JP2018173138A - Vibration control device and vibration control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vibration control device and a vibration control system capable of easily controlling the magnitude of attenuation force.SOLUTION: A vibration control device is equipped with a rotary type damper and an actuator. The rotary type damper has an outer cylinder; a rotator which can rotate in the inside the outer cylinder and on which attenuation force is acted on rotations to the outer cylinder; and a shaft member which projects out to the outside of the outer cylinder and in which force rotating the rotator is inputted. The actuator is provided on the exterior of the rotary type damper to rotate the outer cylinder with respect to the rotator without the shaft member.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a vibration damping device and a vibration damping system that can be used for countermeasures against seismic motion of buildings.

  Various vibration control devices have been developed as countermeasures against seismic motion in buildings such as high-rise buildings. The vibration control device mainly includes a passive method, an active method, and a semi-active method. A passive vibration damping device attenuates building vibration based on damping characteristics such as an oil damper without actively applying energy. Active and semi-active vibration control devices detect building vibrations with a sensor, and control the vibration damper based on the detection result of the sensor to attenuate the vibration.

  As an active vibration damping device, for example, a damping device described in Patent Document 1 has been proposed. The damping device described in Patent Document 1 includes a housing connected to a base, a screw rod connected to a structure, a rotor rotatably supported in the housing and screwed into the screw rod, and the rotor An electric motor for rotating the motor. A viscous fluid is sealed between the housing and the rotor. The electric motor is controlled such that, when relative vibration is generated between the base and the structure, the rotor is imparted with rotational torque in the rotation direction and forward direction of the rotor generated by the vibration.

JP 2010-242971 A

  Incidentally, in the damping device described in Patent Document 1, the influence of both the relative vibration speed between the base and the structure and the rotational torque applied by the electric motor is the moving speed of the screw rod. And the rotational speed of the rotor is affected. That is, in the damping device as described above, since a plurality of elements influence each other through the screw rod and the rotor, complicated control may be necessary to control the magnitude of the damping force.

  This invention is made | formed in view of such a situation, and it aims at providing the damping device and damping system which can control the magnitude | size of damping force easily.

  (1) The vibration damping device according to one aspect of the present invention is configured to protrude to the outside of the outer cylinder and a rotating body that is rotatable inside the outer cylinder and in which a damping force acts on rotation with respect to the outer cylinder. A rotary damper having a shaft member to which a force for rotating the rotating body is input, and provided outside the rotating damper, and rotates the outer cylinder with respect to the rotating body without the shaft member interposed therebetween. And an actuator.

  (2) The above vibration damping device further includes a transmission portion provided in the outer cylinder, and the actuator rotates the outer cylinder by applying power to the transmission section.

  (3) In the vibration damping device, the transmission unit is provided on an outer peripheral surface of the outer cylinder.

  (4) In the above-described vibration damping device, the actuator may be configured such that when the rotating body rotates in the first direction with respect to the outer cylinder by a force input to the shaft member, Power for rotating the cylinder in the second direction opposite to the first direction can be output.

  (5) In the above vibration damping device, a first fixing portion that fixes an axial position of the shaft member with respect to the first member of the building, and the shaft of the outer cylinder with respect to the second member of the building A second fixing portion that fixes the position in the direction and rotatably supports the outer cylinder with respect to the second member.

  (6) The above vibration damping device further includes a rack and pinion mechanism, the shaft member is fixed to the rotating body and is rotatable together with the rotating body, and the rack and pinion mechanism is A rack gear to be fixed; and a pinion gear engaged with the rack gear and attached to the shaft member.

  (7) A vibration damping system according to one aspect of the present invention is detected by the vibration damping device described in any one of (1) to (6) above, a sensor that detects information related to building vibration, and the sensor. And a control unit for controlling the actuator based on the information.

  ADVANTAGE OF THE INVENTION According to this invention, the damping device and damping system which can adjust damping force with a simple structure can be provided.

It is a figure showing the whole vibration control system composition of a 1st embodiment. It is a figure which shows a part of building where the damping device of 1st Embodiment is installed. It is sectional drawing which shows the damping device of 1st Embodiment. It is sectional drawing which shows the rotary damper of 1st Embodiment. It is a figure which shows the time history of the relative rotational speed of the rotary damper of 1st Embodiment. It is a figure which shows the damping force of the rotary damper of 1st Embodiment. It is a figure which shows the damping device of a reference example. It is a fragmentary sectional view showing the vibration damping device of a 2nd embodiment. It is sectional drawing which follows the F9-F9 line | wire of the damping device shown in FIG.

  Hereinafter, the vibration damping device and the vibration damping system of the embodiment will be described. In the following description, the same reference numerals are given to configurations having the same or similar functions. And the description which overlaps those structures may be abbreviate | omitted.

(First embodiment)
First, the whole structure of the vibration suppression system 1 of embodiment is demonstrated. The overall configuration of the vibration suppression system 1 is common to the first and second embodiments.

  FIG. 1 is a diagram showing an overall configuration of a vibration damping system 1 of the present embodiment. As shown in FIG. 1, the vibration suppression system 1 is provided in a high-rise or super-high-rise building (building) BL, for example, and when the earthquake motion occurs (hereinafter simply referred to as “vibration occurrence”), the building BL Suppresses shaking. The vibration suppression system 1 is an active vibration suppression system provided as a countermeasure against long-period ground motion of a building BL, for example. The vibration damping system 1 of this embodiment includes a plurality of vibration damping devices 11, a plurality of sensors 12, and a control unit 13. Note that only one damping device 11 and one sensor 12 may be provided. The vibration suppression system 1 is not limited to the high-rise building BL, and may be applied to a low-rise building (for example, 3 to 5 floors).

  The damping device 11 is arrange | positioned at the lower layer part (lower floor) of the building BL, for example. The damping device 11 includes a rotary damper 23 described later, and applies a damping force when vibration is generated. The plurality of vibration control devices 11 are arranged separately on a plurality of floors of the building BL, for example. The installation location of the vibration control device 11 is not limited to the lower layer portion of the building BL, and may be an arbitrary layer.

  The sensor (vibration sensor) 12 is arranged in an arbitrary layer of the building BL, and detects information related to the vibration of the building BL. The sensor 12 is, for example, an acceleration sensor that detects vibration of the building BL as acceleration, but is not limited thereto. The plurality of sensors 12 are arranged separately on a plurality of floors of the building BL, for example. The plurality of sensors 12 may be installed on the upper layer (higher floor), middle layer (middle floor), and lower layer (lower floor) of the building BL, respectively.

  The control unit 13 is communicably connected to the plurality of vibration control devices 11 and the plurality of sensors 12 via wired or wireless communication. The control unit 13 acquires the detection result of the sensor 12 from the sensor 12. Then, the control unit 13 calculates the magnitude and timing of the damping force generated by the vibration damping device 11 based on the detection result of the sensor 12. And the control part 13 controls the damping device 11 based on the information which shows the magnitude | size and timing of damping force calculated | required by calculation.

  The control unit 13 is, for example, a software function unit that is realized when the processor of the vibration suppression system 1 executes a program. However, the control unit 13 may be realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), or FPGA (Field-Programmable Gate Array), or a software function unit and hardware. It may be realized by cooperating.

Next, the vibration damping device 11 of this embodiment will be described.
FIG. 2 is a diagram illustrating a part of the building BL where the vibration control device 11 is installed. As shown in FIG. 2, the building BL includes, for example, a first beam B1, a second beam B2, a first column P1, a second column P2, and Y as a part of a structural material forming one floor of the building BL. It has a shape brace Br.

  The first beam B1 extends in a substantially horizontal direction and forms a part of the floor portion F of the floor on which the vibration damping device 11 is installed. The second beam B2 is arranged substantially parallel to the first beam B1, extends in a substantially horizontal direction, and forms a part of the ceiling portion C of the floor on which the vibration control device 11 is installed. The first pillar P1 and the second pillar P2 each extend substantially in the vertical direction, and span the first beam B1 and the second beam B2. For example, the vibration control device 11 is disposed in a space S surrounded by the first beam B1, the second beam B2, the first column P1, and the second column P2.

  The Y-shaped brace Br has a first brace Br1, a second brace Br2, and a connecting portion Br3. The first end portion Br1a of the first brace Br1 is connected to a joint portion between the second beam B2 and the first column P1. The second end portion Br1b of the first brace Br1 is located obliquely below the first end portion Br1a and is located at a substantially central portion in the horizontal direction of the space S. Similarly, the first end Br2a of the second brace Br2 is connected to the joint between the second beam B2 and the second column P2. The second end portion Br2b of the second brace Br2 is located obliquely downward with respect to the first end portion Br2a and is located at a substantially central portion in the horizontal direction of the space S. The connecting portion (top portion) Br3 connects the second end Br1b of the first brace Br1 and the second end Br2b of the second brace Br2.

  As shown in FIG. 2, in the present embodiment, the vibration damping device 11 is installed between the connecting portion Br3 of the Y-shaped brace Br and the second pillar P2. The vibration damping device 11 is fixed to the connecting portion Br3 of the Y-shaped brace Br and the second pillar P2. The term “fixed to XX” in the present application is not limited to the case of being directly fixed to “XX”, but also includes the case of being indirectly fixed via another member. In other words, “fixed to XX” means “fixed relatively to XX”. The Y-shaped brace Br is an example of a “first member”. The second column P2 is an example of a “second member”. The Y-shaped brace Br and the second column P2 are an example of a set of members that undergo relative displacement (relative deformation) when vibration is generated. The structure of the building BL where the vibration control device 11 is provided is not limited to the above example. Another example of the structure of the building BL will be described later.

Next, the configuration of the vibration damping device 11 of the present embodiment will be described.
FIG. 3 is a cross-sectional view showing the vibration damping device 11 of the present embodiment. As shown in FIG. 3, the vibration damping device 11 includes a case 21, a fixing member 22, a rotary damper 23, a fixing mechanism 24, a transmission unit 25, and an actuator 26.

  The case 21 is installed on the floor F formed by the first beam B1. The case 21 is formed in a box shape and accommodates a part of the rotary damper 23, the second fixing part 52 of the fixing mechanism 24, the transmission part 25, and the actuator 26. The case 21 has an opening 21a through which the rotary damper 23 is passed. Note that the case 21 is not an essential component and may be omitted.

  The fixing member (attachment member, connecting member) 22 is provided between the case 21 and the second pillar P2. The fixing member 22 is fixed to the second column P2 (for example, the leg portion of the second column P2), and is displaced integrally with the second column P2 (for example, the leg portion of the second column P2) when vibration is generated. The case 21, the second fixing portion 52 of the fixing mechanism 24, and the actuator 26 are fixed to the fixing member 22. In other words, the fixing member 22 fixes the case 21, the second fixing portion 52 of the fixing mechanism 24, and the actuator 26 to the second column P2 (for example, the leg portion of the second column P2). The fixing member 22 may fix the case 21, the second fixing portion 52 of the fixing mechanism 24, and the actuator 26 to the floor portion F instead of the second column P2 or in addition to the second column P2. Good. Further, the fixing member 22 is not an essential component and may be omitted. In this case, the second fixing portion 52 and the actuator 26 of the fixing mechanism 24 may be fixed to at least one of the second pillar P2 and the floor portion F directly or via the case 21 or another member. Further, the vibration damping device 11 of the present embodiment may be arranged in the opposite direction in FIG. 3 instead of the arrangement example shown in FIG. 3. That is, the outer cylinder 31 of the rotary damper 23 is fixed to, for example, the connecting portion Br3 of the Y-shaped brace Br by the second fixing portion 52 of the fixing mechanism 24, while the shaft member 36 of the rotary damper 23 is fixed to the fixing mechanism 24. It may be fixed to the fixing member 22 by the first fixing portion 51. Further, in this case, the first fixing portion 51 of the fixing mechanism 24 is rotated to at least one of the second pillar P2 and the floor portion F directly or via another member instead of being fixed to the fixing member 22. The shaft member 36 of the mold damper 23 may be fixed.

  The rotary damper 23 is disposed between the connecting portion Br3 of the Y-shaped brace Br and the fixing member 22. Here, the “axial direction Z” and “radial direction R” of the rotary damper 23 are defined. The axial direction Z is an axial direction (longitudinal direction) of a shaft member 36 described later of the rotary damper 23. The radial direction R is a direction substantially orthogonal to the axial direction Z, for example, a direction away from the shaft member 36 radially. In addition, “rotation” in the following description means rotation around a center line extending in the axial direction Z.

  In the present embodiment, the rotary damper 23 is arranged with the axial direction Z substantially horizontal. The rotary damper 23 protrudes from the inside of the case 21 to the outside of the case 21 through an opening 21 a provided in the case 21. More specifically, the outer cylinder 31 of the rotary damper 23 has a first end 31a and a second end 31b as both ends in the axial direction Z. The first end portion 31 a is located between the connecting portion Br <b> 3 of the Y-shaped brace Br and the outer surface of the case 21 outside the case 21. On the other hand, the second end portion 31 b is located on the side opposite to the first end portion 31 a and is accommodated in the case 21.

  FIG. 4 is a cross-sectional view showing the rotary damper 23. As shown in FIG. 4, the rotary damper 23 includes an outer cylinder 31, a rotating body (inner cylinder) 32, a first bearing 33, a second bearing 34, a viscous body 35, a shaft member 36, a conversion unit 37, and a connection unit. 38.

  The outer cylinder 31 is formed in a cylindrical shape. The outer cylinder 31 forms most of the outer shape of the rotary damper 23. In the present embodiment, the outer cylinder 31 has a relatively large length in the axial direction Z.

  The rotating body 32 is accommodated inside the outer cylinder 31. The rotating body 32 of the present embodiment is formed in a cylindrical shape, and has a space in which the shaft member 36 can advance and retract in the axial direction Z. One end of the rotating body 32 in the axial direction Z is rotatably supported by the first bearing 33. The other end portion of the rotating body 32 in the axial direction Z is rotatably supported by the second bearing 34 via, for example, a connection portion 38. For this reason, the rotating body 32 can rotate with respect to the outer cylinder 31 inside the outer cylinder 31.

  The viscous body 35 is accommodated between the inner peripheral surface of the outer cylinder 31 and the outer peripheral surface of the rotating body 32. The viscous body 35 is, for example, a liquid such as oil, but is not limited thereto. The viscous body 35 causes a damping force based on the flow resistance to act between the outer cylinder 31 and the rotating body 32 when the rotating body 32 rotates with respect to the outer cylinder 31. For example, the viscous body 35 causes a damping force corresponding to the rotational speed of the rotating body 32 relative to the outer cylinder 31 to act between the outer cylinder 31 and the rotating body 32. That is, the damping force that acts between the outer cylinder 31 and the rotating body 32 increases when the rotational speed of the rotating body 32 with respect to the outer cylinder 31 is high. On the other hand, the damping force acting between the outer cylinder 31 and the rotating body 32 becomes smaller when the rotational speed of the rotating body 32 relative to the outer cylinder 31 is small.

  The shaft member 36 projects from the inside of the outer cylinder 31 to the outside of the outer cylinder 31 at the first end 31 a of the outer cylinder 31. The shaft member 36 protrudes along the axial direction Z from the inside of the outer cylinder 31 to the outside of the outer cylinder 31. The shaft member 36 is movable (movable) in the axial direction Z with respect to the outer cylinder 31 and the rotating body 32. On the outer peripheral surface of the shaft member 36, a ball rolling groove (thread groove) 36a having a substantially semicircular cross section is formed in a spiral shape. The shaft member 36 of this embodiment functions as a screw shaft of the ball screw mechanism M. The shaft member 36 is an example of a shaft member to which an external force that rotates the rotating body 32 is input.

  The conversion unit 37 is a conversion mechanism that converts linear movement of the shaft member 36 in the axial direction Z into rotational movement of the rotating body 32. In other words, in the present embodiment, the ball screw mechanism M is realized by the shaft member 36 and the conversion unit 37. The conversion unit 37 includes, for example, a ball nut 41 and a plurality of bearings 42. The ball nut 41 and the plurality of bearings 42 are accommodated in the outer cylinder 31.

  The ball nut 41 has an insertion hole 41h through which the shaft member 36 is inserted. A ball rolling groove (thread groove) 41a having a substantially semicircular cross section is formed in a spiral shape on the inner peripheral surface of the ball nut 41 that defines the insertion hole 41h. The ball rolling groove 41 a of the ball nut 41 faces the ball rolling groove 36 a of the shaft member 36. Between the ball rolling groove 41a of the ball nut 41 and the ball rolling groove 36a of the shaft member 36, a plurality of balls 43 are arranged to be able to roll. Further, the ball nut 41 has an infinite circulation path 41 b that circulates the ball 43 rolled in the ball rolling grooves 36 a and 41 a inside the conversion portion 37.

  The plurality of bearings 42 rotatably support the ball nut 41 with respect to the outer cylinder 31. The plurality of bearings 42 hold the positions of the ball nut 41 in the axial direction Z and the radial direction R with respect to the outer cylinder 31. As a result, when the shaft member 36 moves in the axial direction Z, the ball nut 41 rotates as the plurality of balls 43 roll along the ball rolling grooves 36a and 41a, and the linear movement of the shaft member 36 causes the ball movement. It is converted into a rotational movement of the nut 41.

  The connecting portion 38 is provided between the rotating body 32 and the ball nut 41 inside the outer cylinder 31, and connects the rotating body 32 and the ball nut 41. Thereby, when the ball nut 41 rotates, the rotating body 32 rotates integrally with the ball nut 41. Therefore, when an external force that moves the shaft member 36 in the axial direction Z is input to the shaft member 36, the shaft member 36 moves in the axial direction Z and the rotating body 32 rotates with respect to the outer cylinder 31. For example, the rotating body 32 rotates in the first direction and the second direction opposite to the first direction in accordance with the advance / retreat of the shaft member 36.

  However, the configuration of the rotary damper 23 is not limited to the above example. The rotary damper 23 only needs to have a damping characteristic in the rotation of the rotating body 32 with respect to the outer cylinder 31. For example, the rotary damper 23 may be an oil damper, a viscous damper, a viscoelastic damper, a steel damper, or a friction damper.

  Next, returning to FIG. 3, the fixing mechanism 24, the transmission unit 25, and the actuator 26 will be described. The fixing mechanism 24 fixes the rotary damper 23 to the building BL. The fixing mechanism 24 includes a first fixing part 51 and a second fixing part 52.

  The first fixing portion 51 is attached to the end portion of the shaft member 36 protruding from the outer cylinder 31. The 1st fixing | fixed part 51 fixes the said edge part of the shaft member 36 with respect to connection part Br3 of Y-shaped brace Br. In other words, the 1st fixing | fixed part 51 fixes the position (relative position) of the axial direction Z of the shaft member 36 with respect to connection part Br3 of Y-shaped brace Br. Accordingly, when the connecting portion Br3 of the Y-shaped brace Br is displaced in the axial direction Z when vibration is generated, the shaft member 36 of the rotary damper 23 is displaced in the axial direction Z integrally with the connecting portion Br3 of the Y-shaped brace Br. . For example, the shaft member 36 of the rotary damper 23 is fixed by the first fixing portion 51 so as not to rotate with respect to the connecting portion Br3 of the Y-shaped brace Br.

  The second fixing portion 52 is provided between the second end portion 31 b of the outer cylinder 31 of the rotary damper 23 and the fixing member 22. The second fixing portion 52 fixes the outer cylinder 31 of the rotary damper 23 to the fixing member 22. In other words, the second fixing portion 52 fixes the outer cylinder 31 of the rotary damper 23 to, for example, the leg portion of the second pillar P2 of the building BL via the fixing member 22. That is, the 2nd fixing | fixed part 52 fixes the position (relative position) of the axial direction Z of the outer cylinder 31 with respect to the leg part of the 2nd pillar P2. Thus, when the second column P2 is displaced in the axial direction Z when vibration is generated, the outer cylinder 31 of the rotary damper 23 is displaced in the axial direction Z integrally with the leg portion of the second column P2. However, the configuration of the present embodiment is not limited to the above example. For example, the second fixing portion 52 may be fixed to the floor portion F directly or via the fixing member 22 or the case 21. In this case, the outer cylinder 31 of the rotary damper 23 may be displaced integrally with the floor portion F instead of being displaced integrally with the second pillar P2. As another example, the outer cylinder 31 of the rotary damper 23 may be integrally displaced with a member different from the second pillar P2 and the floor F.

  The 2nd fixing | fixed part 52 of this embodiment supports the outer cylinder 31 of the rotary damper 23 rotatably with respect to the 2nd pillar P2. Specifically, the second fixing portion 52 includes a support shaft 56 and a rotation support mechanism 57.

  The support shaft 56 is fixed to the second end portion 31 b of the outer cylinder 31 of the rotary damper 23 and can rotate integrally with the outer cylinder 31. The support shaft 56 extends from the second end portion 31 b of the outer cylinder 31 toward the fixing member 22 along the axial direction Z. An end portion of the support shaft 56 located near the fixing member 22 has a diameter-expanded portion 56a in which the diameter of the support shaft 56 is increased.

  The rotation support mechanism 57 is fixed to the fixed member 22. The rotation support mechanism 57 includes a bearing 57a and a holder 57b. The bearing 57a rotatably supports the enlarged diameter portion 56a of the support shaft 56. That is, the bearing 57a rotatably supports the support shaft 56 and the outer cylinder 31 with respect to the fixing member 22 (that is, with respect to the second column P2). The holder 57b is formed in a box shape and accommodates the enlarged diameter portion 56a and the bearing 57a. The holder 57b has a portion facing the enlarged diameter portion 56a from the axial direction Z, and holds the position in the axial direction Z of the enlarged diameter portion 56a with respect to the fixing member 22 (that is, with respect to the second column P2).

  With the configuration as described above, the second fixing portion 52 fixes the position of the outer cylinder 31 in the axial direction Z with respect to the second column P2 (for example, the leg portion of the second column P2) and also the second column P2. The outer cylinder 31 is rotatably supported. In other words, the outer cylinder 31 is rotatably supported by the second fixing portion 52 with respect to the building BL, the case 21, and the actuator 26.

  Further, as described above, the vibration damping device 11 of the present embodiment may be arranged in the opposite direction in FIG. 3 instead of the arrangement example shown in FIG. In this case, the outer cylinder 31 of the rotary damper 23 may be fixed to the connecting part Br3 of the Y-shaped brace Br by the second fixing part 52. Accordingly, when the connecting portion Br3 of the Y-shaped brace Br is displaced in the axial direction Z when vibration is generated, the outer cylinder 31 of the rotary damper 23 is displaced in the axial direction Z integrally with the connecting portion Br3 of the Y-shaped brace Br. . For example, the second fixing portion 52 rotatably supports the outer cylinder 31 with respect to the connecting portion Br3 of the Y-shaped brace Br. The actuator 26 and the case 21 may be fixed to the Y-shaped brace Br and supported by the Y-shaped brace Br. On the other hand, the shaft member 36 of the rotary damper 23 may be fixed to the second pillar P2 by the first fixing portion 51 directly or via the fixing member 22 or another member. That is, the first fixing portion 51 may fix the position (relative position) in the axial direction Z of the shaft member 36 with respect to the leg portion of the second column P2. Thus, when the second column P2 is displaced in the axial direction Z when vibration is generated, the shaft member 36 of the rotary damper 23 is displaced in the axial direction Z integrally with the leg portion of the second column P2. However, the configuration of the present embodiment is not limited to the above example. For example, the first fixing portion 51 may be fixed to the floor portion F directly or via the fixing member 22 or another member. In this case, the shaft member 36 of the rotary damper 23 may be displaced integrally with the floor portion F instead of being displaced integrally with the second pillar P2. As another example, the shaft member 36 of the rotary damper 23 may be displaced integrally with a member different from the second pillar P2 and the floor portion F.

Next, the transmission unit 25 will be described.
The transmission unit 25 is provided between the actuator 26 and the outer cylinder 31 of the rotary damper 23 and transmits power from the actuator 26 to the outer cylinder 31 of the rotary damper 23. The transmission unit 25 is, for example, a gear provided on the outer peripheral surface of the outer cylinder 31. The transmission unit 25 is formed in an annular shape along the outer peripheral surface of the outer cylinder 31, for example, and is provided over the entire outer peripheral surface of the outer cylinder 31. In addition, if the transmission part 25 is a member which can transmit the motive power from the actuator 26 to the outer cylinder 31 of the rotary damper 23, a structure, an attachment position, etc. will not be limited. The transmission unit 25 may be formed separately from the outer cylinder 31 and attached to the outer cylinder 31, or may be formed integrally with the outer cylinder 31. Moreover, the transmission part 25 is not limited to a gear, A high friction member (for example, rubber member) etc. may be sufficient.

  The actuator 26 is provided outside the rotary damper 23. The actuator 26 is an electric actuator, for example, and includes a motor (drive source) 61, a speed reducer 62, and a gear 63. The speed reducer 62 is connected to the motor 61, and power is transmitted from the motor 61. The gear 63 is connected to the speed reducer 62, and power is transmitted from the speed reducer 62. The gear 63 is engaged with the transmission portion 25 provided on the outer cylinder 31 of the rotary damper 23. The motor 61 rotates the gear 63 via the speed reducer 62 to apply power (rotational torque) to the transmission unit 25. The speed reducer 62 is not an essential component and may be omitted. In this case, the motor 61 may be directly connected to the gear 63.

  The actuator 26 causes power (rotational torque) to act directly on the outer cylinder 31 of the rotary damper 23 via the transmission unit 25 by applying power to the transmission unit 25. Thereby, the actuator 26 rotates the outer cylinder 31 of the rotary damper 23 with respect to the building BL. “Directly applying power to the outer cylinder of the rotary damper” means that the power is applied to the outer cylinder 31 of the rotary damper 23 without using the shaft member 36 of the rotary damper 23 (shaft member 36). Means that the outer cylinder 31 is rotated without any intervention). In other words, “directly applying power to the outer cylinder of the rotary damper” means that the outer cylinder 31 is moved regardless of the position of the shaft member 36 relative to the outer cylinder 31 and the moving speed (the rotational speed of the rotating body 32). This means forcibly rotating from the outside.

  The actuator 26 rotates the outer cylinder 31 with respect to the rotating body 32 of the rotary damper 23 by rotating the outer cylinder 31 with respect to the building BL. As a result, the actuator 26 changes the relative rotational speed between the outer cylinder 31 and the rotating body 32 and changes the magnitude and generation timing of the damping force acting between the outer cylinder 31 and the rotating body 32. The damping characteristic of the vibration damping device 11 is changed.

  For example, the actuator 26 has an external force input to the shaft member 36 (for example, a force acting on the shaft member 36 due to a relative displacement between the Y-shaped brace Br and the leg portion (or floor portion F) of the second column P2). When the shaft member 36 moves and the rotating body 32 rotates in the first direction relative to the outer cylinder 31, the outer cylinder 31 rotates in the second direction opposite to the first direction with respect to the rotating body 32. Can be output. The actuator 26 can increase the damping force of the vibration damping device 11 by rotating the outer cylinder 31 in the opposite direction with respect to the rotating body 32 rotating in the first direction.

  Further, the actuator 26 moves the outer cylinder 31 with respect to the rotating body 32 when the shaft member 36 moves by the external force input to the shaft member 36 and the rotating body 32 rotates in the first direction with respect to the outer cylinder 31. Can be output in the same direction as the first direction. The actuator 26 can reduce or reduce the damping force of the vibration damping device 11 by rotating the outer cylinder 31 in the same direction with respect to the rotating body 32 rotating in the first direction.

  According to the vibration damping device 11 as described above, by rotating the outer cylinder 31 of the rotary damper 23 by the actuator 26, the damping characteristic of the vibration damping device 11 is dynamically changed, and the vibration of the building BL is further increased. It can be effectively attenuated. For example, the vibration control device 11 changes the rotation state of the outer cylinder 31 of the rotary damper 23 by changing the output of the actuator 26 (the rotation speed of the motor 61, etc.) according to the vibration of the building BL, thereby changing the building BL. Can be more effectively suppressed.

Next, the operation of the vibration damping system 1 of the present embodiment will be described.
In the vibration suppression system 1 of the present embodiment, the sensor 12 detects information related to the vibration of the building BL when vibration is generated. The controller 13 controls the actuator 26 of the vibration damping device 11 based on the detection result (vibration data) detected by the sensor 12 to rotate the outer cylinder 31 of the rotary damper 23.

  More specifically, for example, the control unit 13 derives the degree of burden acting on the building BL by vibration based on the detection result of the sensor 12 and the design information of the building BL. The “burden degree” is actually the maximum allowable stress (limit stress) of the structural material of the building BL (for example, the first beam B1, the second beam B2, the first column P1, and the second column P2). This is the magnitude of the stress generated in the structural material of the building BL (for example, the magnitude of the stress at the maximum interlayer deformation). “Building design information” includes the thickness of the structural material of the building BL and the connection relationship.

  The control unit 13 additionally adds to the building BL by rotating the outer cylinder 31 of the rotary damper 23 by the actuator 26 based on the design information (output characteristics) of the rotary damper 23 and the design information of the building BL. The magnitude of the burden (stress) is derived. The control unit 13 comprehensively determines the degree of burden acting on the building BL due to vibration, the degree of burden additionally applied to the building BL by rotating the outer cylinder 31 by the actuator 26, the operation efficiency of the vibration damping device 11, and the like. Considering this, the rotation amount, rotation speed, rotation timing, and the like of the outer cylinder 31 rotated by the actuator 26 are derived. Then, the control unit 13 controls the operation of the actuator 26 based on the derived information such as the rotation amount, rotation speed, and rotation timing of the outer cylinder 31 to rotate the outer cylinder 31.

  As a result, the vibration damping system 1 causes the shaft member of the rotary damper 23 based on the relative displacement between the connecting portion Br3 of the Y-shaped brace Br and the leg portion (or the floor portion F) of the second column P2 when vibration occurs. In addition to the rotation of the rotating body 32 due to the movement of 36, the outer cylinder 31 is additionally rotated by the actuator 26, whereby a damping force acting between the outer cylinder 31 of the rotary damper 23 and the rotating body 32. The size and timing of occurrence can be adjusted. As a result, the vibration suppression system 1 exhibits an active vibration suppression function and can perform vibration suppression more effectively than passive vibration suppression.

Hereinafter, some control examples in the vibration suppression system 1 will be described.
FIG. 5 is a diagram illustrating a time history of the relative rotational speed of the rotary damper 23. FIG. 6 is a diagram showing a damping force of the rotary damper 23 generated corresponding to the time history of the relative rotational speed of the rotary damper 23 shown in FIG. Here, “relative rotational speed” means the rotational speed of the rotating body 32 with respect to the outer cylinder 31. 5 and 6, the waveforms a and b indicate the rotary damper 23 based on the movement of the shaft member 36 due to the relative displacement of the structural material of the building BL (for example, the Y-shaped brace Br and the leg portion of the second pillar P2). The relative rotation speed is shown. On the other hand, the waveforms ACT-a and ACT-b are obtained by rotating the rotating body 32 by the movement of the shaft member 36 due to the relative displacement of the structural material of the building BL, and by rotating the outer cylinder 31 directly by the actuator 26. The relative rotational speed of the rotary damper 23 combined with 31 rotations is shown.

First, the case of (a) in FIG. 5 will be described.
(A) in FIG. 5 shows a case where the actuator 26 is not operated (when the rotation amount of the outer cylinder 31 by the actuator 26 is zero). In this case, the rotary damper 23 functions as a passive rotary damper. A waveform a in the figure shows a time history of the relative rotational speed of the rotary damper 23 when a relatively small vibration is input. On the other hand, a waveform b in the figure shows a time history of the relative rotational speed of the rotary damper 23 when a relatively large vibration is input. As shown by the waveforms a and b, when the rotary damper 23 functions as a passive rotary damper, the relative rotational speed of the rotary damper 23 is, for example, that of the shaft member 36 due to the relative displacement of the structural material of the building BL. It changes along the waveform of a sine curve according to the movement.

  (A) in FIG. 6 is a diagram illustrating the damping force of the rotary damper 23 corresponding to the time history of (a) in FIG. As shown in FIG. 6A, the rotary damper 23 has a greater damping force as the relative displacement speed of the structural material of the building BL (moving speed to the shaft member 36 of the rotary damper 23) increases. generate.

Next, the case of (b) in FIG. 5 will be described.
FIG. 5B shows an example in which the outer cylinder 31 is rotated by the actuator 26. 5B shows a case where the stress generated in the building BL has a margin with respect to the maximum allowable stress of the structural material of the building BL (for example, when the stress generated in the building BL is less than a predetermined threshold). Show. In this case, the actuator 26 rotates the outer cylinder 31 of the rotary damper 23 in the direction opposite to the rotation direction of the rotating body 32 based on the movement of the shaft member 36. For example, if the actuator 26 is not actively controlled, the actuator 26 rotates the outer cylinder 31 so that the relative rotational speed of the rotary damper 23 having the waveform a becomes the waveform ACT-a.

  (B) in FIG. 6 is a diagram showing the damping force of the rotary damper 23 corresponding to the time history of (b) in FIG. As shown in (b) of FIG. 6, the vibration damping device 11 can increase the damping force of the rotary damper 23 that becomes the broken line a unless it is actively controlled so that it becomes the solid line ACT-a. . Thereby, the shaking of the building BL can be quickly accommodated.

Next, the case of (c) in FIG. 5 will be described.
(C) in FIG. 5 shows another example when the outer cylinder 31 is rotated by the actuator 26. 5C, when the interlayer displacement of the building BL is large and the stress generated in the building BL is close to the maximum allowable stress of the structural material of the building BL (for example, the stress generated in the building BL is not less than the threshold value). If). In this case, the actuator 26 rotates the outer cylinder 31 with a phase different from the phase (waveform a) of the relative rotational speed of the rotary damper 23 based on the movement of the shaft member 36. That is, if the actuator 26 is not actively controlled, the actuator 26 rotates the outer cylinder 31 so that the relative rotational speed of the rotary damper 23 having the waveform a becomes the waveform ACT-b. Thereby, the damping device 11 can generate a damping force that behaves as if energy is stored in the rotary damper 23 by the rotary damper 23.

  (C) in FIG. 6 is a diagram showing the damping force of the rotary damper 23 corresponding to the time history of (c) in FIG. As shown in (c) of FIG. 6, the vibration damping device 11 increases the relative deformation of the damping force of the rotary damper 23, which is a broken line b unless it is actively controlled, in a half cycle of the broken line b. At the time of one-way vibration, the damping force of the rotary damper 23 is reduced by reducing the relative rotational speed of the rotary damper 23. On the other hand, when the stress of the structural material of the building BL outside the maximum deformation is reduced, the rotary type Increasing the relative rotational speed of the damper 23 increases the damping force of the rotary damper 23. Further, the vibration damping device 11 reduces the damping force of the rotary damper 23 by reducing the relative rotational speed of the rotary damper 23 at the time of vibration in the other direction in which the relative deformation increases in the remaining half cycle. On the other hand, when the stress of the structural material of the building BL deviating from the maximum deformation is reduced, the damping force of the rotary damper 23 is increased by increasing the relative rotational speed of the rotary damper 23. Thereby, as shown in FIG.6 (c), the relationship between the magnitude | size and generation | occurrence | production timing of damping force, and the interlayer displacement of the building BL can be changed. Thereby, the vibration of the building BL can be efficiently accommodated while suppressing the stress acting on the structural material of the building BL within the maximum allowable stress range.

  According to the above configuration, it is possible to provide the vibration damping device 11 and the vibration damping system 1 that can easily control the magnitude of the damping force. That is, in the present embodiment, the vibration damping device 11 includes the rotary damper 23 and the actuator 26 that rotates the outer cylinder 31 relative to the rotating body 32 of the rotary damper 23 without the shaft member 36 of the rotary damper 23. With. According to such a configuration, the relative rotation speed between the outer cylinder 31 and the rotating body 32 can be increased or decreased by rotating the outer cylinder 31 by the actuator 26. As a result, the magnitude of the damping force of the rotary damper 23 can be easily increased or decreased.

  According to this configuration, the movement of the shaft member 36 due to the relative displacement of the structural material of the building BL acts on the rotation of the rotating body 32, while the power of the actuator 26 acts directly on the outer cylinder 31. For this reason, the influence by the relative displacement of the structural material of the building BL and the influence by the operation of the actuator 26 do not affect the moving speed of the shaft member 36 and the rotating speed of the rotating body 32 in a complex manner. For this reason, according to the vibration damping device 11 of the present embodiment, the magnitude of the damping force can be easily adjusted.

  Here, FIG. 7 shows a vibration damping device 111 of a reference example. As shown in FIG. 7, the vibration damping device 111 of this reference example includes a linear motion type vibration damping damper 121 and a vibration damping damper 121 arranged in series with the vibration damping damper 121 in the axial direction Z of the vibration damping damper 121. A ball screw mechanism 122 connected to the shaft member 36, and an actuator 123 that moves the shaft member 36 of the vibration damper 121 by driving the ball screw mechanism 122. The actuator 123 drives the ball screw mechanism 122 to move the shaft member 36 of the damping damper 121 to actively control the damping damper 121 and increase or decrease the damping force of the damping damper 121. Even with such a configuration, the magnitude of the damping force can be controlled, and an excellent vibration damping effect can be achieved.

  However, according to the vibration damping device 11 of the present embodiment, there are a plurality of excellent advantages over the vibration damping device 111 of the reference example. First, as a first advantage, in the vibration damping device 111 of the above reference example, a mechanism (ball screw mechanism 122) for converting the rotational torque of the actuator 123 into a linear motion is connected in series with the vibration damping damper 121 in the axial direction Z. Because of the arrangement, the installation space (full length) of the vibration damping device 111 in the axial direction Z increases, and the power transmission efficiency may decrease. On the other hand, according to the vibration damping device 11 of the present embodiment, a mechanism for converting the rotational torque of the actuator 26 into a linear motion becomes unnecessary. For this reason, the installation space of the damping device 11 in the axial direction Z can be reduced. Further, by directly transmitting the rotational torque of the actuator 26 to the outer cylinder 31 of the rotary damper 23, it is possible to suppress power transmission loss.

  As a second advantage, in the vibration damping device 111 of the reference example described above, there is a case where the position of the vibration damping damper needs to be adjusted after vibration is generated. That is, as shown to (a) in FIG. 7, the damping damper 121 has a movable range. The reference position of the damping damper 121 needs to be located near the center of the movable range before vibration is generated. However, as shown in FIG. 7B, when vibration occurs, the vibration of the building BL stops and the vibration damping damper 121 stops with the reference position of the vibration damping damper 121 biased toward one end of the movable range. there is a possibility. If the building BL is shaken again due to earthquake motion or the like from this state, there is a possibility that problems such as collision or breakage of parts occur in the damping damper 121 beyond the movable limit of the damping damper 121. Therefore, in the vibration damping device 111 of the reference example described above, in order to avoid these problems, it is necessary to add a function of restoring the reference position of the vibration damping damper 121 near the center of the movable range after the shaking of the building BL is settled. is there.

  On the other hand, according to the vibration damping device 11 of the present embodiment, the position in the axial direction Z of the outer cylinder 31 of the rotary damper 23 is fixed with respect to the building BL. For this reason, the deformation of the building BL becomes the amount of expansion / contraction of the shaft member 36 of the rotary damper 23 as it is, and the amount of expansion / contraction of the shaft member 36 of the rotation damper 23 is naturally reduced when the shaking is stopped and the deformation of the building BL is restored. Return to zero. For this reason, it is not necessary to add a function of returning the reference position of the rotary damper 23 to the origin. Thereby, cost reduction of the damping device 11 can be achieved.

  In the present embodiment, the rotary damper 23 does not need to be a dedicated damper for the vibration damping device 11 and may be a general-purpose rotary damper. By using such a general-purpose damper, it is possible to easily provide the vibration damping device 11 that satisfies the required performance (required damping force).

  In the present embodiment, the vibration damping device 11 includes a transmission unit 25 provided on the outer cylinder 31 of the rotary damper 23. The actuator 26 rotates the outer cylinder 31 by applying power to the transmission unit 25. According to such a configuration, the actuator 26 can reliably and accurately rotate the outer cylinder 31. Thereby, the adjustment of the magnitude of the damping force of the vibration damping device 11 is further facilitated.

  In the present embodiment, the transmission unit 25 is provided on the outer peripheral surface of the outer cylinder 31. According to such a configuration, the actuator 26 easily applies a relatively large rotational torque to the outer cylinder 31. Thereby, the adjustment of the magnitude of the damping force of the vibration damping device 11 is further facilitated.

  In the present embodiment, the vibration damping device 11 fixes the position in the axial direction Z of the shaft member 36 of the rotary damper 23 with respect to the first member (for example, Y-shaped brace Br) of the building BL. And the 2nd fixing | fixed part 52 which fixes the position of the axial direction Z of the outer cylinder 31 of the rotary damper 23 with respect to the 2nd member (for example, 2nd pillar P2) of the building BL. According to such a configuration, the shaft member 36 reliably advances and retreats with respect to the outer cylinder 31 according to the relative displacement of the structural material of the building BL. Thereby, the damping force according to the relative displacement of the structural material of the building BL can be generated reliably.

  In this embodiment, the 2nd fixing | fixed part 52 supports the outer cylinder 31 of the rotary damper 23 rotatably with respect to the 2nd member of the building BL. According to such a configuration, the outer cylinder 31 can rotate with respect to the building BL in a structure in which the shaft member 36 is reliably advanced and retracted with respect to the outer cylinder 31. Thereby, the outer cylinder 31 is rotated by the actuator 26, and the magnitude of the damping force of the vibration damping device 11 can be adjusted.

(Second Embodiment)
Next, a second embodiment will be described. In the present embodiment, the first embodiment is that the rotary damper 23A has a rotatable shaft member 36A in place of the shaft member 36 movable in the axial direction Z and the rack and pinion mechanism 72 is provided. Different from form. Configurations other than those described below are the same as those in the first embodiment.

  FIG. 8 is a partial cross-sectional view showing the vibration damping device 11A of the present embodiment. 9 is a cross-sectional view taken along line F9-F9 of the vibration damping device 11A shown in FIG. As shown in FIG. 9, in this embodiment, for example, two Y-shaped braces BrA and BrB are arranged substantially parallel to each other. When the two Y-shaped braces BrA and BrB are not distinguished, they are simply referred to as “Y-shaped braces Br”.

  As shown in FIGS. 8 and 9, the vibration damping device 11 </ b> A includes a case 21, a fixing member 22, a rotary damper 23 </ b> A, a transmission unit 25, an actuator 26, a main shaft 71, and a rack and pinion mechanism 72. In the present embodiment, the first beam B1 is an example of a “first member”. One or more Y-shaped braces Br of the two Y-shaped braces Br are examples of the “second member”. The first beam B1 and the Y-shaped brace Br are an example of a set of members that undergo relative displacement (relative deformation) when vibration occurs. The speed reducer 62 of the actuator 26 is not an essential component and may be omitted. In this case, the motor 61 may be directly connected to the gear 63.

  The case 21 is installed on the fixing member 22. Case 21 accommodates actuator 26. In the present embodiment, the case 21 is fixed to the Y-shaped brace BrB by the fixing member 22. Note that the case 21 is not an essential component and may be omitted.

  The fixing member 22 is provided below the case 21. The fixing member 22 connects the case 21 and the actuator 26 to the Y-shaped brace BrB.

  The rotary damper 23A is disposed in a space between the connecting portion Br3 of the Y-shaped brace BrA and the connecting portion Br3 of the Y-shaped brace BrB. Unlike the rotary damper 23 of the first embodiment, the rotary damper 23A of this embodiment does not have the shaft member 36 that can move in the axial direction Z. The rotary damper 23A of the present embodiment includes an outer cylinder 31, a rotating body 32, a viscous body 35, and a shaft member (gear shaft) 36A. In the present embodiment, the outer cylinder 31 and the rotating body 32 are relatively thin in the axial direction Z.

  In the present embodiment, the rotating body 32 is fixed to the outer peripheral surface of the shaft member 36A, and can rotate integrally with the shaft member 36A inside the outer cylinder 31. A viscous body 35 is accommodated between the outer cylinder 31 and the rotating body 32. Thereby, a damping force acts on the rotation of the rotating body 32 relative to the outer cylinder 31.

  The shaft member 36 </ b> A projects from the inside of the outer cylinder 31 to the outside of the outer cylinder 31 in the axial direction Z. In the present embodiment, the position of the shaft member 36A in the axial direction Z is fixed. A pinion gear 82 of a rack and pinion mechanism 72 described later is attached to the shaft member 36A. The shaft member 36 </ b> A rotates integrally with the pinion gear 82 when the pinion gear 82 rotates. The shaft member 36A is an example of a shaft member to which an external force that rotates the rotating body 32 is input. The shaft member 36A is formed in a hollow shape so that the main shaft 71 can be inserted therethrough. A bearing 73 is provided between the outer peripheral surface of the main shaft 71 and the inner peripheral surface of the shaft member 36A. The shaft member 36 </ b> A and the pinion gear 82 are supported by the main shaft 71 via the bearing 73, and can rotate around the main shaft 71.

  The main shaft 71 passes through the rotary damper 23A by being passed inside the shaft member 36A. Further, the main shaft 71 passes through the pinion gear 82 by being passed through the insertion hole 82 a of the pinion gear 82. The main shaft 71 extends over the connecting portion Br3 of the Y-shaped brace BrA and the connecting portion Br3 of the Y-shaped brace BrB, and is connected to the connecting portion Br3 of the Y-shaped brace BrA and the connecting portion Br3 of the Y-shaped brace BrB. Has been supported. Thereby, the main shaft 71 is supported by the connecting portion Br3 of the Y-shaped brace BrA and the connecting portion Br3 of the Y-shaped brace BrB.

  The rack and pinion mechanism 72 is located between the rotary damper 23A and the Y-shaped brace BrA. The rack and pinion mechanism 72 includes a rack gear 81 and a pinion gear 82.

  The rack gear 81 is installed on the floor F formed by the first beam B1. The rack gear 81 is fixed to the first beam B1, and is displaced integrally with the first beam B1 when vibration occurs. The rack gear 81 extends in a direction X that is substantially orthogonal to the axial direction Z (hereinafter may be referred to as a rack gear extending direction X), and has a plurality of teeth that are aligned in the rack gear extending direction X.

  The pinion gear 82 is provided above the rack gear 81 and is engaged with the rack gear 81. The pinion gear 82 is supported by the main shaft 71 via the shaft member 36 </ b> A and the bearing 73. For this reason, the pinion gear 82 is displaced integrally with the Y-shaped brace Br when vibration is generated. The pinion gear 82 rotates when the rack gear 81 moves relative to the pinion gear 82 in the rack gear extending direction X. When the pinion gear 82 rotates, the shaft member 36 </ b> A and the rotating body 32 rotate integrally with the pinion gear 82.

  As in the first embodiment, the vibration damping device 11A of the present embodiment can actively control the rotary damper 23A by directly rotating the outer cylinder 31 of the rotary damper 23A by the power of the actuator 26. it can. That is, the various controls (for example, all controls) described in the first embodiment can be applied to the vibration damping device 11A of the present embodiment. In addition, the vibration damping device 11A can also function as a passive rotary damper by rotating the pinion gear 82 on the rack gear 81 when vibration is generated when the actuator 26 is stopped.

  According to the configuration as described above, similarly to the first embodiment, it is possible to provide the vibration damping device 11A and the vibration damping system 1 that can easily control the magnitude of the damping force. In the present embodiment, the vibration damping device 11 </ b> A includes a rack and pinion mechanism 72. The shaft member 36 </ b> A is fixed to the rotating body 32 and can rotate integrally with the rotating body 32. The rack and pinion mechanism 72 includes a rack gear 81 fixed to the building BL, and a pinion gear 82 that engages with the rack gear 81 and is attached to the shaft member 36A. According to such a configuration, for example, the damping device 11A and the damping system 1 that can easily control the magnitude of the damping force can be realized by the rotary damper 23A that is thin in the axial direction Z.

  However, the configuration of the present embodiment is not limited to the above example. For example, instead of the above configuration, the main shaft 71, the actuator 26, and the like may be supported by, for example, the floor F, the first pillar P1, or the second pillar P2. In this case, the pinion gear 82 is supported by the floor F, the first pillar P1, or the second pillar P2 via the shaft member 36A, the bearing 73, and the main shaft 71, and the floor F, the first pillar P1, or It is displaced according to the displacement of the second column P2. On the other hand, the rack gear 81 may be supported by the Y-shaped brace Br. In this case, the rack gear 81 is displaced according to the displacement of the Y-shaped brace Br.

  The vibration damping devices 11 and 11A and the vibration damping system 1 according to the first and second embodiments have been described above. However, the configuration of the embodiment is not limited to the above example. For example, the plurality of structural materials of the building BL in which the vibration control devices 11 and 11A are interposed are not limited to the Y-shaped brace Br and the column P2, or the first beam B1 and the Y-shaped brace Br. In the first and second embodiments, the first member and the second member of the building BL in which the vibration control devices 11 and 11A are interposed are in other forms such as a single brace, an X-shaped brace, and a V-shaped brace. Braces may be used, and various types of braces may be mixed. In addition, the first member and the second member of the building BL where the vibration control devices 11 and 11A are interposed are the first beam B1, the second beam, the first column P1, and the second column P2. It may be a structural material or other member.

  By introducing the vibration damping system 1 of the first and second embodiments into the building BL, the vibration of the building BL can be easily and actively controlled, and it is more efficient with fewer rotary dampers than the passive vibration damping. Damping can be performed. In addition, the vibration damping system 1 can be easily introduced not only in a newly-built building BL but also in an existing building BL, and an existing rotary damper can be used for active vibration damping.

  Further, the control by the control unit 13 of the vibration damping system 1 may be optimized by feedback or learning as appropriate. Further, the shaking of the building BL is not limited to earthquake motion, and includes vibrations caused by wind.

  DESCRIPTION OF SYMBOLS 1 ... Damping system, 11, 11A ... Damping device, 12 ... Sensor, 13 ... Control part, 23, 23A ... Rotary damper, 25 ... Transmission part, 26 ... Actuator, 31 ... Outer cylinder, 32 ... Rotating body, 36, 36A ... shaft member, 51 ... first fixing portion, 52 ... second fixing portion, 72 ... rack and pinion mechanism, 81 ... rack gear, 82 ... pinion gear, BL ... building, Z ... axial direction

Claims (7)

An outer cylinder, a rotating body that is rotatable inside the outer cylinder and in which a damping force acts on the rotation with respect to the outer cylinder, and a shaft member that receives the force that protrudes outside the outer cylinder and rotates the rotating body A rotary damper having
An actuator that is provided outside the rotary damper and rotates the outer cylinder with respect to the rotating body without the shaft member;
A vibration damping device characterized by comprising: Further comprising a transmission part provided in the outer cylinder,
The actuator rotates the outer cylinder by applying power to the transmission unit;
The vibration damping device according to claim 1. The transmission portion is provided on the outer peripheral surface of the outer cylinder.
The vibration damping device according to claim 2. When the rotating body rotates in the first direction with respect to the outer cylinder by the force input to the shaft member, the actuator moves the outer cylinder opposite to the first direction with respect to the rotating body. Power to rotate in the second direction can be output.
The vibration damping device according to any one of claims 1 to 3, wherein the vibration damping device is characterized in that: A first fixing portion for fixing the axial position of the shaft member with respect to the first member of the building;
A second fixing portion that fixes the position of the outer cylinder in the axial direction with respect to the second member of the building, and rotatably supports the outer cylinder with respect to the second member;
Further equipped with,
5. The vibration damping device according to any one of claims 1 to 4, wherein the vibration damping device is characterized in that: Further equipped with a rack and pinion mechanism,
The shaft member is fixed to the rotating body and is rotatable integrally with the rotating body,
The rack and pinion mechanism includes a rack gear fixed to a building, and a pinion gear engaged with the rack gear and attached to the shaft member.
The vibration damping device according to any one of claims 1 to 4, wherein the vibration damping device is characterized in that: A vibration damping device according to any one of claims 1 to 6,
A sensor that detects information about the vibration of the building;
A control unit for controlling the actuator based on information detected by the sensor;
A vibration control system characterized by comprising:

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