JP2001280410A - Vibration control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a downsized vibration control device which does not liber ate torque to a weight. SOLUTION: The vibration control device 10 is formed to control the vibration of a structure by moving the rectangular weight 12 to the X direction and the Y direction. Also, the control device 10 loads an X direction-driving actuator 14 and an Y direction-one 16 composed of electric motors on an upper surface 12a. The weight 12 can be lightened and downsized to add the mass of both the X actuator 14 and the Y actuator 16. In the control device 10, the weight 12 loads the X actuator 14 and the Y actuator 16. Besides, ball screws 34, 38, which are the driving shafts for the X actuator 14 and the Y actuator 16, are always and crossways positioned with the shaft centers on the center of the weight 12, that is, the center of the gravity of the weight 12. Accordingly, the control device 10 is formed not to liberate torque to the weight 12 when starting a vibration control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration damping device, and more particularly to a vibration damping device for damping a vibration of a structure by moving a weight in an X direction and a Y direction orthogonal to the X direction.

[0002]

2. Description of the Related Art In a vibration damping device for damping the vibration of a structure such as a building or a house, it is desired that the vibration can be damped even if the structure vibrates in any direction. In response to such a demand, a vibration damping device for damping the vibration of the structure by moving the weight in the X direction and the Y direction orthogonal to the X direction has been studied.

As this type of vibration damping device, for example, FIG.
There is something like that shown in

In FIG. 8, a weight 1 is provided on a flat base 4 so as to be movable in the X and Y directions, and linear bearings 2a and 2b mounted on side surfaces thereof are driven in the X and Y directions. Of the drive shafts 3a and 3b are slidably engaged in the Y and X directions. And the drive shafts 3a, 3b
Is connected to an X-direction drive actuator 5a and a Y-direction drive actuator 5b. Direction drive actuator 5a, Y direction drive actuator 5b
Are supported by gantry 6a, 6b on base 4, and drive shafts 3a, 3b are supported by bearings 7a, 7b on base 4.

The weight 1 is provided so as to move along guides 8a and 8b in the X and Y directions formed on the base 4. Therefore, when the driving force of the X-direction driving actuator 5a and the Y-direction driving actuator 5b is transmitted through the driving shafts 3a and 3b, the weight 1 moves to the X and Y directions.
It moves by being pressed in the direction, and its reaction force is transmitted to the base 4 fixed to the structure to attenuate the vibration of the structure. Further, a guide portion 8 in the X and Y directions for guiding the movement of the weight 1
a and 8b are provided movably in the X and Y directions so as to overlap vertically below the weight 1.

[0006]

In the conventional vibration damping device configured as described above, the weight 1 and the drive shaft 3 are mounted on the base 4.
Since the actuators 5a and 3b and the actuator 5a for driving in the X direction and the actuator 5b for driving in the Y direction are installed, the installation area of the base 4 becomes large, and it is difficult to save space.

In the prior art, the weight 1 is guided so as to move along guides 8a, 8b in the X and Y directions formed on the base 4, and the drive shafts 3a, 3b
Is supported by the bearings 7a and 7b on the base 4,
When the driving forces of the X-direction driving actuator 5a and the Y-direction driving actuator 5b are transmitted through the driving shafts 3a and 3b, the linear bearings 2a and 2
b slides in the X and Y directions with respect to the drive shafts 3a and 3b.

Therefore, conventionally, the pressing force of the drive shafts 3a and 3b acts on a position shifted from the center of the weight 1, so that the weight 1
There is a problem that a rotational moment acts on the structure and the rotational moment is transmitted to the structure.

In addition, since the linear bearings 2a and 2b slide in the X and Y directions with respect to the drive shafts 3a and 3b, the rotational moment is not constant and is transmitted to the structure with respect to the movement amount of the weight 1. There is also a problem that the reaction force of the rotational moment changes and the structure sways.

Further, in the prior art, since the guides 8a and 8b in the X and Y directions for guiding the movement of the weight 1 are vertically overlapped, for example, when the weight 1 is moved in the X direction, the guide 8a , 8b are applied as mass, but when the weight 1 is moved in the Y direction, the load of the guide portion 8b is applied as mass. For this reason, there is a problem that the moving mass of the weight 1 is different between the X direction and the Y direction, and the gain of the exciting force needs to be set separately in the X direction and the Y direction.

Therefore, an object of the present invention is to provide a vibration damping device which solves the above problems.

[0012]

In order to solve the above problems, the present invention has the following features.

According to the present invention, there is provided a vibration damping device for damping the vibration of a structure by moving a weight in an X direction and a Y direction orthogonal to the X direction. A first X-direction guide member, a first Y-direction guide member that guides the weight so as to be movable in the Y direction while floating, an X-direction drive actuator mounted on the weight, and a Y-axis actuator mounted on the weight. A direction driving actuator, a pair of second X-direction guide members arranged in parallel with the first X-direction guide member, a pair of second Y-direction guide members arranged in parallel with the first Y-direction guide member, and the structure. A support member for supporting the second X-direction guide member and the second Y-direction guide member with respect to an object, and provided at both ends of the first X-direction guide member, the first X-direction guide member being connected to the pair of second Y-direction members. And a pair of Y-direction moving member for movably engaged in the Y-axis direction relative to the guide member, the first
The first Y-direction guide member is provided on both end sides of the Y-direction guide member, and the first Y-direction guide member is X
A pair of X-direction moving members that are movably engaged in the axial direction, and are movably supported in the X-direction by the second X-direction guide member, and apply a driving force in the Y-direction of the Y-direction driving actuator to the weight. A Y-direction transmission member for transmitting the rotational force to the structure so as not to generate a rotational force in a horizontal plane, and a second Y-direction guide member movably supported in the Y direction; And a pair of X-direction transmitting members for transmitting the rotational force to the structure such that no rotational force is generated in the horizontal plane with respect to the weight.

Therefore, according to the present invention, since the X-direction driving actuator and the Y-direction driving actuator are mounted on the weight, the X-direction driving actuator and the Y-direction driving actuator are mounted on the weight.
Since the mass of the directional drive actuator can be treated as an additional mass together with the weight of the weight, the weight can be reduced in size, and there is no need to separately provide an installation space for the X-direction drive actuator and the Y-direction drive actuator. Space saving can be promoted. Further, in order to transmit the driving force to the X-direction transmission member and the Y-direction transmission member in a state where the drive axes of the X-direction drive actuator and the Y-direction drive actuator are fixed at a position intersecting the center of the weight, the vibration damping operation is performed. Occasionally, no rotational moment for rotating the weight is generated, and the structure can be damped stably. In addition, since the moving masses in the X direction and the Y direction are uniform, the control of the vibration damping operation becomes easy.

[0015]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view showing a first embodiment of the vibration damping device according to the present invention. FIG. 2 is a plan view of the vibration damping device shown in FIG. FIG. 3 is a longitudinal sectional view taken along line AA in FIG.

As shown in FIGS. 1 to 3, the vibration damping device 10 is an active vibration damping device for damping the vibration by moving the weight 12 in the X and Y directions according to the vibration of the structure. It is. On the upper surface 12a of the weight 12 formed in a rectangular parallelepiped,
An X-direction driving actuator 14 and a Y-direction driving actuator 16 composed of an electric motor are mounted.
The ball screw 3 as a drive shaft of the X-direction drive actuator 14 and the Y-direction drive actuator 16
The weights 4 and 38 are mounted at positions overlapping the center lines of the weight 12 in the X and Y directions, respectively, and are attached so that the driving force acts in a direction toward the center (center of gravity) of the weight 12.

An X-direction drive actuator 14 and a Y-direction drive actuator 16 are provided with a control circuit (not shown).
The driving is controlled by a control signal from the controller. Further, the control circuit calculates a control amount necessary for damping the vibration of the structure according to the level of a detection signal from a sensor (not shown) for detecting the vibration of the structure, and from the calculation result, The obtained control signal is output to the X-direction drive actuator 14 and the Y-direction drive actuator 16.

Since the X-direction driving actuator 14 and the Y-direction driving actuator 16 are mounted on the upper surface 12a of the weight 12, the mass of the X-direction driving actuator 14 and the Y-direction driving actuator 16 is the mass of the weight 12. Is treated as an additional mass. That is, the weight 1
2 can be reduced in weight and size because the mass of the X-direction drive actuator 14 and the Y-direction drive actuator 16 is added.

An X-direction linear bearing 18 extending in the X direction and a Y-direction extending in the Y direction are provided inside the weight 12.
A directional linear bearing 20 is provided. The X-direction linear bearing 18 and the Y-direction linear bearing 20 are provided so as to intersect at the center of the weight 12 when viewed from above, but are shifted in the height direction so as not to interfere.

Then, the X-direction linear bearing 18, Y
The directional linear bearing 20 is formed in a cylindrical shape, and an X-direction guide shaft (first X-direction guide member) 22 and a Y-direction guide shaft (first Y-direction guide member) 24 are formed in through holes formed therein. Are slidably inserted in the axial direction. One end of the X-direction guide shaft 22 inserted into the X-direction linear bearing 18 is inserted into a Y-direction sliding member (Y-direction moving member) 26 that slides in the Y direction and fastened by a hexagon nut 27, and the other end is connected. It is inserted into a Y-direction transmitting member (Y-direction moving member) 28 that slides in the Y direction and is fastened by a hexagon nut 29. Also, Y
One end of the Y-direction guide shaft 24 inserted through the directional linear bearing 20 is inserted into an X-direction sliding member (X-direction moving member) 30 that slides in the X direction and is fastened by a hexagon nut 31, and the other end is X-shaped. It is inserted through an X-direction transmitting member (X-direction moving member) 32 that slides in the direction, and is fastened by a hexagon nut 33.

The Y direction transmitting member 28 is provided with a nut 36 into which a ball screw 34 as a drive shaft of the X direction drive actuator 14 is screwed. The X-direction transmitting member 32 is provided with a nut 40 into which a ball screw 38 as a drive shaft of the Y-direction drive actuator 16 is screwed.

Further, the Y-direction transmission member 28 is provided with a Y-direction linear bearing 44 into which a Y-direction guide shaft (second Y-direction guide member) 42 extending in the Y direction is slidably inserted. Further, the Y-direction sliding member 26 is provided with a Y-direction linear bearing 48 in which a Y-direction guide shaft (second Y-direction guide member) 46 extending in the Y direction is slidably inserted.

The X-direction transmitting member 32 is provided with an X-direction linear bearing 52 through which an X-direction guide shaft (second X-direction guide member) 50 extending in the X direction is slidably inserted. Further, the X-direction sliding member 30 is provided with an X-direction linear bearing 56 in which an X-direction guide shaft (second X-direction guide member) 54 extending in the X direction is slidably inserted.

The ends of the Y-direction guide shafts 42 and 46 and the X-direction guide shafts 50 and 54 are supported by support members 61 to 64 forming a square frame 58. The support members 61 and 62 are arranged so as to extend in the Y direction, and the other support members 63 and 64 are installed so as to extend in the X direction. Further, the support members 61 and 62
Has support portions 61a and 62a that support the ends of the X-direction guide shafts 50 and 54, and support portions 61b and 62b that are bent in L-shape from both ends to support the Y-direction guide shafts 42 and 44. The ends of the X-direction guide shafts 50 and 54 are screwed to the hexagon nuts 68 and fixed to the support portions 61a and 62a, and the ends of the Y-direction guide shafts 42 and 44 are screwed to the hexagon nut 70. To the support portions 61b and 62b.

The support members 63 and 64 have a U-shaped cross section. The lower surfaces 63a and 64a are mounted and fixed on a floor or a base, and the support members 61 and 62 are mounted on the upper surfaces 63b and 64b. Are placed and fixed. Therefore,
The support members 61 and 62 are provided on the upper surface 63 of the support members 63 and 64.
b, 64b, to support the Y-direction guide shafts 42, 46 and the X-direction guide shafts 50, 54, the Y-direction sliding member 26, the Y-direction transmission member 2
8, the weight 12 whose moving direction is guided by the X-direction guide shaft 22 and the Y-direction guide shaft 24 supported by the X-direction sliding member 30 and the X-direction transmission member 32 is supported in a state of floating at a predetermined height position. It can move in the X and Y directions without contact with the floor. That is,
The weight 12 is X in a state where the sliding resistance is extremely suppressed.
The vibration of the structure can be damped by moving in the direction and the Y direction, and the generation of operation noise can be minimized.

Further, the vibration damping device 10 is controlled by the Y-direction guide shafts 42 and 46 and the X-direction guide shafts 50 and 54 while the weight 12 is mounted on the X-direction drive actuator 14 and the Y-direction drive actuator 16. Because it is a configuration that moves in the enclosed square space,
The installation space is smaller than that of the conventional one (see FIG. 8), and miniaturization and space saving are achieved.

Here, the vibration damping operation of the vibration damping device 10 configured as described above will be described.

FIG. 4 is a plan view showing an operation state when the weight 12 moves in the Xa direction. FIG. 5 shows that the weight 12 is Y
FIG. 9 is a plan view illustrating an operation state when the camera moves in the direction a.

As shown in FIG. 4, when the weight 12 moves in the Xa direction in the vibration damping device 10, the weight 12 moves in the Xa direction by the driving force of the actuator 14 for driving in the X direction. The X-direction sliding member 30 and the X-direction transmitting member 32 coupled to both ends of the penetrating Y-direction guide shaft 24 also move in the same direction. Therefore, when the weight 12 moves in the Xa and Xb directions, the additional mass for performing the vibration suppression operation is the weight 12, the X-direction drive actuator 14, the Y-direction drive actuator 16, the Y-direction guide shaft 2
4, the total value of the masses of the X-direction sliding member 30 and the X-direction transmitting member 32. Therefore, since the vibration-damping operation is not only the mass of the weight 12 but also the total mass of the members moving in the X direction, the driving for driving the additional mass for generating the vibration-damping force even when the weight 12 is downsized. Since the force has increased, the damping force on the structure has improved.

As shown in FIG. 5, when the weight 12 moves in the Ya direction in the vibration damping device 10, the weight 12 moves in the Ya direction by the driving force of the actuator 16 for driving in the Y direction, and the weight 12 is moved. The Y-direction sliding member 26 and the X-direction transmitting member 28 connected to both ends of the penetrating X-direction guide shaft 22 also move in the same direction. Therefore, when the weight 12 moves in the Ya and Yb directions, the additional mass for performing the vibration damping operation includes the weight 12, the X-direction driving actuator 14, the Y-direction driving actuator 16, and the X-direction guide shaft 2.
2, the total value of the masses of the Y-direction sliding member 26 and the Y-direction transmitting member 28. Therefore, the vibration-damping operation is not only the mass of the weight 12 but also the total mass of each member moving in the Y direction. Therefore, even if the weight 12 is miniaturized, the driving for driving the additional mass for generating the vibration-damping force is performed. Since the force has increased, the damping force on the structure has improved.

Accordingly, in the vibration damping device 10, the X-direction driving actuator 14 and the Y-direction driving actuator 1
Since the weight 6 is mounted on the weight 12, the mass of the X-direction driving actuator 14 and the Y-direction driving actuator 16 can be treated as the additional mass together with the mass of the weight 12, so that the weight 12 can be reduced in size and X Since it is not necessary to provide separate installation spaces for the directional drive actuator 14 and the Y-direction drive actuator 16, space saving can be promoted.

In the vibration damping device 10, the X-direction driving actuator 14 and the Y-direction driving actuator 16
Are mounted on the weight 12, so that the ball screws 34 and 38 serving as drive axes of the X-direction drive actuator 14 and the Y-direction drive actuator 16 always intersect with the center of the weight 12, ie, intersect with the center of gravity of the weight 12. And the rotational moment does not act on the weight 12 during the vibration damping operation. Therefore, in the vibration damping device 10, at the time of the vibration damping operation, the reaction force of the rotational moment does not act on the structure as in the related art, and the vibration of the structure can be stably damped. Further, since the moving masses in the X direction and the Y direction are the same, there is no need to separately set the gain of the excitation force in the X direction and the Y direction, and control adjustment during the vibration damping operation becomes easy.

Next, a second embodiment of the present invention will be described.

FIG. 6 is a plan view of a second embodiment of the present invention. FIG. 7 is a longitudinal sectional view taken along line BB in FIG. 6 and 7, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

As shown in FIGS. 6 and 7, in the vibration damping device 80, the X-direction drive actuator 14 is attached to the center (center of gravity) of the lower surface 12 b of the weight 12, and the center of the upper surface 12 a of the weight 12 is The Y-direction drive actuator 16 is attached to the (center of gravity).

As described above, in the vibration damping device 80 of the second embodiment, since the X-direction driving actuator 14 and the Y-direction driving actuator 16 are attached to the centers (centers of gravity) of different surfaces of the weight 12, The mounting position is not shifted from the center so that the X-direction driving actuator 14 and the Y-direction driving actuator 16 do not interfere with each other even if the size of the weight 12 is reduced. The drive actuator 14 and the Y-direction drive actuator 16 can be accurately attached.

Accordingly, in the vibration damping device 80, since it is not necessary to worry about the size of the weight 12, or the mounting space of the X-direction driving actuator 14 and the Y-direction driving actuator 16, the degree of freedom of design is increased, and The generation of a rotational moment during the vibration operation can be reliably prevented.

Accordingly, in the vibration damping device 80, the X-direction driving actuator 14 and the Y-direction driving actuator 1
The ball screws 34 and 38 serving as drive shafts of the weights 6 always intersect with the center of the weight 12, that is, intersect with the center of gravity of the weight 12, so that the rotational moment does not act on the weight 12 during the vibration damping operation. . Therefore, in the vibration damping device 80, the reaction of the rotational moment does not act on the structure during the vibration damping operation as in the related art, and the vibration of the structure can be stably damped.

In the above embodiment, the drive axes of the X-direction drive actuator 14 and the Y-direction drive actuator 16 are described as ball screws 34 and 38.
However, the present invention is not limited to this.
A rack is formed on the direction guide shaft 24, and the X-direction drive actuator 14 and the Y-direction drive actuator 1
6 may be mounted in a state of being rotated by 90 degrees, and a pinion that meshes with the rack may be provided on the drive shaft. Further, two X-direction guide shafts 22 and Y-direction guide shafts 24 provided with racks are provided in parallel, an actuator is provided between the two, and a drive shaft provided with pinions is projected from both ends of the actuator. In addition, generation of rotational force on the actuator can be prevented.

[0041]

As described above, according to the present invention,
Since the X-direction drive actuator and the Y-direction drive actuator are mounted on the weight, the mass of the X-direction drive actuator and the Y-direction drive actuator can be treated as an additional mass together with the weight of the weight, so that the weight is small. In addition, since it is not necessary to provide separate installation spaces for the X-direction drive actuator and the Y-direction drive actuator, space saving can be promoted. Further, an X-direction driving actuator and Y
In order to transmit the driving force to the X-direction transmission member and the Y-direction transmission member in a state in which the drive shaft of the directional drive actuator is fixed at a position intersecting the center of the weight, the rotation is intended to rotate the weight during the vibration suppression operation. No moment is generated, and the structure can be damped stably. Further, since the moving masses in the X direction and the Y direction are the same, there is no need to separately set the gain of the excitation force in the X direction and the Y direction, and control adjustment during the vibration damping operation becomes easy.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a first embodiment of a vibration damping device according to the present invention.

FIG. 2 is a plan view of the vibration damping device shown in FIG.

FIG. 3 is a longitudinal sectional view taken along line AA in FIG.

FIG. 4 is a plan view showing an operation state when the weight 12 moves in the Xa direction.

FIG. 5 is a plan view showing an operation state when the weight 12 moves in the Ya direction.

FIG. 6 is a plan view of a second embodiment of the present invention.

FIG. 7 is a longitudinal sectional view taken along line BB in FIG.

FIG. 8 is a plan view showing a conventional vibration damping device.

[Description of Signs] 10,80 Vibration suppression device 12 Weight 14 X-direction drive actuator 16 Y-direction drive actuator 18 X-direction linear bearing 20 Y-direction linear bearing 22 X-direction guide shaft 24 Y-direction guide shaft 26 Y-direction slide Member 28 Y direction transmitting member 30 X direction sliding member 32 X direction transmitting member 34, 38 Ball screw 42, 46 Y direction guide shaft 44, 48 Y direction linear bearing 50, 54 X direction guide shaft 52, 56 X direction linear bearing 61 ~ 64 support members

Claims (1)

[Claims] 1. A vibration damping device for damping a vibration of a structure by moving a weight in an X direction and a Y direction orthogonal to the X direction, wherein the weight is guided in a floating state so as to be movable in the X direction. A 1X direction guide member, a first Y direction guide member for guiding the weight to be movable in the Y direction while floating, an X direction drive actuator mounted on the weight, and a Y direction drive mounted on the weight Actuator and a pair of second actuators arranged in parallel with the first X-direction guide member.
An X-direction guide member; and a pair of second second members arranged in parallel with the first Y-direction guide member.
A Y-direction guide member, a second X-direction guide member and a second
A support member for supporting a Y-direction guide member, provided at both ends of the first X-direction guide member, and engaging the first X-direction guide member with the pair of second Y-direction guide members so as to be movable in the Y-axis direction. A pair of Y-direction moving members provided at both ends of the first Y-direction guide member, the pair of first Y-direction guide members being engaged with the pair of second X-direction guide members so as to be movable in the X-axis direction. The X-direction moving member and the second X-direction guide member are movably supported in the X direction so that the Y-direction driving actuator does not generate a rotational force in the horizontal plane with respect to the weight in the Y direction. A Y-direction transmitting member for transmitting to the structure; and a second Y-direction guide member movably supported in the Y-direction. And a pair of X-direction transmitting members for transmitting to the structure such that a rotational force is not generated in a horizontal plane.