H = 4.5 m 㸦15 ẁ✚ᒙ㸧࡞ࡿࠋL ࡣ 6.1 ⠇࠾࠸࡚ 1 m タィ ࡉࢀࡓࡇࡽ㸪L = 6.0 m ࡞ࡿࠋ ᅵ◁ࡘ࠸࡚ࡣ㸪ḟ⠇ࡢᐇ㦂࡛⏝࠸ࡓᶍᨃ◁ FJS-1㸴㸧 ࢆ⏝࠸ࡿࠋFJS-1 ࡢ⢏ᚄ୰ኸ್ D50 ࡣ 75ȣm㸪⢏Ꮚẚ 㔜ࡣ 2.9㸪ࡉᐦᗘࡣ 1.4㹼2.0 g/cm3࡛࠶ࡿࠋᐦᗘࡼ ࡗ࡚ኚࡍࡿ FJS-1 ᭶⾲ᅵࡢ≉ᛶࢆᅗ㸵♧ࡍ㸵㸧㸶㸧ࠋ ⢓╔ຊ c ࡣ FJS-1 ࡢ࠺ࡀ 2 ಸ௨ୖࡁ࠸ࡀ㸪ෆ㒊ᦶ᧿ ゅ ij ࡘ࠸࡚ࡣࡰ➼ࡋ࠸ࠋ㎸ᅵࡢ┦ᑐᐦᗘࡘ࠸ ࡚ࡣ㸪⥾ᅛࡵ࡞࠸ᐃ࡛ 40%㸦Ț=1.6 g/cm3㸧ࡍࡿ ij = 38 deg.࡞ࡾ㸪ᘧ(1)ࡽ KA=0.24 ࡛࠶ࡿࠋ୍᪉ᅵࡢ ࠺ࡢ┦ᑐᐦᗘࡘ࠸࡚ࡣ㸪༑ศ⥾ᅛࡵࡿ௬ᐃࡋ࡚ 100%㸦ȚS =2.0 g/cm3㸧ࡍࡿ㸪J
SJ
1
.
25
࡞ࡿࠋ ௨ୖࡢ᮲௳タᐃࡽ㸪ඛ㏙ࡢゎᯒᘧᇶ࡙࠸࡚ᅵࡢ࠺ ᖜ B ࢆỴࡵࡿࡇࡀ࡛ࡁࡿࠋ㌿ಽࡘ࠸࡚ࡣ㸪Ᏻ⋡ Fs = 1.1 ࡍࡿ㸪ᘧ(5)ࡽB
H
Zt
0
.
2
7
࡞ࡿࠋ ືࡘ࠸࡚ࡣ㸪ᅵࡢ࠺⿄ࡢᦶ᧿ゅȜࢆỴࡵࡿᚲせࡀ࠶ ࡿࠋᩥ⊩㸷㸧ࡼࢀࡤ㸪⣽࠸ᅵ◁ࡀධࡗࡓሙྜࡣȜ=15 㹼23°࡛࠶ࡿࠋࡇࡇࡽ᭱ᑠ್ࡢȜ=15°ࢆ᥇⏝ࡋ㸪ື Ᏻ⋡ Fs=1.1 ࡍࡿ㸪ᘧ(8)ࡽB
H
Zt
0
.
39
࡞ࡿࠋ ࡋࡓࡀࡗ࡚B
t
1
.
8
m
࡛࠶ࡿࠋ௨ୖࡽ㸪ᅵࡢ࠺✚ᒙయ ࡢᙧ≧ࡣᘧ(9)ࡢࡼ࠺タィࡉࢀࡓࠋ Ᏻᐃᛶ᳨ドࡢࡓࡵࡢ㐲ᚰᶍᆺᐇ㦂 㐲ᚰᶍᆺᐇ㦂ࡣ㸪ᕧᵓ㐀≀ࡢᣲືࢆ⦰ᑠᶍᆺ࡛ ⌧࡛ࡁࡿࡓࡵ㸪ᆅ┙ᕤᏛศ㔝࠾࠸࡚ࡼࡃ⏝࠸ࡽࢀࡿࠋ 1/N ࢧࢬࡢᶍᆺᑐࡋ࡚㔜ຊࡢ N ಸࡢ㐲ᚰຊࢆ࠼ ࡿࡇ࡛㸪ᐇ㝿ࡢᅵᅽࢆ⌧ࡍࡿ㸯㸮㸧ࠋࡋࡓࡀࡗ࡚㔜ຊ ࡀ⣙ 1/6 ࡛࠶ࡿ᭶㠃ࡢᅵᅽࡶ㸪N/6 ಸࡢ㐲ᚰຊࢆ࠼ࡿ ࡇࡼࡾ⌧ྍ⬟࡛࠶ࡿࠋࡇࢀࢆ⏝ࡋ࡚᭶㠃ᅵࡢ (1) 2 2 1 Z 2 Z A A A gH K cH K P J(2) cos sin sin 1 cos cos2 2 ¸ ¸ ¹ · ¨ ¨ © § G I G I G I A K (3) 3 cos sin 2 PA B FSPA HZ B W G G ) 4 ( tan 3 cos 2 3 2 2 Z Z A Z S S H B H B P gH F G G J ¸¸ ¹ · ¨¨ © §
2 tan (8) min Z S A S H B K F
H
J
J
3 (5) min 2 ¸¸ ¹ · ¨¨ © § Z S A S H B K F
J
J
ᅗ ᅵࡢ࠺᧦ቨࡢᏳᐃゎᯒࣔࢹࣝs
,
H
,
B
,
L
0.3,
4.5,
1.8,
6.0
[m]
ࠉ
(9)
ࠉ
W
P
Asin
G
tan
H
F
SP
Acos
G
(6)
(7) tan tan cos tan 2G
H
G
H
J
Z A Z S S H B P gH F ᅗ ᭶ᅵተࡢᅽ⦰≉ᛶᅗ ᅵࡢ࠺᧦ቨヨ㦂యࡢ㌿ಽࡼࡿಽቯ ࠺✚ᒙయࡢᏳᐃᛶ㛵ࡍࡿゎᯒ⤖ᯝࡢጇᙜᛶࢆ᳨ドࡋ㸪 ᅵࡢ࠺࠾ࡼࡧᅵࡢ࠺ᵓ⠏ࣟ࣎ࢵࢺࡢタィࢆࡅࡿࠋ ලయⓗ࡞ᐇ㦂᪉ἲࡣ 1) ᅵࡢ࠺✚ᒙయࡀಽቯࡍࡿࡲ࡛㐲 ᚰຊࢆቑຍࡉࡏ㸪ࡑࡢࡁࡢ㐲ᚰຊࢆグ㘓ࡍࡿࠋ2) ಽ ቯࡢᣲືࢆほᐹࡋ㸪◚ቯ࣮ࣔࢻࡘ࠸࡚ᐃᛶⓗホ౯ ࡍࡿࠋ3) ほᐹࡉࢀࡓ◚ቯ࣮ࣔࢻࡘ࠸࡚ゎᯒ⤖ᯝẚ ㍑ࡋ㸪Ᏻᐃゎᯒᡭἲࡢጇᙜᛶࢆ᳨ドࡍࡿࠋ ᐇ㦂ࡢࢭࢵࢺࢵࣉ ᐇ㦂⨨ ࢻ࣒ࣛᆺࡢ㐲ᚰᶍᆺᐇ㦂⨨㸦ᮾ〇సᡤ〇㸧ࢆ⏝ ࠸ࡓࠋࡑࡢᶍᘧᅗࢆᅗ ♧ࡍࠋ᭱ᅇ㌿༙ᚄࡣ 472 mm ࡛࠶ࡾ㸪400 rpm ௨ୖࡢᅇ㌿㏿ᗘࢆ࠼ࡿࡇࡀ࡛ ࡁࡿࠋ㐲ᚰຊࢆ⟬ฟࡍࡿᇶ‽⨨ࡣ㸪✚ᒙయࡢ㧗ࡉ᪉ ྥࡢ୰ᚰタᐃࡋࡓࠋ ᅵࡢ࠺ᶍᆺ ᐇ㦂⨨ྜࢃࡏ࡚〇సࡋࡓᅵࡢ࠺✚ᒙయࡢ 1/40 ᶍ ᆺࢆᅗ ♧ࡍࠋࡇࡢᶍᆺ㐲ᚰຊ Gm =40/6 = 6.7G ࢆ ࠼ࡿࡇ࡛㸪᭶㠃࠾ࡅࡿᐇ≀ࡢᣲືࢆ⌧࡛ࡁ ࡿࠋᅵ◁ࡣ᭶ᶍᨃ◁ FJS-1 ࢆ⏝ࡋࡓࠋᅵࡢ࠺⿄ࡣ㸪 ࣑ࣝࢥ࣮ࢸࣥࢢࡉࢀࡓ࣏࢚ࣜࢳࣞࣥࢩ࣮ࢺ㸦ᘬ ᙉᗘ 5 N/mm㸪ཌࡳ 0.12 mm㸪㔜ࡉ 70 g/mm2㸧ࢆ⏝࠸ ࡓࠋ㎸ᅵࡘ࠸࡚ࡣ㸪✵୰ⴠୗἲࢆ⏝࠸࡚࡛ࡁࡿ㝈 ࡾᆒ୍◁ࢆሸࡋࡓࠋ㎸ᅵࡢ┦ᑐᐦᗘࡣ 40%㸪ᅵ ࡢ࠺ࡢ┦ᑐᐦᗘࡣ 100%ࡋࡓࠋᅵࡢ࠺ᙧ≧ࡣ⾲ ♧ ࡍ㸲ࣃࢱ࣮ࣥࢆ⏝࠸ࡓࠋ࡚┤᪉యᙧ≧ࡋ㸪ᅵࡢ࠺ ࡢཌࡉ s ᖜ B ࡣྛࠎ㸰✀㢮ࡎࡘ⏝ពࡋࡓࠋ᮲௳ C4 ࡛ ࡣ᮲௳ C1 ᆅ┙ᣐⅬᶍᆺࢆຍ࠼ࡓࠋᣐⅬᶍᆺࡣ⟄ ≧࡛㸪㉁㔞 78 g㸦5t ┦ᙜ㸧ࡋࡓࠋ ᅵᵴࡢቃ⏺᮲௳ 1) ᅵᵴᅵࡢ࠺ࡢ㛫⏕ࡌࡿᦶ᧿ࢆపῶࡉࡏࡿࡓࡵ㸪 ቃ⏺㠃ᅛᙧࢢࣜࢫࢆሬᕸࡋࡓࠋ2) ◁₃ࢀࢆ㜵ࡄࡓࡵ㸪 ቃ⏺ⷧ࠸ࢦ࣒⭷ࢆࢢࣜࢫ࡛ᙅࡃ㈞ࡾࡅࡓ㸦ᅗ ྑ㸧ࠋ 3) ᅵᵴᗏ㠃◁ࡢᦶ᧿ࢆ⌧ࡍࡿࡓࡵ㸪FJS-1 ࢆⷧࡃ ᥋╔ࡋࡓࠋ ᐇ㦂⤖ᯝ⪃ᐹ ᅗ ࡣ⾲㸯ࡢ✚ᒙయᑐࡋ࡚㐲ᚰ㍕Ⲵࢆ⾜࠸ಽቯࡉ ࡏࡓ࡛࠶ࡿࠋᅗ୰ࡢ┤⥺ࡣ㸪㍕Ⲵ๓ࡢ㎸◁ࡢእᙧ ࢆࢺ࣮ࣞࢫࡋࡓ⥺࡛࠶ࡿࠋేグࡉࢀࡓ್ࡣ㸪ಽቯࡢ 㐲ᚰຊ Gfall㸪ಽቯࡋࡓᅵࡢ࠺ࡢ㧗ࡉ HZ㸪࠾ࡼࡧᔂቯ๓ ࡢ✚ᒙయࡢ⦪ᶓẚ B/H ࡛࠶ࡿࠋGfallࡣ Gm = 6.7G ᑐࡍ ࡿẚ⋡࡛⾲グࡋࡓࠋാᅵᅽࡀ㐲ᚰຊẚࡍࡿ௬ ᐃࡍࢀࡤ㸪Gfall/GmࡣᏳᐃゎᯒ࠾ࡅࡿᏳ⋡ Fs➼౯ ࡛࠶ࡿࡳ࡞ࡏࡿࠋHZࡣᔂࢀࡓᅵࡢ࠺ࡢᩘࢆᅵࡢ࠺ ᩘ࡛㝖ࡋ࡚⟬ฟࡋࡓࠋ࡚ࡢ᮲௳ᑐࡍࡿᐇ㦂⤖ᯝࢆ ᅗ ᧦ቨᖜ B/HZᑐࡍࡿ㌿ಽవ⿱ ᅗ ᅵࡢ࠺᧦ቨࡢ 1/40 ࢫࢣ࣮ࣝヨ㦂య (mm) ᅗ ࢻ࣒ࣛᆺ㐲ᚰᶍᆺᐇ㦂⨨ ⾲ ᅵࡢ࠺᧦ቨヨ㦂యࡢᙧ≧(mm) Scale s B s/B B/H D T C1 1/40 8 38 0.2 0.28 0 0 1/1 320 1520 0 0 C2 1/40 8 19 0.4 0.14 0 0 1/1 320 760 0 0 C3 1/40 15 19 0.8 0.14 0 0 1/1 600 760 0 0 C4 1/40 8 38 0.2 0.28 103 100 1/1 320 1520 4100 4000 0 2 4 6 8 0 0.2 0.4 0.6 0.8 Fall margin FS (=G fall /G m ) Wall width B/HZ C1 C2 C3 C4
ᅵࡢ࠺✚ᒙయࡢ◚ቯ࣮ࣔࢻ ◚ቯ࣮ࣔࢻࡣ㌿ಽࡀᨭ㓄ⓗ࡛࠶ࡗࡓࠋᅵࡢ࠺⿄ࡢᘬ ࡣほ ࡉࢀ࡞ࡗࡓࠋືࡣ᮲௳ C3 ࠾࠸࡚ࢃࡎ ⏕ࡌࡓࡀ㸪ࡑࢀࡀ᭱⤊ⓗࡣ㌿ಽࢆᘬࡁ㉳ࡇࡋࡓࠋ ືࡀほ ࡉࢀ࡞ࡗࡓ⌮⏤ࡋ࡚㸪ᅵࡢ࠺㛫ࡢᦶ᧿ ࡀᐃࡼࡾࡶࡁࡗࡓྍ⬟ᛶࡀ࠶ࡿࠋ ᅵࡢ࠺ࡢᖜཌࡉẚ s/B ࡢẚ㍑ ᮲௳ C2 C3 ࢆẚ㍑ࡍࡿ㸪s/B ࡣಽቯ㐲ᚰຊ Gfall ᑐࡋ࡚ࢃࡎ㈇ࡢ┦㛵ࡀㄆࡵࡽࢀࡓࠋs/B ࢆ㸰ಸ ࡍࡿಽቯ㐲ᚰຊࡣ⣙ 5/6 ࡞ࡗࡓࠋࡉࡽ᮲௳ C3 ࡛ ࡣ㍕Ⲵ୰ཌࡉ s ࡢ 1/3 ⛬ᗘࡢືࡀほᐹࡉࢀࡓࠋࡇࢀ ࡽࡢ㇟ࡽ㸪ᖜཌࡉẚࡀࡁ࠸ືࡋࡸࡍࡃ࡞ ࡾ㸪ࡑࡢ⤖ᯝࡋ࡚ಽቯࡋࡸࡍࡃ࡞ࡗࡓ⪃࠼ࡽࢀࡿࠋ ᅵࡢ࠺✚ᒙయࡢ⦪ᶓẚ㌿ಽవ⿱ ᅗ ࡢྛ᮲௳࠾࠸࡚ B/HZ Gfall/Gm (Fs) ࡢ㛫ṇ ࡢ┦㛵ࡀぢࡽࢀࡓࠋ᮲௳ C4 ࡣゎᯒ್ࡼࡾࡶᏳᛶࡀప ࡗࡓࡀ㸪ࡇࢀࡣᆅ┙ࡼࡿᙳ㡪࡛࠶ࡿ⪃࠼ࡽࢀࡿࠋ ࡇࢀ௨እࡢ᮲௳࡛ࡣᐇ㦂್⌮ㄽ್ࡀᴫࡡ୍⮴ࡋࡓࠋ HZࡣ࡚ࡢ᮲௳࠾࠸࡚ 0.4H㹼0.6H ࡛࠶ࡗࡓࡇࡽ㸪 ࡇࡢ⠊ᅖ࡛㒊ศಽቯࡀ㉳ࡇࡿ௬ᐃࡍࡿࡇ࡛㸪ᅵࡢ ࠺✚ᒙయࡢᏳᛶࢆண ࡛ࡁࡿ⪃࠼ࡽࢀࡿࠋᐇ㦂ᅇ ᩘࢆቑࡸࡋࡓ㏣ヨࡀᮃࡲࢀࡿࡶࡢࡢ㸪ᮏゎᯒᡭἲࡢಙ 㢗ᛶࡘ࠸࡚ぢ㏻ࡋࡀᚓࡽࢀࡓࠋ ᅵࡢ࠺✚ᒙࡢࡓࡵࡢ᪼㝆⨨タィ タィ᮲௳ ๓⠇࡛ᚓࡽࢀࡓᅵࡢ࠺᧦ቨࡢᏳᐃᙧ≧ᇶ࡙ࡁ㸪ᅵ ࡢ࠺✚ᒙࡢࡓࡵࡢ᪼㝆⨨ࡢタィ᮲௳ࢆࡲࡵࡿࠋ ࡲࡎ๓㏙ࡋࡓᏳᐃゎᯒ⤖ᯝࡽ㸪᪼㝆⨨ᚲせ࡞ ᥭ⛬㸦ྍኚ㧗ࡉ㸧ࡣ 4.2 m ࡞ࡿࠋḟᡴୖࡆࣟࢣࢵࢺ ࡼࡿไ⣙ࢧࢬࢆ᳨ウࡍࡿࠋ᪥ᮏࡢᡴୖࡆᐇ✚࠾ ࠸࡚᭱ࡶࡁ࠸࣮࣌ࣟࢻࡣ HTV ࡛࠶ࡾ㸪┤ᚄ 4.4 m㸪 㧗ࡉ 9.6 m ࡛࠶ࡿࠋࣟ࣎ࢵࢺࡢࡁࡉࢆࡇࡢ⠊ᅖෆ ࡵࡿࡓࡵ㸪3.2×3.0 [m]ࡢ㛗᪉ᙧࢆࣟ࣎ࢵࢺࡢᢞᙳᙧ≧ ࡋ࡚タᐃࡍࡿࠋࡋࡓࡀࡗ࡚ 3.2 m ࡀ᪼㝆⨨ࡢ᭱㛗 ࡉ࡞ࡿࠋࡲࡓࣟ࣎ࢵࢺࡢ㧗ࡉࡘ࠸࡚ࡣ㸪HTV ࡢ 1/3 ⛬ᗘࡢ 3.3 m ࢆᐃࡍࡿࠋ ᪼㝆⨨ࡢᙧ≧タィ ᪼㝆⨨ࡣࣃࣥࢱࢢࣛࣇ᪉ᘧࢆ᥇⏝ࡍࡿࠋࣃࣥࢱࢢ ࣛࣇࡣఙࡤࡍᨭⅬࡀ೫ࡾᏳᐃ࡞ࡿࡓࡵ㸪୍⯡ ࣜࣥࢡ㛗ࡉࡢ㸴⛬ᗘࢆ㸯ẁ࠶ࡓࡾࡢ᭱ᥭ⛬ࡋ ࡚ไ㝈ࡍࡿࠋࡍࡿࣜࣥࢡ㛗ࡉࡀ 3 m ࡢሙྜ㸪ᥭ⛬ 4.2 m ࢆ‶ࡓࡍࣃࣥࢱࢢࣛࣇࡣ㸰㹼㸱ẁ࡞ࡿࠋᑠᆺࢆ ┠ⓗ㸰ẁᘧࢆ᥇⏝ࡋ㸪ᅗ ᕥࡢࡼ࠺࡞᪼㝆⨨ࢆタ ィࡋࡓࠋw ࡣ⬗య࠾ࡼࡧᅵ◁ࡢ㔜㔞㸪L ࡣࣜࣥࢡ㛗ࡉ㸪 z ࡣᥭ⛬㸪s ࡣ┤ື࣮ࣔࢱࡢ㛗ࡉ㸪a b ࡣ࣮ࣔࢱᅇ㌿ ᨭⅬࡢ⨨㸪am bmࡣࣜࣥࢡୖࡢ࣮ࣔࢱᅇ㌿ᨭⅬࡢ ⨨࡛࠶ࡿࠋࡇࡢࣔࢹࣝࡢ㡰㐠ືᏛゎᯒࡼࡾ㸪z s ࡢ 㛵ಀࡣኚᩘ ș ࢆ፹ࡋ࡚ᘧ(10)ࡢࡼ࠺⾲ࡉࢀࡿࠋ ࡇࡇ࡛ C0㹼C2ࡣᐃᩘ࡛࠶ࡾ㸪ࣜࣥࢡࣃ࣓ࣛࢱ L, a, b, am, bmࡽồࡵࡽࢀࡿࠋࡇࡢᘧᇶ࡙࠸࡚ྛ✀ࣃ࣓ࣛࢱࢆ タィࡋࡓ⤖ᯝࢆᅗ ྑ♧ࡍࠋࣜࣥࢡ㛗ࡉ L = 3.0 m, ࣮ࣔࢱ㛗ࡉ s = 0.23 㹼 0.31 m㸪 ࣮ࣔࢱල㛗ࡉ a = b = 0.21, am = 0.60, bm = 0.46 [m] ࡋࡓࠋࡇࡢࡁࡢ㧗ࡉ z ࡢྍኚ⠊ᅖࡣ㸪1.0 㹼 5.8 m ࡞ࡗࡓࠋࡋࡓࡀࡗ࡚ᥭ ⛬ࡣ 4.8 m ࡛࠶ࡾ㸪᪼㝆⨨ᚲせ࡞ᥭ⛬ 4.2 m ௨ୖࢆ ‶ࡓࡋࡓࠋᐇ㝿ࡢᥭ⛬ࡣෆ⮚࣮ࣔࢱࡢࡁࡉࡼࡗ࡚ ᭱ᑠ㧗ࡉࡀไ㝈ࡉࢀ㸪ᑡࡋపࡃ࡞ࡿࠋ ᭱⤊ⓗỴᐃࡋࡓ᪼㝆⨨ࡢᙧ≧ࢆᅗ ♧ࡍࠋ㐠 ືᏛⓗゎᯒຍ࠼㸪࣑ࣝࢆᵓ㐀ᮦᩱࡋࡓሙྜࡢᙉ ᗘࢆ⪃៖ࡋࡓୖ࡛㸪せồᵝ࡛࠶ࡿ㛗ࡉ 3.2 m ࠾ࡼࡧ ᥭ⛬ 4.2 m ࡀ‶ࡓࡉࢀࡓࠋ ᅵࡢ࠺〇㐀⨨ࡢタィホ౯ ゎᯒ࠾ࡼࡧᐇ㦂ࡼࡗ࡚ᚓࡽࢀࡓᅵࡢ࠺✚ᒙయࡢᏳ ᐃᙧ≧ᇶ࡙ࡁ㸪ᥦࡍࡿ᭶㠃ᣐⅬᇙタ࣑ࢵࢩࣙࣥ ࠾࠸࡚᭱ࡶࢡࣜࢸ࢝ࣝ࡞ᶵ⬟࡛࠶ࡿᅵࡢ࠺〇㐀⨨ (10) cos 2 sin 2 sin 2 2 1 0 ¯ ®
T
T
T
C C C s L z ᅗ ᪼㝆⨨ࡢᙧ≧タィ (m)Motor
Ba ery
Motor Cylinder
Roller Guide
Roller Guide
Wheel
Shoulder
3.2
1.9
6.1
ࡘ࠸࡚タィホ౯ࢆ⾜ࡗࡓࠋ ࣏ࢣࢵࢺࣞᆺ㐃⥆ᅵࡢ࠺⿄ 㐃⥆ⓗᅵࡢ࠺ࢆ〇㐀࣭✚ᒙࡍࡿࡓࡵࡢᅵࡢ࠺⿄ࡣ㸪 ⾲ ♧ࡍ 3 ✀㢮ࡀ⪃࠼ࡽࢀࡿࠋ1 ࡢ୍⯡ⓗ࡞ᅵࡢ࠺ࡣ㸪 ⿄ࡢ㐃⥆ⓗ࡞౪⤥ࡸ㸪〇㐀ࡋࡓᅵࡢ࠺ࡢ㝽㛫࡞࠸タ⨨ ࡣ࡛࠶ࡿࠋ2 ࡢ㢼࿅ᩜ᪉ᘧࡣࡇࢀࡽࢆゎỴ࡛ࡁࡿ 㠃㸪ᕸࡢᢡࡾ␚ࡳ⦭〇ࡀㄢ㢟࡞ࡿࠋࡑࡇ࡛➹⪅ ࡽࡣ㸪3 ࡢ࣏ࢣࢵࢺࣞ᪉ᘧࢆᥦࡍࡿࠋࡇࡢ᪉ᘧ࡛ ࡣᅗ ࡢࡼ࠺࡞࣏ࢣࢵࢺࡀ」ᩘ㐃࡞ࡗࡓᙧ≧ࡢᅵࡢ࠺ ⿄ࢆ⏝࠸ࡿࠋ࣏ࢣࢵࢺࢆᑡࡋ❧࡚ࡓ≧ែ࡛ᅵ◁ࢆᢞධ ࡍࡿࡇࡼࡗ࡚㸪⦭〇࡞ࡋᅵ◁ࡢໟࡀྍ⬟࡛࠶ ࡿࠋ࣮ࣟࣛࡼࡿ㐃⥆ⓗ࡞౪⤥ࡀྍ⬟࡛࠶ࡾ㸪ล≀࡛ ษ᩿ࡍࡿࡇࡼࡾ࣏ࢣࢵࢺࡢᩚᩘಸࡢ㛗ࡉ࡛ᅵࡢ࠺ ࢆ〇㐀࡛ࡁࡿࠋࡇࡢࡓࡵᅵࡢ࠺✚ᒙయࡢ↓ே〇㐀㐺 ࡋ࡚࠸ࡿࠋᅵ◁ᢞධཱྀࡣࢆࡏࡎ㸪ࡑࡢୖᅵࡢ࠺ࢆ ✚ࡳ㔜ࡡࡿࡇ࡛ሰࡄࠋ ࣏ࢣࢵࢺࡢ㛫㝸ࡣ㸪್᭱ࡀࣟ࣎ࢵࢺ⬗యࡢ㧗ࡉ ࡼࡗ࡚㸪᭱ᑠ್ࡀᅵ◁౪⤥⨨ࡢඛ➃ࢧࢬไ㝈ࡉ ࢀࡿࠋࡇࢀࡽࢆ⪃៖ࡋࡓୖ࡛㸪᭱ࡶࡁ࠸ 1000 mm ࢆ ࣏ࢣࢵࢺ㛫㝸ࡋ࡚ᐃࡵࡓࠋࡲࡓᅵࡢ࠺ࡢሸࡸ ฟ࡞࣏ࢣࢵࢺࡽ◁ࡀࡇࡰࢀ࡚ࡶᡤᐃࡢᅵࡢ࠺ 㧗ࡉ s ࡀᚓࡽࢀࡿࡼ࠺㸪࣏ࢣࢵࢺཱྀࡢࡁࡉྜࢃ ࡏ࡚⿄㧗ࡉࢆࡁࡵࡋࡓࠋணഛᐇ㦂ᇶ࡙࠸࡚ 25% ࡢᅵ◁₃ࢀࢆᐃࡋ㸪⿄㧗ࡉࢆ 400 mm ࡋࡓࠋ ⦪ࣆ࣮ࣟᆺᅵࡢ࠺ໟ⨨ ᅗ ࡢᅵࡢ࠺⿄ᅵ◁ࢆሸࡋ࡚ᅵࡢ࠺ࢆ〇㐀ࡍࡿ ⨨ࢆ㸪ᅗ ࡢࡼ࠺タィࡋࡓࠋໟᶵᲔࡼࡃ⏝࠸ ࡽࢀ࡚࠸ࡿ⦪ࣆ࣮ࣟᆺࡢໟᶵᵓࢆཧ⪃㸪ᅵࡢ࠺⿄ ౪⤥⨨ࡣࢦ࣒࣮ࣟࣛ㸪ᅵ◁౪⤥⨨ࡣࣉࣟ࣌ࣛ ࢩࣕࣇࢺ㸪ᅵࡢ࠺ሸ⨨ࡣࣛࢵࢡࣆࢽ࢜ࣥ㥑ືࡢ ₃ᩯ㸪࠾ࡼࡧ࣏ࢣࢵࢺཱྀࢆᤕᤊࡍࡿࣇࢵࢡ㸪ᅵࡢ࠺ ฟ⨨ࡣᖹ࣋ࣝࢺࢥࣥ࣋ࢆ᥇⏝ࡋࡓࠋᅗ୰ࡢ㯮࠸ ㍈ࡣ㥑ື㍈࡛࠶ࡾ㸪㒊࡛ 4 ᮏ㓄⨨ࡋࡓࠋ ࡇࡢ⨨࠾ࡼࡧ᪼㝆⨨㸪㉮⾜⨨ࢆḟࡢᡭ㡰࡛⧞ ㏉ࡋືసࡉࡏࡿࡇࡼࡾ㸪௵ពᩘࡢᅵࡢ࠺ࢆ㐃⥆ⓗ 〇㐀ࡋ㸪㝽㛫࡞ࡃ✚ᒙࡍࡿࡇࡀ࡛ࡁࡿࠋ1) ࣮ࣟࣝ ≧ಖᣢࡉࢀࡓᅵࡢ࠺⿄ࢆ࣮࡛ࣟࣛ㏦ࡾฟࡋ㸪ᅵࡢ࠺ ⿄ࡢཱྀࢆ࣍ࢵࣃ࣮┤ୗ⨨ࡉࡏࡿࠋ2) ࢫࣛࢻᘧࡢ ₃ᩯࢆୗ㝆ࡉࡏ㸪⿄ཱྀᤄධࡍࡿࠋ3) ࣮ࣟࣛࢆ㏫㏦ࡾ ࡉࡏ㸪₃ᩯࡢୗ➃ྲྀࡾࡅࡽࢀࡓࣇࢵࢡᅵࡢ࠺⿄ ࢆ⿕ࡏࡿࠋ4) ₃ᩯࢆୖ᪼ࡉࡏ㸪ࣇࢵࢡᅵࡢ࠺⿄ࢆᘬ ࡅࡿࠋ5) ࣍ࢵࣃ࣮ෆ㒊ࡢࣉࣟ࣌ࣛᆺࣂࣝࣈࢆᡤᐃࡢ ᅇᩘࡔࡅᅇ㌿ࡉࡏ㸪ᅵࡢ࠺⿄ෆ㒊◁ࢆᐃ㔞౪⤥ࡍࡿࠋ 6) ₃ᩯࢆࡧୗ㝆ࡉࡏ㸪ࣇࢵࢡࢆእࡍࠋ7) ᅵࡢ࠺⿄ࣟ ࣮ࣛᅵࡢ࠺ࢥࣥ࣋㉮⾜⨨ࢆྠ㥑ືࡉࡏ࡚㸪 ᅵࡢ࠺⿄ࢆฟ࣭ᩜタࡍࡿࠋ8) ᡭ㡰㸯㹼㸵ࢆ⧞㏉ࡋ㸪 ௵ពࡢ㛗ࡉ㐩ࡋࡓࡽ㸪₃ᩯࡢୗ➃タࡅࡓࢫࣛࢻ ᘧࡢ࢝ࢵࢱ࣮࡛ᅵࡢ࠺⿄ࢆษ᩿ࡍࡿࠋ9) ᅵࡢ࠺㸯ࡘศ ࡢ㧗ࡉࡔࡅ㸪᪼㝆⨨ࢆୖ᪼ࡉࡏࡿࠋ ᅵࡢ࠺ሸ⋡ࡢホ౯ タィࡋࡓᅵࡢ࠺ሸ⨨ࡣ㸪 ࡘࡢࣇࢵࢡ L, C, R ࢆ 㐺ษᅵࡢ࠺⿄ࢆᤕᤊࡍࡿࡇ࡛ᅵ◁ࢆ₃ࢀ࡞ࡃ࣏ࢣ ࢵࢺሸࡍࡿࡇࡀ࡛ࡁࡿࠋᤕᤊࡀศ࡞ሙྜ ࡣᅵ◁₃ࢀࡀ⏕ࡌ㸪⏕⏘ᛶࡢపୗࢆᣍࡃࠋࡑࡇ࡛ࡼࡾ ᭱㐺࡞ࣇࢵࢡ㓄⨨ࢆ᳨ウࡍࡿࡓࡵ㸪ᅵࡢ࠺⿄࠾ࡼࡧᅵ ࡢ࠺ሸ⨨ࢆ 1/10 ࢫࢣ࣮࡛ࣝヨసࡋ㸪ሸ⋡ࡢホ౯ ᐇ㦂ࢆ⾜ࡗࡓࠋ⨨ࢆᅗ 㸪⤖ᯝࢆᅗ ♧ࡍࠋ ᶓ㍈ࡣᅵࡢ࠺⿄ࢆᤕᤊࡋࡓࣇࢵࢡࡢ⨨ࣃࢱ࣮ࣥࢆ♧ ࡋ࡚࠾ࡾ㸪L ࡣᕥ㸪C ࡣ୰ᚰ㸪R ࡣྑࡢࣇࢵࢡࢆពࡍ ࡿࠋࡑࢀࡽࡢ࠺ࡕ⏝ࡋ࡞ࡗࡓࣇࢵࢡࡣࣥࢲ࣮ࣂ ࣮⨨ࡁ࠼࡚⾲グࡋࡓࠋ⦪㍈ࡣᅵࡢ࠺⿄ࡢሸ⋡ࢆ ♧ ࡍ ࠋ ᅵ ࡢ࠺⿄ ࡀ ‶ ᮼ ࡞ࡗ ࡓ ࢆ 100%ࡋ㸪⣙ 120%ࡢᅵ◁ࢆᢞୗࡋࡓࡢ㸪ᅵࡢ࠺⿄ࡢ୰ሸࡉࢀ ࡓᅵ◁ࡢ㉁㔞ࢆグ㘓ࡋࡓࠋィ ࡣࣇࢵࢡࣃࢱ࣮ࣥẖ 3 ᅇ௨ୖ⾜ࡗࡓࠋᲬࢢࣛࣇୖࡢㄗᕪᲬࡣᶆ‽೫ᕪࢆ♧ࡍࠋ ㉥⥺ࡣሸ⋡ࡢ┠ᶆ್࡛࠶ࡿࠋ25%ࡢᅵ◁₃ࢀࢆᐃ ࡋࡓᅵࡢ࠺⿄ᙧ≧ࡋ࡚࠶ࡿࡇࡽ㸪┠ᶆࡣ 75%௨ ୖ࡛࠶ࡿࠋᅵࡢ࠺ࡢࡣࡽࡳࢆ⪃៖ࡋ 80%┠ᶆタᐃࡋ ᅗ ⦪ࣆ࣮ࣟᆺᅵ◁ໟ⨨ ⾲ ᅵࡢ࠺ࡢ✀㢮ໟ⨨ Function 1. Normal sandbags 2. Wrapping cloth 3. Pocket array Textile feeder × ż Sand feeder Sandbag maker × ż Sandbag conveyor × ż ᅗ ࣏ࢣࢵࢺࣞᆺ㐃⥆ᅵࡢ࠺ (mm) 1800 200 1000 750 150 150 400 150
ࡓࠋ◁ࡣ⢏ᚄ 0.6 mm ௨ୗࡩࡿ࠸㸪┦ᑐᐦᗘࡣ⣙ 75% ࡋࡓࠋ ᐇ㦂ࡢ⤖ᯝ㸪ࣇࢵࢡࢆࡃࢃ࡞࠸ሙྜࡣᖹᆒ 5 ࡢሸ⋡ࡀᚓࡽࢀࡓࠋሸ⋡ࢆ㧗ࡵࡿࡓࡵࡣ㸪ሸ ㏿ᗘࢆ≛≅ࡋ࡚ᅵ◁౪⤥⨨ࡢฟཱྀࢆ⣽ࡃࡋࡓࡾ㸪 ࣏ࢣࢵࢺࡀࡓࢃࡲ࡞࠸ࡼ࠺⿵ᙉࡋࡓࡾࡍࡿᚲせࡀ࠶ ࡿࡇࡀࢃࡗࡓࠋ୍᪉㸪ᕥྑ୧᪉ࡢࣇࢵࢡࢆࡗࡓ ሙྜࡣ 80%௨ୖࡢሸ⋡ࢆ㐩ᡂࡋࡓࠋࡇࡢ⤖ᯝࡽ㸪 ᕥྑࡢࣇࢵࢡࢆ࠺ࡇ࡛┠ᶆሸ⋡ࢆ‶ࡓࡍᅵࡢ࠺ ࢆ〇㐀࡛ࡁࡿࡇࡀࢃࡗࡓࠋ ᅵࡢ࠺᧦ቨࡢᕤ㏿ᗘࡢホ౯ ᭶㠃࡛ࡣኪࡢࢧࢡࣝࡀ⣙ 1 ࣨ᭶㛗࠸ࡇࡽ㸪 ᗘࡀs100Υ௨ୖኚࡍࡿࡓࡵ㸪ࣟ࣎ࢵࢺࡀືస࡛ ࡁࡿ㛫ᖏࡀไ㝈ࡉࢀࡿࠋࡑࡇ࡛ᅵࡢ࠺᧦ቨࡢᕤ㏿ ᗘࢆホ౯ࡍࡿࡓࡵ㸪ᅵࡢ࠺࣏ࢣࢵࢺ㸯ಶ࠶ࡓࡾࡢ〇㐀 せࡍࡿ㏿ᗘࢆ㸪1/10 ࢫࢣ࣮ࣝࡢヨసࣟ࣎ࢵࢺࢆ⏝࠸ ࡚ᐇ ࡋࡓࠋ⤖ᯝࢆ⾲ ♧ࡍࠋ➨ ิࡣᅵࡢ࠺ᵓ⠏ ᚲせ࡞ྛ⨨ࡢ㏿ᗘᛶ⬟࡛࠶ࡿࠋ࣮ࣔࢱࡣ࠸ࡎࢀࡶ Dynamixel (1.5 Nm, 60 rpm) 㸪 ࢥ ࣥ ࢺ ࣟ ࣮ ࣛ ࡣ ARM7TDMI (48 MHz)ࡋࡓࠋ➨㸱ิࡣᅵࡢ࠺㸯࣏ࢣࢵ ࢺࢆ〇㐀ࡍࡿࡓࡵྛ⨨ࢆ᭱ప㝈ືࡉ࡞ࡅࢀࡤ࠸ ࡅ࡞࠸㔞࡛࠶ࡿࠋᅵࡢ࠺⿄౪⤥⨨ࡘ࠸࡚ࡣ㸪ᅵࡢ ࠺࣏ࢣࢵࢺ㸯ࡘ࠶ࡓࡾࡀ 100 mm ࡛࠶ࡾ㸪ຍ࠼࡚ࣇࢵ ࢡᤕᤊࡉࡏࡿࡓࡵ㛤ཱྀ㒊 25 mm ࢆ ࡍࡿࡇ ࡽ㸪ྜィ࡛ 150 mm ࡞ࡿࠋᅵ◁౪⤥⨨ࡘ࠸࡚ࡣ㸪 ᅗ ࠾ࡅࡿࣇࢵࢡࣃࢱ࣮ࣥ L_R ࢆᐃࡍࡿ㸪㸯࣏ ࢣࢵࢺࡢᐜ✚ 720 cc ᑐࡋ࡚ 120%ࡢᅵ◁ࢆ౪⤥ࡍࡿࡇ ࡛ሸ⋡ 80%ࢆ㐩ᡂ࡛ࡁࡿࡓࡵ㸪7201.2 㸻 864 cm3࡞ࡿࠋᅵࡢ࠺ሸ⨨ࡘ࠸࡚ࡣ㸪ᅵࡢ࠺࣏ࢣࢵ ࢺࢆᤕᤊ࣭ゎᨺࡍࡿࡓࡧࣇࢵࢡࢆୖୗ 30 mm ࡉࡏࡿࡓࡵ㸪304 㸻 120 mm ࡞ࡿࠋᅵࡢ࠺ฟࢥ ࣥ࣋ࡣ㸪ᅵࡢ࠺⿄౪⤥⨨ྠᮇࡉࡏࡿࡓࡵᐇ㉁ 0 ⛊࡛࠶ࡿࠋࡇࢀࡽࡢせ⣲ᚲせ࡞㛫ࢆ㊊ࡋྜࢃࡏࡿ 㸪ᅵࡢ࠺㸯࣏ࢣࢵࢺ࠶ࡓࡾࡢᕤ㏿ᗘࡣ 29.5 ⛊࡞ ࡗࡓࠋࡇࢀືసษ᭰࠼ࡢ㛫ࢆຍ࠼ࡿ㸪㸯࣏ࢣࢵ ࢺ 30 ⛊⛬ᗘ࡛〇㐀࡛ࡁࡿࡇࡀࢃࡗࡓࠋ ௨ୖࢆࡶ㸪᧦ቨ㸯ࡘ࠶ࡓࡾࡢᕤ㏿ᗘࢆᴫ⟬ࡋ ࡓࠋ࣏ࢣࢵࢺᩘࡣ 9 ಶ15 ᒙ࡛࠶ࡿࡇࡽ㸪309 15 㸻 4050 ⛊࡞ࡿࠋࡇࢀ᪼㝆⨨ࡢືస㛫ࢆຍ ࡍࡿ㸪1 㛫 10 ศ⛬ᗘ࡛᧦ቨ㸯ࡘࢆ〇㐀࡛ࡁࡿࠋ ᧦ቨࢆ㸱ࡘᡂࡉࡏࡿࡓࡵᚲせ࡞㛫ࡣ㸪᧦ቨ㛫ࡢ ㉮⾜せࡍࡿ㛫ࢆྵࡵ࡚ 4 㛫⛬ᗘぢ✚ࡶࡿࡇ ࡀ࡛ࡁࡿࠋࡋࡓࡀࡗ࡚㸪᭶㠃 ᗘࡀᏳᐃࡋ࡚࠸ࡿᮇ㛫 ୰᧦ቨࡢᕤࢆ࡛ࡁࡿࡇࡀࢃࡗࡓࠋ ࡲࡵ ᭶㠃ᣐⅬࢆᇙタࡍࡿࡓࡵࡢᅵࡢ࠺✚ᒙయࢆᵓ⠏ࡍࡿ ࠕࣝࢼ࣮࣭ࢸ࢟ࢫࢱࣝᕤἲࠖࢆᐇ㦂ⓗ᳨ドࡋࡓࠋ Ᏻ࡞ᅵࡢ࠺✚ᒙయࡢᙧ≧ࢆタィࡍࡿࡓࡵ㸪ᩘࣃࢱ࣮ ࣥࡢᙧ≧ࡘ࠸࡚㐲ᚰᶍᆺᐇ㦂ࢆ⾜࠸㸪ゎᯒ⤖ᯝẚ ㍑ࡋࡓࠋࡑࡢ⤖ᯝ㸪ಽቯࡋࡓ㒊ศὀ┠ࡍࡿࡇ࡛㸪 ㌿ಽవ⿱ࡢᐇ㦂್ゎᯒ್ࡀᴫࡡ୍⮴ࡍࡿࡇࡀࢃ ࡗࡓࠋࡇࡢࡇࡽ㸪᭶㠃ᅵࡢ࠺✚ᒙయࡢタィᡭἲࡢ ጇᙜᛶࡀ☜ㄆࡉࢀࡓࠋせồࡉࢀࡿᙧ≧ࡢᅵࡢ࠺ࢆ↓ே ᵓ⠏ࡍࡿᶵᵓࢆタィࡋ㸪1/10 ࢫࢣ࣮࡛ࣝࡢ㒊ศヨస࠾ ࡼࡧືసᐇ㦂ࡼࡾ㸪タィࡢጇᙜᛶࡀホ౯ࡉࢀࡓࠋࡇ ࢀࡽࡢ◊✲ᡂᯝࡼࡗ࡚㸪ࣟ࣎ࢵࢺࡢヲ⣽࡞ᵝࢆᮏ ᱁ⓗ᳨ウࡍࡿࡓࡵࡢᇶᮏࢹ࣮ࢱࡀᚓࡽࢀࡓࠋ ㅰ ㎡ ᮏ◊✲ࡣᏱᐂ⯟✵◊✲㛤Ⓨᶵᵓ (JAXA) ࡢඹྠ◊✲ࡋ࡚⾜ࢃࢀࡓࠋࣟ࣎ࢵࢺࡢ㐠⏝ࢩࢼࣜ࢜ࡢ⟇ᐃࡸ◊✲㛤Ⓨయࡢ᪉ྥᛶ ࡘ࠸࡚㸪᭷ேᏱᐂ⎔ቃ⏝࣑ࢵࢩࣙࣥᮏ㒊ࡢୖ㔝ᾈྐẶ㸪࠾ࡼࡧ◊✲㛤Ⓨᮏ㒊ࡢす⏣ಙ୍㑻Ặᩘከࡃࡢຓゝࢆ㡬࠸ࡓࠋࡲࡓ㐲ᚰᶍ ᆺᐇ㦂ࡘ࠸࡚ࡣ㸪ᮾி㒔ᕷᏛࡢᮎᨻ┤ᩍᤵ࠾ࡼࡧࡑࡢ◊✲ᐊ࣓ࣥࣂ࣮ࡢ༠ຊࢆ㡬࠸࡚ᐇࡉࢀࡓࠋࡇࡇグࡋ࡚ㅰពࢆ⾲ࡍࠋ ᅗ ᅵࡢ࠺ሸ⋡ࣇࢵࢡࣃࢱ࣮ࣥ ᅗ ᅵࡢ࠺ᵓ⠏ࣟ࣎ࢵࢺࡢ 1/10 ヨసᶵ 0 20 40 60 80 100 120 None _C_ L__ LC_ L_R LCR
Sand filling rate [%]
ཧ⪃ᩥ⊩
1) M. Okumura, Y. Ohashi, et al.: “Lunar Base Construction Using the Reinforce Earth Method with Geotextile,” Proc. ASCE Space’94, Vol. 2, pp. 1106–1115, 1994.
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EXPERIMENTAL VERIFICATION OF LUNAR TEXTILE METHOD
WHICH PROTECTS A MOON BASE
D. Inoue, Y. Yanagihara, and K. Numakami
A lunar base is required to stay people on the moon and to perform manned lunar exploration efficiently. In order to build the lunar base, "Burying" is one of the important works. We propose the method for covering lunar base using a regolith and robot technologies. Our robot builds retaining walls around the base by in-situ packaging and stacking of regolith sandbags. Our method has three advantages; 1) Its simple task suitable for robotization, 2) A lightweight and less materials enable the cost reduction of the interplanetary transportation, 3) There is no need for deep excavation that is technically-difficult work. These advantages minimize the risk of the extravehicular activity for efficient construction of a lunar base. In this study, we confirmed the design and performance of mission-critical equipment. In order to design the sandbag configuration, we analyze static model of the sandbag stacks based on the earth pressure theory. Then, it confirmed by the 1/40 scale centrifuge test. Based on the result, the sandbag packaging mechanism was designed. It was implemented to 1/10 scale prototype robot, and its construction accuracy and construction speed were evaluated experimentally. These studies validated our construction method proposed.
