JP2008239047A - Vibration control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration control device materialized by a small vibration damping means, arranged in a small space, and capable of effectively using a space under a seat. <P>SOLUTION: This vibration control device 1 is provided with: a setting section F; a load supporting section 10 supporting a load; a counterbalance section 30 coupled to the load supporting section 10 and applying loading equilibrated with the load; and a vibration control section 20 having the vibration damping means 21 controlling vibration with respect to the setting section F for the load supporting section 10. The counterbalance section 30 has a second moving means 32 relatively moving with respect to the load supporting section 10, a torsion spring 35 arranged between the second moving means 32 and the setting section F, and an adjusting means 34 adjusting the mounting angle of the torsion spring 35. The vibration damping means 21 is displaced in the moving direction of the second moving means 32. <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. 14A, when the sheet S is supported only by the actuator 121, the output of the actuator 121 is always required including the stopped state. 14B, 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 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 torsion spring disposed between the second moving means and the installation portion, and an adjusting means for adjusting an attachment angle of the torsion spring. The vibrating means is displaced in the moving direction of the second moving means.

  The torsion spring has a coil portion of the torsion spring pivotally supported by the installation portion, and one end side of the torsion spring is rotatably connected to the second moving means. It arrange | positions between an end side and the said installation part, and adjusts the contact position with the other end side of the said torsion spring.

  The torsion spring has a coil portion of the torsion spring pivotally supported by the second moving means, and one end side of the torsion spring is rotatably connected to the installation portion, and the adjusting means is the other end side of the torsion spring. And the damping means, and a contact position with the other end side of the torsion spring is adjusted.

  The torsion spring has a coil portion of the torsion spring pivotally supported by the damping means, and one end side is rotatably connected to the installation portion, and the adjustment means is connected to the other end side of the torsion spring. It is arrange | positioned between the said 2nd moving means, and adjusts the contact position with the other end side of the said 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 second moving unit that moves relative to the load support unit; a torsion spring disposed between the second moving unit and the installation unit; and an adjusting unit that adjusts an attachment angle of the torsion spring. Since the vibration damping means is displaced in the moving direction of the second moving means, it can be realized with a small vibration damping means by canceling its own weight and reducing the output of the vibration damping means. Apply things Since there is no need, it is possible to effectively utilize the space under the seat it is possible to be installed in a small space.

  According to a second aspect of the present invention, the torsion spring has the coil portion of the torsion spring pivotally supported by the installation portion, and one end side of the torsion spring is rotatably connected to the second moving means, and the adjustment is performed. The means is disposed between the other end side of the torsion spring and the installation portion, and adjusts the contact position with the other end side of the torsion spring, so that the self-weight is canceled with a simple structure, The output of the vibration damping means can be reduced.

  According to a third aspect of the present invention, the torsion spring is configured such that the coil portion of the torsion spring is pivotally supported by the second moving means, and one end side is rotatably connected to the installation portion, and the adjusting means is In addition to being disposed between the other end side of the torsion spring and the damping means and adjusting the contact position with the other end side of the torsion spring, the space under the seat can be used more effectively. Can do.

  According to the invention of claim 4, the torsion spring is pivotally supported by the damping means with the coil portion of the torsion spring, and one end side thereof is rotatably connected to the installation portion. It is arranged between the other end side of the torsion spring and the second moving means, and adjusts the contact position with the other end side of the torsion spring, so that the space under the seat can be used effectively. it can.

  According to the invention of claim 5, since the adjusting means is a slide type actuator, the strength against the load can be increased.

  According to a sixth 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 an embodiment of the present invention, FIG. 1 (a) is a transverse sectional view, and FIG. 1 (b) is 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 A second slider rail as an example of the second guide means, 32 is a second slider as an example of the second moving means, 33 is a spring support member as an example of the spring support means, and 34 is a preload adjustment as an example of the adjustment means Actuator 35, a torsion spring 35, an installation portion F, and a sheet S.

  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 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 damping actuator 21 is disposed on the load support member 11 so as to be parallel to the second slider rail 31, and the expansion / contraction portion 21a is brought into contact with the second slider 32 to detect the state of the load sensor 22, the acceleration sensor 23, and the like. It is operatively controlled by a signal from the sensor. 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 connected to the first spring support member 33 a, abuts against the vibration control actuator 21, is guided by the second slider rail 31, and moves relative to the load support portion 10.

  One end of the spring support member 33 is rotatably connected to the second slider 32, the other end is connected to one end 35a of the torsion spring 35, and one end is used for preload adjustment. The second spring support member 33b is supported by the actuator 34 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 installation portion F and the torsion spring 35, supports the second spring support member 33b, and the mounting angle of the torsion spring 35 by a load signal from the load sensor 22, the acceleration sensor 23, or the like. Is to change. In the present embodiment, a slide type actuator capable of changing the angle of the second spring support member 33b is used.

  The torsion spring 35 is supported by the installation portion F so that the coil portion 33c can be rotated, one end side 35a is connected to the second slider 32 via the first spring support member 33a, and the other end side 35b is supported by the second spring. It is supported by the preload adjusting actuator 34 via the member 33b. 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 counter balance unit The 30 first spring support members 33a rotate counterclockwise, a load is applied to the torsion spring 35, and the angle θ of the one end side 35a of the torsion spring 35 changes. Accordingly, the preload adjusting actuator 34 is operated, and the first spring support member 33a rotates counterclockwise as shown in FIG. 5 to change the angle φ of the other end side 35b of the torsion spring 35, thereby changing the load. And the load by the torsion spring 35 are balanced.

  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 indicates the angle θ of the second slider support portion 33 and one end side 35a of the torsion spring 35 with respect to the horizontal plane, and the vertical axis indicates 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 the angle φ of the other end side 35b of the torsion spring 35 with respect to the horizontal plane is changed even when the load changes. By adjusting, 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 vibration damping actuator 21 is extended, and FIG. 9B shows a state in which the vibration damping actuator 21 is contracted.

  FIG. 9A shows the case where the thrust instruction obtained from the acceleration corresponding to step 13 is the extension 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 extended to reduce the vibration on the sheet S to 0, the second slider 32 moves forward and the first spring support member 33a of the counter balance unit 30 rotates in the clockwise direction. To do. 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 from the second moment 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 contraction 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 contracted to reduce the vibration on the sheet S to 0, the second slider 32 moves rearward and the second spring support member 33b of the counter balance portion 30 moves counterclockwise. Rotate. 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 from 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. 14 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 a case where the sheet is supported only by an actuator as shown in FIG. 14A. FIG. 10B shows a case where the sheet is supported by an actuator as shown in FIG. 14B. 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 vibration suppression actuator support member 36 is provided, and a slider-type preload adjustment actuator 34 is disposed between the left and right vibration suppression actuators 21. FIG. 12 is a cross-sectional view of the vicinity of the preload adjusting actuator 34.

  The vibration damping actuator support member 36 has a substantially convex cross section, and the vibration damping actuator 21 is placed on the left and right upper parts, and the preload adjusting actuator 34 is installed on the lower center part. The upper portion of the vibration control actuator 21 is installed on the lower surface of the load support member 11.

  The second slider 32 is guided by a second slider rail 31 provided on the lower surface of the load support member 11, moves relative to the load support portion 10, and rotatably supports the center of the coil portion 35c of the torsion spring 35. It has a spring rotation support part.

  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 adjustment actuator 34 is disposed between the vibration suppression actuator support member 36 and the first spring support member 33a, supports one end side 35a of the torsion spring 35, and receives signals from the load sensor 22, the acceleration sensor 23, and the like. The mounting angle of the torsion spring 35 is changed. In the present embodiment, a slide actuator that can move in parallel with the second slider 32 is used. Further, the preload adjusting actuator 34 and the vibration damping actuator 21 are arranged so as to overlap in a side view.

  The torsion spring 35 is pivotally supported by the second slider 32 so that the coil portion 35c can rotate, and one end side 35a is connected to the load support portion 10 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 portion F via the second spring support member 33b. 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.

  Thus, since the preload adjusting actuator 34 and the vibration damping actuator 21 are arranged so as to overlap in a side view, they can be installed in a smaller space and can effectively use the space under the seat. it can.

  Instead of the slider-type preload adjustment actuator 34, a telescopic preload adjustment actuator or a cam-type actuator may be applied.

  FIG. 13 shows a third embodiment, to which a table type actuator is applied. As in the second embodiment, the third embodiment includes a vibration suppression actuator support member 36 and a slider-type preload adjustment actuator 34 disposed between the left and right vibration suppression actuators 21. As the actuator 21, a table type actuator is adopted.

  The table type vibration damping actuator 21 has an upper portion installed on the lower surface of the load support member 11 and a lower portion placed on the vibration damping actuator support member 36, and can move the upper portion and the lower portion relative to each other. It is. The vibration damping actuator support member 36 has a substantially convex cross section, and the vibration damping actuator 21 is placed on the left and right upper parts, and the preload adjusting actuator 34 is installed on the lower center part.

  A second slider 32 is placed on the center upper portion of the vibration suppression actuator support member 36. The second slider 32 is guided by a second slider rail 31 provided on the lower surface of the load support member 11 and moves relative to the load support portion 10.

  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 adjustment actuator 34 is disposed between the vibration suppression actuator support member 36 and the first spring support member 33a, supports one end side 35a of the torsion spring 35, and receives signals from the load sensor 22, the acceleration sensor 23, and the like. The mounting angle of the torsion spring 35 is changed. In the present embodiment, a slide actuator that can move in parallel with the second slider 32 is used. Further, the preload adjusting actuator 34 and the vibration damping actuator 21 are arranged so as to overlap in a side view.

  The torsion spring 35 is pivotally supported by the lower part of the table type vibration control actuator 21 so that the coil part 35c can be rotated, and the one end side 35a is connected to the second slider 32 via the first spring support member 33a and the preload adjustment actuator 34. The other end side 35b is rotatably supported by the installation part F via the second spring support member 33b. 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.

  Similarly to the second embodiment, the vibration control device 1 according to the third embodiment is arranged so that the preload adjusting actuator 34 and the vibration damping actuator 21 are overlapped in a side view. And the space under the seat can be used effectively.

  As described above, the vibration control device 1 according to the embodiment of the present invention 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, In the vibration control device 1 including the vibration control unit 20 including the vibration suppression actuator 21 that controls vibration of the support unit 10 with respect to the installation unit F, the load support unit 10 is a first that moves relative to the installation unit F. The counter balance unit 30 includes a slider 13, a second slider 32 that moves relative to the load support unit 10, a torsion spring 35 disposed between the second slider 32 and the installation unit F, and a torsion spring 35. A preload adjusting actuator 34 for adjusting the mounting angle of the second slider 32, and the damping actuator 21 is displaced in the moving direction of the second slider 32. It can be realized with a small actuator by canceling its own weight and reducing the output of the actuator, and it is not necessary to apply heavy objects such as counterweight, so it can be installed in a small space and the space under the seat is effective Can be used.

  The torsion spring 35 has a coil portion 35c of the torsion spring 35 pivotally supported by the installation portion F, and one end side 35a is rotatably connected to the second slider 32. Since it is arranged between the other end side 35b of the spring 35 and the installation part F and adjusts the contact position with the other end side 35b of the torsion spring 35, its own weight is canceled with a simple structure, and the vibration control is performed. The output of the actuator 21 can be reduced.

  The torsion spring 35 has a coil portion 35c of the torsion spring 35 pivotally supported by the second slider 32, and one end side 35a is rotatably connected to the installation portion F. The preload adjusting actuator 34 is connected to the torsion spring 35. Is disposed between the other end side 35b and the vibration damping actuator 21 and adjusts the contact position with the other end side 35b of the torsion spring 35, so that the space under the seat can be used more effectively. it can.

  The torsion spring 35 has a coil portion 35c of the torsion spring 35 pivotally supported by the vibration control actuator 21, and one end side 35a is rotatably connected to the installation portion F. The preload adjustment actuator 34 is a torsion spring. 35 is disposed between the other end side 35b of the 35 and the second slider 32, and the contact position with the other end side 35b of the torsion spring 35 is adjusted, so that the space under the seat can be used effectively. .

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

  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 sectional drawing of the actuator vicinity 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 ... vibration damping actuator supporting member, 40 ... ECU (control means)

Claims (6)

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 adjusts an attachment angle of the torsion spring, a second moving unit that moves relative to the load support unit, a torsion spring disposed between the second moving unit and the installation unit. Adjusting means to
The vibration control device is characterized in that the vibration damping means is displaced in a moving direction of the second moving means.   The torsion spring has a coil portion of the torsion spring pivotally supported by the installation portion, and one end side of the torsion spring is rotatably connected to the second moving means, and the adjusting means is the other end side of the torsion spring. The vibration control device according to claim 1, wherein the vibration control device is disposed between the first and second installation portions and adjusts a contact position with the other end of the torsion spring.   The torsion spring has a coil portion of the torsion spring pivotally supported by the second moving means, and one end side of the torsion spring is rotatably connected to the installation portion, and the adjustment means includes the other end side of the torsion spring and the The vibration control device according to claim 1, wherein the vibration control device is arranged between the vibration damping unit and a contact position with the other end of the torsion spring.   The torsion spring has a coil portion of the torsion spring pivotally supported by the damping means, and one end side is rotatably connected to the installation portion, and the adjustment means is connected to the other end side of the torsion spring and the first side. The vibration control device according to claim 1, wherein the vibration control device is arranged between the two moving means and adjusts a contact position with the other end side of the torsion spring.   The vibration control apparatus according to claim 1, wherein the adjusting unit is a slide type actuator.   2. The apparatus according to claim 1, further comprising a detection unit that detects a state on the load supporting unit, and a control unit that operates the adjustment unit or the vibration suppression unit according to the state detected by the detection unit. The vibration control apparatus according to claim 5.

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