JP2008238848A - Vibration control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration control device capable of reducing output of a vibration control means efficiently with the small-sized vibration control means. <P>SOLUTION: This vibration control device is provided with a load supporting part 10 provided in an installation part F, a counterbalance part 30 connected with the load supporting part 10 to give load balanced with the load to be supported by the load supporting part 10, and a vibration control part 20 having the vibration control means 21 for controlling vibration of the load supporting part 10 for the installation part F. The counterbalance part 30 has a second traveling means 32 moving relatively for the load supporting part 10, a torsion spring 35 having a coil part 35c supported pivotally on the second traveling means 32, a one end side 35a, and the other end sides 35b positioned across one end side 35a and the coil part 35c and connected turnably with the installation part F, and an adjusting means 34 arranged between the one end side 35a of the torsion spring 35 and the second traveling means 32 to adjust an abutting position on the one end side 35a of the torsion spring 35. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vibration control device that suppresses or reduces vibration applied to a riding section such as a seat, particularly a riding section such as a seat installed in a moving body.

2. Description of the Related Art Conventionally, there is a seat vibration control device that suppresses vibration applied to a seat by controlling the operation of a direct-acting electric actuator under the seat according to vibration acceleration (see Patent Document 1).
JP-A-11-180202

  However, as shown in FIG. 13A, when the sheet S is supported only by the actuator 121, the output of the actuator 121 is always required including the stopped state. 13B, when the sheet S is supported by the actuator 121 and the torsion spring 122, the output of the actuator 121 can be set to 0 in the stop state, but the vibration of the sheet S is controlled. In this case, the spring force of the torsion spring 122 becomes a reaction force, and in addition to the output for vibration control, the output for the reaction force of the spring is required for the actuator 121, and a large output is required.

  The present invention solves the above-described problems, and an object of the present invention is to provide an efficient vibration control device that can reduce the output of the vibration damping means and can be realized by a small vibration damping means.

  To this end, the present invention controls an installation portion, a load support portion that supports a load, a counter balance portion that is connected to the load support portion and provides a load that balances the load, and vibration of the load support portion with respect to the installation portion. In the vibration control apparatus including a vibration control unit having a vibration control unit, the load support unit includes a first movement unit that moves relative to the installation unit, and the counter balance unit includes a coil unit. And a second torsion spring connected to the other end portion so as to be rotatable with respect to the installation portion, a second moving means for pivotally supporting the coil portion, and the torsion spring. The adjusting means is disposed between one end side of the spring and the second moving means, and adjusts a contact position between the one end side of the torsion spring.

  The adjusting means is a slide type actuator.

  In addition, a detection unit that detects a state on the load support portion is provided, and a control unit that operates the adjustment unit or the vibration suppression unit according to the state detected by the detection unit.

  According to the first aspect of the present invention, the installation unit, the load support unit that supports the load, the counter balance unit that is connected to the load support unit and applies a load that balances the load, and the load support unit with respect to the installation unit In the vibration control device including a vibration control unit having a vibration control unit for controlling vibration, the load support unit includes a first movement unit that moves relative to the installation unit, and the counter balance unit includes: A torsion spring having a coil portion and having the other end connected to the installation portion so as to be rotatable, and a second moving means for pivotally supporting the coil portion while moving relative to the load support portion And an adjusting means for adjusting the contact position between the one end side of the torsion spring and the second moving means and adjusting the contact position with the one end side of the torsion spring. Low vibration output And can be realized with a small damping means, it is not necessary to apply the weight of such counterweights, it is possible to install in a small space, the space under the seat can be effectively utilized.

  According to the second aspect of the present invention, since the adjusting means is a slide type actuator, the strength against the load can be increased.

  According to a third aspect of the present invention, there is provided a detecting means for detecting a state on the load supporting portion, and a control means for operating the adjusting means or the vibration damping means according to the state detected by the detecting means. Therefore, it is possible to appropriately cope with a change in load.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a vibration control device 1 according to a first embodiment of the present invention, FIG. 1 (a) shows a cross-sectional view, and FIG. 1 (b) shows a front view. In the figure, 1 is a vibration control device, 10 is a load support portion, 11 is a load support member, 12 is a first slider as an example of a first moving means, 13 is a first slider rail as an example of a first guide means, 20 is a vibration control unit, 21 is a vibration control actuator as an example of a vibration control unit, 22 is a load sensor as an example of a detection unit, 23 is an acceleration sensor as an example of a detection unit, 30 is a counter balance unit, and 31 is Second slider rail as an example of second guide means, 32 is a second slider as an example of second moving means, 33 is a spring support member, 34 is an actuator for preload adjustment as an example of adjustment means, and 35 is a torsion spring , F is an installation part, and S is a sheet.

  The vibration control device 1 is installed on the installation unit F such as a floor by the load support unit 10. The vibration control unit 20 actively controls the vibration of the load such as the sheet S on the vibration control device 1 and the counter balance unit 30. The balance of force with respect to the load is set with and the self-weight is canceled.

  The load support unit 10 includes a load support member 11 that supports the sheet S, a first slider 12 provided on the load support member 11, a first slider rail 13 installed on the installation unit F, and the like. The load support member 11 has a first slider 12 installed below the seat S and guided in the vertical direction by the first slider rail 13, and is placed on the vibration control unit 20 and the counter balance unit 30. The first slider 12 is provided on the lower side of the seat side of the load support member 11, is guided in the vertical direction by the first slider rail 13 provided on the seat F on the seat side, and moves relative to the seat F. . The 1st slider rail 13 is installed in the installation part F, and guides the 1st slider 12 and the load support member 11 to an up-down direction.

  The vibration control unit 20 includes a vibration control actuator 21 such as a voice coil motor, a load sensor 22 such as a load cell, an acceleration sensor 23, and the like. The vibration control actuator 21 is controlled such that the lower part is installed in the installation part F and the upper part is brought into contact with the load support member 11 and can be moved up and down by signals from sensors such as the load sensor 22 and the acceleration sensor 23. Is done. The load sensor 22 is provided between the seat S and the load support member 11 and mainly controls the preload adjusting actuator 34 based on the detected value. The acceleration sensor 23 detects the acceleration on the load support unit 10 and mainly controls the vibration damping actuator 21 based on the detected value. In the present embodiment, the acceleration sensor 23 is applied. However, a sensor that detects the state on the load support unit 10 such as a speed sensor or a displacement sensor may be applied.

  The counter balance unit 30 includes a second slider rail 31, a second slider 32, a spring support member 33, a preload adjusting actuator 34, a torsion spring 35, and the like. The 2nd slider rail 31 is installed in the load support member 11, and guides the 2nd slider 32 so that a movement is possible. The second slider 32 is guided by the second slider rail 31, moves relative to the load support portion 10, is provided with a preload adjusting actuator 34, and is rotatable about the coil portion 35 c of the torsion spring 35. It has a spring rotation support part to support.

  The spring support member 33 has a first spring support member 33a connected to the preload adjusting actuator 34 at one end side and a first spring support member 33a connected to the one end side 35a of the torsion spring 35 at one end side, and is rotatable to the installation portion F at one end side. The second spring support member 33b is supported and has the other end connected to the other end 35b of the torsion spring 35.

  The preload adjusting actuator 34 is installed between the second slider 32 and the first spring support member 33a, supports one end side 35a of the torsion spring 35, and twists according to load signals from the load sensor 22, the acceleration sensor 23, and the like. The attachment angle of the spring 35 is changed. In the present embodiment, a slide actuator that can move in parallel with the second slider 32 is used.

  The torsion spring 35 is pivotally supported by the second slider 32 so that the coil portion 35c can be rotated, and one end side 35a is connected to the second slider 32 via the first spring support member 33a and the preload adjusting actuator 34, and the like. The end side 35b is rotatably supported by the installation part F. Further, a rod-like or cylindrical member may be inserted into the central axis of the coil portion 35 c and pivotally supported by the second slider 32.

  In addition, various arrangement | positioning can be considered if arrangement | positioning of each member does not interfere mutually and functions normally.

  FIG. 2 shows a block diagram of the vibration control apparatus 1 having such a structure. Input signals from the acceleration sensor 23 and the load sensor 22 are input to the ECU 40 as control means, and the vibration control actuator 21 and the preload adjustment actuator 34 are controlled to actively control vibration according to the load.

  Next, preload adjustment control will be described. FIG. 3 shows a flowchart of the preload adjustment control. First, in step 1, the load at the time of stopping without vibration is detected by the load sensor 22 (ST1). Next, in step 2, the detected load value for a certain time is read into the ECU 40 (ST2). Subsequently, in step 3, for example, an average value is calculated from the load values for a certain period of time to calculate a reference load value (ST3). Next, in step 4, the preload adjustment actuator 34 is controlled to operate in accordance with the calculated reference load value (ST4).

  4 shows the state of the vibration control device 1 before and after the preload adjustment control. FIG. 4 (a) shows the state before the preload adjustment control, and FIG. 4 (b) shows the state after the preload adjustment control. FIG. 5 is an enlarged view of the preload adjusting actuator 34 and the torsion spring 35. From the state before the preload adjustment control shown in FIG. 4A, as shown in FIG. 4B, for example, when the occupant P sits on the seat S and the load of the occupant P is added to the initial load, the load support portion As 10 is lowered, the second slider 32 moves forward. Then, the second spring support member 33b of the counter balance part 30 rotates clockwise around the contact point with the installation part F, and a load is applied to the torsion spring 35. The other end side 35b of the torsion spring 35 and the second slider 32 are applied. The angle [theta] between the movement directions changes. Therefore, the preload adjusting actuator 34 is operated, and the load and the torsion spring are changed by changing the angle φ of the first spring support member 33a and the one end side 35a of the torsion spring 35 with respect to the second slider 32 as shown in FIG. Balance the load by 35.

  FIG. 6 is a graph showing the relationship between the moment due to the load and the moment due to the torsion spring. The horizontal axis represents the angle θ of the second spring support member 33b and the other end side 35b of the torsion spring 35 with respect to the moving direction of the second slider 32, and the vertical axis represents the magnitude of the moment. Further, M1 is a first moment due to a load in an initial state where there is nothing on the sheet S, M1 ′ is a first moment due to a load when a person or the like is placed on the sheet S, and M2 is an initial state. The second moment M2 ′ of the torsion spring 35 is the second moment of the torsion spring 35 in a state where a person or the like is placed on the sheet S.

  As shown in FIG. 6, in the initial state, the first moment M1 and the second moment M2 are substantially balanced, and even when the load changes, one end side 35a of the torsion spring 35 and the first spring support member 33a. By adjusting the angle φ with respect to the moving direction of the second slider 32, the balance between the first 'moment M1' and the second 'moment M2' can be maintained.

  Thus, by operating the preload adjusting actuator 34, the load is canceled, and vibration control can be performed from that state.

  Next, the vibration control of this embodiment will be described. FIG. 7 shows a flowchart of vibration control. First, in step 11, the acceleration during vibration is detected by the acceleration sensor 23 (ST11). Next, at step 12, the ECU 40 calculates the thrust of the vibration damping actuator 21 (ST12). The thrust calculation is executed, for example, by storing a calculation formula such as acceleration × friction × gain × (−1) or a thrust value corresponding to the acceleration in advance. Here, the gain in the calculation formula represents the control delay, and -1 represents the reversal of the direction. Subsequently, in step 13, the thrust calculated in step 12 is instructed to the vibration control actuator 21.

  Next, another embodiment of vibration control will be described. In this embodiment, a weight sensor 22 is applied instead of the acceleration sensor 23. FIG. 8 shows a flowchart of vibration control. First, in step 21, the load during vibration is detected by the load sensor 22 (ST21). Next, in step 22, it is compared whether the detected load value is the same as the reference load value obtained by the preload adjustment control (ST22). In the same case, the vibration control actuator 21 is not operated and the vibration control is terminated. If not, it is determined in step 23 whether the detected load value is larger than the reference load value obtained by the preload adjustment control (ST23). If the detected load value is larger than the reference load value obtained by the preload adjustment control, in step 24, the damping actuator 21 is contracted (ST24). If the detected load value is smaller than the reference load value obtained by the preload adjustment control, in step 25, the damping actuator 21 is extended (ST25).

  FIG. 9 shows a state of vibration control. FIG. 9A shows a state in which the damping actuator 21 is contracted, and FIG. 9B shows a state in which the damping actuator 21 is extended.

  FIG. 9A shows a case where the thrust instruction obtained from the acceleration corresponding to step 13 is the contraction of the damping actuator 21, or the detected load value corresponding to step 24 is larger than the reference load value obtained by the preload adjustment control. When the vibration control actuator 21 contracts to reduce the vibration on the sheet S to 0, the second slider 32 and the preload adjustment actuator 34 move forward, and the spring support member 33 and the torsion spring 35 are moved. The second spring support member 33b and the installation portion F rotate clockwise around the installation point. At this time, the angle between the one end side 35a and the other end side 35b of the torsion spring 35 changes and becomes smaller. However, since the preload adjustment is performed in advance, the reaction force of the torsion spring 35, that is, the moment gap (first moment M1 and The difference between the second moments M2) is small, and the output of the vibration control actuator 21 can be kept small.

  FIG. 9B shows a case where the thrust instruction obtained from the acceleration corresponding to step 13 is extension of the vibration control actuator 21 or the detected load value corresponding to step 25 is smaller than the reference load value obtained by the preload adjustment control. When the vibration control actuator 21 is extended to reduce the vibration on the sheet S to 0, the second slider 32 and the preload adjustment actuator 34 move backward, and the spring support member 33 and the torsion spring 35 are It rotates counterclockwise around the installation point of the second spring support member 33b and the installation part F. At this time, the angle between the one end side 35a and the other end side 35b of the torsion spring 35 changes and increases, but since the preload adjustment is performed in advance, the reaction force of the torsion spring 35, that is, the moment gap (the first moment M1 and The difference in the second moment M2) is small, and the thrust of the actuator can be kept small.

  FIG. 10 shows the result of comparing the case of using the vibration control device 1 of the present embodiment and the case of the prior art shown in FIG. 13 by simulation. In the simulation, an actuator for vibration suppression necessary for reducing the vibration of the load to 0 under the condition of traveling on a wavy path with an amplitude of 25 mm and a period of 750 mm at a speed of 70 km / h was obtained.

  10A shows the case where the sheet is supported only by the actuator as shown in FIG. 13A, and FIG. 10B shows the case where the sheet is supported by the actuator as shown in FIG. 13B. In the case of using a torsion spring, FIG. 10C shows the case of this embodiment.

  In this way, the load and the load by the torsion spring 35 can maintain a substantially balanced state, so that the output of the vibration control actuator 21 can be reduced.

  FIG. 11 shows a second embodiment, in which a cam-type preload adjustment actuator 36 is applied instead of the slider-type preload adjustment actuator 34 used in the first embodiment.

  FIG. 12 shows a third embodiment in which a telescopic preload adjustment actuator 37 is applied instead of the slider type preload adjustment actuator 34 used in the first embodiment.

  As described above, the vibration control device 1 according to the present embodiment includes the installation unit F, the load support unit 10 that supports the load, the counter balance unit 30 that is connected to the load support unit 10 and applies a load that balances the load, and the load support. In the vibration control device 1 including the vibration control unit 20 including the vibration suppression actuator 21 that controls the vibration of the unit 10 with respect to the installation unit F, the load support unit 10 is a first slider that moves relative to the installation unit F. 13, the counter balance unit 30 has a coil portion 35 c, and moves relative to the load support portion 10 and the torsion spring 35 that is rotatably connected to the installation portion F on the other end side. In addition, the second slider 32 pivotally supports the coil portion 35c, and is disposed between one end side 35a of the torsion spring 35 and the second slider 32, and is in contact with the one end side 35a of the torsion spring 35. And the preload adjusting actuator 34 to be adjusted, the self-weight of the torsion spring 35 is canceled, the output of the actuator can be reduced and a small actuator can be realized, and there is no need to apply a heavy object such as a counterweight. It can be installed in a space, and the space under the seat can be used effectively.

  Moreover, since the adjustment means 34 is a slide type actuator, the strength with respect to a load can be made stronger than a cam type or a telescopic type.

  In addition, a load sensor 22 or an acceleration sensor 23 that detects a state on the load support unit 10 is provided, and a preload adjustment actuator 34 or a vibration suppression actuator 21 is provided depending on the state detected by the load sensor 22 or the acceleration sensor 23 or the like. Since the ECU 40 that operates is provided, it is possible to appropriately cope with a change in load.

It is a figure which shows the vibration control apparatus of this embodiment. It is the block diagram which showed the system configuration | structure of the vibration control apparatus. It is a figure which shows the flowchart of preload adjustment control. It is a figure which shows the state of the vibration control apparatus at the time of preload adjustment control. It is an enlarged view of an actuator for preload adjustment and a torsion spring part. It is a graph which shows the relationship between the moment by a load, and the moment by a torsion spring. It is a figure which shows the flowchart of vibration control. It is a figure which shows the flowchart of another vibration control. It is a figure which shows the state of the vibration control apparatus at the time of vibration control. It is a figure which shows the simulation which compared the vibration control apparatus of this embodiment, and the prior art. It is a figure which shows the vibration control apparatus of 2nd Embodiment. It is a figure which shows the vibration control apparatus of 3rd Embodiment. It is a figure which shows the prior art.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vibration control apparatus, 10 ... Load support part, 11 ... Load support member, 12 ... 1st moving means (1st slider), 13 ... 1st guide means (1st slider rail), 20 ... Vibration control part, 21 ... damping actuator (vibration means), 22 ... load sensor (detection means), 23 ... acceleration sensor (detection means), 30 ... counter balance section, 31 ... second guide means (second slider rail), 32 ... Second moving means (second slider), 33 ... second moving means support, 34 ... preload adjusting actuator (adjusting means), 35 ... torsion spring (biasing means), 36, 37 ... preload adjusting actuator (adjustment) Means), 40... ECU (control means)

Claims (3)

Vibration having an installation portion, a load support portion that supports a load, a counter balance portion that is connected to the load support portion and applies a load that balances the load, and a vibration control unit that controls vibration of the load support portion with respect to the installation portion In a vibration control device comprising a control unit,
The load support portion includes first moving means that moves relative to the installation portion,
The counter balance unit is
A torsion spring having a coil portion and connected to the other end side so as to be rotatable with respect to the installation portion;
A second moving means for moving relative to the load support portion and pivotally supporting the coil portion;
A vibration control apparatus, comprising: an adjusting unit that is disposed between one end side of the torsion spring and the second moving unit, and adjusts a contact position with the one end side of the torsion spring.   The vibration control apparatus according to claim 1, wherein the adjustment unit is a slide actuator. 2. The apparatus according to claim 1, further comprising a detecting unit that detects a state on the load supporting unit, and a control unit that operates the adjusting unit or the vibration damping unit according to the state detected by the detecting unit. The vibration control device according to claim 2.

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