JP3324353B2 - Pendulum structure - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pendulum structure such as a gondola and a lift of a ropeway, and more particularly to a pendulum structure provided with a dynamic vibration absorber for damping a roll.

[0002]

2. Description of the Related Art It is known to equip a gondola with a dynamic vibration absorber for damping a roll in order to suppress a roll of a gondola or the like on a ropeway (for example, Japanese Patent Laid-Open No. 6-280).
934).

[0003]

In the ropeway, the deflection of the rope occurs when the gondola passes through the column supporting the rope and when passing between the columns.
Accordingly, the roll center of the gondola body also changes, and the roll cycle of the gondola body also changes. In addition, the position of the center of gravity of the main body of the gondola changes depending on whether the box where people enter and exit is empty, and when the vehicle is almost in the capacity, and the natural period of the main body of the gondola also changes.

In the conventional ropeway, the natural period of the dynamic vibration absorber mounted on the gondola body is fixed to one, so that it is not possible to appropriately cope with the fluctuation of the rolling period of the gondola body, and it is not possible to prevent the rolling. Is enough.

An object of the present invention is to provide a pendulum structure capable of appropriately damping the roll regardless of the fluctuation of the roll period of the pendulum structure main body.

[0006]

SUMMARY OF THE INVENTION A pendulum structure according to the present invention
According to (12), a plurality of dynamic vibration absorbers (16, 17, 46, 48) having different natural periods are provided, and the pendulum structure body (1
4) damping the roll.

[0007] The rolling period of the pendulum structure main body (14) fluctuates depending on the change of the roll center position during operation and / or the amount of the load. The natural period of each dynamic vibration absorber (16, 17, 46, 48) is fixed and does not change during operation or the like,
Since there are multiple natural periods as a whole, the roll of the pendulum structure body (14) is controlled by the dynamic vibration absorber (16, 17, 46, 48) having the natural period closest to the roll period at that time. It is controlled precisely.

According to another pendulum structure (12) of the present invention, the natural period of each dynamic vibration absorber (16, 17, 46, 48) is determined by the rolling period of the operating pendulum structure body (14). Are set within the range of fluctuation of.

The unique natural periods of the dynamic vibration absorbers (16, 17, 46, 48) are appropriately distributed within the range of the rolling period of the pendulum structure body (14) during operation. As a result, one of the natural periods of the plurality of dynamic vibration absorbers (16, 17, 46, 48) is
The dynamic absorber (1) of the pendulum structure body (14) in operation
6, 17, 46, 48), and the roll of the pendulum structure body (14) during operation is
(16,17,46,48) will be properly damped.

According to another pendulum structure (12) of the present invention, the dynamic vibration absorber (16, 17, 46, 48) is a circular orbit type dynamic vibration absorber (16, 17, 46, 48). . Then, the circular orbital dynamic vibration absorber (1
6, 17, 46, 48), the natural period is set by selecting the curvature of the circular orbit (26, 50).

The natural period of the circular orbit type dynamic vibration absorber (16, 17, 46, 48) is related to the curvature of the circular orbit (26, 50). Therefore, by selecting the curvature of the circular orbit (26, 50), the natural period of the circular orbit type dynamic vibration absorber (16, 17, 46, 48) can be set to a set value.

According to another pendulum structure (12) of the present invention, the dynamic vibration absorber (16, 17, 46, 48) further comprises a circular orbit (26, 50).
Circular orbital type dynamic vibration absorber (16, 17, 46, 48) including a vibration damping mass body (28, 52) reciprocating, and the vibration damping mass body (28, 52) has a rotary inertia part (34, 60). , 64). And the circular orbital type dynamic vibration absorber (16,
17, 46, 48), the natural period is set by selecting the ratio of the equivalent mass of the rotary inertia part (34, 60, 64) to the mass of the damping mass body (28, 52).

The natural period of the circular orbital type dynamic vibration absorber (16, 17, 46, 48) is based on the rotational inertia (34, 6) with respect to the mass of the damping mass body (28, 52).
0,64). Therefore, by selecting the ratio of the equivalent mass of the rotary inertia part (34, 60, 64) to the mass of the damping mass body (28, 52), the circular orbit type dynamic vibration absorber (1
6, 17, 46, 48) can be set to the set value.

[0014] According to the pendulum structure (12) of the present invention, the pendulum structure main body (14) is provided with a carrying unit capable of loading and unloading the conveyed goods.
(20) and dynamic absorbers with different natural periods (16, 1
7) are disposed above and below the transporter section (20), respectively.

The dynamic vibration absorbers (16, 1
7) are arranged separately on the upper side and the lower side of the transport unit (20) of the pendulum structure body (14), so that the dynamic vibration absorbers (16, 17)
It may be advantageous for production or operation as compared with the case where the garbage is concentrated on the upper side or the lower side of the transport unit (20).

According to another pendulum structure (12) of the present invention, the natural period of the upper and lower dynamic vibration absorbers (16, 17) is further determined by the position of the equivalent center of gravity of the pendulum structure main body (14). It is substantially set to the natural period of the pendulum structure body (14) when it is on the lower side and on the higher side.

The equivalent center of gravity of the pendulum structure main body (14) is, for example, when the transport unit (20) is loaded with a load, the transport unit (20)
Is usually lower than when the goods are being unloaded. The natural period of the upper dynamic vibration absorber (16, 17) is the pendulum structure when the equivalent center of gravity of the pendulum structure body (14) is lower, such as when the transporter unit (20) is loading goods. The main body (14) is to be controlled from rolling and the lower dynamic vibration absorber (16, 1
The natural period of (7) is the rolling of the pendulum structure main body (14) when the center of gravity of the pendulum structure main body (14) is higher, such as when the transporter unit (20) is unloading goods. As a result, the equivalent mass of the dynamic vibration absorbers (16, 17) operating for roll vibration damping increases, and the damping function as a whole improves.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. 1 and 2 show the gondola 12 of the ropeway 10
It is a side view and a front view of FIG. The gondola 12 has a gondola body 14 and two circular orbital dynamic vibration absorbers 16 and 17 attached to the suspension arm 18 of the gondola body 14 from the front and rear at the same height. The natural periods of the circular orbital dynamic vibration absorbers 16 and 17 are different from each other and are set so as to be distributed within the range of the rolling period of the gondola body 14 during operation. Gondola body 14
Is a suspension arm 18 fixed at the upper end to a rope 22
And a box part which is connected to the lower end of the suspension arm 18 and in which passengers get in
20 and have. Each of the circular orbital dynamic vibration absorbers 16 and 17
An arc-shaped guide rail 26 which is arranged above the box portion 20 and has a central portion fixed to the suspension arm 18 and extends left and right, and when the gondola body 14 rolls, the arc-shaped guide rail is guided by the arc-shaped guide rail 26. A vibration damping mass 28 reciprocates along the rail 26, and a motion damping means 30 for damping the relative motion of the vibration damping mass 28 with respect to the arc-shaped guide rail 26.

In FIG. 2, O1, O2 and O3 indicate the position of the rope 22 in the cross section of the gondola 12 and the center position of the arc of the circular guide rail 26 of the circular orbital dynamic vibration absorbers 16 and 17, respectively. . 01, 02, and 03 are located on a straight line connecting the equivalent center of gravity of the gondola body 14 and the rope 22, and in this example, arc-shaped guide rails of the circular orbital dynamic vibration absorbers 16 and 17
The radii of 26 are equal to each other, and 02 and 03 are at the same position above 01. The radius of the arc-shaped guide rails 26 of the circular orbital dynamic vibration absorbers 16 and 17 is made different from each other,
May be different positions.

FIG. 3 is a perspective view of the damping mass body 28. The vibration damping mass 28 includes a block portion 32, a roller 34 disposed before and after the block portion 32, and an arm that protrudes in the front-rear direction from both sides in the width direction of the block portion 32 and rotatably supports the roller 34.
Has 36. The permanent magnet 38 is disposed below the block portion 32 and constitutes the motion damping means 30 together with the conductive arc-shaped guide rail 26. That is, with the relative movement of the vibration damping mass 28 on the arc-shaped guide rail 26, an eddy current is generated in the arc-shaped guide rail 26.
The relative movement of the damping mass 28 with respect to 26 is suppressed. As the motion damping means 30, instead of the permanent magnet 38 and the conductive arc-shaped guide rail 26, a spring for locking both ends at the end of the arc-shaped guide rail 26 and the damping mass body 28 may be provided. it can. Spring case, damping mass for arc-shaped guide rail 26
The relative movement of the arc-shaped guide rail 26 and the damping mass body 28 can be attenuated by the expansion and contraction of the spring and the heat generated by the relative movement of the 28. Further, the viscous resistance can be used as the motion damping means 30 instead of the elasticity and damping function of the spring.

FIG. 4 is a front view showing the gondola 12 equipped with another circular orbital type dynamic vibration absorber 46, 48 in a rolled state. The circular orbital dynamic vibration absorbers 46 and 48 are the circular orbital dynamic vibration absorbers 16 and 48 shown in FIG.
As in the case of 17, they are attached to the suspension arm 18 at the same height from the front and back, and their natural periods are also the circular orbital type dynamic vibration absorber of FIG. 1.
As in the case of 16 and 17, they are set to be appropriately separated within the range of the rolling cycle of the running gondola body 14. In each of the circular orbital type dynamic vibration absorbers 46 and 48, a pair of C-shaped cross-section arc rails 50 are disposed to face each other, and a vibration damping mass body 52 is provided.
Has a plurality of mass units 54 that are connected to each other so as to be able to move along the arc rail 50.

In FIG. 4, O1, O2 and O3 correspond to those in FIG.
Similarly, the position of the rope 22 in the cross section of the gondola 12 and the center position of the arc of the arc rail 50 of the circular orbital dynamic vibration absorbers 46 and 48 are shown. 01,02,03
Are located on a straight line connecting the equivalent center of gravity of the gondola body 14 and the rope 22. In this example, the radiuses of the arc rails 50 of the circular orbital type dynamic vibration absorbers 46 and 48 are equal to each other.
It is the same position above. Circular orbital type dynamic vibration absorber 46,
By making the radii of the 48 arc rails 50 different from each other,
3 may be different positions.

FIGS. 5 and 6 show the damping mass 52 of FIG. 5 viewed from the side and above, respectively, and FIG. 7 is a view taken along the line VII-VII of FIG. A plurality of vibration suppression mass bodies 52, in this case, three mass body units 54 are arranged in a line in the front-rear direction, and adjacent mass body units 54 are rotatably connected to each other by connection pins 70. I have. In each mass unit 54, the connection plate 56 is disposed at the center in the width direction of the mass unit 54, and the connection plate 56 of the adjacent mass unit 54 is provided.
And are rotatably connected by the connecting pin 70 described above. Non-rotating cylinder 58 and rotating cylinder 60 are connected in the width direction
Located on both sides of 56. The shaft 62 passes through the non-rotating cylinder 58, the connecting plate 56, and the rotating cylinder 60 in the width direction of the mass body unit 54, is fixed to the connecting plate 56, and is fixed to the non-rotating cylinder 58 and the rotating cylinder 60. Is relatively rotatable. The pair of rollers 64 is disposed outside the non-rotating cylindrical body 58 and the rotating cylindrical body 60 in the width direction, and is rotatably attached to the end of the shaft 62. The roller 64 includes permanent magnets 72 embedded at equal intervals in the circumferential direction so that the magnetic poles are alternately reversed. When the roller 64 rolls in the groove of the circular arc rail 50 having the C-shaped cross section, an eddy current is generated in the conductive circular arc rail 50, and the relative motion of the damping mass body 52 to the circular arc rail 50 is attenuated. The non-rotating cylindrical body 58 is fixed to the connecting plate 56 by bolts 66, and the rotating cylindrical body 60 is fixed to the rollers 64 on the rotating cylindrical body 60 side by bolts 68, and rotates integrally with the rollers 64. In each mass unit 54, the connecting plate 56, the non-rotating cylinder 58, and the shaft 62 constitute a translational inertia part, and the rotating cylinder 60 and the rollers 64 constitute a rotating inertia part. By exchanging the non-rotating cylinder 58 and the rotating cylinder 60 and changing their masses, the ratio of the equivalent mass of the rotary inertia part of the mass unit 54 to the total mass of the mass unit 54 can be changed.

Next, in the circular orbit type dynamic vibration absorber, the ratio of the equivalent mass of the rotary inertia part to the mass of the damping mass body, the curvature of the circular orbit, and the distance from the equivalent center of gravity of the pendulum structure body to the circular orbit. It will be described that the natural period of the circular orbital type dynamic vibration absorber can be adjusted by changing. For the purpose of this description, the circular orbital type dynamic vibration absorber 46 will be taken as an example, and reference numerals shown in FIG. 4 will be used.

[0025]

(Equation 1)

Assuming that the mass of the damping mass moving along the circular orbit of radius l is m 1 and the tilt angle of the arm of the pendulum that virtually suspends the damping mass is θ, the kinetic energy T is ( It is expressed by the expression 1). On the other hand, the position El Neggie V of the damping mass is based on when the damping mass is at the lowest point (V = 0).
And g is the gravitational acceleration, which is expressed by equation (2).
By using Euler's equation of motion, equation (3) is obtained (assuming that the tilt angle θ is small).
When the equation (3) is solved, the period τ of the damping mass body is expressed by the equation (4). In the case where the rotational inertia (equivalent to the moment of inertia) is not included in the equation (4), the natural period of the damping mass body is determined only by the gravitational acceleration g and the radius of curvature l of the orbit, and does not depend on the mass m1. Is shown. Therefore, in the dynamic vibration absorber, the natural period cannot be adjusted by adjusting the mass of the vibration damping mass body, which can be easily realized by the dynamic vibration absorber of another spring mass system.

On the other hand, the damping mass has a radius of gyration r
, The kinetic energy T of the damping mass body is expressed by the following equation (5) when the vehicle runs while rotating without sliding on a circular orbit and has an inertia moment I. Here, from the assumption that the damping mass body does not slip, it is as shown in equation (6), and when equation (5) is modified using the relationship of equation (7) instead of the moment of inertia I, the following equation is obtained. ), And further as shown in equation (9). The period τ of the vibration of the dynamic vibration absorber at this time is (1
0). Equation (10) indicates that the vibration cycle of the damping mass body ends depending on the size of the equivalent mass m2. Assuming that the damping mass body is a solid cylinder, the moment of inertia I is expressed by equation (11).

Therefore, m2 = m1 / 2, and the period is longer than the period in the case where the rotational inertia is not included, as shown in the equation (4), and is {root (1.5)} times. In addition,
In the case where the damping mass body is a hollow cylinder whose mass is concentrated on the outer periphery, unlike the above-described solid cylinder, the variable range of the vibration period is further expanded.

Equation (10) also indicates that the natural period of the circular orbital dynamic vibration absorber can be adjusted by 1 as well, that is, by the curvature of the circular orbit.

The operation of the gondola 12 shown in FIGS. 1 and 4 will be described. First, in the case of the gondola 12 in FIG.
Changes the amount of deflection between when the gondola 12 passes through the strut supporting the rope 22 and when traveling between the struts, as a result, the center of rotation of the roll of the gondola body changes,
The rolling cycle of the gondola body 14 fluctuates. A fluctuation range of the rolling cycle of the gondola body 14 during operation is determined, and mutually different values (hereinafter, referred to as “set natural cycle”) within the range are determined. Then, the circular orbital type dynamic vibration absorbers 16 and 17 are adjusted so as to have the set natural period,
Attached to the suspension arm 18. Circular orbital dynamic vibration absorbers 16 and 17
(A) The curvature of the arc-shaped guide rail 26 and / or (b) the ratio of the equivalent mass to the mass of the damping mass body 28 is selected and set to the set natural period. In this way, the gondola 12 equipped with the circular orbital type dynamic vibration absorbers 16 and 17 in which the natural periods are set to different set natural periods, respectively, is operated, and the relative rolling period in the fluctuation of the rolling period during operation is controlled. Thus, the vibration is appropriately controlled by either the circular orbital dynamic vibration absorber 16 or the suspension arm 18.

Similarly, in the case of the gondola 12 shown in FIG. 4, the circular orbital dynamic vibration absorbers 46 and 48 are arranged such that their natural periods are appropriately separated within the fluctuation range of the rolling period of the gondola body 14 during operation. It is adjusted so as to have a set natural period as a value different from each other, and attached to the circular orbit type dynamic vibration absorber 48. Even when adjusting the natural period of the circular orbital dynamic vibration absorbers 46 and 48, FIG.
As in the case of the circular orbital type dynamic vibration absorbers 16 and 17, the natural period is set by the selection of the above (a) and / or (b).

Although the gondola 12 shown in the drawing has two dynamic vibration absorbers, it is mounted on one gondola 12 while maintaining the condition that the natural periods of the respective dynamic vibration absorbers are different from each other. The number of dynamic vibration absorbers may be three or more. The circular orbital dynamic vibration absorbers 16, 17, 46, and 48 are arranged at the same height, but may be different in height from each other, or may be attached to the lower side of the box 20. Good.

FIG. 8 is a front view of the gondola 12 in which the circular orbital dynamic vibration absorbers 16 and 17 are mounted on the upper and lower sides of the box portion 20, respectively. Elements corresponding to those in FIG. 1 are designated by the same reference numerals, and only the main points will be described. The circular orbital dynamic vibration absorber 16 is shown in FIG.
, That is, attached to the suspension arm 18 as the upper side of the box portion 20, whereas the circular orbit type dynamic vibration absorber
17 is at the lower end of the stay 70 hanging down from the lower surface of the box 20,
That is, it is attached to the lower side of the box portion 20. W ', W
Indicates the position of the center of gravity of the gondola body 14 when the inside of the box 20 is empty, that is, when no person is riding, and when a person of almost a fixed number is inside the box 20,
Is lower than W ′. When the position of the center of gravity of the gondola body 14 changes, the natural period of the gondola body 14 also changes. The circular orbital type dynamic vibration absorbers 16 and 17 are designed to appropriately control the roll when the equivalent center of gravity is at W and W ', respectively.
The natural period is set.

The circular orbital dynamic vibration absorbers 16 and 17 are respectively
The significance of the arrangement above and below will be described using the following mathematical expression list. The definition of each code is as follows. 11: Distance from rope 22 to W (equivalent pendulum length when equivalent center of gravity is W) and circular orbital type dynamic vibration absorber
Radius of 16 arc-shaped guide rails 26. 11 ': Distance from rope 22 to W' (Equivalent center of gravity is W '
And the radius of the circular guide rail 26 of the circular orbital type dynamic vibration absorber 17. 110: Distance from the rope 22 to the mounting position of the circular orbital type dynamic vibration absorber 16 on the gondola body 14. 11: Distance from the rope 22 to the mounting position of the circular orbital type dynamic vibration absorber 17 on the gondola body 14.

[0035]

(Equation 2)

The circular orbital type dynamic vibration absorber 16 is an arc type guide rail.
When the radius of 26 is assumed to be l1, the equivalent mass when attached at the upper and lower sides of the box portion 20, that is, at a distance of 110 and 111 from the rope 22 below is represented by (21) and (22). When the circular orbital type dynamic vibration absorber 17 is attached to the upper and lower sides of the box portion 20, that is, below the rope 22, at a distance of l10 and l11 with the radius of the arc-shaped guide rail 26 being l1 '. The equivalent mass is represented by (23) and (24). And
If (21)> (22) and (23) <(24) are satisfied, the equivalent masses of the circular orbital type dynamic vibration absorbers 16 and 17 are the following:
That is, the number of the circular orbital dynamic vibration absorbers 16 and 17 is increased as compared with the case where the circular orbital dynamic vibration absorbers 16 and 17 are attached to the lower side and the upper side, respectively, and the vibration damping ability is increased.

For example, as the value of each code (unit: m),
l1 = 2.5, l1 '= 1.5, l10 = 1.0, l11 =
By substituting 3.0, the values of (21) to (24) are as follows, so that the equivalent mass of the circular orbital type dynamic vibration absorbers 16 and 17 increases, and as a result, each of the circular orbital type dynamic vibration absorbers 16 , 17 are improved. Equation (21) = 0.36 (22) Equation = 0.04 (23) Equation = 0.111 (24) Equation = 1

[Brief description of the drawings]

FIG. 1 is a side view of a gondola of a ropeway.

FIG. 2 is a front view of a gondola of a ropeway.

FIG. 3 is a perspective view of a damping mass body.

FIG. 4 is a front view showing a gondola equipped with another circular orbital type dynamic vibration absorber in a rolled state.

FIG. 5 is a view of the damping mass body of FIG. 5 as viewed from the side.

FIG. 6 is a view of the damping mass body of FIG. 5 as viewed from above.

FIG. 7 is a view taken along arrow VII-VII of FIG. 5;

FIG. 8 is a front view of a gondola in which two circular orbital dynamic vibration absorbers are mounted on the upper and lower sides of a box, respectively.

[Explanation of symbols]

12 Gondola (pendulum structure) 14 Gondola body (pendulum structure body) 16, 17, 46, 48 Circular orbital type dynamic vibration absorber (dynamic vibration absorber) 20 Box (carriage) 26 Circular arc guide rail (circular orbit) 28,52 Vibration suppression mass body 34,64 Roller (rotary inertia part) 50 Arc rail (circular orbit) 60 Rotating cylinder (rotary inertia part)

──────────────────────────────────────────────────続 き Continuing on the front page (72) Hiroshi Matsuhisa, Inventor 1-22-27 Hieihei, Otsu City, Shiga Prefecture (72) Inventor, Osamu Nishihara Yoshida Honcho, Sakyo-ku, Kyoto City, Kyoto Prefecture 72) Inventor Kazo Otake 1-13, Sasagaoka, Mizuguchi-machi, Koka-gun, Shiga Prefecture Inside the Safety Cableway Co., Ltd. (72) Inventor Kunihito Sato 3-1 Okawa, Kanazawa-ku, Yokohama, Kanagawa Prefecture In-company (72) Inventor Masashi Yasuda 10-13 Minami Hatsushima-cho, Amagasaki City, Hyogo Prefecture Patent Equipment Co., Ltd. (56) References JP-A-2-136007 (JP, A) JP-A-6-280934 (JP, A JP-A-4-339976 (JP, A) JP-A-4-120379 (JP, A) JP-A-6-183394 (JP, A) Japanese Utility Model Application No. 48-64783 (JP, U) Japanese Utility Model Application 33947 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) F16F 15/02 B61B 12/04 A61G 21 / 20,31 / 04 E04H 9/02 E01D 1/00 B66C 13/06 H02G 1/02

Claims (4)

(57) [Claims] The pendulum structure body (14) is connected to a transporter (20).
While being fixed to the rope (22) at the upper end,
The amount of deflection of the rope (22) is determined by the strut supporting the rope (22).
At the time of passing through
In the pendulum structure (12), the vibration damper reciprocates when the pendulum structure body (14) shakes.
A plurality of dynamic vibration absorbers (16, 17, 46, 48) having masses (28, 52) and having natural periods different from each other are provided to control the roll of the pendulum structure body (14). Each dynamic absorber (16, 1
The natural period of the pendulum structure is distributed and set within the range of the rolling period of the pendulum structure body (14) during operation between the columns , and is set. . 2. The dynamic vibration absorber (16, 17, 46, 48) is a circular orbital dynamic vibration absorber (16, 17, 46, 48).
The pendulum structure according to claim 1, wherein the natural period of (16, 17, 46, 48) is set by selecting the curvature of the circular orbit (26, 50). 3. The dynamic vibration absorber (16, 17, 46, 48) has a circular orbit.
A circular orbital type dynamic vibration absorber (16, 17, 46, 48) including a vibration damping mass (28, 52) that reciprocates (26, 50), and the vibration damping mass (28, 5).
2) includes a rotary inertia portion (34, 60, 64), and the circular orbital dynamic vibration absorber (16, 17, 46, 48) includes the rotary inertia with respect to the mass of the vibration damping mass body (28, 52). The pendulum structure according to claim 1 or 2, wherein the natural period is set by selecting a ratio of equivalent masses of the portions (34, 60, 64). 4. A pendulum structure main body (14) includes a transport unit (20) capable of loading and unloading a conveyed object, and a circular orbit type dynamic vibration absorber (16) and a circular orbit type dynamic absorber having mutually different natural periods. Each symbol is defined as follows, provided with the vibration absorber (17). W: Equivalent center of gravity position of the pendulum structure body (14) when the number of persons is on the carrier unit (20). W ': The pendulum structure body (1 when the transport unit (20) is empty)
4) Equivalent center of gravity position. l ₁ : rope hanging from the pendulum structure body (14)
The distance from (22) to W (the equivalent pendulum length when the equivalent center of gravity is W), and the radius of the arc-shaped guide rail (26) of the circular orbital dynamic vibration absorber (16). l ₁ ': The distance from the rope (22) to W' (the equivalent pendulum length when the equivalent center of gravity is W '), and the circular guide rail (26) of the circular orbital dynamic vibration absorber (17) Radius. l ₁₀ : the distance from the rope 22 to the mounting position above the carrying unit (20) and to the mounting position of the circular orbital type dynamic vibration absorber (16) to the pendulum structure body (14). l ₁₁ : the distance from the rope 22 to the mounting position below the transporter unit (20) to the mounting position of the circular orbital type dynamic vibration absorber (17) to the pendulum structure body (14). _{X1: (1-l 10 /} l 1) 2 X2: (1-l 11 / l 1) 2 Y1: (1-l 10 / l 1 ') 2 Y2: (1-l 11 / l 1') 2 The first circular orbital dynamic vibration absorber (16) and the second circular orbital dynamic vibration absorber (17) such that X1> X2 and Y1 <Y2 are satisfied.
Respectively correspond to l ₁₀ and l ₁₁ , that is, respectively, to the transporter unit (2
0) A pendulum structure which is disposed above and below, respectively.