JP2008238849A - Vibration control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration control device capable of reducing the output of a vibration control means efficiently with the small-sized vibration control means. <P>SOLUTION: This vibration control device has a second traveling means 32 moving relatively for a load supporting part 10, a first torsion spring 35a having one end side 35a<SB>1</SB>abutting on the second traveling means 32, a second torsion spring 35b having one end side 35b<SB>1</SB>abutting on an installation part F, and a spring supporting member 33 supporting one end and the other end on the second traveling means 32 and the installation part F pivotally, turnably, and arranged between the first torsion spring 35a and the second torsion spring 35b. <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. 17A, when the sheet S is supported only by the actuator 121, the output of the actuator 121 is always required including the stopped state. 17B, 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. Further, the torsion spring 122 itself is large, and the assembling property is poor.

  The present invention solves the above-described problem, and can reduce the output of a vibration control device and vibration damping means that are easy to assemble with a small torsion spring, and can be realized efficiently with a small vibration damping means. An object is to provide a vibration control device.

  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 device 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 the load support unit. A second moving means that moves relative to the second moving means, a first torsion spring that is in contact with the second moving means on one end side, a second torsion spring that is in contact with the installation portion on one end side, and one end The second moving means has a spring support member that is pivotally supported at the other end by the installation portion and arranged between the first torsion spring and the second torsion spring. Features.

  In addition, the first torsion spring is disposed between one end side of the first torsion spring and the second moving unit, and has adjustment means for adjusting a contact position with the one end side of the first torsion spring. .

  Moreover, it is arrange | positioned between the one end side of the said 2nd torsion spring, and the said installation part, and has an adjustment means which adjusts the contact position with the one end side of the said 2nd torsion spring.

  The adjusting means is a slide type actuator.

  In addition, the spring support member is rotatably arranged, and has an adjusting means for adjusting a contact position between the spring support member and the other end side of the first torsion spring and the second torsion spring. Features.

  Further, the adjusting means is a cam type actuator pivotally supported by the spring support member.

  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: Second moving means that moves relative to the load support portion, a first torsion spring that is in contact with the second moving means at one end side, and a second torsion spring that is in contact with the installation portion at one end side And a spring support member that is pivotally supported at one end by the second moving means and at the other end by the installation portion, and is disposed between the first torsion spring and the second torsion spring. Therefore, a small torsion spring is suitable. It can be, assemblability is improved, it is possible to take further adjustment width is large.

  According to the second aspect of the present invention, the first torsion spring is disposed between the other end side of the first torsion spring and the second moving means, and the contact position between the first torsion spring and the one end side of the first torsion spring is adjusted. Because it has adjustment means, its own weight can be canceled, the output of the vibration damping means can be reduced and it can be realized with small vibration damping means, and there is no need to apply heavy weight such as counterweight, so it is installed in a small space can do.

  According to a third aspect of the present invention, the adjusting means is disposed between the one end side of the second torsion spring and the installation portion, and adjusts a contact position between the one end side of the second torsion spring. Because it has a self-weight, it can cancel the output of the vibration control means, can be realized with a small vibration control means, and it is not necessary to apply heavy objects such as a counterweight, so it can be installed in a small space it can.

  According to the invention described in claim 4, since the adjusting means is a slide type actuator, the strength against the load can be increased.

  According to invention of Claim 5, while being arrange | positioned at the said spring support member so that rotation is possible, the contact position of the said spring support member and the other end side of said 1st torsion spring and said 2nd torsion spring is carried out. Since it has an adjusting means to adjust, its own weight can be canceled, the output of the damping means can be reduced and it can be realized with a small damping means, and there is no need to apply heavy objects such as a counterweight, so a small space Can be installed.

  According to the invention of claim 6, since the adjusting means is a cam-type actuator pivotally supported by the spring support member, the angle of the first torsion spring and the second torsion spring is changed uniformly, The balance of the device is improved and the service life is extended.

  According to a seventh aspect of the present invention, there is provided detection means for detecting a state on the load support portion, and control means for operating the adjustment means or the vibration damping means according to the state detected by the detection 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 an embodiment of the present invention. 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 an actuator for vibration suppression as an example of vibration suppression means, 22 is a load sensor as an example of detection means, 23 is an acceleration sensor as an example of detection means, and 31 is an example of second guide means. As a second slider rail, 32 is a second slider as an example of a second moving means, 33 is a spring support member, 35 is a torsion spring, F is an installation portion, 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, and the vibration control unit 20 actively controls the vibration of the load such as the sheet S on the vibration control device 1.

  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 torsion spring 35. The first slider 12 is provided on the load support member 11, is guided in the vertical direction by the first slider rail 13, and moves relative to the installation portion 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 the acceleration sensor 23 detects acceleration on the load support portion 10, and controls the vibration damping actuator 21 based on the detected value. is there. 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 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 connected to one end of the spring support member 33 and is guided by the second slider rail 31 to move relative to the load support portion 10.

The spring support member 33 supports the torsion spring 35, and is disposed between the first torsion spring 35a and the second torsion spring 35b. The torsion spring 35 is supported by the second slider 32 so as to be rotatable at the center of the coil portion 35a ₃ , one end side 35a ₁ is connected to the second slider 32, and the other end side 35a ₂ is connected to the spring support member 33. The first torsion spring 35 a and one end side 35 b ₁ are connected to the installation part F, and the coil part 33 b ₃ and the other end side 35 b ₂ are connected to the spring support member 33. 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.

In the vibration control apparatus 1 having such a structure, when a load such as an occupant is mounted on the seat S, the first slider 12 and the second slider 32 move. At the same time, in the first torsion spring 35a and the second torsion spring 35b, the angles of the one end sides 35a ₁ and 35b ₁ and the other end portions 35a ₂ and 35b ₂ are reduced against the urging force, respectively.

  Thus, since the load on the sheet S is received by the first torsion spring 35a and the second torsion spring 35b, it can be formed by a spring having a smaller load than that received by one spring, and the assembly of the apparatus is improved. .

  FIG. 2 shows a vibration control device 1 according to the second embodiment. In the present embodiment, as the counter balance portion 30 that balances the moment due to the load and the moment with respect to the load of the torsion spring in the structure of FIG. 1, the second slider rail 31, the second slider 32, the spring support member 33, and the torsion spring 35 are provided. In addition, a preload adjustment actuator 34 and a second spring support member 36 that can adjust the mounting angle of the torsion spring 35b are added.

  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 counter balance unit 30 includes a second slider rail 31, a second slider 32, a spring support member 33, a torsion spring 35, a second spring support member 36, and the like. Since the second slider rail 31, the second slider 32, the spring support member 33, and the torsion spring 35 are the same as those in the first embodiment, description thereof is omitted.

  The preload adjusting actuator 34 is installed between the installation portion F and the second torsion spring 35b, supports the second spring support member 36, and supports the second spring by a load signal from the load sensor 22, the acceleration sensor 23, or the like. The contact position with the member 36 is moved, and the mounting angle of the torsion spring 35 is changed. In the present embodiment, the slide type preload adjusting actuator 34 capable of changing the angle of the second spring support member 36 is used.

  FIG. 3 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. 4 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).

FIG. 5 shows the state of the vibration control device 1 before and after the preload adjustment control. FIG. 5 (a) shows the state before the preload adjustment control, and FIG. 5 (b) shows the state after the preload adjustment control. FIG. 6 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. 5A, as shown in FIG. 5B, 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 counter balance unit The 30 spring support members 33 are rotated clockwise to apply a load to the torsion spring 35, and the angle θ ₁ between the other end side 35a ₂ of the first torsion spring 35a and the second slider 32 and the second torsion spring 35b. The angle θ ₂ between the other end side 35b ₁ and the installation portion F changes. Therefore, the preload adjusting actuator 34 is operated, and the load and the load by the torsion spring 35 are balanced by changing the angle φ of the one end side 35b ₂ of the second torsion spring 35 as shown in FIG.

FIG. 7 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 one end side 35a ₁ , 35b ₁ of the spring support member 33 and the torsion spring 35 with respect to the horizontal plane, and the vertical axis represents the magnitude of the moment. M1 is a first moment due to a load in an initial state where nothing is 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. 7, in the initial state, the first moment M1 and the second moment M2 are substantially balanced, and even when the load changes, the other end side 35b ₂ of the second torsion spring 35 with respect to the horizontal plane. The balance between the first 'moment M1' and the second 'moment M2' can be maintained by adjusting the angle φ.

  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. 8 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. 9 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. 10 shows a state of vibration control. FIG. 10A shows a state where the damping actuator 21 is contracted, and FIG. 10B shows a state where the damping actuator 21 is extended.

FIG. 10A shows a case where the thrust instruction obtained from the acceleration corresponding to step 13 is contraction of the vibration control 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 is contracted to reduce the vibration on the sheet S to 0, the second slider 32 moves forward and the spring support member 33 of the counter balance unit 30 rotates clockwise. . At this time, the angle between the one end side 35a ₁ , 35b _{1 of} the torsion spring 35 and the other end side 35a ₂ , 35b ₂ changes and becomes small. However, since the preload adjustment is performed in advance, The force, that is, the moment gap (difference between the first moment M1 and the second moment M2) becomes small, and the output of the vibration control actuator 21 can be suppressed to a small value.

FIG. 10B shows a case where the thrust instruction obtained from the acceleration corresponding to step 13 is the extension of the damping 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 moves backward and the spring support member 33 of the counter balance unit 30 rotates counterclockwise. To do. At this time, the angle between the one end side 35a ₁ , 35b _{1 of} the torsion spring 35 and the other end side 35a ₂ , 35b ₂ changes and increases, but since the preload adjustment has been executed in advance, The force, that is, the moment gap (difference between the first moment M1 and the second moment M2) becomes small, and the thrust of the actuator can be suppressed to be small.

  FIG. 11 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. 17 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.

  11A shows a case where the sheet is supported only by an actuator as shown in FIG. 17A. FIG. 11B shows a case where the sheet is supported by an actuator as shown in FIG. 17B. In the case of using a torsion spring, FIG. 11C 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 and installed in a small space.

  FIG. 12 shows the third embodiment, in which the slider-type preload adjusting actuator 34 used in the second embodiment is installed on the second slider.

  FIG. 13 shows a fourth embodiment. Instead of the slider-type preload adjustment actuator 34 used in the second embodiment, a cam-type preload adjustment actuator 37 is applied and arranged in the installation portion F. Is. A cam-type preload adjusting actuator 37 may be installed on the second slider.

  FIG. 14 shows the state of the vibration control device 1 before and after the preload adjustment control of the fifth embodiment, and FIG. 15 is an enlarged view of the preload adjustment actuator 38 and the torsion spring 35 portion.

  FIG. 14A shows the state of the vibration control device 1 before the preload adjustment control according to the fifth embodiment. The cam control preload adjustment actuator 38 is applied and installed on the spring support member 33. . The cam-type preload adjusting actuator 38 includes a shaft portion 38 a that is pivotally supported by the spring support member 33 and a substantially elliptical cam portion 38 b.

FIG. 14B shows the state of the vibration control device 1 after the preload adjustment control of the fifth embodiment. 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 spring support portion 33 of the counterbalance unit 30 is rotated in the clockwise direction, torsional load is applied to the spring 35, the other end 35a ₂ of the first torsion spring 35a angle θ and the second torsion spring between the second slider 32 The angle θ between the other end side 35b ₂ of 35b and the installation portion F is changed. Therefore, the preload adjusting actuator 38 is operated to rotate the cam portion 38a. Then, as shown in FIG. 15, by changing the angle φ of the other end side 35a ₂ of the first torsion spring 35a and the other end side 35b ₂ of the second torsion spring 35b with respect to the spring support 33, the load and the torsion spring are changed. Balance the load by 35.

  FIG. 16 shows the state of vibration control of the fifth embodiment. FIG. 16A shows a state in which the vibration damping actuator 21 is contracted, and FIG. 16B shows a state in which the vibration damping actuator 21 is extended. It is shown.

FIG. 16A shows a case where the thrust instruction obtained from the acceleration corresponding to step 13 is the contraction of the vibration control 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 is contracted to reduce the vibration on the sheet S to 0, the second slider 32 moves forward and the spring support member 33 of the counter balance unit 30 rotates clockwise. . At this time, the angle between the one end side 35a ₁ , 35b _{1 of} the torsion spring 35 and the other end side 35a ₂ , 35b ₂ changes and becomes small. However, since the preload adjustment is performed in advance, The force becomes small, and the output of the vibration control actuator 21 can be kept small.

FIG. 16B 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 moves backward and the spring support member 33 of the counter balance unit 30 rotates counterclockwise. To do. At this time, the angle between the one end side 35a ₁ , 35b _{1 of} the torsion spring 35 and the other end side 35a ₂ , 35b ₂ changes and increases, but since the preload adjustment has been executed in advance, The force becomes small and the thrust of the actuator can be kept small.

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 includes a second slider 32 that moves relative to the load support unit 10, a first torsion spring 35 a that is in contact with the second slider 32 at one end side 35 a ₁ , The first torsion spring 35a is pivotally supported by the second torsion spring 35b whose one end side 35b ₁ is in contact with the installation portion F, the other end pivotally supported by the second slider 32, and the other end by the installation portion F. And second Since it has the spring support member 33 disposed between the two torsion springs 35b, a small torsion spring can be applied, the assemblability can be improved, and the adjustment width can be increased.

Further, while being disposed between the one end 35a ₁ and the installation portion F of the first torsion spring 35a, having a preload adjustment actuator 34 for adjusting the contact position with the one end 35a ₁ of the first torsion spring 35a Therefore, the dead weight can be canceled, the output of the vibration control actuator 21 can be reduced, and the small vibration control actuator 21 can be realized, and there is no need to apply heavy objects such as a counterweight. can do.

In addition, a preload adjusting actuator 34 is provided between the one end side 35b ₁ of the second torsion spring 35b and the installation portion F and adjusts the contact position with the one end side 35b ₁ of the second torsion spring 35b. Therefore, the dead weight can be canceled, the output of the vibration control actuator 21 can be reduced, and the small vibration control actuator 21 can be realized, and there is no need to apply heavy objects such as a counterweight. can do.

  Further, since the preload adjusting actuator 34 is a slide type actuator, the strength against the load can be increased.

A preload adjusting actuator that is rotatably arranged on the spring support member 33 and adjusts a contact position between the spring support member 33 and the other end side 35b _{2 of} the first torsion spring 35a and the second torsion spring 35b. 38, the dead weight can be canceled, the output of the vibration damping actuator 21 can be reduced and realized with the small vibration damping actuator 21, and there is no need to apply heavy objects such as a counterweight. Can be installed in a space.

  Further, since the preload adjusting actuator 38 is a cam type actuator that is pivotally supported by the spring support member 33, the angle of the first torsion spring 35a and the second torsion spring 35b is evenly changed to improve the balance of the apparatus. , Life is extended.

  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 1st Embodiment. It is a figure which shows the vibration control apparatus of 2nd 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 2nd Embodiment, and the prior art. It is a figure which shows the vibration control apparatus of 3rd Embodiment. It is a figure which shows the vibration control apparatus of 4th Embodiment. It is a figure which shows the state of the vibration control apparatus at the time of the preload adjustment control of 5th Embodiment. It is an enlarged view of an actuator for preload adjustment and a torsion spring part. 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 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 ... Spring support member 34 ... Sliding preload adjusting actuator (adjusting means) 35 ... Torsion spring (biasing means) 36 ... Second spring support member 37,38 ... Actuator for cam preload adjustment (adjustment means), 40 ... ECU (control means)

Claims (7)

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
Second moving means for moving relative to the load support portion;
A first torsion spring abutting one end side against the second moving means;
A second torsion spring abutting the one end side against the installation portion;
One end is pivotally supported by the second moving means and the other end is pivotally supported by the installation portion, and a spring support member is disposed between the first torsion spring and the second torsion spring. The vibration control apparatus characterized by the above-mentioned.   The adjusting means is arranged between one end side of the first torsion spring and the second moving means, and has an adjusting means for adjusting a contact position with the one end side of the first torsion spring. The vibration control apparatus according to 1.   2. The apparatus according to claim 1, further comprising an adjusting unit that is disposed between one end side of the second torsion spring and the installation portion and adjusts a contact position with one end side of the second torsion spring. Vibration control device.   The vibration control apparatus according to claim 2, wherein the adjusting unit is a slide type actuator.   The spring support member is rotatably arranged, and has adjustment means for adjusting a contact position between the spring support member and the other end side of the first torsion spring and the second torsion spring. The vibration control device according to claim 1.   The vibration control apparatus according to claim 5, wherein the adjustment unit is a cam-type actuator pivotally supported by the spring support member.   3. The apparatus according to claim 2, 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 6.

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