JP2009008226A - Vibration control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an efficient vibration control device capable of reducing an output of a vibration control means and obtained by a small vibration control means. <P>SOLUTION: In the vibration control device 1 provided with a load support part 10, a counter balance 30, and a vibration control part 20, the load support part 10 is arranged between an installation part FV and the load support part 10 and includes first movement guide means 11, 21 each regulating the movement of the load support part 10 in a vertical direction, the counter balance 30 is provided with second movement guide means 11, 12 relatively moving the counter balance 30 and the load support part 10 and connected to an energizing means 35 of which one end 33a is rotatably supported by an installation part F, and of which the other end 33b is connected to the energizing means 35 generating an energizing force in accordance with a load, and a connection part 33c between one end 33a and the other end 33b is rotatably connected to the second movement guide means 31, 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 seating part such as a seat and luggage, and particularly to a riding part 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. 13 (a), when the seat S is supported only by the actuator 121, the output of the actuator 121 is always required including the stop state. As shown in FIG. 13B, when the seat 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 seat 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 suppresses vibrations applied to a seating part such as a seat, a luggage, etc., particularly a seating part such as a seat installed in a moving body such as a vehicle, a ship or an airplane. Another object of the present invention is to provide an efficient vibration control device that can reduce the output of the vibration control means with respect to the vibration control device to be reduced and can be realized by a small vibration control means.

  To this end, the present invention provides a load support unit installed in an installation unit, a counter balance unit connected to the load support unit and providing a load that balances the load, and a vibration control that controls vibration of the load support unit with respect to the installation unit. In the vibration control apparatus, the load support unit is provided between the installation unit and the load support unit, and has first movement guide means for restricting the movement of the load support unit in a vertical direction. The counter balance portion includes second movement guide means for relatively moving the counter balance portion and the load support portion, one end of which is rotatably supported by the installation portion, and the other end corresponding to the load. It is connected to a biasing means for biasing a biasing force, and a coupling portion between one end and the other end is rotatably coupled to the second movement guide means.

  The coupling portion may be disposed on the opposite side of the urging means with respect to a straight line passing through one end and the other end of the counter balance portion.

  Further, a plurality of urging means are provided.

  Further, the counter balance unit includes an adjusting unit that can be expanded and contracted between the coupling unit and the other end, and adjusts the urging force by expansion and contraction of the adjusting unit.

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

  According to the first aspect of the present invention, the load support unit installed in the installation unit, the counter balance unit connected to the load support unit and providing a load that balances the load, and the vibration of the load support unit with respect to the installation unit. In the vibration control device including the vibration control unit to be controlled, the load support unit is disposed between the installation unit and the load support unit, and a first movement that regulates movement of the load support unit in a vertical direction. The counter balance portion includes second movement guide means for relatively moving the counter balance portion and the load support portion, one end of which is rotatably supported by the installation portion, and the other end of the counter balance portion. Since it is connected to the biasing means for biasing the biasing force according to the load, and the coupling portion between one end and the other end is rotatably coupled to the second movement guide means, the output of the vibration control means is reduced. As well as Can reduce the overall length of the scale unit, and reduce the weight, you are possible to provide an efficient, low-cost vibration control device which can be realized with a small vibration control means. Further, since the coupling part is directly installed on the installation part, no support is required, and the number of parts and the weight can be reduced.

  According to a second aspect of the present invention, the coupling portion is disposed on the opposite side of the biasing means with respect to a straight line passing through one end and the other end of the counter balance portion, so that the height can be lowered. Can be arranged in a small space.

According to the invention described in claim 3, since a plurality of the urging means are provided, the moment by the urging means can be set with various characteristics, and the degree of freedom in design is increased. According to the present invention, the counter balance portion includes an adjusting means that can be expanded and contracted between the coupling portion and the other end, and adjusts the urging force by the expansion and contraction of the adjusting means. There is no need.

  According to the invention of claim 5, since it comprises a detecting means for detecting a load or acceleration on the load support portion, and a control means for operating the adjusting means according to the state detected by the detecting means, It is possible to appropriately respond to changes in the initial 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. In the figure, 1 is a vibration control device, 10 is a load support section, 11 is a first slider rail as an example of first guide means, 12 is a first slider as an example of first movement means, 13 is a load support member, 20 is a vibration control unit, 21 is a vibration control actuator as an example of vibration control means, 22 is a load sensor as an example of detection means, 23 is an acceleration sensor as an example of detection means, 30 is a counter balance unit, and 31 is The second slider rail as an example of the second guide means, 32 is the second slider as an example of the second moving means, 33 is the second slider support part as an example of the second moving means support part, and 34 is the adjusting means. An actuator for preload adjustment as an example, 35 is a spring as an example of an urging means, F is a cabin of a moving body as an example of an installation part, and S is a seat as an example of a mounting part A. In the present invention, in the present invention, a spring, which is an elastic member, is used as the biasing means, and the elastic force generated by the spring is used as the biasing force of the biasing means. However, the present invention is not limited to this embodiment. In the present invention, the first slider rail 11 as the first guiding means and the first slider 12 as the first moving means are collectively referred to as the first movement guiding means. Similarly, the second slider rail 31 as the second guiding means and the second slider 32 as the second moving means are collectively referred to as the second movement guiding means.

  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 seat S on the vibration control device 1 and the counter balance unit 30. The balance of force against the load is set.

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

  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 installed 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 13, and is controlled to move up and down by load signals from the load sensor 22 and the acceleration sensor 23. In particular, the load sensor 22 may be provided between the seat S and the load support member 13.

  The counter balance unit 30 includes a second slider rail 31, a second slider 32, a balance unit 33, a preload adjusting actuator 34, a spring 35, and the like. The 2nd slider rail 31 is installed in the load support member 13, and guides the 2nd slider 32 so that a movement is possible. The second slider 32 is coupled to one end of the balance portion 33, guided by the second slider rail 31, and movable relative to the load support member 13. That is, the load support unit 13 is connected to the counter balance unit 30 through the second slider as the second movement guide unit and the second slider rail so that the load support unit 13 and the counter balance unit 30 are relatively movable.

  The balance portion 33 is coupled to rotate with respect to the installation portion F with one end 33a as a fulcrum, and is pivotally coupled to the other end of the spring 35 with the other end 33b as a power point. The second slider 32 is pivotably coupled to the second slider 32 with the coupling portion 33c between the first and second couplings 33b as an action point. Further, a preload adjusting actuator 34 is provided on the other end 33b side.

  The preload adjusting actuator 34 can be changed in length, that is, can be expanded and contracted. The preload adjusting actuator 34 is provided between the connecting portion 33 c and the other end 33 b of the spring 35 and is included in the balance portion 33. Then, the biasing force of the spring 35 as the biasing means is adjusted by changing the length between the connecting portion 33 c and the other end of the spring 35 by the preload adjusting actuator 34. The spring 35 has one end coupled to the installation portion F and the other end coupled to the other end 33 b of the balance portion 33.

  Thus, by arranging the fulcrum at the one end 33a of the balance part 33, the distance from the fulcrum to the action point and the distance from the fulcrum to the force point overlap, and the overall length of the balance part 33 can be shortened.

  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).

  FIG. 4 shows the state of the vibration control device 1 after the preload adjustment control. From the state before the preload adjustment control shown in FIG. 1, 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 balance portion 33 of the counter balance portion 30 rotates clockwise, and the spring 35 is loaded. Therefore, as shown in FIG. 4, the preload adjusting actuator 34 is operated to change the length of the balance portion 33, thereby balancing the load and the load by the spring 35.

  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. 5 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.

  FIG. 6 shows another 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 vibration control actuator 21 is extended (ST25).

  7 and 8 show the state of vibration control. FIG. 7 shows a state in which the damping actuator 21 is contracted, and FIG. 8 shows a state in which the damping actuator 21 is extended.

  FIG. 7 shows the case where the thrust instruction obtained from the acceleration corresponding to step 13 is the contraction of the vibration 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 is contracted to reduce the vibration on the seat S to 0, the second slider 32 moves forward, and the balance portion 33 of the counter balance portion 30 rotates clockwise. At this time, although the spring 35 contracts, the inclination angle thereof is changed, so that the vertical component of the reaction force due to the contraction of the spring 35 is almost canceled, and the load and the load by the spring 35 can be kept in a substantially balanced state. it can.

  FIG. 8 shows the 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 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 seat S to 0, the slider 32 moves rearward and the balance portion 33 of the counter balance portion 30 rotates counterclockwise. At this time, although the spring 35 is extended, the inclination angle thereof is changed, so that the vertical component of the reaction force due to the extension of the spring 35 is almost canceled, and the load and the load by the spring 35 can be kept in a substantially balanced state. it can.

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

  FIG. 9 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. 11 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.

  9A shows a case where the seat is supported only by an actuator as shown in FIG. 13A, and FIG. 9B shows a case where the seat is supported by an actuator as shown in FIG. 13B. In the case of using a spring, FIG. 9C shows the case of this embodiment.

  As described above, the vibration control device 1 of the present embodiment can reduce the output of the actuator, and is efficient that can be realized with a small actuator.

  FIG. 10 shows the vibration control device 1 according to the second embodiment. In the present embodiment, the balance portion 33 in the first embodiment is bent at a coupling portion 33c with the second slider 32.

  The balance part 33 is coupled with the other end 33b side with respect to the one end 33a side so that the coupling part 33c is arranged on the opposite side of the spring 35 with respect to a straight line passing through the one end 33a and the other end 33b of the balance part 33. It is bent at the portion 33c. Thereby, the space for arranging the balance portion 33 is reduced. The shape of the balance portion 33 is not limited to the bending at the coupling portion 33c, and may be bent at another portion or may be a curved shape.

  FIG. 11 shows a vibration control device 1 according to the third embodiment. In the present embodiment, a structure using a plurality of springs 35 in the first embodiment is used.

  The spring 35 includes a first spring 35a and a second spring 35b. The first spring 35a and the second spring 35b have one end coupled to the installation portion F and the other end coupled to the other end 33b of the balance portion 33. ing. It is preferable to use the first spring 35a and the second spring 35b having different characteristics such as a spring constant and a mounting position.

  Here, the characteristics of the first spring 35a and the second spring 35b of the present embodiment will be described. FIG. 12 is a graph showing characteristics of the first spring 35a and the second spring 35b of the present embodiment. The solid line in the graph indicates the moment due to the load to be controlled around the fulcrum 33a of the balance 33, and the dotted line indicates the moment due to the combination of the first spring 35a and the second spring 35b. The alternate long and short dash line indicates the moment by the first spring 35a, and the alternate long and short dash line indicates the moment by the second spring 35b. The horizontal axis indicates the seat displacement from the balance position, and the vertical axis indicates the moment amount.

  In the present embodiment, when the balance position of the moment by the load obtained by the preload adjustment control shown in FIG. 3 and the moment by the first spring 35a and the second spring 35b is 0 on the horizontal axis, Even if the load support member 11 is displaced from the state of balance with the moments of the first spring 35a and the second spring 35b, the moments of the first spring 35a and the second spring 35b and the moment of the load are substantially the same. The characteristics of the first spring 35a and the second spring 35b are set.

  Therefore, even if the load support member 11 is displaced, the characteristics of the first spring 35a and the second spring 35b are set so that the moment by the first spring 35a and the second spring 35b and the moment by the load are substantially the same. The vibration control actuator 21 during vibration can be operated from a substantially balanced state, and the thrust of the vibration control actuator 21 in the vicinity of the balance position can be reduced.

  As described above, the vibration control apparatus 1 according to the present embodiment includes the load support unit 10 installed in the installation unit F, the counter balance unit 30 connected to the load support unit 10 and providing a load that balances the load, and the load support unit 10. In the vibration control apparatus including the vibration control unit 20 that controls the vibration with respect to the installation unit F, the load support unit 10 is disposed between the installation unit F and the load support unit 10 to move the load support unit 10. The counter balance unit 30 includes second movement guide units 31 and 32 for moving the counter balance unit 30 and the load support unit 10 relative to each other, and has one end 33a. The other end 33b is connected to the urging means 35 that urges the urging force according to the load, and is pivotally supported by the installation portion F, and the second movement of the coupling portion 33c between the one end 33a and the other end 33b. Guide means 31 Since the output of the vibration control actuator 21 can be reduced, the overall length of the balance portion 33 can be shortened, the weight can be reduced, and the small vibration control actuator 21 can be realized. An efficient and low-cost vibration control device 1 can be provided. Further, since the coupling portion 33c is directly installed on the installation portion F, no support is required, and the number of parts and weight can be reduced.

  Moreover, since the coupling | bond part 33c is arrange | positioned on the opposite side of the spring 35 with respect to the straight line which passes along the one end 33a and the other end 33b of the counter balance part 30, height can be made low and it arrange | positions in a small space. Can do.

In addition, since a plurality of springs 35 are provided, the moments caused by the springs 35 can be set with various characteristics, and the degree of freedom in design is increased. The counter balance unit 30 is provided between the coupling portion 33c and the other end 33b. Since the preload adjusting actuator 34 that can be expanded and contracted is provided and the urging force is adjusted by the expansion and contraction of the preload adjusting actuator 34, it is not necessary to apply a heavy object such as a counterweight.

  The ECU 40 includes a load sensor 22 or an acceleration sensor 23 that detects a load or acceleration on the load support member 11, and operates the preload adjustment actuator 34 according to the state detected by the load sensor 22 or the acceleration sensor 23. Since it was provided, it can respond appropriately to the change of the initial load.

It is a figure which shows the vibration control apparatus of 1st 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 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 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 2nd Embodiment. It is a figure which shows 3rd Embodiment. It is a figure which shows the characteristic of the spring 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 ... Guide (1st guide means), 11 ... 1st slider rail (1st guide means), 12 ... 1st slider (1st movement means), 13 ... Load Support member, 20 ... vibration control unit, 21 ... vibration control actuator (vibration control unit), 22 ... load sensor (detection unit), 23 ... acceleration sensor (detection unit), 30 ... counter balance unit, 31 ... second slider Rail (second guide means) 32 ... second slider (second moving means) 33 ... balance unit 34 ... preload adjusting actuator (adjusting means) 35 ... spring (biasing means) 40 ... ECU (control) means)

Claims (5)

Vibration provided with a load support unit installed in the installation unit, a counter balance unit that is connected to the load support unit and applies a load that balances the load, and a vibration control unit that controls vibration of the load support unit with respect to the installation unit In the control device,
The load support portion is provided between the installation portion and the load support portion, and has first movement guide means for restricting movement of the load support portion in a vertical direction,
The counter balance unit includes second movement guide means for relatively moving the counter balance unit and the load support unit, one end of the counter balance unit is rotatably supported by the installation unit, and the other end is biased according to the load. A vibration control device, wherein the vibration control device is coupled to a biasing means that biases the first movement guide member, and a coupling portion between one end and the other end is rotatably coupled to the second movement guide unit.   2. The vibration control device according to claim 1, wherein the coupling portion is disposed on a side opposite to the urging unit with respect to a straight line passing through one end and the other end of the counter balance portion.   The vibration control apparatus according to claim 1, wherein a plurality of the urging units are provided.   4. The counter balance unit according to any one of claims 1 to 3, wherein the counter balance unit includes an adjusting unit that can expand and contract between the coupling unit and the other end, and adjusts the urging force by expansion and contraction of the adjusting unit. The vibration control device according to claim 1. 5. The vibration according to claim 4, further comprising a detection unit that detects a load or acceleration on the load support portion, and a control unit that operates the adjustment unit according to a state detected by the detection unit. Control device.

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