JP2010053958A - Vibration suppressing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration suppressing device capable of improving vibration suppressing characteristics by lowering a spring constant of the whole system while keeping the machine strength, and by lowering the natural frequency of the system including the vibration suppressing device. <P>SOLUTION: The vibration suppressing device 100 is provided between a base B and a vibration suppressing object part S arranged away from the base B to have a predetermined distance so as to insulate or attenuate three-dimensional vibration. The vibration suppressing device 100 comprises a vibration insulating mechanism SP extensible to a first direction for keeping a predetermined distance between the base B and the vibration suppressing object part S in a natural state while mainly insulating vibration from the base B to the vibration suppressing object part S, a vibration damping mechanism 8 for mainly attenuating the vibration from the base B to the vibration suppressing object part S, and an elastic link mechanism 7 for supporting the vibration suppressing object part S to the base B with the vibration insulating mechanism SP. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vibration suppressing device used for seismic isolation, vibration control, vibration isolation, vibration isolation, and the like.

  Various types of seismic isolation devices have been proposed as a type of vibration suppression device, and the seismic isolation device is required to prevent vibrations such as earthquakes from being transmitted to houses and artworks. In order to prevent vibrations from being transmitted to a house or a work of art, the house or work is supported by a soft spring, that is, a spring having a small spring constant. This is because the natural frequency of the system can be reduced, and the vibration transmissibility of vibrations having a higher frequency than the natural frequency can be reduced. Therefore, it is preferable that the natural frequency of the system is as low as possible. Therefore, it is preferable that the spring constant of the spring that supports the house or artwork is small.

However, there are limitations in reducing the spring constant by changing the spring design variables. For example, in the case of a coil spring, it is conceivable to reduce the wire diameter of the coil in order to reduce the spring constant. However, if the wire diameter is too small, the stress generated in the coil becomes too large and may be broken. Problems arise in terms of durability and durability. In addition, the static displacement increases because the spring is supported by a spring having a small spring constant.
Japanese Patent Laid-Open No. 9-273595

  The present invention has been made to solve the above-described problems, and reduces the spring constant of the entire system while maintaining the mechanical strength and the like while keeping the static displacement small. The object is to reduce the frequency and improve the vibration suppression characteristics.

  That is, the vibration suppression device according to the present invention is a vibration suppression device that is provided between a foundation and a vibration suppression target portion that is arranged at a predetermined distance from the foundation and insulates or attenuates three-dimensional vibration. And a vibration isolation mechanism that is extendable in the first direction and that keeps the foundation and the vibration suppression target portion separated from each other by a predetermined distance in a natural state, and that mainly insulates vibration from the foundation to the vibration suppression target portion. A vibration damping mechanism that mainly attenuates vibration from the foundation to the vibration suppression target part, and an elastic link mechanism that supports the vibration suppression target part with respect to the foundation together with the vibration isolation mechanism, The elastic link mechanism is connected to the foundation and the vibration suppression target portion, and has a pair of symmetrically arranged elastic link elements, and both ends are attached to each elastic link element. An elastic body that expands and contracts in a second direction, which is a direction perpendicular to the direction, and exerts a force so as to separate the foundation and the vibration suppression target portion via the elastic link element, and the elasticity The link element forms an acute angle θ with an imaginary straight line extending in the second direction, and the acute angle θ increases as the vibration isolation mechanism extends, while the acute angle increases as the vibration isolation mechanism contracts. The feature is that θ is small.

  In such a case, the elastic link mechanism forms an acute angle θ with an imaginary straight line extending in the second direction, which is the direction in which the elastic body expands and contracts. The magnitude of the force in the first direction that acts to separate the parts is F tan θ, where F is the force that the elastic body acts in the second direction. The elastic link element has a force at an acute angle θ so that the acute angle θ increases as the vibration isolation mechanism extends, while the acute angle θ decreases as the vibration isolation mechanism contracts. As the vibration isolation mechanism is extended, the force Ftanθ that the elastic link mechanism acts in the first direction so as to separate the foundation and the vibration suppression target portion increases as the vibration isolation mechanism extends, and as the vibration isolation mechanism contracts. A force Ftanθ that acts in the first direction so that the elastic link mechanism separates the foundation and the vibration suppression target portion is reduced. That is, while the vibration isolation mechanism tries to return to the natural state, the elastic link mechanism changes the magnitude of the force Ftanθ acting in the first direction so as to inhibit the vibration isolation mechanism. It will be displaced more greatly with the same load. Therefore, the apparent spring constant of the entire system is reduced, the natural frequency of the entire system can be reduced, and the vibration suppression characteristics can be improved.

  In addition, the static displacement until the balanced position is reached can be reduced and the spring constant for dynamic displacement can be reduced as compared with the case where the vibration isolating mechanism is lowered alone. . Therefore, the natural frequency of the system can be reduced while maintaining the mechanical strength.

  Further, since the elastic link elements are arranged to face each other, the forces in the second direction acting on the foundation or the vibration suppression target portion from the respective elastic link elements cancel each other, and the force is applied only in the first direction. It can be made to act, and it can be made not to influence the characteristic of vibration suppression about other directions.

  Here, expanding and contracting in the second direction means that the second direction is included in the expanding and contracting direction. The foundation means a source of vibration. For example, when the vibration of a building due to an earthquake is suppressed according to the present invention, the ground or a member directly provided on the ground corresponds to the foundation. In the case where vibration caused by a machine is not transmitted to the ground, the machine or a member on which the machine is placed corresponds to the foundation.

  As a specific embodiment of the elastic link element, the elastic link element includes a first elastic link member that is rotatably connected to the foundation and the elastic body, and the vibration suppression target unit. The thing comprised by the said elastic body by the 2nd elastic link member connected rotatably at both ends is mentioned.

  As another embodiment of the elastic link element, one elastic link element is connected to the foundation and the vibration suppression target part so that both ends can be rotated and slidable in the second direction. Both ends of the elastic link element are rotatably connected to the foundation and the vibration suppression target part, and one end or both ends of the elastic link element are connected to be slidable in the second direction. What is connected so that rotation is possible in a part is mentioned.

  As still another embodiment of the elastic link element, the elastic link element is connected to the foundation and the vibration suppression target part so that both ends thereof can rotate, and the end part on the foundation side or the vibration suppression target. The part by which the edge part of a part side is connected so that a slide in the said 2nd direction is mentioned.

  In order to make the spring characteristics in the first direction of the elastic link mechanism linear, and to make it easy to design the spring characteristics of the entire system, each elastic link element has an intersection, and from the connection point of the elastic body, the Desirably, the length of the elastic link element to the intersection is L / 2, and δ / L obtained by normalizing the elongation δ in the second direction in the natural state of the elastic body is between 0.55 and 0.6. .

  In order to prevent the elastic link mechanism from affecting the vibration suppression characteristics other than in the first direction and to set the characteristics in the respective directions independently, the elastic link mechanism is configured so that the foundation and the vibration are What is necessary is just to provide the slide mechanism which connects the suppression object part so that a movement to a shear direction is possible.

  In order to prevent the elastic body from expanding and contracting in the direction other than the second direction to prevent vibration in the shear direction of the foundation and the vibration suppression target portion, the elastic link mechanism expands and contracts the elastic body only in the second direction. What is necessary is just to provide the guidance mechanism which guides so that it may do.

  While allowing the vibration suppression target part to move in parallel with respect to the foundation, it is possible to prevent the object placed on the vibration suppression target part from falling over without causing an inclination, and vibration. In order to further improve the suppression characteristics, the apparatus further includes a pair of link mechanisms that support the vibration suppression target portion so as to allow only parallel movement relative to the foundation, and the link mechanism is separate from the foundation. Alternatively, the first link provided integrally, the second link provided separately or integrally with the vibration suppression target portion, and the intermediate link structure that connects the first link and the second link so as to be movable in parallel. And a virtual surface formed by the first link and the second link in each link mechanism is provided so as to be tiltable with respect to the foundation and the vibration suppression target portion. The virtual surface of each link mechanism include those that are configured to intersect.

  In order to make it easy to attach a vibration suppression device between the foundation and the vibration suppression target part and to reduce the cost by modularization, the elastic link mechanism is connected to the foundation and the vibration suppression target via the link mechanism. What is necessary is just to connect a part.

  Furthermore, in order to make it easier to attach the vibration suppressing device and to reduce the cost by modularization, it is only necessary that the vibration isolation mechanism is attached to the link mechanism.

  Since the spring constant in the first direction of the vibration isolation mechanism can be reduced by the elastic link mechanism, the initial state can be set with a small static displacement compared to the case where the spring constant is reduced by the vibration isolation mechanism alone, The spring constant of the system can be reduced while maintaining durability such as mechanical strength. Therefore, it is possible to improve the characteristics related to vibration suppression by reducing the natural frequency of the system while maintaining durability.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  The vibration suppressing device 100 according to the present embodiment includes, for example, a vibration isolator that prevents vibration generated from the machine from being transmitted to the ground, and a vibration isolation table that does not transmit fine vibration from the ground to a precision machine or the like. It is used as

  As shown in FIGS. 1 and 2, the vibration suppression device 100 is disposed between a foundation B and a vibration suppression target part S that is disposed at a predetermined distance from the foundation B. The base B and the vibration suppression target part S are kept apart from each other by a predetermined distance in a natural state, and can be expanded and contracted in a vertical direction (first direction) corresponding to the vertical direction in the drawing view. A vibration isolation mechanism SP that mainly insulates vibrations to S, a vibration attenuation mechanism that mainly attenuates vibrations from the foundation B to the vibration suppression target part S, and the vibration suppression mechanism SP together with the vibration isolation mechanism SP. And an elastic link mechanism 7 that supports the foundation B. Here, for convenience of explanation, the lower flat plate is the base B and the upper flat plate is the vibration suppression target portion S in the drawing view.

  The vibration isolation mechanism SP is a single first coil spring SP that is provided at the center of the foundation B and the vibration suppression target portion S and is assembled and attached to an elastic link mechanism 7 described later. The spring constant, the wire diameter of the coil, and the like are selected so that the first coil spring SP mainly supports the vibration suppression target portion S with respect to the foundation B.

  The vibration damping mechanism 8 is a rotary damper 8 provided on a hinge where a rotation operation of an elastic link mechanism 7 to be described later occurs.

  The elastic link mechanism 7 includes a quadrilateral link SQ in which the vertices on the diagonal line in the second direction are connected by an elastic body 72 and the vertices to which the elastic body 72 of the quadrilateral link SQ is not connected. B and slide mechanisms 73A and 73B that are separately connected to the vibration suppression target portion S.

  The quadrilateral link SQ includes a pair of elastic link elements 71, and the elastic link elements 71 are provided so as to face each other. Particularly in the present embodiment, the elastic link elements 71 are arranged so as to be symmetrical. The elastic link element 71 has both ends connected to the first elastic link member 711 rotatably connected to the foundation B and the elastic body 72, the vibration suppression target part S, and the first elastic body 72. The second elastic link member 722 is rotatably connected.

  The elastic body 72 includes a second coil spring 721 having two second directions extending and contracting, and is attached to a guide mechanism 722 provided in the quadrilateral link SQ. These second coil springs 721 are pre-stretched and attached, and the elastic link mechanism 7 separates the foundation B from the vibration suppression target part S by pulling the quadrilateral link SQ inward in a natural state. In this way, a force is applied in the vertical direction.

  The guide mechanism 722 is inserted into the pair of holding members 7221 having two through holes attached to the apexes of the quadrilateral link SQ in the second direction, and the through holes of the holding portions in the second direction. It is comprised from the two cylindrical members 7222 extended in this. In such a guide mechanism 722, the second coil spring 721 is inserted around the cylindrical member so as to be turned outward, and both ends are fixed to the holding member, and the quadrilateral link SQ It is configured to expand and contract with the deformation. Accordingly, the second coil spring 721 is guided so as to expand and contract only in the second direction.

  The slide mechanism 73 connects the quadrilateral link SQ to the foundation B and the vibration suppression target part S so that the foundation B and the vibration suppression target part S can freely move in the shear direction. Is for. Specifically, as shown in the figure, the slide mechanisms 73A and 73B include a first linear guide 731A that is obliquely attached to the foundation B from the left front side of the drawing to the right back side, and the vibration target portion from the right front side of the drawing. The second linear guide 731B is attached obliquely to the left back side. Therefore, when viewed from the vibration suppression target portion S as shown in FIG. 3, the first linear guide 731A and the second linear guide 731B are provided so as to intersect at a right angle at the position of twist. The first linear guide 731A and the second linear guide 732B are provided with a first slider 732A and a second slider 732B, respectively, and the quadrilateral link SQ is attached to the sliders 732A and 732B.

  Further, the first coil spring SP described above is attached between the sliders 732A and 732B, and a ball spline BSP extending in the vertical direction is provided inside the first coil spring SP, and the slider 732A, 732B are connected so as to be able to contact and separate in the vertical direction.

  Therefore, the elastic link mechanism 7 is displaced in the vertical direction and can move freely in other directions. In other words, it is possible to apply a force only in the vertical direction and have almost no resistance in the other directions, so that the characteristics relating to vibration suppression are hardly affected.

  Next, the operation of the elastic link mechanism 7 will be described. In FIG. 4, the schematic diagram of the elastic link mechanism 7 when the said vibration suppression object part S is mounted and it exists in a natural state is shown.

  As shown in the schematic diagram of FIG. 4, the elastic body 72 is attached in a stretched state in advance, so that the connection point of the quadrilateral link SQ is pulled in the second direction so as to pull the quadrilateral link SQ inward. Force F is applied. Since the elastic link member and the elastic body 72 form an acute angle θ, the magnitude of the force F that is decomposed in the direction in which the elastic link member extends is F / cos θ. The magnitude of the force acting in the vertical direction among the forces F / cos θ acting obliquely at the connection point between the foundation B and the vibration suppression target part S is F tan θ. Here, since the elastic link elements 71 are arranged line-symmetrically, the forces acting in the second direction from the respective elastic link elements 71 to the foundation B and the vibration suppression target portion S will cancel each other, and the vertical direction Only force can be applied.

  FIG. 5 shows a schematic diagram of the elastic link mechanism 7 when the separation distance between the foundation B and the vibration suppression target portion S is increased. When the separation distance between the foundation B and the vibration suppression target portion S is increased, the quadrilateral link SQ is elongated in the vertical direction. Therefore, the acute angle θ formed by the elastic link element 71 and the elastic body 72 is in a natural state. Compared to larger. Accordingly, the elongation of the elastic body 72 is reduced, so that the force F acting on the connection point is reduced. However, the tan θ component of the force Ftan θ acting in the vertical direction is larger, so it acts in the vertical direction. Force Ftanθ to be increased. That is, when the separation distance between the foundation B and the vibration suppression target portion S increases, the force that the first coil spring SP acts in the vertical direction decreases to return to the original natural state, whereas the elastic link. The force that the mechanism 7 acts in the vertical direction increases so as to be separated by the reverse.

  FIG. 6 shows a schematic diagram of the elastic link mechanism 7 when the separation distance between the foundation B and the vibration suppression target portion S is small. When the separation distance between the foundation B and the vibration suppression target portion S increases, the quadrilateral link SQ is elongated in the second direction, so that the acute angle θ formed by the elastic link element 71 and the elastic body 72 is in a natural state. Smaller than Accordingly, the force Ftanθ acting in the vertical direction has a small value of tanθ, and thus Ftanθ is also small. That is, when the separation distance between the foundation B and the vibration suppression target portion S becomes small, the force that the first coil spring SP acts in the vertical direction becomes large so as to return to the original natural state, whereas the elastic link. The force that the mechanism 7 acts in the vertical direction becomes small so as to be separated by the reverse.

  Intuitively explaining the behavior of the elastic link mechanism 7 in the vertical direction as described above, the direction of the oblique force F / cos θ that the elastic link element 71 acts on the foundation B and the vibration suppression target portion S The longer the distance between B and the vibration suppression target part S, the greater the vertical direction. Accordingly, as the separation distance between the foundation B and the vibration suppression target part S increases, the force that the elastic link mechanism 7 acts in the vertical direction to separate the foundation B and the vibration suppression target part S increases. It will be.

  In other words, the first coil spring SP has a positive spring constant as shown in FIG. 7, whereas the vertical spring constant of the elastic link mechanism 7 has a negative spring constant. Therefore, the spring constant of the whole system obtained by adding them can be reduced. In addition, the spring constant in this specification is the concept including the dynamic spring constant which shows the spring characteristic in the state which vibrates steadily. That is, the above-described effects can be obtained from the elastic link mechanism 7 not only in a static balanced state but also in a dynamically changing state.

  By the way, although the spring constant in the vertical direction of the elastic link mechanism 7 shown in FIG. 7 is substantially linear, the force acting in the vertical direction from the elastic link mechanism 7 is expressed by Ftanθ. The spring characteristic usually has non-linearity with respect to the separation distance from the part S.

  In order to make the spring characteristics in the vertical direction of the elastic link mechanism 7 have linearity, the initial displacement of the elastic body 72 in the natural state may be set as follows.

When the length from the intersection of the elastic link element 71 to the connection point with the elastic body 72, that is, in this embodiment, the length of the elastic link member is L / 2 and the natural length of the elastic body 72 is l ₀ , the elastic body The deflection δ of 72 is as shown in equation (1).

  Therefore, the magnitude of the force that the elastic link mechanism 7 acts in the vertical direction is expressed as in Expression (2).

  At this time, the spring constant of the elastic link mechanism 7 is differentiated by θ and expressed as shown in Expression (3).

If this spring constant always takes a constant value, the spring characteristic has linearity, and therefore it is only necessary to satisfy the equation (4) for the angles where θ ₁ = θ + α and θ ₂ = θ−α.

  When formula (4) is specifically described, formula (5) is obtained.

  If equation (1) is substituted into equation (5) and normalized by L, a dimensionless coefficient such as equation (6) can be obtained.

When calculation is performed based on this equation (6), if the spring characteristic in the vertical direction of the elastic link mechanism 7 has linearity, δ / L using the deflection δ in the natural state is 0.58. . Also in this embodiment, the link length L, the natural length l ₀ of the elastic body 72, and the initial deflection amount δ are set so that δ / L is in the vicinity of 0.58. And can be set.

  As described above, according to the vibration suppressing device 100 of the present embodiment, the elastic link mechanism 7 changes the magnitude of the force in the direction opposite to that the first coil spring SP tries to return to the natural state with respect to the displacement. Therefore, while the first coil spring SP has a positive spring constant, the elastic link mechanism 7 has a negative spring constant in the vertical direction. Therefore, since the positive spring constant and the negative spring constant are added as the spring constant of the entire system, the spring constant can be reduced as compared with the case of the first coil spring SP alone. Furthermore, since the spring constant is reduced, the natural frequency of the system is lowered, so that the frequency band in which vibration can be cut off can be broadened, and the characteristics relating to vibration suppression can be further improved. it can.

  In addition, if the first coil spring SP alone is intended to reduce the spring constant, the wire diameter becomes too small and the stress becomes excessive, causing problems in terms of durability, or the displacement amount with respect to the load becomes too large. Although there are problems in use as the vibration suppressing device 100, the use of the elastic link mechanism 7 can reduce the natural frequency of the entire system without causing such problems in the first coil spring SP. It becomes possible.

  In addition, since the elastic link mechanism 7 is configured to have symmetry in the vertical direction, a force can be applied only in the vertical direction. Furthermore, since the elastic link mechanism 7 is attached to the foundation B and the vibration suppression target part S by the slide mechanism 73, the foundation B and the vibration suppression target part S can freely move in the shearing direction. For these reasons, the elastic link mechanism 7 can only affect the characteristics relating to vibration suppression in the vertical direction, and hardly affects the other directions. Therefore, it becomes possible to set the characteristic regarding the vibration suppression of each direction independently.

  Next, a vibration suppressing device 100 according to another embodiment will be described. In this embodiment, as shown in FIG. 8, the elastic link elements 71 are provided separately from each other in the second direction to form the elastic link mechanism 7. With such a configuration, the initial deflection δ of the elastic body 72 can be made sufficiently large, and the elastic body 72 and the elastic link mechanism 7 can be easily adjusted.

  Moreover, as shown in the schematic diagram of the elastic link mechanism 7 in FIG. 9, the elastic link element 71 may constitute an X link mechanism. More specifically, the elastic link mechanism 7 is configured such that one elastic link element 71 is rotatable in a plane in which both ends of the foundation B and the vibration suppression target portion S are formed with the acute angle θ image, and the first The other elastic link element 71 is slidably connected in two directions, and both ends of the elastic link element 71 are rotatably connected to the foundation B and the vibration suppression target portion S, and one end or both ends can slide in the second direction. Each elastic link element 71 is rotatably connected at the intersection. Even in such a case, a force can be applied only in the vertical direction by Ftanθ, and it can be configured to have a negative spring constant.

  Further, as shown in FIG. 10, the elastic link mechanism 7 may constitute a substantially triangular link. Specifically, the elastic link element 71 is connected to the foundation B and the vibration suppression target part S so that both ends of the elastic link element 71 can rotate in a plane where the acute angle θ is formed, and the end part on the foundation B side. Alternatively, the end portion on the vibration suppression target part S side is connected to be slidable in the second direction. Even in such a case, a force having a magnitude of Ftanθ can be applied in the vertical direction, and a negative spring constant is obtained.

  Next, still another embodiment will be described. As shown in FIG. 11, the vibration suppression device 100 of this embodiment includes a pair of link mechanisms 2 </ b> A and 2 </ b> B that support the vibration suppression target portion S with respect to the foundation B so that only parallel movement is possible. In the hinges 211A, 221A, 211B, and 221B of the link mechanisms 2A and 2B, when the vibration suppression target part S moves in the horizontal direction with respect to the foundation B, the vibration suppression target part S is in its original initial position ( A torsion spring (not shown) is provided so as to return to the position in the stationary state. More specifically, the torsion spring is attached so that the open angles of the hinges 211A, 221A, 211B, and 221B are maintained in the initial state, that is, the angles are substantially perpendicular as shown in FIG. . Further, a rotary damper (not shown) is also provided in the same manner as the torsion spring so that the horizontal vibration can be further damped.

If it is such, since only the parallel movement is possible without tilting (locking) the vibration suppression target part S, and the movement is freely moved in the three-dimensional direction. Even if it is only placed, it can be prevented from falling and the characteristics relating to vibration suppression can be further improved. In particular, when it is difficult to increase the rigidity of the slide mechanism, even if the linear guides 73A and 73B are present, it is difficult to prevent the vibration suppression target portion S from being tilted, which is particularly effective.
Further, the vibration suppression target portion S can move in the horizontal direction by the stroke of the linear guides 73A and 73B, and the torsion springs attached to the hinges 211A, 221A, 211B and 221B of the link mechanisms 2A and 2B It is possible to return to the initial position. In other words, the coil spring SP is attached to the linear guides 73A and 73B and hardly bends in the horizontal direction. Therefore, regardless of the horizontal rigidity and deformation limit amount of the coil spring SP, the vibration suppression target portion S is not affected. The vibration suppression target portion S can be returned to the original initial position by setting a large stroke for moving the shaft in the horizontal direction and adjusting the rigidity of the torsion spring.

  Here, the vibration isolation mechanism SP and the elastic link mechanism 7 may be attached to the link mechanism so that the function is exhibited through deformation of the link mechanism. If it is such, since the vibration suppression apparatus 100 can be unitized, an installation effort can be saved and cost can be reduced.

  In the following description, this link mechanism will be described in detail.

  <Technical background on providing a link mechanism>

  As a type of vibration suppression device, for example, various seismic isolation devices have been devised in order to protect houses and cultural properties from earthquake damage. In many seismic isolation devices, the vibration component of the earthquake is statistically larger in the horizontal direction than in the vertical direction, and the horizontal direction is also larger as the component contributing to the fall of the object. It corresponds to only. For example, the seismic isolation device disclosed in Japanese Patent Application Laid-Open No. 2005-127063 includes a plurality of laminated rubbers and a locking suppression device that suppresses locking of the seismic isolation structure between the foundation and the seismic isolation structure. . Laminated rubber is structured so that it is hard in the vertical direction, not very deformed, soft in the horizontal direction, and greatly deformed by alternately laminating and sticking thin steel plates and rubber sheets in the vertical direction. Yes. Due to such a structure, the laminated rubber is broken or peeled off when a large tensile load is applied. For this reason, the locking suppression device is provided so as to level the amount of deformation in the vertical direction of each laminated rubber and prevent a large tensile load from being applied to the laminated rubber due to the locking of the seismic isolation structure. Thus, although the seismic isolation device shown in Patent Document 1 can prevent horizontal two-dimensional vibration from being transmitted to the seismic isolation structure, it does not deform much in the vertical direction. It tells the seismic isolation structure directly.

  However, as represented by the Niigata Chuetsu Earthquake, there are earthquakes that are so large that the vibration components in the vertical direction cannot be ignored. The device may not be able to suppress vibration sufficiently.

  <Problem to be solved by vibration suppression device using link mechanism>

  The present invention has been made to solve the above-described problems, and requires little or no external force or energy while supporting three-dimensional vibration in a space-saving manner. A vibration suppression device that can control vibration according to vibration without causing tilting of the vibration suppression target portion, and can prevent, for example, a fall of an object placed on the vibration suppression target portion. The purpose is to provide.

<Means for solving the problem>
That is, the vibration suppression device according to the present invention is a vibration suppression device that is provided between a foundation and a vibration suppression target portion that is arranged at a predetermined distance from the foundation and insulates or attenuates three-dimensional vibration. In the natural state, the foundation and the vibration suppression target part are kept apart from each other by a predetermined distance, and the vibration isolation mechanism that mainly insulates vibration to the vibration suppression target part, and vibration to the vibration suppression target part. A vibration damping mechanism that mainly attenuates, and a pair of link mechanisms that support the vibration suppression target portion only in parallel movement with respect to the foundation, and the link mechanism is provided separately or integrally with the foundation. The first link, the second link provided separately or integrally with the vibration suppression target portion, and the intermediate link structure that connects the first link and the second link so that they can move in parallel. The virtual plane formed by the first link and the second link in each link mechanism is provided so as to be tiltable with respect to the foundation and the vibration suppression target part, and each The link mechanism is configured such that virtual surfaces intersect each other.

  If this is the case, it is possible to prevent the vibration suppression target portion from tilting while allowing the vibration suppression target portion to perform a three-dimensional translational movement with respect to the foundation by the link mechanism. A vibration isolation mechanism can be provided so that not only two-dimensional vibration but also vertical vibration can be suppressed. As a result, vibration suppression corresponding to three-dimensional vibration can be performed. For example, even an object simply placed on a vibration suppression target portion can be suitably prevented from falling.

  Here, the foundation means a source of vibration. For example, when the vibration of a building due to an earthquake is suppressed according to the present invention, the ground or a member directly provided on the ground corresponds to the foundation. However, when the vibration generated by the machine is not transmitted to the ground, the machine or a member on which the machine is placed corresponds to the foundation.

  As a specific aspect of the link mechanism that allows the vibration suppression target portion to perform a three-dimensional translational movement with respect to the foundation and prevents the vibration suppression target portion from being tilted, A link structure includes a third link provided in parallel between the first link and the second link, and a pair of both ends rotatably connected to the first link and the third link. What is necessary is just to be comprised by a parallel 1st connection link and a pair of parallel 2nd connection link by which both ends are rotatably connected to the said 2nd link and the said 3rd link.

  As another aspect of the link mechanism that allows the vibration suppression target portion to perform a three-dimensional translational movement with respect to the foundation while preventing the vibration suppression target portion from being inclined, the intermediate link structure The body is a pair of parallel third connection links rotatably connected at both ends to the first link and the second link, and the first link or the second link extends the first link It may be attached so as to be slidable with respect to the foundation or the vibration suppression target portion in the direction to be moved.

  As still another aspect of the link mechanism, the intermediate link structure is connected to the first link and the second link so that both ends can be rotated and the second link can be slidably extended. Four connection links, a fifth connection link that is rotatably connected to the first link and the second link, and is slidably connected to one end or both ends in a direction in which the second link extends, The fourth connection link and the fifth connection link may have the same length and may be connected to each other so as to be rotatable at the intersection.

  In order to reduce the number of members constituting the vibration damping mechanism and perform three-dimensional damping, it is sufficient that the vibration damping mechanism is attached to the link mechanism.

  Further, if the vibration isolation mechanism is further attached to the link mechanism, the vibration suppressing device can be unitized, and the trouble of attaching a plurality of members between the foundation and the vibration suppression target portion can be saved.

  In order to achieve three-dimensional vibration isolation while suppressing costs with a simple configuration, the vibration isolation mechanism is a single coil spring, and the basic and the vibration suppression target in a natural state by the single coil spring. Any part may be used as long as the part is kept away from the part by a predetermined distance and the vibration to the vibration suppression target part is insulated. At this time, if it is configured such that the natural frequency in each of the three-dimensional directions is 1 Hz or less, the seismic motion can be particularly effectively insulated.

  In order to allow the vibration suppression device to have sufficient damping force and to suitably dampen vibration, it can be mounted in a space-saving manner on the link mechanism, and the damping element includes a rotary damper attached to the link mechanism. If it is. In general, in order to set the damping coefficients in the three directions independently, it is necessary to provide a slide mechanism or the like so that the damping does not occur due to a displacement other than the axial direction of the damper, but the three rotary dampers are rotated by the link mechanism. It is possible to set the attenuation coefficient in three directions independently only by attaching to the place where the occurrence of the above occurs.

  As a specific aspect in which a virtual plane formed by the first link and the second link can be tilted with respect to the foundation and the vibration suppression target portion, the first link can be rotated with respect to the foundation. What is necessary is just to be provided in the said vibration suppression object part while the said 2nd link is rotatably provided.

  As another aspect in which a virtual plane formed by the first link and the second link can be tilted with respect to the foundation and the vibration suppression target portion, the first link or the second link is the foundation. Even if the angle at which the surface formed by the first link and the third link intersects with the surface formed by the second link and the third link is changed. I do not care.

  Once the vibration suppression device is installed, the damping coefficient and elasticity of the entire vibration suppression device and the natural frequency of the system can be changed easily, so that vibration can be controlled by semi-active control. The vibration suppressing device preferably includes a semi-active control mechanism including a damping element having a variable damping coefficient or an elastic element connected in series to the damping element.

  For example, when the vibration suppressing device is used as a seismic isolation device, it is preferable that vibration control can be performed even if a power failure occurs due to an earthquake. If the damping element is an MR damper, the damping coefficient can be changed with power equivalent to that of a dry battery or a storage battery, and vibration suppression by semi-active control can be easily performed even during a power failure.

  In order to suppress vibration while always supporting a constant height even when the weight of an object placed on the vibration suppression target portion changes, the vibration isolation mechanism is configured by an air spring. If it is.

  <Effect of vibration suppression device using link mechanism>

  As described above, according to the vibration suppression device using the link mechanism, the inclination of the vibration suppression target portion can be prevented, and three-dimensional vibration suppression can be performed in a space-saving manner. For example, even if the object is just placed on the vibration suppression target portion, it can be prevented from falling.

  <Best Mode for Implementing Vibration Suppression Device Using Link Mechanism>

  Hereinafter, a first embodiment of a link mechanism will be described with reference to the drawings.

  The vibration suppression apparatus 100 according to the present embodiment prevents, for example, an exhibition stand that prevents cultural assets and works of art from falling over due to an earthquake or the like and prevents vibration from being generated from being transmitted to the ground. It is used as a vibration isolator or a vibration isolator that prevents fine vibrations from the ground from being transmitted to a precision machine. As shown in FIG. 12, it is provided between the foundation B and the vibration suppression target part S arranged at a predetermined distance from the foundation B, and includes two link mechanisms 2A and 2B, and a natural state. The vibration suppression target part S is kept at a predetermined distance from the foundation B, and the vibration isolation mechanism SP for insulating the vibration to the vibration suppression target part S and the vibration to the vibration suppression target part S are attenuated. And a semi-active control mechanism 3A, 3B that changes the damping coefficient, elasticity, and natural frequency of the system. Further, in the present embodiment, a vibration detection means (not shown) for detecting vibrations of the foundation B and the vibration suppression target part S and a control part C for controlling the damping coefficient of the semi-active control mechanisms 3A and 3B are provided. It is provided. Here, for convenience of explanation, the lower flat plate and the flat plate protruding from the flat plate are the foundation B, and the upper flat plate is the vibration suppression target portion S in the drawing.

  The vibration isolation mechanism SP is configured by only one coil spring SP provided in the center portion of the foundation B and the vibration suppression target portion B. The coil spring SP has a natural frequency in a vertical direction and a horizontal direction smaller than 1 Hz, and determines its elasticity so that the vibration suppression target part S and its own weight can be supported. Further, the coil spring SP is deformed not only in the vertical direction but also in the horizontal direction, and returns to the original natural state position by its restoring force. The end winding portions at both ends of the coil spring SP are fixed to the foundation B and the vibration suppression target portion S by welding. By fixing the coil spring SP in this way, it is possible to prevent the coil spring SP from falling down and not being able to return to the natural state when the vibration suppression target part S has moved greatly. be able to. That is, the end portion of the coil spring SP is always fixed perpendicular to the foundation B and the vibration suppression target portion S maintained parallel by the link mechanisms 2A and 2B. It is possible to generate a restoring force in the direction of returning to the natural state by deforming in the horizontal direction with respect to the horizontal movement of the. In addition to welding, the end winding portion may be fixed by a clamp.

  The vibration damping mechanism D is composed of rotary dampers 26A and 26B attached to the link mechanisms 2A and 2B. The rotary dampers 26A and 26B are provided at the nodes where the rotational motion of each link occurs in the link mechanisms 2A and 2B described later, and attenuate the horizontal and vertical vibrations of the vibration suppression target portion S.

  As shown in FIG. 13, the two link mechanisms 2A, 2B are provided between the foundation B and the vibration suppression target part S, and are arranged so that second links 22A, 22B, which will be described later, are orthogonal to each other. It is. Here, in FIG. 13, the vibration isolation mechanism and the semi-active control mechanism are omitted.

  The link mechanisms 2A and 2B include first links 21A and 21B provided on the foundation B, second links 22A and 22B provided on the vibration suppression target portion S in parallel with the first links 21A and 21B, Both ends rotate to the third links 23A and 23B provided in parallel between the first links 21A and 21B and the second links 22A and 22B, and to the first links 21A and 21B and the third links 23A and 23B. A pair of parallel first connecting links 24A and 24B that are connected to each other and a pair of parallel first connecting links that are rotatably connected to the second links 22A and 22B and the third links 23A and 23B. The two connection links 25A and 25B are configured. Bearings and rotary dampers 26A and 26B are provided at the connecting portions of the links. The first connecting links 24A and 24B and the second connecting links 25A and 25B are not aligned on a straight line. Accordingly, two parallelograms having different shapes in the vertical direction as viewed in the drawing are formed by the respective links.

  The first links 21A, 21B and the second links 22A, 22B will be described in detail. The first links 21A, 21B and the second links 22A, 22B are connected to the link mechanisms 2B, 2A provided in the other direction. The first links 21A and 21B are moved to the foundation B, and the second links 22A and 22B are moved to the vibration suppression target portion S by hinges 211A, 221A, 211B, and 221B so that the second links are relatively displaced in the extending direction. It is connected to be rotatable. In other words, the plane formed by the first links 21A and 21B of the link mechanisms 2A and 2B and the second links 22A and 22B can be inclined in the direction in which the second links 22B and 22A of the other link mechanisms 2B and 2A extend. As described above, the first links 21A and 21B are rotatably connected to the foundation B, and the second links 22A and 22B are rotatably connected to the vibration suppression target portion S by hinges 211A, 221A, 211B, and 221B.

  Next, the semi-active control mechanisms 3A and 3B will be described in detail.

  The semi-active control mechanisms 3 </ b> A and 3 </ b> B control the damping coefficient, elasticity, and natural frequency of the entire vibration suppression apparatus 100 and assist the functions of the vibration isolation mechanism SP and the vibration damping mechanism D. In FIG. 12, the semi-active control mechanisms 3A and 3B are shown only in two directions, but a semi-active control mechanism is also provided in the back direction of the paper (not shown). Accordingly, semi-active control mechanisms are provided in three directions, one in the vertical direction and two in the horizontal direction.

  As shown in FIG. 12, the semi-active control mechanisms 3A and 3B are composed of coil springs 33A and 33B which are elastic elements and an MR damper which is a damping element. The first MR dampers 31A and 31B control the attenuation coefficient. Since the coil springs 33A and 33B are arranged in series with the second MR dampers 32A and 32B, the spring constant can be controlled by the MR dampers. With this semi-active control mechanism, the spring constant and the damping coefficient can be set almost independently. In FIG. 12, the semi-active control mechanisms 3 </ b> A and 3 </ b> B are provided in the periphery of the foundation B and the vibration suppression unit for convenience of explanation, but at the center of the foundation B and the vibration suppression target unit S. It may be provided.

  The MR damper (Magneto-Rheological Fluid Damper) is a kind of oil damper that uses MR fluid (magnetic fluid), which is a functional material. Ferromagnetic particles are dispersed in the oil, and current flows through the electromagnet. By applying a magnetic field, the ferromagnetic particles form chain-like clusters, making it difficult for oil to flow and increasing the damping coefficient. The damping force of the MR damper is composed of a speed proportional component and a friction force type component, but here, it is considered as an equivalent speed proportional damping coefficient including the friction force type component.

  The control unit C includes at least a CPU, a memory, various driver circuits, and the like as a hardware configuration, and the control unit C can be variously configured by cooperation of the CPU and peripheral devices according to a program stored in the memory. Demonstrate the function. Therefore, in the present embodiment, as shown in the functional block diagram of FIG. 16, at least the vibration information acquisition unit C <b> 1 that acquires information related to the vibration of the foundation B and the vibration suppression target unit S, and the vibration of the vibration suppression device 100. A parameter storage unit C2 that stores parameters related to control, and functions of an attenuation coefficient control unit C3 that determines and controls the magnitudes of the attenuation coefficients of the first MR dampers 31A and 31B and the second MR dampers 32A and 32B. It is configured.

  The vibration information acquisition unit C1 acquires or calculates the displacement amount of the foundation B and the vibration suppression target unit S and the vibration frequency of the generated vibration from the vibration detection means. The parameter storage unit C2 includes the spring constant of the vibration isolation mechanism, the damping coefficient by the vibration damping mechanism, the spring constant and damping coefficient of the semi-active control mechanisms 3A and 3B, and the natural frequency of the entire vibration suppression apparatus 100. Is remembered. The damping coefficient control unit C3 determines damping coefficients suitable for damping from the information in the vibration information acquisition unit C1 and the parameter storage unit C2, and the first MR dampers 31A, 31B and the second MR dampers 32A, It controls the 32B attenuation coefficient.

  Next, the operation of the two link mechanisms 2A and 2B configured will be described with reference to FIGS. 14 and 15, the semi-active control mechanisms 3A and 3B are omitted.

  FIG. 14 shows a state in which no vibration has occurred and the link mechanisms 2A and 2B are not deformed, and FIG. 15 shows a state in which the vibration suppression target portion S has moved in the lower right direction as viewed in the drawing. When vibration is generated from the base B and the vibration suppression target part S tries to move in the lower right direction in the drawing view, each link mechanism 2A, 2B has the above-mentioned in order to allow the downward movement in the drawing view. The first connection links 24A and 24B and the second connection links 25A and 25B are laid down in a plane on which a parallelogram is formed. Further, the link mechanism 2B arranged in the depth direction in the drawing view is rotated by the hinges 211A, 221A, 211B, and 221B in order to allow the movement of the vibration suppression target portion S, and falls down in the right direction in the drawing view. In this way, the vibration suppression target part S can perform only a three-dimensional translational movement while maintaining the horizontal state without causing an inclination by the two link mechanisms 2A and 2B.

  Next, control of the semi-active control mechanisms 3A and 3B will be described.

  Generally, in order not to transmit the vibration of the foundation B to the vibration suppression target part S, the vibration suppression target part S may be lifted from the foundation B. That is, it is only necessary to reduce the damping coefficient of the damper and soften the spring. However, in that case, when a force is applied to the vibration suppression target portion S, it vibrates greatly and takes a long time to stop. Therefore, in the case of force excitation or residual vibration, it is only necessary to increase the damping coefficient of the damper and harden the spring. Therefore, the vibration detection means detects vibrations of the foundation B and the vibration suppression target part S, and the damping coefficient control part C3 determines the damping of each MR damper according to the vibration state calculated by the vibration information acquisition part C1. By controlling the coefficient, the damping coefficient of the entire system and the magnitude of the spring constant are adjusted. In addition, when the vibration and excitation force of the foundation B are stationary, the spring constant may be changed to prevent resonance. That is, when the natural frequency stored in the parameter storage unit C2 is close to the detected vibration frequency, the damping coefficient control unit C3 changes the natural frequency of the system by changing the spring constant. This prevents resonance.

  As described above, according to the vibration suppression device 100 according to the present embodiment, the two link mechanisms 2A and 2B can maintain the vibration suppression target portion S in the horizontal direction without causing an inclination with respect to the foundation B. The three-dimensional vibration can be suppressed by the insulating mechanism and the damping mechanism provided without generating a large space between the foundation B and the vibration suppression target portion S. Further, since the semi-active control mechanisms 3A and 3B have variable damping coefficients and spring constants, for example, the time required for the vibration of the vibration suppression target portion S to be stabilized can be shortened, and the natural frequency of the system can be reduced. Resonance can be prevented by changing. In this way, the vibration suppression target part S can be kept horizontal, and appropriate vibration suppression can be performed according to the vibration. For example, an object that is simply placed on the vibration suppression target part S Even so, it can be suitably prevented from falling.

  In addition, since the MR damper can control the attenuation coefficient with a power as small as that of a dry battery or a storage battery, it is possible to easily suppress vibration even when a power failure occurs. Furthermore, since vibration suppression is performed by semi-active control in which the damping coefficient is changed, large energy is not required as compared with active vibration suppression.

  Since the rotary dampers 26A and 26B are provided at the connecting portions of the link mechanisms 2A and 2B, the vibration suppressing device 100 can be damped in a space-saving manner, and three-dimensional vibrations are preferable by deformation of the link mechanisms 2A and 2B. Can be attenuated. In the figure, the hinge 211A is rotated only by the horizontal movement of the vibration suppression target portion S in the depth direction of the paper surface, and the hinge 211B is rotated only by the horizontal movement of the left and right direction of the paper surface. Since each link part of the link mechanisms 21A and 21B is rotated mainly by the movement of the vibration suppression target part S in the vertical direction, by providing one rotary damper at each of these hinges 211A and 211B and the link part, The damping coefficients in the three directions of the vibration damping mechanism can be determined independently.

  In FIG. 12, linear motion type MR dampers 31A and 31B are used. However, if rotary variable dampers are used for 26A and 26B, 31A and 31B can be omitted. Further, when the MR dampers 31A and 31B are used, the rotary dampers 26A and 26B can be omitted.

  Next, a second embodiment will be described. Hereinafter, the same members as those in the above embodiment are denoted by the same reference numerals.

  FIG. 17 shows a schematic device configuration diagram of the second embodiment. The difference from the first embodiment is that a semi-active control mechanism is not used. In the second embodiment, the vibration isolation mechanism is only one coil spring SP having both ends fixed at the center of the foundation B and the vibration suppression target portion S, and the vibration damping mechanism is attached to each link mechanism 2A, 2B. The rotary dampers 26A and 26B are configured.

  In the second embodiment, the vibration suppression target portion S can be moved while being kept horizontal by the link mechanisms 2A and 2B, and the coil spring SP softly deforms the vibration from the foundation B in the vertical direction and the horizontal direction. Thus, vibration can be prevented from being transmitted to the vibration suppression target part S. By appropriately setting the elasticity of the coil spring SP, which is the vibration isolation mechanism, and the damping coefficient of the rotary dampers 26A, 26B, which are the vibration damping mechanisms, the vibration suppression target portion S is held at a predetermined position, and the three-dimensional Passive vibration suppression that insulates and attenuates vibration can be performed. Further, the cost can be reduced by omitting the semi-active control mechanism.

  Further, no matter which direction the vibration suppression target portion S moves, at least one of the link mechanisms 2A and 2B causes parallelogram deformation and rotation of the link. Therefore, the rotary dampers 26A and 26B are Three-dimensional attenuation can be obtained by simply attaching one to each link mechanism 2A, 2B. Therefore, three-dimensional vibration suppression can be performed even with a very simple configuration of only one coil spring SP and two rotary dampers 26A and 26B.

  In order to make the damping coefficient variable using the second embodiment as a basic configuration, as shown in FIG. 23, the damping element D1 having a variable damping coefficient attached between the foundation B and the vibration suppression target portion S, D2 may be provided.

  Next, a third embodiment will be described.

  18 and 19 are schematic views of the third embodiment. In FIG. 18 and FIG. 19, one coil spring which is a vibration isolation mechanism is not shown. The two link mechanisms 4A and 4B are provided in two directions so as to be orthogonal to each other. The link mechanisms 4A and 4B of the third embodiment include first links 41A and 41B provided on the foundation B and second links 42A and 42B provided on the vibration suppression target part B in parallel with the first links 41A and 41B. A parallel link is formed by a pair of parallel third connection links 43A and 43B that are rotatably connected to the first links 41A and 41B and the second links 42A and 42B by hinges 44A and 44B. Is configured to do. Further, the first link 41A, 41B mechanism is provided to be slidable with respect to the base B in the direction in which the first link 41A, 41B extends. The first link 41A, 41B and the second link 42A, 42B can be rotated around the axis in the direction in which the second link 42A, 42B extends, respectively, by the base B and the vibration suppression target portion by the out-of-plane rotation mechanisms 5A, 5B. B is connected.

  The out-of-plane rotation mechanisms 5A and 5B use the foundation-side mechanisms 51A and 51B that connect the first links 41A and 41B to the foundation B so as to be slidable and rotatable, and the second links 42A and 42B as vibration suppression target parts B. It consists of the vibration suppression target part side mechanisms 52A and 52B connected so that rotation is possible.

  The base side mechanisms 51A and 51B are supported at both ends by two base side shaft support portions 511A and 511B protruding from the base B, and the base side shaft support portions 511A and 511B, and the second links 42A and 42B, Narrow cylindrical base-side shafts 522A and 522B provided in parallel directions, and a through hole at the center of the substantially columnar shape, attached to the through-hole through the base side shaft, and the first links 41A and 41B And two base side connecting portions 513A and 513B connected to each other. Further, the foundation side connecting portions 513A and 513B are provided so as to be slidable in the axial direction of the foundation side shafts 522A and 522B and to be rotatable in the circumferential direction.

  The vibration suppression target part side mechanisms 52A and 52B are supported at two points on two vibration suppression target part side support parts 521A and 521B protruding from the vibration suppression target part B and the vibration suppression target part side support parts 521A and 521B. The vibration suppression target portion side shafts 522A and 522B having a thin cylindrical shape provided in parallel to the second links 42A and 42B and the vibration suppression target portion side shafts 522A and 522B are rotatably provided at both ends. It is comprised from the vibration suppression object part side connection part 523A, 523B connected with 2nd link 42A, 42B.

  Further, the link mechanisms 4A and 4B are provided with rotary dampers 46A and 46B as vibration damping mechanisms in the hinges 44A and 44B and the coupling parts 523A and 523B, which are the coupling parts, so as to attenuate the vibration of the vibration suppression target part B. It is.

  The operation of the link mechanisms 4A and 4B will be briefly described.

  FIG. 19 shows the deformation of the link mechanisms 4A and 4B when the vibration suppression target part B moves in the lower right direction in the drawing view, that is, when it moves in the horizontal direction and the vertical direction. The link mechanisms 4A and 4B provided on the front surface of the paper slide in the horizontal direction with respect to the movement in the horizontal direction, and the link mechanism 4B provided in the back direction of the paper surface is moved by the out-of-plane rotation mechanism 5B. It rotates so that the angle which the surface which the link 41B and the said 2nd link 42B form may cross | intersect a horizontal surface changes. Further, for the vertical movement, the parallel links formed by the first links 41A, 41B, the second links 42A, 42B, and the third links fall down. In this way, the vibration suppression target part B can always be kept level with respect to the foundation B.

  Further, according to the displacement in the horizontal direction and the vertical direction, the hinges 44A and 44B and the connecting portions 523A and 523B undergo rotational motion. Since the movement is damped by the rotary dampers 46A and 46B, the three-dimensional vibration can be damped. In FIG. 18, the out-of-plane rotation mechanism 5A rotates only by horizontal movement of the vibration suppression target portion S in the back direction of the paper surface, and the out-of-plane rotation mechanism 5B rotates only by horizontal movement in the left-right direction of the paper surface. The hinge portions 44A of the third connection links 43A and 44A rotate only by movement in the vertical direction. Therefore, by providing one rotary damper at each of these three locations, three-dimensional attenuation can be obtained, and further, the attenuation coefficients in three directions can be set independently.

  Next, a fourth embodiment will be described.

  20 and 21 are schematic views of the fourth embodiment. 20 and 21 do not show the vibration isolation mechanism. The two link mechanisms 6A and 6B are provided in two directions so as to be orthogonal to each other. The link mechanisms 6A and 6B of the fourth embodiment include first links 61A and 61B provided on the foundation B, and second links 62A provided on the vibration suppression target portion S in parallel with the first links 61A and 61B. Fourth connection links 64A and 64B are connected to 62B, the first links 61A and 61B, and the second links 62A and 62B so that both ends can be rotated and the second links 62A and 62B can slide in the extending direction. And the first link 61A, 61B and the second link 62A, 62B are rotatably connected at both ends, and one end is slidably connected in the extending direction of the second links 62A, 62B. 65A, 65B and out-of-plane rotating mechanisms 5A, 5B.

  Two grooves 67A and 67B for guide rollers are formed on the first links 61A and 61B, and one groove on the second links 62A and 62B. The fourth connecting links 64A and 64B and the fifth connecting links 65A and 65B have the same length, and are connected to each other so as to be rotatable at the approximate center. Here, a point where the fourth connection links 64A and 64B intersect the fifth connection links 65A and 65B is a point where the length of the link is divided at a predetermined ratio, and the first link 61A and 61B and the second link are divided. You may comprise so that 62A and 62B may keep parallel. For example, the links may be crossed at a point where the link length is divided into 2: 1 or the like. Both ends of the fourth connection links 64A and 64B and the ends on the base B side of the fifth connection links 65A and 65B are connected to the grooves 67A and 67B, and the guide rollers may move the link in the extending direction. it can.

  In addition, about the out-of-plane rotation mechanism 5A, 5B, since the structure of the mechanism by the side of the vibration suppression object part S demonstrated in the said 3rd Embodiment was similarly used for the foundation B, detailed description is abbreviate | omitted. To do.

  In this embodiment, rotary dampers 66A and 66B are attached to the rotation connecting portions 523A and 523B of the out-of-plane rotation mechanisms 5A and 5B as vibration damping mechanisms, and the fourth connection links 64A and 64B and the fifth connection links 65A, Rotary dampers 661A and 661B are also provided in the central portion that rotatably connects to 65B.

  The operation of the link mechanisms 6A and 6B will be briefly described.

  FIG. 21 shows the deformation of the link mechanisms 6A and 6B when the vibration suppression target part S moves in the lower right direction in the drawing view, that is, when it moves in the horizontal direction and the vertical direction. Also in this embodiment, the link mechanism 6B can fall down with respect to the horizontal movement perpendicular to the link mechanisms 6A and 6B of the vibration suppression target portion S, and the guide for the vertical movement. The fourth connecting links 64A, 64B and the fifth connecting links 65A, 65B are moved by the roller, and are deformed so as to contract in the vertical direction while keeping the first links 61A, 61B and the second links 62A, 62B parallel.

  In this way, the level of the vibration suppression target portion S can be maintained, and three-dimensional vibration can be attenuated by the rotary dampers 66A, 66B, 661A, 661B. In the fourth embodiment, the attenuation coefficients in three directions can be set independently for the same reason as in the third embodiment.

  The link mechanism is not limited to the above embodiment.

  The first link may be the basis, the second link may be provided integrally with the vibration suppression target portion, and the virtual plane formed by the first link and the second link may be tiltable. Absent.

  Since the vibration suppression device can insulate or attenuate three-dimensional vibration, a vibration suppression device may be provided so that the vibration suppression target portion is suspended from the foundation. A vibration suppressing device may be provided between the target portions that are separated in the horizontal direction.

  If a stopper that limits the deformation amount of the link mechanism is provided between the foundation and the vibration suppression target part, the first connection link and the second connection link are aligned in a straight line, so that the foundation and the vibration suppression target part are aligned. Defects such as the distance between them can no longer be reduced can be prevented.

  The vibration isolation mechanism may be an air spring. In this case, the height of the vibration suppressing device can always be made constant by adjusting the air amount of the air spring according to the weight of the object placed on the vibration suppressing target portion. The vibration isolation mechanism may be a metal spring or a rubber spring. Further, the vibration isolation mechanism may be composed of a plurality of coil springs. The damping element having a variable damping coefficient may be a variable throttle oil damper or air damper. The vibration isolation mechanism may be attached to the link mechanism. In this case, if the vibration damping mechanism is also attached to the link mechanism, the vibration suppressing device can be unitized, and the mounting effort can be saved.

  As the semi-active control mechanism, several elastic elements and damping elements can be combined. For example, a parallel part in which a damping element having a variable damping coefficient and an elastic element are provided in parallel may be used, and the parallel part may be provided in series.

  In the first embodiment, the link mechanism is configured such that the first link or the second link is rotatably provided on the foundation or the vibration suppression target portion by a hinge, and the third link is folded by the hinge. The angle at which the surface formed by the link and the third link and the surface formed by the second link and the third link intersect may be changed. Even if it is such, it can be translated in a three-dimensional direction while preventing the vibration suppression target portion from changing its posture with respect to the foundation.

  In 1st Embodiment, although the 1st link and the 2nd link were rotatably attached by the hinge, the 1st link and the 2nd link are in the direction where the 2nd link provided in the other direction extends. Any device that can tolerate relative displacement is acceptable.

  In the first embodiment, the vibration isolation mechanism may be provided between the first link and the third link, or between the second link and the third link. Further, if a damper or the like is provided in the vertical direction as it is to attenuate the vibration in the vertical direction as the vibration damping mechanism, a large space may be required. For example, as shown in FIG. 22, even if the damper DN is inserted so as to horizontally connect the end of the third link of the link mechanism and the foundation, the vibration in the horizontal direction and the vertical direction can be attenuated. That is, a vibration damping mechanism may be provided between a portion where the three-dimensional movement of the vibration suppression target portion appears in the deformation of the link mechanism and the foundation.

  <About other modified embodiments of the present invention>

  The elastic link mechanism 7 may be any as long as it applies Ftanθ force in the first direction. For example, a parallelogram link may be added to the elastic link mechanism 7 described above, and the foundation and the vibration suppression target portion may be moved in parallel while moving in the vertical direction.

  More specifically, as shown in FIG. 24, a quadrilateral link utilizing the two sides of a parallelogram link, which is a link mechanism 2 for keeping the vibration suppression target part S parallel to the foundation B, is used. The elastic link mechanism 7 may be incorporated by configuring the SQ and attaching the elastic body 72 to the quadrilateral link SQ. That is, the link mechanism 2 is formed by attaching both ends of the elastic link element 71 to the hinges on the base side of the parallelogram link and the vibration suppression target portion side so as to be rotatable in a virtual plane, and connecting the intermediate hinges with an elastic body. And the elastic link mechanism 7 are integrated.

  If it is such, the number of the links for constituting the link mechanism 2 and the elastic link mechanism 7 can be reduced, and the structure is greatly simplified as compared with the vibration suppressing device 100 of the embodiment shown in FIG. Can be In addition, the effect of unitization by combining the link mechanism 2 and the elastic link mechanism 7 and the above-described simplification of the structure can reduce the time and effort required for attachment, and it can be attached in a space-saving manner. Even when the space between the vibration suppression target portion is narrow, it can be suitably used.

  FIG. 25 shows a vibration suppressing device 100 using a link unit LU in which the link mechanism 2 and the elastic link mechanism 7 are combined together. In this embodiment, a coil spring SP that is a vibration isolation mechanism, a pair of link units LU that keep the vibration suppression target portion S parallel to the foundation B and reduce the apparent spring constant of the coil spring SP; It is constituted by. In the above-described embodiment, the base B and the vibration suppression target portion S are connected by the ball spline BSP. However, in this embodiment, the coil spring SP can be freely bent not only in the vertical direction but also in the horizontal direction. It is configured. That is, the link unit LU allows the vibration suppression target part S to move freely in three dimensions while keeping parallel to the foundation B.

  If it is such, the function of preventing the fall of the object placed by keeping the vibration suppression target part S parallel to the foundation B and the spring of the entire system while reducing the sinking amount due to its own weight The function of reducing the constant to reduce the natural frequency and improving the characteristics related to vibration suppression can be realized with a very simple structure and a small number of parts. Further, since the coil spring SP can be freely bent in the horizontal direction, even if the vibration suppression target portion S moves in the horizontal direction, the vibration suppression target portion S is restored to the original by the rigidity in the horizontal direction. Return to the initial position. Therefore, it is not necessary to provide a torsion spring on the hinge of the link unit LU as in the embodiment shown in FIG. 11, and the number of parts can be reduced.

  Further, since the link unit LU is provided such that its virtual plane tilts with the movement of the vibration suppression target portion S, the elastic link mechanism 7 also changes the direction in which force is applied in accordance with the movement. That is, the elastic link mechanism 7 can affect not only the vertical direction but also other horizontal directions, and the spring constant of the entire system can be changed in a plurality of directions. Therefore, normally, it is possible to adjust one or two places where the spring constant in each direction cannot be adjusted without providing an elastic link mechanism in all three axial directions.

  In addition, as shown in FIG. 26, the link unit LU may be configured not to be provided at the hinge portion of the parallelogram link as described above, but to be rotatably attached to the link itself. As shown in FIG. 25, by attaching both ends of the elastic link element 71 to the center of the link in a rotatable manner, the width can be reduced and the whole can be reduced in size while maintaining the above-described function of the link unit. In this way, the effect of unitization can be obtained.

  FIG. 27 is a schematic diagram of a link unit LU having another configuration. This link unit LU is a unit combining the link mechanism 4 for keeping the vibration suppression target part S and the foundation B shown in FIG. 18 in parallel and the elastic link mechanism 7 using the triangular link shown in FIG. It has become. More specifically, the elastic link mechanism 7 is configured by forming a triangular link using one side of the link mechanism 4. Even in such a case, the same effect as that of the link unit LU shown in FIGS. 24 and 26 can be obtained.

  Also, the link mechanism 6 shown in FIG. 20 may be provided with an elastic body in the horizontal direction to form the elastic link mechanism 7 shown in FIG. At this time, in order to make the most of the function as an elastic link mechanism, it is desirable to attach an elastic body to the portion where the displacement is most generated. However, if a horizontal displacement occurs and an acute angle θ is formed, the elastic body is connected to the X link. Can be installed anywhere. The same applies to other types of elastic link mechanisms.

  The vibration suppressing device is not limited to the one provided in the vertical direction. For example, it may be installed horizontally to suppress horizontal vibration. The guide mechanism for guiding the elastic body may be a cylinder that covers the outside of the coil spring.

  In addition, various modifications can be made without departing from the spirit of the present invention.

1 is a schematic front view of a simulated vibration suppressing device according to an embodiment of the present invention. The typical side view of the vibration suppression apparatus in the embodiment. The typical top view of the vibration suppression apparatus in the embodiment. The schematic diagram in the natural state of the elastic link mechanism in the embodiment. The schematic diagram at the time of extending | stretching to the 1st direction of the elastic link mechanism in the embodiment. The schematic diagram at the time of extending | stretching to the 2nd direction of the elastic link mechanism in the embodiment. The typical graph which shows the spring characteristic in the same embodiment. The typical front view of the elastic link mechanism in another embodiment. The schematic diagram of the elastic link mechanism in another embodiment. The schematic diagram of the elastic link mechanism in different embodiment. Furthermore, the typical front view of the vibration suppression apparatus in different embodiment. The typical equipment block diagram of the vibration suppression apparatus which concerns on 1st Embodiment of this invention. The typical perspective view of the vibration suppression device concerning the embodiment. The schematic diagram of the link mechanism in the stationary state which concerns on the same embodiment. The schematic diagram of the link mechanism after the deformation | transformation which concerns on the same embodiment. The functional block diagram of the control part which concerns on the same embodiment. The typical apparatus block diagram of the vibration suppression apparatus which concerns on 2nd Embodiment of this invention. The schematic diagram of the link mechanism in the stationary state which concerns on 3rd Embodiment of this invention. The schematic diagram of the link mechanism after the deformation | transformation which concerns on the same embodiment. The typical equipment block diagram of the vibration suppression apparatus which concerns on 4th Embodiment of this invention. The schematic diagram of the link mechanism after the deformation | transformation which concerns on the same embodiment. The another structural example of the vibration suppression apparatus which concerns on 1st Embodiment of this invention. The another structural example of the vibration suppression apparatus which concerns on 2nd Embodiment of this invention. The typical apparatus block diagram which showed the structure of another link mechanism and elastic link mechanism of this invention. The typical apparatus block diagram of the vibration suppression apparatus using the link mechanism and elastic link mechanism of FIG. Schematic equipment configuration diagram showing the configuration of still another link mechanism and elastic link mechanism of the present invention The typical apparatus block diagram which showed the structure of the link mechanism and elastic link mechanism from which this invention differs.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Vibration suppression apparatus B ... Foundation S ... Vibration suppression object part 7 ... Elastic link mechanism 71 ... Elastic link element 72 ... Elastic body 722 ... Guide mechanism 73A, 73B ..Slide mechanism 2A, 2B, 4A, 4B, 6A, 6B ... Link mechanism 21A, 21B, 41A, 41B, 61A, 61B ... First link 22A, 22B, 42A, 42B, 62A, 62B Second link 23A, 23B ... third link 24A, 24B ... first connection link 25A, 25B ... second connection link 43A, 43B ... third connection link 64A, 64B ... 4 link 65A, 65B ... 5th link SP ... vibration isolation mechanism (coil spring)
8, D ... Vibration damping mechanism 31A, 31B, 34A, 34B ... MR damper

Claims (10)

A vibration suppression device that is provided between a foundation and a vibration suppression target portion that is arranged at a predetermined distance from the foundation and insulates or attenuates three-dimensional vibration,
A vibration isolation mechanism that is extendable in a first direction and that keeps the foundation and the vibration suppression target portion separated from each other by a predetermined distance in a natural state, and that mainly insulates vibration from the foundation to the vibration suppression target portion;
A vibration damping mechanism that mainly attenuates vibration from the foundation to the vibration suppression target part;
Along with the vibration isolation mechanism, an elastic link mechanism that supports the vibration suppression target portion with respect to the foundation,
The elastic link mechanism is connected to the foundation and the vibration suppression target portion, and is opposed to the pair of elastic link elements. Each elastic link element is attached at both ends, and is perpendicular to the first direction. An elastic body that expands and contracts in a second direction that is a direction, and exerts a force so as to separate the foundation and the vibration suppression target portion via the elastic link element,
The elastic link element forms an acute angle θ with an imaginary straight line extending in the second direction, and the acute angle θ increases as the vibration isolation mechanism extends, while the vibration isolation mechanism contracts as the vibration isolation mechanism contracts. A vibration suppressing device configured to reduce the acute angle θ. A first elastic link member, wherein the elastic link element is rotatably connected to both ends of the foundation and the elastic body;
The vibration suppression device according to claim 1, comprising: a second elastic link member having both ends rotatably connected to the vibration suppression target portion and the elastic body. One elastic link element is connected to the foundation and the vibration suppression target part so that both ends can be rotated and slidable in the second direction,
The other elastic link element is connected to the foundation and the vibration suppression target portion so that both ends can rotate, and one end or both ends are connected to be slidable in the second direction,
The vibration suppressing device according to claim 1, wherein each elastic link element is rotatably connected at the intersection.   Both ends of the elastic link element are rotatably connected to the foundation and the vibration suppression target part, and the end part on the foundation side or the end part on the vibration suppression target part side is slidable in the second direction. The vibration suppressing device according to claim 1 to be connected.   Each elastic link element has an intersection, and the length of the elastic link element from the connection point of the elastic body to the intersection is L / 2, and the elongation δ in the second direction in the natural state of the elastic body is normalized. The vibration suppressing device according to claim 1, wherein δ / L is between 0.55 and 0.6.   The vibration suppression device according to claim 1, 2, 3, 4, or 5, wherein the elastic link mechanism includes a slide mechanism that connects the foundation and the vibration suppression target portion so as to be movable in a shearing direction.   The vibration suppressing device according to claim 1, wherein the elastic link mechanism includes a guide mechanism for guiding the elastic body so as to expand and contract only in the second direction. A pair of link mechanisms that support the vibration suppression target portion so as to enable only parallel movement with respect to the foundation;
The link mechanism includes: a first link provided separately or integrally with the foundation; a second link provided separately or integrally with the vibration suppression target portion; and the first link and the second link. An intermediate link structure connected in a movable manner, and
A virtual surface formed by the first link and the second link in each link mechanism is provided to be tiltable with respect to the foundation and the vibration suppression target portion, and the virtual surfaces of the link mechanisms intersect each other. 8. The vibration suppressing device according to claim 1, wherein the vibration suppressing device is configured as described above.   The vibration suppression device according to claim 8, wherein the elastic link mechanism connects the foundation and the vibration suppression target part via the link mechanism.   The vibration suppression apparatus according to claim 8 or 9, wherein the vibration isolation mechanism is attached to the link mechanism.