JP4632057B2 - Vibration control device - Google Patents

Description

  The present invention relates to a vibration control device that suppresses or reduces vibration applied to a riding section such as a seat, particularly a riding section such as a seat installed in a moving body.

2. Description of the Related Art Conventionally, there is a seat vibration control device that suppresses vibration applied to a seat by controlling the operation of a direct-acting electric actuator under the seat according to vibration acceleration (see Patent Document 1).
JP-A-11-180202

  However, as shown in FIG. 14A, when the sheet S is supported only by the actuator 121, the output of the actuator 121 is always required including the stopped state. 14B, when the sheet S is supported by the actuator 121 and the torsion spring 122, the output of the actuator 121 can be set to 0 in the stop state, but the vibration of the sheet S is controlled. In this case, the spring force of the torsion spring 122 becomes a reaction force, and in addition to the output for vibration control, the output for the reaction force of the spring is required for the actuator 121, and a large output is required.

  The present invention solves the above-described problems, and an object of the present invention is to provide an efficient vibration control device that can reduce the output of the vibration damping means and can be realized by a small vibration damping means.

  Therefore, the present invention provides a load support unit installed in an installation unit, a counter balance unit that is connected to the load support unit and applies a load that balances the load, and a vibration control that controls vibration of the load support unit with respect to the installation unit. In the vibration control device including a vibration control unit having a means, the load support unit includes a first moving unit that moves relative to the installation unit, and the counter balance unit is configured to move relative to the load support unit. Second moving means that moves relative to each other, a balance part pivotally supported by the installation part, one end side of which is rotatably connected to the second movement means, the other end side of the balance part, and the installation A biasing means interposed between the biasing means and an adjusting means that is interposed between the other end side of the balance part and the installation part and is connected to the biasing means to adjust the length. And having the load applied to one end side of the balance portion When the load support portion is displaced from a balance state between the moment and the moment by the biasing means applied to the other end side of the balance portion, the moment to return to the balance state becomes larger. It is characterized by.

  Further, the larger the displacement of the load support portion, the larger the difference between the absolute value of the moment by the biasing means and the absolute value of the moment by the load.

  Moreover, the fulcrum of the balance part is arranged on the biasing means side with respect to a straight line passing through one end and the other end.

  Moreover, it has the displacement direction conversion means which converts the displacement direction of the other end side of the said balance part into the displacement direction of the said adjustment means, It is characterized by the above-mentioned.

Furthermore, the displacement direction changing means, possess a third moving means coupled to said balance portion other end, a fourth moving means coupled to the other end of the prior SL biasing means, a third The moving means moves relative to the fourth moving means, and the fourth moving means moves relative to the installation portion .

  Further, a plurality of the urging means are provided.

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

According to the first aspect of the present invention, the load support unit installed in the installation unit, the counter balance unit connected to the load support unit and providing a load that balances the load, and the vibration of the load support unit with respect to the installation unit. A vibration control device including a vibration control unit having a vibration control unit to control, the load support unit includes a first moving unit that moves relative to the installation unit;
The counter balance unit includes a second moving unit that moves relative to the load support unit, and a balance unit that is pivotally supported by the installation unit and pivotally connected at one end to the second moving unit. And an urging means interposed between the other end side of the balance part and the installation part, and an urging means interposed between the other end side of the balance part and the installation part, An adjusting means that is connected and adjusts the length, and is in a state of balance between the moment due to the load applied to one end side of the balance portion and the moment due to the biasing means applied to the other end side of the balance portion. When the load support portion is displaced, the moment to return to the balanced state becomes larger. Therefore, the output of the vibration control means can be reduced, and can be realized with a small vibration control means. Counterweight without moving to It is not necessary to apply the weight thereof.

  According to the second aspect of the invention, the greater the displacement of the load support portion, the greater the difference between the absolute value of the moment by the biasing means and the absolute value of the moment by the load. Can be used more efficiently.

  According to the third aspect of the present invention, the fulcrum of the balance portion is disposed on the biasing means side with respect to a straight line passing through one end and the other end, so that it can be installed in a small space.

  According to the invention of claim 4, since the displacement direction conversion means for converting the displacement direction of the other end side of the balance portion into the displacement direction of the adjustment means is provided, the other end side of the balance portion and the adjustment By aligning the direction of displacement of the means, the durability is improved and the means can be arranged in a small space, increasing the degree of freedom in design.

According to the invention of claim 5, wherein the displacement direction conversion means comprises a third moving means coupled to said balance portion other end, a fourth moving means coupled to the other end of the prior SL biasing means , have a, the third moving means moves relative to said fourth moving means, the fourth moving means so moves relative to the installation unit, with a simple structure, the balance portion By aligning the displacement direction of the other end side with the adjusting means, the durability is improved, and the arrangement can be made in a small space, and the degree of freedom of design increases.

  According to the invention described in claim 6, since a plurality of the urging means are provided, the moment by the urging means can be set more precisely.

  According to a seventh aspect of the present invention, there is provided detection means for detecting a state on the load support portion, and control means for operating the adjustment means or the vibration damping means according to the state detected by the detection means. Therefore, it is possible to appropriately cope with a change in load.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a vibration control device 1 according to an embodiment of the present invention. In the figure, 1 is a vibration control device, 10 is a load support portion, 11 is a load support member, 12 is a first slider as an example of a first moving means, 13 is a first slider rail as an example of a first guide means, 20 is a vibration control unit, 21 is a vibration control actuator as an example of a vibration control unit, 22 is a load sensor as an example of a detection unit, 23 is an acceleration sensor as an example of a detection unit, 30 is a counter balance unit, and 31 is Second slider rail as an example of second guide means, 32 is a second slider as an example of second moving means, 33 is a balance section, 34 is an actuator for preload adjustment as an example of adjustment means, and 35 is an urging means As an example, a spring, F is an installation portion, and S is a seat.

  The vibration control device 1 is installed on the installation unit F such as a floor by the load support unit 10. The vibration control unit 20 actively controls the vibration of the load such as the sheet S on the vibration control device 1 and the counter balance unit 30. The balance of force against the load is set.

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

  The vibration control unit 20 includes a vibration control actuator 21 such as a voice coil motor, a load sensor 22 such as a load cell, an acceleration sensor 23 shown in FIG. The vibration control actuator 21 is controlled to be vertically movable by a signal from a sensor that detects the state of the load sensor 22 or the acceleration sensor 23 such that the lower part is installed in the installation part F and the upper part is in contact with the load support member 11. Is done. The load sensor 22 is provided between the seat S and the load support member 11, and mainly controls the preload adjusting actuator based on the detected value. The acceleration sensor 23 detects the acceleration on the load support unit 10 and mainly controls the vibration damping actuator based on the detected value. In the present embodiment, the acceleration sensor 23 is applied. However, a sensor that detects the state on the load support unit 10 such as a speed sensor or a displacement sensor may be applied.

  The counter balance unit 30 includes a second slider rail 31, a second slider 32, a balance unit 33, a preload adjusting actuator 34, a spring 35, and the like. The 2nd slider rail 31 is installed in the load support member 11, and guides the 2nd slider 32 so that a movement is possible. The second slider 32 is connected to one end side of the balance portion 33 and guided by the second slider rail 31 to move relative to the load support portion 10.

  The balance portion 33 has a fulcrum 33a at the installation portion F, and one end side 33b is rotatably connected to the second slider 32 and the other end side 33c is pivotally connected to the spring 35 via the preload adjusting actuator 34.

  The preload adjusting actuator 34 has a variable length. One end is connected to the balance portion 33 and the other end is fixed to the spring 35. One end of the spring 35 is fixed to the preload adjusting actuator 34, and the other end is fixed to the installation portion F.

  FIG. 2 shows a block diagram of the vibration control apparatus 1 having such a structure. Input signals from the acceleration sensor 23 and the load sensor 22 are input to the ECU 40 as control means, and the vibration control actuator 21 and the preload adjustment actuator 34 are controlled to actively control vibration according to the load.

  Next, preload adjustment control will be described. FIG. 3 shows a flowchart of the preload adjustment control. First, in step 1, the load at the time of stopping without vibration is detected by the load sensor 22 (ST1). Next, in step 2, the detected load value for a certain time is read into the ECU 40 (ST2). Subsequently, in step 3, for example, an average value is calculated from the load values for a certain period of time to calculate a reference load value (ST3). Next, in step 4, the preload adjustment actuator 34 is controlled to operate in accordance with the calculated reference load value (ST4).

  4 shows the state of the vibration control device 1 before and after the preload adjustment control. FIG. 4 (a) shows the state before the preload adjustment control, and FIG. 4 (b) shows the state after the preload adjustment control. From the state before the preload adjustment control shown in FIG. 4A, for example, when the occupant P sits on the seat S and the load of the occupant P is added to the initial load, the balance unit 33 of the counter balance unit 30 is counterclockwise. It rotates and a load is applied to the spring 35. Therefore, as shown in FIG. 4B, the preload adjusting actuator 34 is operated to change the length of the balance portion 33, thereby balancing the load and the load by the spring 35.

  Thus, by operating the preload adjusting actuator 34, the load is canceled, and vibration control can be performed from that state.

  Next, the vibration control of this embodiment will be described. FIG. 5 shows a flowchart of vibration control. First, in step 11, the load during vibration is detected by the load sensor 22 (ST11). Next, in step 12, it is compared whether the detected load value is the same as the reference load value obtained by the preload adjustment control (ST12). In the same case, the vibration control actuator 21 is not operated and the vibration control is terminated. If not, it is determined in step 13 whether the detected load value is larger than the reference load value obtained by the preload adjustment control (ST13). If the detected load value is larger than the reference load value obtained by the preload adjustment control, the vibration control actuator 21 is contracted in step 14 (ST14). If the detected load value is smaller than the reference load value obtained by the preload adjustment control, in step 15, the damping actuator 21 is extended (ST15).

  Here, the characteristic of the spring 35 of this embodiment is demonstrated. FIG. 6 is a graph showing the characteristics of the spring of this embodiment. The solid line in the graph indicates the moment due to the load to be controlled around the fulcrum 33 a of the balance portion 33, and the dotted line indicates the moment due to the spring 35. The horizontal axis represents the seat displacement from the balance position, and the vertical axis represents the moment amount.

When the balance position between the moment due to the load obtained by the preload adjustment control shown in FIG. 3 and the moment due to the spring 35 is 0 on the horizontal axis, the load supporting member is determined based on the balance between the moment due to the load and the moment due to the spring 35. When 11 is displaced, the moment to return to the balanced state is set to be larger. For example,
In the present embodiment, when the load support member 11 is displaced upward, the moment due to the load becomes larger than the moment due to the spring 35, and when the load support member 11 is displaced downward, the moment due to the spring 35 becomes larger than the moment due to the load. In particular, the moment by the spring 35 is preferably increased as the displacement amount of the seat S from the balance position is increased.

  In this way, when the load supporting member 11 is displaced, the moment for returning to the balanced state is increased. In particular, the greater the displacement of the seat S, the difference between the moment due to the load and the moment due to the spring 35. By increasing the absolute value of, it is possible to cover the thrust of the vibration control actuator 21 when the vibration is large, using the load or the force to return to the balanced position by the spring 35. 21 can be made small.

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

  FIG. 7A shows a case where the detected load value corresponding to step 14 is larger than the reference load value obtained by the preload adjustment control. When the damping actuator 21 is contracted to make the vibration on the seat S zero, As the second slider 32 moves forward, the balance part 33 of the counter balance part 30 rotates counterclockwise. At this time, the greater the displacement of the seat S, the more the force for returning to the balanced position by the spring 35 is exerted, and the load and the load by the spring 35 can return to the nearly balanced state sooner.

  FIG. 7B shows a case where the detected load value corresponding to step 15 is smaller than the reference load value obtained by the preload adjustment control. When the vibration damping actuator 21 is extended to make the vibration on the seat S zero, While the 2nd slider 32 moves back, the balance part 33 of the counter balance part 30 rotates clockwise. At this time, the greater the displacement of the seat S, the more the force to return to the balance position due to the load acts, and the load and the load due to the spring 35 can return to the nearly balanced state sooner.

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

  FIG. 8 shows the result of comparing the case of using the vibration control device 1 of the present embodiment and the case of the prior art shown in FIG. 14 by simulation. In the simulation, an actuator for vibration suppression necessary for reducing the vibration of the load to 0 under the condition of traveling on a wavy path with an amplitude of 25 mm and a period of 750 mm at a speed of 70 km / h was obtained.

  FIG. 8A shows the case where the sheet S is supported only by the actuator as shown in FIG. 14A, and FIG. 8B shows the case where the sheet S is supported as shown in FIG. 14B. When using an actuator and a spring, FIG.8 (c) is a case of this embodiment.

  As described above, according to the vibration control device 1 of the present embodiment, the output of the vibration damping actuator 21 can be reduced, and can be realized by the small vibration damping actuator 21.

  FIG. 9 shows a second embodiment. In the present embodiment, the fulcrum 33a of the balance portion 33 is disposed on the opposite side of the spring 35 with respect to a straight line passing through the one end 33b and the other end 33c, and the other end 33c side is located on the other end 33c side. It is bent with. Thereby, the space for arranging the balance portion 33 is reduced. The shape of the balance portion 33 is not limited to the bending at the fulcrum 33a, but may be bent at another portion or may be a curved shape.

  FIG. 10 shows a third embodiment. In the present embodiment, the counter balance unit 30 includes a second slider rail 31, a second slider 32, a balance unit 33, a preload adjustment actuator 34, a spring 35, a displacement direction conversion unit 40, and the like. Includes a third slider 41, a third slider rail 42, a fourth slider 43, a fourth slider rail 44, and the like.

  The balance portion 33 has a fulcrum 33 a at the installation portion F, and connects one end 33 b to the second slider 32 and the other end 33 c to the third slider 41. The third slider 41 is guided by a third slider rail 42 provided on the fourth slider 43, and the fourth slider 43 is guided by a fourth slider rail 44 provided on the installation portion F and is relative to the third slider. Moving. The fourth slider connected to the other end of the spring 35, provided with the third slider 41 connected to the other end of the balance 33, the third slider rail for guiding the third slider 41, and the third slider rail. The fourth slider rail installed in the installation section F and guiding the fourth slider in the displacement direction of the preload adjusting actuator 34 is an example of the displacement direction converting means 40.

  The preload adjusting actuator 34 has a variable length, and one end is connected to the installation portion F and the other end is fixed to the spring 35. One end of the spring 35 is fixed to the preload adjusting actuator 34, and the other end is fixed to the fourth slider 43. When the preload adjusting actuator 34 and the spring 35 are disposed, durability is improved if the expansion / contraction direction of the preload adjusting actuator 34 and the expansion / contraction direction of the spring 35 are the same.

  FIG. 11 shows the fourth embodiment, and the spring 35 of the first embodiment shown in FIG. 1 is composed of a first spring 35a and a second spring 35b. FIG. 12 shows the fifth embodiment. The spring 35 of the second embodiment shown in FIG. 9 is constituted by a first spring 35a and a second spring 35b.

  FIG. 13 shows the sixth embodiment, and the spring 35 used in the third embodiment shown in FIG. 10 is a first spring 35a, and in addition, the other end 33c side of the balance portion 33 and the installation portion. The second spring 35b is connected to F.

  As described above, the load support unit 10 installed in the installation unit F, the counter balance unit 30 connected to the load support unit 10 to provide a load that balances the load, and the actuator that controls the vibration of the load support unit 10 with respect to the installation unit F. In the vibration control device 1 including the vibration control unit 20 having 21, the load support unit 10 includes a first slider 12 that moves relative to the installation unit F, and the counterbalance unit 30 includes the load support unit 10. A second slider 32 that moves relative to the second slider 32, a fulcrum 33a pivotally supported by the installation portion F, and one end 33b that is rotatably connected to the second slider 32, and the other end of the balance portion 33. A spring 35 interposed between the 33c side and the installation portion F, a spring 35 interposed between the other end 33c side of the balance portion 33 and the installation portion F, and connected to the spring 35 to adjust the length. A load adjusting actuator 34, and the load support member 11 is configured to balance the moment caused by the load applied to the one end 33b side of the balance portion 33 and the moment caused by the spring 35 applied to the other end 33c side of the balance portion 33. When displaced, the moment to return to the balanced state becomes larger, so that the output of the actuator 21 can be reduced, which can be realized by the small actuator 21, the load supporting member does not move in the horizontal direction, and the spring 35. This eliminates the need to apply a heavy load such as a counterweight.

  Moreover, since the difference between the absolute value of the moment by the spring 35 and the absolute value of the moment by the load increases as the displacement of the load support portion 10 increases, the moment by the spring 35 can be used more efficiently.

  Moreover, since the fulcrum 33a of the balance part 33 is arrange | positioned on the opposite side of the spring 35 with respect to the straight line which passes along the one end 33b and the other end 33c, it can be installed in a small space.

  Moreover, since it has the displacement direction conversion means 40 which converts the displacement direction by the side of the other end 33c of the balance part 33 into the displacement direction of the actuator 34 for preload adjustment, it has the other end 33c side of the balance part 33, and the actuator 34 for preload adjustment. By aligning the displacement direction, durability can be improved and it can be arranged in a small space, increasing the degree of freedom of design.

  Further, the displacement direction converting means 40 includes a third slider 41 connected to the balance 33 other end 33 c side, and a fourth slider connected to the other end of the spring 35 and moved relative to the third slider 41. 43, the durability is improved by aligning the displacement direction of the other end 33c side of the balance portion 33 and the preload adjusting actuator 34 with a simple structure, and the design can be arranged in a small space. Increased freedom.

  In addition, since a plurality of springs 35 are provided, the moment by the springs 35 can be set more precisely.

  In addition, a load sensor 22 or an acceleration sensor 23 that detects a state on the load support unit 10 is provided, and a preload adjustment actuator 34 or a vibration suppression actuator 21 is provided depending on the state detected by the load sensor 22 or the acceleration sensor 23 or the like. Since the ECU 50 that operates is provided, it is possible to appropriately cope with a change in load.

It is a figure which shows the vibration control apparatus of this embodiment. It is the block diagram which showed the system configuration | structure of the vibration control apparatus. It is a figure which shows the flowchart of preload adjustment control. It is a figure which shows the state of the vibration control apparatus at the time of preload adjustment control. It is a figure which shows the flowchart of vibration control. It is a figure which shows the difference of the moment by a load, and the moment by a spring. It is a figure which shows the state of the vibration control apparatus at the time of vibration control. It is a figure which shows the simulation which compared the vibration control apparatus of this embodiment, and the prior art. It is a figure which shows the vibration control apparatus of 2nd Embodiment. It is a figure which shows the vibration control apparatus of 3rd Embodiment. It is a figure which shows the vibration control apparatus of 4th Embodiment. It is a figure which shows the vibration control apparatus of 5th Embodiment. It is a figure which shows the vibration control apparatus of 6th Embodiment. It is a figure which shows the prior art.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vibration control apparatus, 10 ... Load support part, 11 ... Support member, 12 ... 1st slider (1st moving means), 13 ... 1st slider rail (1st guide means), 20 ... Vibration control part, 21 ... Damping actuator (vibration means), 22 ... Load sensor (detection means), 23 ... Acceleration sensor (detection means), 30 ... Counter balance unit, 31 ... Second slider rail (second guide means), 32 ... First 2 slider (second moving means), 33 ... balance unit, 34 ... preload adjusting actuator (adjusting means), 35 ... spring (biasing means), 40 ... displacement direction changing means, 41 ... third slider (third movement) Means), 42 ... third slider rail (third guide means), 43 ... fourth slider (fourth moving means), 44 ... fourth slider rail (fourth guide means), 50 ... ECU (control means), F ... installation section, ... seat

Claims (7)

A vibration control unit having a load support unit installed in the installation unit, a counter balance unit connected to the load support unit and providing a load that balances the load, and a vibration control unit that controls vibration of the load support unit with respect to the installation unit In a vibration control device comprising:
The load support portion includes first moving means that moves relative to the installation portion,
The counter balance unit includes a second moving unit that moves relative to the load support unit, and a balance unit that is pivotally supported by the installation unit and pivotally connected at one end to the second moving unit. And an urging means interposed between the other end side of the balance part and the installation part, and an urging means interposed between the other end side of the balance part and the installation part, Adjusting means connected and adjusting the length,
When the load supporting portion is displaced from a balanced state between the moment due to the load applied to one end side of the balance portion and the moment due to the biasing means applied to the other end side of the balance portion, the balance is returned to the balanced state. A vibration control device characterized in that the moment to be increased is larger.   2. The vibration control device according to claim 1, wherein the larger the displacement of the load support portion, the larger the difference between the absolute value of the moment by the urging means and the absolute value of the moment by the load.   3. The vibration control device according to claim 1, wherein a fulcrum of the balance portion is disposed on a side opposite to the biasing unit with respect to a straight line passing through one end and the other end.   The vibration control device according to claim 1, further comprising: a displacement direction conversion unit that converts a displacement direction of the other end side of the balance unit into a displacement direction of the adjustment unit. The displacement direction converting means includes
Third moving means coupled to the other end of the balance part ;
And fourth moving means coupled to the other end of the prior SL biasing means,
I have a,
The third moving means moves relative to the fourth moving means;
The vibration control apparatus according to claim 4, wherein the fourth moving means moves relative to the installation portion .   6. The vibration control apparatus according to claim 1, wherein a plurality of the urging means are provided.   2. The apparatus according to claim 1, further comprising a detection unit that detects a state on the load supporting unit, and a control unit that operates the adjustment unit or the vibration suppression unit according to the state detected by the detection unit. The vibration control device according to claim 6.

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