JP2023163555A - Vibration suppression device and vibration suppression method - Google Patents

Abstract

To provide a vibration suppression device or the like which can contribute to the securement of a stable behavior while maintaining a friction force.SOLUTION: A vibration suppression device comprises: a pedestal part on which an object is mounted; a plate part which is arranged vertically, and is fixed to a lower face of the pedestal part; one or a plurality of elastic members which support the lower face of the pedestal part or the plate part by an elastic force; a plurality of drive rollers which are rotationally driven, and generate a dynamic friction force between the plate part and themselves when the object is in a static state and a dynamic state; and a plurality of nip mechanisms which are constituted so as to press the corresponding drive roller to the plate part side.SELECTED DRAWING: Figure 8

Description

The present invention relates to a vibration suppressing device and a vibration suppressing method.

BACKGROUND OF THE INVENTION Vibration suppressing devices that suppress vibrations of objects subjected to acceleration due to impacts, earthquakes, mechanical vibrations, etc. generally use elastic members such as springs and rubber. Further, in the vibration suppressing device, frictional force is used to damp unnecessary shaking when vibration is suppressed by an elastic member. For example, in Patent Document 1, a friction generating surface is formed by surface roughening on the inner wall of the cylindrical portion of the sleeve shaft, and the fixed shaft and the sleeve shaft are held at the initial position by the static friction force on the friction generating surface, and the static friction force When an impact exceeding A shock-absorbing structure is disclosed in which the energy of the shock is consumed during the period in which the dynamic frictional force is generated, and the shock is buffered.

JP2010-53878

The following analysis is provided by the inventor.

However, since the coefficient of dynamic friction is smaller than the coefficient of static friction, in the shock absorbing structure described in Patent Document 1, if an impact exceeding the static friction force is applied and the fixed shaft and the sleeve shaft move relatively and vibrate, the static friction force will be lower than the static friction coefficient. However, vibrations are damped by a low dynamic friction force, and due to the decrease in the damping force, it may take a long time for the relative movement between the fixed shaft and the sleeve shaft to stop after it occurs. In addition, in the shock absorbing structure described in Patent Document 1, the pressure at the contact surface between the inner wall of the cylindrical portion of the sleeve shaft and the fixed shaft decreases with use (the contact surface wears out), and the frictional force decreases. The damping force may be reduced, and the time from when the relative movement between the fixed shaft and the sleeve shaft occurs until it stops may become longer.

The main object of the present invention is to provide a vibration suppression device and a vibration suppression method that can contribute to maintaining frictional force and ensuring stable behavior.

The vibration suppressing device according to the first aspect includes a pedestal portion on which an object is mounted, a plate portion arranged vertically and fixed to a lower surface of the pedestal portion, and a lower surface of the pedestal portion or the plate portion made of elastic material. one or more elastic members supported by force, and a plurality of drive rollers configured to rotate and generate dynamic frictional force with the plate when the object is in a stationary state and a moving state; A plurality of nip mechanisms configured to press the corresponding drive rollers toward the plate side.

The vibration suppression method according to the second viewpoint suppresses the vibration of the object in a state where a dynamic frictional force is applied to parts that move in conjunction with the object when the object is in a stationary state and a moving state.

According to the first and second viewpoints, it is possible to maintain the frictional force and contribute to ensuring stable behavior.

FIG. 2 is a side view schematically showing the mechanical configuration of the vibration suppression device according to the first embodiment. FIG. 2 is a side view schematically showing the mechanical configuration of the vibration suppression device according to the first embodiment when viewed from the arrow V1 in FIG. 1. FIG. 1 is a block diagram schematically showing a circuit configuration of a vibration suppressing device according to a first embodiment. FIG. 7 is a graph schematically showing how the force applied to the mounted object is attenuated when a force exceeding an allowable value is applied to the mounted object mounted on the vibration suppression device according to the first embodiment. FIG. 3 is a side view schematically showing the mechanical configuration of a vibration suppression device according to a comparative example. It is a graph schematically showing how the force applied to a mounted object is attenuated when a force exceeding an allowable value is applied to the mounted object mounted on the vibration suppressing device according to a comparative example. FIG. 3 is a side view schematically showing a mechanical configuration of a vibration suppression device according to a second embodiment. FIG. 7 is a side view schematically showing a mechanical configuration of a vibration suppression device according to a third embodiment.

Hereinafter, embodiments will be described with reference to the drawings. Note that when drawing reference symbols are used in this application, they are solely for the purpose of aiding understanding, and are not intended to limit the embodiments to the illustrated embodiments. Furthermore, the embodiments described below are merely illustrative and do not limit the present invention. Furthermore, connection lines between blocks in the drawings and the like referred to in the following description include both bidirectional and unidirectional connections. The unidirectional arrows schematically indicate the main signal (data) flow, and do not exclude bidirectionality. Furthermore, in the circuit diagrams, block diagrams, internal configuration diagrams, connection diagrams, etc. shown in the present disclosure, although not explicitly stated, an input port and an output port are present at the input end and output end of each connection line, respectively. The same applies to the input/output interface.

[Embodiment 1]
A vibration suppressing device according to Embodiment 1 will be described with reference to the drawings. FIG. 1 is a side view schematically showing a mechanical configuration of a vibration suppressing device according to a first embodiment. FIG. 2 is a side view schematically showing the mechanical configuration of the vibration suppressing device according to the first embodiment, as viewed from the arrow V1 in FIG. FIG. 3 is a block diagram schematically showing the circuit configuration of the vibration suppression device according to the first embodiment.

The vibration suppression device 1 uses dynamic frictional force and elastic force (including spring force) in both a static state and a dynamic state to reduce the acceleration applied to an object 2 mounted on the vibration suppression device 1, thereby reducing the object. This is a device that suppresses the vibration of 2. The vibration suppression device 1 uses dynamic friction force and elastic force without using static friction force in a stationary state to reduce sudden acceleration applied to an object 2 mounted on the vibration suppression device 1, and eliminate unnecessary vibrations. By suppressing this, damage to the object 2 is prevented. The vibration suppressing device 1 can be installed, for example, in a transportation vehicle that is prone to shaking while running, a factory that is prone to mechanical vibration, and the like. The vibration suppressing device 1 includes, as main components, a pedestal section 10, a plate section 11, elastic members 12 and 13, drive rollers 21 to 24, drive shafts 26 to 29, drive sections 31 to 34, It includes nip mechanisms 36 to 39 and a control section 41 (see FIGS. 1 to 3).

Here, the object 2 may be, for example, an object that is susceptible to shaking, such as a precision instrument whose external force is limited. Further, the stationary state is a state in which the object 2 is mounted on the vibration suppressing device 1 and is stationary. The dynamic state is a state in which the object 2 is mounted on the vibration suppressing device 1 and is moving (swinging state, vibrating state, etc.).

The pedestal section 10 is a member that serves as a pedestal on which the object 2 is mounted (see FIGS. 1 and 2). The upper surface of the pedestal section 10 can be a flat surface (horizontal surface), and the object 2 can be mounted thereon. The pedestal portion 10 may be connected to the object 2 with a bolt or the like so as to be integral with the object 2. An upper end portion of a plate portion 11 is fixed to the lower surface of the pedestal portion 10. The pedestal portion 10 may be integrated with the plate portion 11. The lower surface of the pedestal part 10 is supported by a plurality of (or even one) elastic members 12 and 13 at positions other than the position where the plate part 11 is fixed. The base portion 10 may be connected to elastic members 12 and 13.

The plate portion 11 is a plate-shaped member (longitudinal member) disposed so as to be slidable in the vertical direction between the drive rollers 21 and 23 and the drive rollers 22 and 24 (see FIGS. 1 and 2). The plate portion 11 may be supported by the main body (for example, a housing) of the vibration suppressing device 1 so as to be slidable in the vertical direction. The upper end portion of the plate portion 11 is fixed to the lower surface of the pedestal portion 10. The plate part 11 interlocks with the object 2 via the pedestal part 10. Both surfaces of the plate portion 11 serve as roughened friction surfaces. The material of the plate portion 11 is preferably a material that is less likely to wear out than the material of the drive rollers 21 to 24. The plate portion 11 is sandwiched between drive rollers 21 and 23 and drive rollers 22 and 24 by nip mechanisms 36 to 39. The plate portion 11 receives the dynamic frictional force of the drive rollers 21, 22 while being in contact with the drive rollers 21, 22 so as to be sent downward by the rotationally driven drive rollers 21, 22. The plate portion 11 receives the dynamic frictional force of the drive rollers 23, 24 while being in contact with the drive rollers 23, 24 so as to be sent upward by the rotationally driven drive rollers 23, 24. When the object 2 is in a stationary state, the plate portion 11 is maintained at a constant position by the resultant force of the dynamic friction forces of the drive rollers 21 to 24 without being sent upward or downward. The vertical vibration of the plate portion 11 when the object 2 is in motion is attenuated by the resultant force of the dynamic friction forces of the drive rollers 21 to 24.

The elastic members 12 and 13 are elastically deformable members (see FIG. 1). The number of elastic members 12 and 13 is not limited to two as shown in FIG. 1, but may be one, or three or more. The lower ends of the elastic members 12 and 13 are supported (or connected) to fixed parts 12a and 13a (for example, parts fixed to the casing of the vibration suppressing device 1) fixed at predetermined positions. The upper end portions of the elastic members 12 and 13 support the lower surface of the pedestal portion 10. As the elastic members 12 and 13, for example, a coil spring, a plate spring, a rubber block, a shock absorbing/vibration absorbing material, a gel-like material using silicone, or a composite of any of these can be used. The elastic members 12 and 13 may elastically support the lower surface (lower end portion) of the plate portion 11 instead of or in addition to the lower surface of the pedestal portion 10.

The drive rollers 21 to 24 are rollers that are each rotated in a predetermined direction (see FIGS. 1 to 3). The drive rollers 21 to 24 are configured to generate dynamic frictional force with the plate portion 11 not only when the object 2 is in motion but also when it is stationary. The drive rollers 21 and 22 rotate and drive the plate part 11 in a direction to send it downward, and the drive rollers 23 and 24 rotate and drive in a direction to send the plate part 11 upward, so that the feeding of the plate part 11 is canceled out. , the drive rollers 21 to 24 slide relative to the plate portion 11 and rotate idly when the object 2 is in a stationary state or in a moving state.

The drive roller 21 is constantly rotationally driven by a drive unit 31 via a drive shaft 26 (see FIG. 3). In FIG. 1, the drive roller 21 is rotationally driven (driven clockwise) in a direction that sends the plate part 11 downward, and is pressed against the plate part 11 side by the nip mechanism 36. When the object 2 is in a stationary state or a moving state, the drive roller 21 slides and rotates idly with respect to the plate portion 11 to generate dynamic frictional force.

The drive roller 22 is constantly rotationally driven by a drive unit 32 via a drive shaft 27 (see FIG. 3). In FIG. 1, the drive roller 22 is rotationally driven (driven counterclockwise) in a direction that sends the plate portion 11 downward, and is pressed against the plate portion 11 side by the nip mechanism 37. When the object 2 is in a stationary state or a moving state, the drive roller 22 slides and rotates idly with respect to the plate portion 11 to generate dynamic frictional force. In FIG. 1, the drive roller 22 is disposed on the opposite side of the plate portion 11 to the drive roller 21 side, and is arranged at the same height as the drive roller 21 in the vertical direction.

The drive roller 23 is constantly rotationally driven by a drive unit 33 via a drive shaft 28 (see FIG. 3). In FIG. 1, the drive roller 23 is rotationally driven (driven counterclockwise) in a direction to send the plate portion 11 upward, and is pressed against the plate portion 11 side by the nip mechanism 38. When the object 2 is in a stationary state or in a moving state, the drive roller 23 slides and rotates idly with respect to the plate portion 11 to generate dynamic frictional force. In FIG. 1, the drive roller 23 is arranged below (or above) the drive roller 21.

The drive roller 24 is constantly rotationally driven by a drive unit 34 via a drive shaft 29 (see FIG. 3). In FIG. 1, the drive roller 24 is rotationally driven (driven clockwise) in the direction of sending the plate portion 11 upward, and is pressed against the plate portion 11 side by the nip mechanism 39. When the object 2 is in a stationary state or a moving state, the drive roller 24 slides and rotates idly with respect to the plate portion 11 to generate a dynamic frictional force. In FIG. 1, the drive roller 24 is disposed on the opposite side of the plate portion 11 to the drive roller 23 side, and is arranged at the same height as the drive roller 23 in the vertical direction.

The drive units 31 to 34 are functional units that rotationally drive the corresponding drive rollers 21 to 24 via the corresponding drive shafts 26 to 29 (see FIGS. 2 and 3). The rotational speed and rotational torque of the drive parts 31 to 34 are controlled by the control part 41, and when the object 2 is in a stationary state, the plate part 11 is moved upwardly and downwardly by the resultant force of the dynamic friction forces of the drive rollers 21 to 24. It is controlled so that it is maintained in a fixed position without being sent to the side. As the drive units 31 to 34, for example, brushless motors can be used, and one equipped with a sensor for detecting the rotational speed and rotational position, or one without a sensor and using motor current, voltage, and motor parameters to detect the rotational speed and rotational position. It is possible to use a method that calculates and estimates .

The nip mechanisms 36 to 39 are mechanisms for pressing the corresponding drive rollers 21 to 24 against the plate portion 11 (FIGS. 1 to 3). As the nip mechanisms 36 to 39, for example, a mechanism capable of controlling the pressing force N to the shafts of the drive rollers 21 to 24 using a hydraulic cylinder, a solenoid, or the like can be used. The pressing force N of each of the nip mechanisms 36 to 39 is controlled by the control unit 41, and is controlled to be uniform at a predetermined pressing force. The pressing force N of each of the nip mechanisms 36 to 39 may be changed depending on the mass M of the object 2 mounted on the pedestal 10 and the allowable acceleration _a0 . The allowable acceleration _a0 can be arbitrarily set according to requirements such as impact resistance and earthquake resistance. The pressing force N by the nip mechanisms 36 to 39 is set so as not to exceed the allowable acceleration _a0 . Note that the nip mechanisms 36 to 39 may be constructed using elastic members (springs, springs, etc.) as long as the pressing force N can be maintained within an allowable range even if the drive rollers 21 to 24 are worn out due to use. , may not be controlled by the control unit 41.

The control unit 41 is a functional unit that controls the drive units 31 to 34 and the nip mechanisms 36 to 39 (see FIG. 3). The control unit 41 controls each rotation speed and each rotation torque of the drive units 31 to 34, and when the object 2 is in a stationary state, the plate unit 11 is moved upward by the resultant force of the dynamic friction forces of the drive rollers 21 to 24. control so that it is maintained at a constant position without being sent downward. The control unit 41 controls the pressing forces of the nip mechanisms 36 to 39 to be equal to a predetermined pressing force.

In the vibration suppressing device 1 configured as described above, even if the object 2 receives an acceleration a _L (acceleration due to impact, earthquake, mechanical vibration, etc.) that is less than or equal to the allowable acceleration a ₀ , the object 2 will not be caught between the drive rollers 21 to 24. The plate part 11 does not slide, and the object 2 does not swing in the vertical direction (vertical direction). That is, when the object 2 of mass M receives an acceleration a _L that is less than the allowable acceleration a ₀ , the inertial force Ma _L is the force between the driving rollers 21 to 24 and the plate portion 11 to which the pressing force N of the nip mechanisms 36 to 39 is applied. Since the dynamic frictional force generated during this does not exceed 4μ'N (=Ma ₀ ; μ' is the coefficient of dynamic friction), the object 2 does not change its position in the vertical direction and remains stationary.

On the other hand, when the object 2 receives an acceleration a _H exceeding the allowable acceleration a ₀ , the plate portion 11 sandwiched between the drive rollers 21 to 24 slides, and the object 2 swings in the vertical direction (vertical direction). That is, when the object 2 of mass M receives an acceleration _aH exceeding the allowable acceleration _a0 , the inertial force _MaH is generated between the driving rollers 21 to 24 and the plate portion 11 to which the pressing force N of the nip mechanisms 36 to 39 is applied. Since the kinetic frictional force generated between 4μ'N (=Ma ₀ ) is exceeded, the object 2 changes its position in the vertical direction and is in a moving state.Afterwards, the acceleration of the object 2 is reduced by the kinetic frictional force 4μ'N, and the object 2 changes its position in the vertical direction and is in a moving state. 2 vibration is also suppressed.

Next, behavior when a force exceeding an allowable value is applied to an object mounted on the vibration suppression device according to the first embodiment will be described using a comparative example and drawings. FIG. 4 is a graph schematically showing how the force applied to the mounted object is attenuated when a force exceeding an allowable value is applied to the mounted object mounted on the vibration suppressing device according to the first embodiment. FIG. 5 is a side view schematically showing the mechanical configuration of a vibration suppression device according to a comparative example. FIG. 6 is a graph schematically showing how the force applied to the mounted object is attenuated when a force exceeding a permissible value is applied to the mounted object mounted on the vibration suppression device according to the comparative example.

As shown in FIG. 5, the vibration suppressing device according to the comparative example has a non-rotating roller 51 that prevents the drive rollers (21 to 24 in FIG. 1) of the vibration suppressing device according to the first embodiment (1 in FIG. 1) from rotating. -54. Assuming that the mass of the object 2 is M, the allowable acceleration is a ₀ , each pressing force of the nip mechanisms 36 to 39 is N, and the static friction coefficient is μ, the vibration suppression device according to the comparative example has a static friction force of 4 μN in a stationary state. (=Ma ₀ ) is set as the allowable value (see FIG. 6). In the vibration suppression device according to the comparative example, the object 2 enters a dynamic state when a force (=static friction force of 4 μN) exceeding the allowable value is applied to the object 2. When the object 2 is in a dynamic state, the friction coefficient becomes a dynamic friction coefficient μ'. The friction force becomes a damping force, but the damping force is a dynamic friction force of 4 μ'N, which is smaller than the static friction force of 4 μN (that is, the dynamic friction coefficient μ' is smaller than the static friction coefficient μ), so the damping force decreases and a dynamic state begins. It takes a long time to complete the process (see Figure 6).

On the other hand, in the vibration suppression device (1 in FIG. 1) according to the first embodiment, since the drive rollers 21 to 24 rotate and slide even when the object 2 is stationary, the frictional force is 4μ in both the stationary and dynamic states. 'N is constant (see Figure 4). Therefore, in the vibration suppression device 1 according to the first embodiment, the damping force does not decrease even when the static state changes to the dynamic state, and the vibration suppression device 1 according to the comparative example does not reduce the time from the start to the end of the dynamic state. It can be made shorter than the device (see figure).

According to Embodiment 1, even when the object 2 is at rest or in motion, the frictional force is maintained by suppressing the vibration of the object 2 while the dynamic frictional force is applied to the parts (plate portion 11) that move with the object 2. This can contribute to ensuring stable behavior.

[Embodiment 2]
A vibration suppression device according to a second embodiment will be explained using the drawings. FIG. 7 is a side view schematically showing the mechanical configuration of the vibration suppression device according to the second embodiment.

Embodiment 2 is a modification of Embodiment 1, and includes four sets of drive rollers 21A to 24A and 21B to 24B (four or more sets are also possible). The drive rollers 21A to 24A and 21B to 24B are pressed against the plate portion 11 by corresponding nip mechanisms 36A to 39A and 36B to 39B. The driving of the drive rollers 21A to 24A and 21B to 24B and the pressing of the nip mechanisms 36A to 39A and 36B to 39B can be controlled by a control section (corresponding to 41 in FIG. 3). In the second embodiment as well, when the object 2 is in a stationary state, the drive rollers 21A to 24A and 21B to 24B slip and rotate idly with respect to the plate portion 11, and a dynamic frictional force is applied thereto. Other configurations and operations are similar to those in the first embodiment.

According to Embodiment 2, as in Embodiment 1, by applying a dynamic frictional force to the object 2 even when it is stationary, it is possible to contribute to maintaining the frictional force and ensuring stable behavior. can.

[Embodiment 3]
A vibration suppression device according to Embodiment 3 will be explained using the drawings. FIG. 8 is a side view schematically showing the mechanical configuration of the vibration suppression device according to the third embodiment.

The vibration suppression device 1 is a device that suppresses vibrations of an object 2. The vibration suppression device 1 includes a pedestal section 10, a plate section 11, elastic members 12 and 13, drive rollers 21 and 24, and nip mechanisms 36 and 39. The object 2 is mounted on the pedestal section 10. The plate portion 11 is arranged vertically and is fixed to the lower surface of the pedestal portion 10. The elastic members 12 and 13 support the lower surface of the base portion 10 (or the plate portion 11) with elastic force, and there are one or more (two in FIG. 8). The drive rollers 21 and 24 are configured to rotate and generate dynamic frictional force with the plate portion 11 when the object 2 is in a stationary state or a moving state, and there are a plurality of drive rollers (two in FIG. 8). The nip mechanisms 36 and 39 are configured to press the corresponding drive rollers 21 and 24 toward the plate portion 11, and there are a plurality of them (two in FIG. 8).

According to the third embodiment, by making the object 2 subject to a dynamic frictional force even when it is stationary, it is possible to maintain the frictional force and contribute to ensuring stable behavior.

Some or all of the above embodiments may be described as in the following supplementary notes, but are not limited to the following.

[Additional note 1]
a pedestal portion on which an object is mounted;
a plate portion arranged vertically and fixed to the lower surface of the pedestal portion;
one or more elastic members that support the lower surface of the pedestal part or the plate part with elastic force;
a plurality of drive rollers configured to be rotationally driven and to generate dynamic frictional force with the plate portion when the object is in a stationary state and a moving state;
a plurality of nip mechanisms configured to press the corresponding drive rollers toward the plate side;
A vibration suppression device comprising:
[Additional note 2]
The plurality of drive rollers are
one or more first drive rollers that are rotationally driven to send the plate portion downward;
one or more second drive rollers that are rotationally driven to send the plate portion upward;
The vibration suppression device according to Supplementary Note 1, comprising:
[Additional note 3]
There are a plurality of the first drive rollers, and the first drive rollers are arranged so as to sandwich the plate portion,
There is a plurality of the second drive rollers, and the second drive rollers are arranged so as to sandwich the plate portion.
The vibration suppression device according to supplementary note 2.
[Additional note 4]
The elastic member is a coil spring whose lower end is supported by a fixed part fixed at a predetermined position, and whose upper end is configured to support the lower surface of the pedestal part.
The vibration suppression device according to Supplementary Note 1.
[Additional note 5]
further comprising a plurality of drive units that rotationally drive the corresponding drive rollers;
The vibration suppression device according to any one of Supplementary Notes 1 to 4.
[Additional note 6]
further comprising a control unit that controls each rotational speed and each rotational torque of the plurality of drive units,
The vibration suppression device according to supplementary note 5.
[Additional note 7]
The control unit controls the plurality of drive units so that the plate part is maintained at a constant position without being sent upward or downward when the object is in a stationary state.
The vibration suppression device according to appendix 6.
[Additional note 8]
The control unit controls each pressing force in the plurality of nip mechanisms,
The vibration suppression device according to appendix 6.
[Additional note 9]
The control unit controls the plurality of nip mechanisms so that each pressing force in the plurality of nip mechanisms is equal.
The vibration suppression device according to appendix 8.
[Additional note 10]
A vibration suppression method that suppresses the vibration of an object in a state where dynamic frictional force is applied to parts that interlock with the object when the object is in a stationary state and a moving state.

It should be noted that the disclosures of the above-mentioned patent documents are incorporated into this book by reference, and can be used as the basis or part of the present invention as necessary. Within the framework of the entire disclosure of the present invention (including claims and drawings), changes and adjustments to the embodiments and examples are possible based on the basic technical idea thereof. Furthermore, various combinations or selections (as necessary) of various disclosed elements (including each element of each claim, each element of each embodiment or example, each element of each drawing, etc.) within the framework of the entire disclosure of the present invention. (not selected) is possible. That is, it goes without saying that the present invention includes the entire disclosure including the claims and drawings, as well as various modifications and modifications that a person skilled in the art would be able to make in accordance with the technical idea. Furthermore, with respect to the numerical values and numerical ranges described in this application, any intermediate values, lower numerical values, and small ranges thereof are deemed to be included even if not explicitly stated. Furthermore, each of the disclosures in the documents cited above may be used, in part or in whole, in combination with the matters described in this book as part of the disclosure of the present invention, if necessary, in accordance with the spirit of the present invention. It shall be deemed to be included (belong) to the disclosure matter of this application.

1 Vibration suppressor 2 Object 10 Pedestal part 11 Plate part 12, 13 Elastic member 12a, 13a Fixed part 21-24, 21A-24A, 21B-24B Drive roller 26-29 Drive shaft 31-34 Drive part 36-39, 36A ~39A, 36B~39B Nip mechanism 41 Control section 51~54 Non-rotating roller

Claims (10)

a pedestal portion on which an object is mounted;
a plate portion arranged vertically and fixed to the lower surface of the pedestal portion;
one or more elastic members that support the lower surface of the pedestal part or the plate part with elastic force;
a plurality of drive rollers configured to be rotationally driven and to generate dynamic frictional force with the plate portion when the object is in a stationary state and a moving state;
a plurality of nip mechanisms configured to press the corresponding drive rollers toward the plate side;
A vibration suppression device comprising: The plurality of drive rollers are
one or more first drive rollers that are rotationally driven to send the plate portion downward;
one or more second drive rollers that are rotationally driven to send the plate portion upward;
The vibration suppression device according to claim 1, comprising: There are a plurality of the first drive rollers, and the first drive rollers are arranged so as to sandwich the plate portion,
There is a plurality of the second drive rollers, and the second drive rollers are arranged so as to sandwich the plate portion.
The vibration suppression device according to claim 2. The elastic member is a coil spring whose lower end is supported by a fixed part fixed at a predetermined position, and whose upper end is configured to elastically support the lower surface of the pedestal part.
The vibration suppression device according to claim 1. further comprising a plurality of drive units that rotationally drive the corresponding drive rollers;
The vibration suppression device according to any one of claims 1 to 4. further comprising a control unit that controls each rotational speed and each rotational torque of the plurality of drive units,
The vibration suppression device according to claim 5. The control unit controls the plurality of drive units so that the plate unit is maintained at a constant position without being sent upward or downward when the object is in a stationary state.
The vibration suppression device according to claim 6. The control unit controls each pressing force in the plurality of nip mechanisms,
The vibration suppression device according to claim 6. The control unit controls the plurality of nip mechanisms so that each pressing force in the plurality of nip mechanisms is equalized.
The vibration suppression device according to claim 8. A vibration suppression method that suppresses the vibration of an object in a state where dynamic frictional force is applied to parts that move with the object when the object is in a stationary state and a moving state.

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