WO2005026573A1 - 除振方法およびその装置 - Google Patents
除振方法およびその装置 Download PDFInfo
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- WO2005026573A1 WO2005026573A1 PCT/JP2004/004491 JP2004004491W WO2005026573A1 WO 2005026573 A1 WO2005026573 A1 WO 2005026573A1 JP 2004004491 W JP2004004491 W JP 2004004491W WO 2005026573 A1 WO2005026573 A1 WO 2005026573A1
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- vibration
- panel
- base
- characteristic
- positive
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F7/00—Vibration-dampers; Shock-absorbers
- F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
- F16F7/1005—Vibration-dampers; Shock-absorbers using inertia effect characterised by active control of the mass
- F16F7/1011—Vibration-dampers; Shock-absorbers using inertia effect characterised by active control of the mass by electromagnetic means
Definitions
- the present invention provides an anti-vibration method comprising a support mechanism having a positive panel characteristic and a support mechanism having a negative panel characteristic connected in series with a support mechanism having a positive panel characteristic. And its device.
- Vibration disturbances to be removed by the vibration isolator can be broadly classified into ground disturbances caused by vibrations from the installation floor and linear motion disturbances input to the panel of the device.
- the former has a low rigidity mechanism.
- a highly rigid mechanism is suitable.
- Fig. 20 (A) shows a conventional passive vibration isolation system that isolates ground vibration and isolates vibrations.In order to reduce the vibration transmissibility from the floor 36, the spring characteristic k is reduced.
- the panel stiffness When the panel stiffness is reduced to reduce the panel rigidity, the panel will be less susceptible to disturbances on the panel, such as changes in mass ⁇ m on the vibration isolation table 32 (mass I will do it. Conversely, panel stiffness must be increased to some extent against disturbances on the panel. Opposing characteristics are required, such as a low-rigidity mechanism for absorbing such disturbances and a high-rigidity mechanism for maintaining position and orientation.
- Fig. 20 (B) As shown in Fig. 20 (B), generally, two panels 35-1 and 35-2 having positive panel characteristics kl and k2 are connected in series to form one vibration isolation mechanism. , And its characteristic is obtained by the following equation.
- Fig. 21 shows the principle of a general active vibration isolation control device, and the controller 115 controls the controller 115 based on the detection signal from the acceleration sensor 114 mounted on the vibration isolation table 110. Calculate the control input that suppresses the vibration of the anti-vibration table 1 10, and operate the actuator 1 1 3 installed in parallel with the panel 1 1 1 and the attenuator 1 1 2 by the obtained control input. In this way, anti-vibration control is performed.
- the present inventors first ensured high rigidity against linear motion disturbance without impairing vibration insulation performance against ground motion disturbance.
- a vibration isolation method and a device have been proposed that exhibit high vibration isolation function and enable precision machining and the like (see Japanese Patent Application Laid-Open No. 2002-81498).
- vibrations between a floor (base) and an intermediate table (first member) are removed by a panel, and the intermediate table (first member) and the intermediate table (first member) are separated.
- Vibration is removed between the vibration isolation table (second member) and the magnetic levitation mechanism with a zero power characteristic composed of permanent magnets and electromagnets.
- Panel Vibration isolation and vibration isolation by the magnetic levitation mechanism between the intermediate table and the vibration isolation table ensure high rigidity against linear motion disturbance without impairing the vibration insulation performance against ground motion disturbance, and high vibration isolation function To enable precision machining.
- an actuator such as a magnetic levitation mechanism
- a major obstacle has been the need for data.
- a zero-power magnetic levitation mechanism is used to realize the negative panel characteristics, a large amount of permanent magnets for zero-power magnetic levitation are required, which raises the problem of high cost.
- k c [k 1-k 2 / (k l + k 2)] + k 3
- the present invention has been made based on the above findings, and includes a support mechanism having a positive panel characteristic and a support mechanism having a negative panel characteristic in series with a load supporting mechanism having a positive panel characteristic.
- the feature is that a connected configuration is adopted. Disclosure of the invention
- the technical solution adopted by the present invention is: A support mechanism having a positive panel characteristic and a support mechanism having a negative panel characteristic connected in series between the base and the second member via the first member; and a positive mechanism in parallel with the support mechanism.
- a panel is provided between the base and the first member to insulate vibration transmitted from the base to the first member, and a permanent magnet and an electromagnet are provided between the first member and the second member.
- a panel is provided between the base and the first member to insulate vibration transmitted from the base to the first member, and a permanent magnet and an electromagnet are provided between the first member and the second member.
- a magnetic levitation mechanism with zero power characteristics and a panel element with positive panel characteristics are arranged in parallel with the magnetic levitation mechanism, and a positive panel characteristic is provided between the base and the second member.
- a panel element having positive panel characteristics and a linear actuator are arranged between the base and the first member in parallel with the panel element to insulate vibration transmitted from the base to the first member.
- a magnetic levitation mechanism having a zero-pulse characteristic composed of a permanent magnet and an electromagnet is disposed between the first member and the second member, and furthermore, between the base and the second member.
- a panel is provided between the base and the first member to transmit from the base to the first member.
- a zero-part magnetic levitation mechanism having a negative panel characteristic is arranged between the first member and the second member, and a positive-pole magnetic levitation mechanism is further provided between the second member and the base.
- a magnetic levitation mechanism having a base supported by a panel having a predetermined positive panel characteristic and a permanent magnet and an electromagnet for the intermediate table and having a zero power characteristic of a predetermined negative panel characteristic.
- a vibration isolation table supported by the vibration isolation table, and a load supporting mechanism having a positive panel characteristic is disposed between the vibration isolation table and the base.
- a magnetic levitation mechanism having a base supported by a panel having a predetermined positive panel characteristic and a permanent magnet and an electromagnet for the intermediate table and having a zero power characteristic of a predetermined negative panel characteristic.
- a vibration isolation table supported by a panel element having a positive panel characteristic and arranged in parallel with the magnetic levitation mechanism, and a positive panel characteristic is provided between the vibration isolation table and the base.
- an intermediate table supported by a panel element having a predetermined positive panel characteristic and a linear actuator on the base, and a predetermined negative panel formed of a permanent magnet and an electromagnet with respect to the intermediate table.
- a vibration isolation table supported by a magnetic levitation mechanism having zero power characteristics, and a load support mechanism having a positive panel characteristic is arranged between the vibration isolation table and the base. It is a vibration isolator characterized by the following. Further, the load support mechanism is a vibration isolator characterized by comprising a panel element having a positive panel characteristic and a damping device having a predetermined damping rate provided in parallel with the panel element.
- the vibration isolation device is characterized in that the load supporting mechanism is an air panel having a positive panel characteristic.
- an anti-vibration apparatus characterized in that an attenuation device having a predetermined attenuation rate is installed between the base and the intermediate table, together with the panel element having the positive panel characteristic. Further, the attraction force of the electromagnet constituting the magnetic levitation mechanism acts on the vibration isolation table.
- This is a vibration isolator characterized by being configured to increase or decrease in response to an increase or decrease in load.
- the vibration damping device the base and the vibration damping table are both formed by connecting opposing members with a connecting member, and the base and the vibration damping table are arranged such that the opposing members are alternately arranged.
- An anti-vibration device is provided, wherein an intermediate base is disposed between a central base and an opposing member of the anti-vibration table.
- the base is a floor forming the vibration isolation device.
- a set of a base, an intermediate table, and a vibration isolation table is integrated into one unit and configured.
- a panel is provided between the base and the first member to insulate vibration transmitted from the base to the first member, and to control the actuator between the first member and the second member.
- the vibration transmitted from the first member to the second member is insulated, and further, a gap between the second member and the base is provided.
- a vibration isolation method characterized in that a load supporting mechanism having a positive panel characteristic is disposed in the second member, and a part of the load acting on the second member is supported by the load supporting mechanism.
- a panel is disposed between the base and the first member to insulate vibration transmitted from the base to the first member, and further, between the first member and the second member, from the actuator and the control device.
- the supporting mechanism configured and by arranging a panel element having a positive panel characteristic between the first member and the second member, the first member Insulates the vibration transmitted from the second member to the second member, and further arranges a load supporting mechanism having a positive panel characteristic between the second member and the base, and a part of the load acting on the second member Is supported by the load support mechanism.
- a support mechanism having a positive panel characteristic and a linear actuator are disposed between the base and the first member to insulate vibration transmitted from the base to the first member, and further to provide the first member and the first member with vibration.
- a negative panel characteristic is provided by a support mechanism including an actuator and a control device between the two members, and a positive force is provided between the first member and the second member in parallel with the actuator.
- an intermediate table supported on a base by a panel element having a predetermined positive panel characteristic, and a supporting mechanism comprising an actuator and a control device for the intermediate table and having a predetermined negative panel characteristic.
- a vibration isolation device comprising: a supported vibration isolation table; and a load supporting mechanism having a positive panel characteristic is disposed between the vibration isolation table and a base.
- an intermediate table supported by a panel element having a predetermined positive panel characteristic and a linear actuator, and a predetermined negative panel formed of an actuator and a control device for the intermediate table.
- a vibration isolation table supported by a support mechanism having characteristics, and a load support mechanism having a positive panel characteristic is disposed between the vibration isolation table and the base. is there.
- the vibration isolator is provided with a panel element having a positive panel characteristic in parallel with a support mechanism (actuator) provided between the intermediate table and the vibration isolation table.
- the base and the vibration damping table are both formed by connecting opposing members with a connecting member, and the base and the vibration damping table are arranged so that the opposing members of the vibration damping table are alternately arranged.
- An anti-vibration apparatus characterized in that an intermediate table is arranged between a central base and an opposing member of an anti-vibration table.
- the base is a floor forming the vibration isolation device.
- At least a set of a base, an intermediate table, and an anti-vibration table are collectively configured as one unit.
- a plurality of intermediate stands supported on the base by a panel element having a predetermined positive panel characteristic, and a support mechanism comprising an actuator and a control device for the plurality of intermediate stands and having a predetermined negative panel characteristic
- a vibration isolation table supported by the vibration isolation table, and a load support mechanism having a positive panel characteristic is disposed between the vibration isolation table and the base.
- the load support mechanism is composed of a panel having a positive panel characteristic and a damping device having a predetermined damping rate provided in parallel with the panel. is there.
- the vibration isolation device is characterized in that the load supporting mechanism is an air panel having a positive panel characteristic.
- an anti-vibration apparatus characterized in that an attenuator having a predetermined attenuation rate is installed between the base and the intermediate base, together with the panel having the positive panel characteristic.
- the vibration isolator is characterized in that the extension of the actuator provided on the intermediate table is increased or decreased in accordance with the increase or decrease of the load acting on the vibration isolation table.
- the actuator is a linear actuator such as a voice coil motor, a linear motor, a pneumatic actuator, a hydraulic actuator, or the like
- the control device includes a displacement sensor, a control circuit, and a power amplifier.
- This is a vibration isolator characterized by the following. Brief Description of Drawings
- FIG. 1 is a diagram illustrating the principle of the present invention.
- FIG. 2 is a view showing a first embodiment of the vibration isolator according to the present invention.
- FIG. 3 is a view showing a second embodiment of the vibration isolator according to the present invention.
- FIG. 4 is a view showing a third embodiment of the vibration damping device of the present invention.
- FIG. 5 is a view showing a fourth embodiment of the vibration damping device of the present invention.
- FIG. 6 is a view showing a fifth embodiment of the vibration damping device of the present invention.
- FIG. 7 is a view showing a sixth embodiment of the vibration damping device of the present invention.
- FIG. 8 is a view showing a seventh embodiment of the vibration damping device of the present invention.
- FIG. 9 is a view showing an eighth embodiment of the vibration damping device of the present invention.
- FIG. 10 is a view showing a ninth embodiment of the vibration damping device of the present invention.
- FIG. 11 is a diagram showing a tenth embodiment of the vibration damping device of the present invention.
- FIG. 12 is a view showing a first embodiment of the vibration damping device of the present invention.
- FIG. 13 is a view showing a 12th embodiment of the vibration damping device of the present invention.
- FIG. 14 is a diagram showing a thirteenth embodiment of the vibration damping device of the present invention.
- FIG. 15 is a view showing a fourteenth embodiment of the vibration damping device of the present invention.
- FIG. 16 is a diagram showing a fifteenth embodiment of the vibration isolator according to the present invention.
- FIG. 17 is a diagram showing a sixteenth embodiment of the vibration damping device of the present invention.
- FIG. 18 is a diagram in which a unit-type vibration isolator is added to the passive vibration isolator.
- Figure 19 shows a 6-DOF active vibration isolator using a parallel link.
- FIG. 20 is a diagram of a conventional spring vibration isolation system.
- FIG. 21 is an explanatory diagram of a conventional active vibration isolation system. BEST MODE FOR CARRYING OUT THE INVENTION
- a load supporting mechanism having a positive panel characteristic is arranged in parallel with a supporting mechanism in which a supporting mechanism having a positive panel characteristic and a supporting mechanism having a negative panel characteristic are connected in series.
- a vibration isolation method and a vibration isolation device are provided.
- the present invention provides an anti-vibration apparatus in which a set of a base, an intermediate table, and an anti-vibration table constituting the anti-vibration apparatus is integrated into one unit.
- a support mechanism having a positive panel characteristic and a support mechanism having a negative panel characteristic are connected in series, and a support mechanism having a positive panel characteristic is provided in parallel with these support mechanisms.
- FIG. 2 shows a first embodiment of the vibration damping device according to the present invention.
- the present invention is directed to a floor as a base, and is provided between a floor 1 and a first member 2 as an intermediate base.
- a panel (panel element) having a predetermined positive panel characteristic kl is provided to insulate the vibration transmitted from the base to the first member 2, and the first member 2 and the second Part 3 and A magnetic levitation mechanism 4 having a negative panel characteristic (having zero-pulse characteristics) composed of a permanent magnet 6 and an electromagnet 7 is disposed therebetween.
- a load support mechanism 5 having a positive panel characteristic k 3 for load support is disposed between the floor 1 and the second member (anti-vibration table) 3.
- the supporting mechanisms having the positive panel characteristics kl and k3 may be provided with damping devices cl and c3 having predetermined damping rates in parallel as shown in the drawing, respectively.
- the vibration isolation table 3 supported on the floor 1 by a panel having a predetermined positive spring characteristic k 3 and the permanent magnet and the electromagnet on the intermediate table 2
- the intermediate table 2 is provided on the intermediate table 2 because it is configured to have a predetermined negative panel characteristic ks and to be supported by a magnetic levitation mechanism 4 having a zero power characteristic.
- the attraction force of the provided electromagnet 7 is controlled by an appropriate control device (not shown) so as to increase or decrease according to an increase or decrease in the load caused by an increase in mass or the like of the vibration isolation table 3 provided with the permanent magnet 6. can do.
- the electromagnet 7 is mounted on the intermediate base 2 and the permanent magnet 6 is mounted on the vibration isolation table 3 side.
- the control device includes a displacement sensor, a control circuit, and a power amplifier, as in the case of Patent Document 1 described above.
- the arrangement of the electromagnet and the permanent magnet it is naturally possible to use the configuration described in detail in Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2002-81498) described above. It is.
- the size of the magnet part in the magnetic levitation mechanism having zero power characteristics can be reduced, and the cost can be significantly reduced.
- the structure can be simplified, which makes it easier to design the entire vibration isolator and at the same time lowers costs.
- FIG. 3 shows a second embodiment of the vibration isolator according to the present invention.
- the portion of the vibration isolation table 3 where the suction force acts is located below the intermediate table 2.
- a magnetic levitation system that utilizes the attractive force of a DC electromagnet, such as zero-power magnetic levitation, allows only the attractive force to act on the levitation target in principle. This not only complicates the structure of the vibration device, but also reduces the degree of freedom in device design.
- an upward force greater than gravity acts on the vibration isolation table using the panel element k3
- a vibration isolation device having the configuration shown in Fig. 3 can be realized. In this case, it is not necessary to bring the portion of the vibration isolation table where the magnet's attractive force acts below the intermediate table, so that the structure of the entire apparatus can be simplified.
- the intermediate table 2 is supported on the floor 1 by a support mechanism having predetermined panel characteristics having positive panel characteristics.
- a magnetic levitation mechanism 4 having a predetermined panel characteristic having a negative panel characteristic is disposed between the intermediate table 2 and the vibration isolation table 3.
- the vibration isolation table 3 is shaped so as to cover the entire intermediate table 2 from above.
- a load supporting mechanism having a positive panel characteristic k 3 constituting the load supporting mechanism is disposed between the floor 1 and the vibration isolating table 3.
- Each support mechanism having the positive panel characteristics described above is provided with a damping device in parallel as required, as shown in the figure.
- the magnetic levitation mechanism is provided on the intermediate table side, but may be provided on the vibration isolation table 3 side.
- FIG. 4 shows a third embodiment of the vibration damping device of the present invention.
- the magnitude of the negative panel characteristic is determined by the strength of the permanent magnet on the zero power magnetic levitation and the size of the gap between the permanent magnet and the place where the attractive force of the permanent magnet acts on the intermediate stage. That's it. Therefore, in the third embodiment, the magnitude of the negative panel characteristic can be adjusted by inserting a panel element k 2 having a positive spring characteristic in parallel with the zero power magnetic levitation mechanism. I have to.
- the floor 1 has an intermediate table 2 supported by a support mechanism (panel element) k1 having a predetermined panel characteristic having a positive panel characteristic.
- a magnetic levitation mechanism 4 having negative panel characteristics is arranged between the table 3.
- a panel element k 2 having a positive panel characteristic is arranged between the intermediate table 2 and the vibration isolation table 3 in parallel with the magnetic levitation mechanism 4.
- the vibration isolation table 3 has a substantially U-shaped cross section so as to cover the entire intermediate table 2 from above.
- a load supporting mechanism having a positive panel characteristic k 3 constituting the load supporting mechanism is disposed between the floor 1 and the vibration isolating table 3 in the vibration isolating table 3.
- Each of the support mechanisms kl and k3 having the positive panel characteristics ⁇ described above has damping devices c1 and c3 as necessary. Are provided in parallel as shown in the figure.
- the magnetic levitation mechanism is provided on the intermediate table side, but may be provided on the vibration isolation table 3 side.
- the magnitude of the negative panel characteristic due to only the zero-power magnetic levitation mechanism is kn
- the magnitude of the negative spring characteristic of the vibration isolation table with respect to the intermediate table is (kn-k 2), and if this value is set equal to the magnitude of the positive panel characteristic kl, it is possible to improve the vibration insulation characteristics against floor vibration while maintaining almost infinite rigidity against linear disturbance. It becomes possible.
- the control input for achieving zero power control can be expressed as follows.
- I (s) -c 2 (s) s X2 (s) (2) where c 2 (s) is a strong proper transfer function without 0 (zero), and the control system becomes stable. Is selected as follows. If it is assumed that the intermediate stage does not move, stabilization can be achieved by a controller having an order higher than quadratic.
- FIG. 5 shows a fourth embodiment of the vibration isolator according to the present invention.
- the magnitude and the damping characteristic of the positive panel characteristic of the intermediate table 2 with respect to the floor 1 are determined by the panel element kl and the damping device cl.
- a linear actuator A 1 is inserted between the floor 1 and the intermediate base 2 in parallel with these elements, and this is controlled. Positive panel characteristics and attenuation characteristics can be adjusted more flexibly.
- the intermediate table 2 is supported on the floor 1 by a support mechanism (panel element kl) having positive panel characteristics, and a linear actuator A 1 is arranged in parallel with the support mechanism kl. Have been.
- a magnetic levitation mechanism 4 having a negative spring characteristic is disposed between the intermediate table 2 and the vibration isolation table 3.
- the vibration isolation table 3 has a substantially U-shaped cross section so as to cover the whole of the intermediate stand 2 from above.
- a load supporting mechanism having a positive panel characteristic k 3 constituting the load supporting mechanism is disposed between the floor 1 and the vibration isolating table 3 on the vibration isolating table 3.
- the support mechanisms kl and k3 having the positive spring characteristics described above are provided with damping devices c1 and c3, respectively, as necessary, in parallel as shown in the figure.
- the magnetic levitation mechanism is provided on the intermediate platform side, but may be provided on the vibration isolation table 3 side.
- FIG. 6 shows a fifth embodiment of the vibration isolator according to the present invention.
- the fifth embodiment uses a configuration in which an air panel used in a conventional passive vibration isolator is used as a load supporting mechanism. It is an example.
- a plurality of (two in this example) intermediate stands 2 are supported on the floor 1 by a support mechanism (panel element k 1) having a predetermined panel characteristic having a positive panel characteristic. Further, between each of the intermediate tables 2 and the anti-vibration table 3, there is disposed a zero-power magnetic levitation mechanism 4 having negative panel characteristics. Further, an air panel 9 having a positive panel characteristic k 3 constituting a load support mechanism is arranged between the vibration isolation table 3 and the floor 1.
- the support mechanism k1 having the positive panel characteristics described above can be provided with a damping device cl in parallel as needed.
- FIG. 7 shows a sixth embodiment of the vibration damping device of the present invention.
- an actuator (linear actuator) 8 is used to realize a support mechanism having a negative panel characteristic.
- the vibration isolation table 3 is supported from the floor 1 by a load supporting mechanism 5 including a positive panel element k 3 and a damping element c 3.
- a linear actuator such as a voice call motor, a linear motor, a pneumatic actuator, or a hydraulic actuator can be used in place of the linear actuator 8.
- FIG. 8 shows a seventh embodiment of the vibration damping device of the present invention.
- the magnitude of the positive panel characteristic of the intermediate platform with respect to the floor and the attenuation characteristic are determined by the panel element kl and the attenuation element cl.
- a linear actuator 10 having a negative spring characteristic is inserted in parallel between the panel element kl and the damping element cl between the intermediate table 2 and the floor 1.
- the vibration isolation table 3 is supported from the floor 1 by a load supporting mechanism 5 including a positive panel element k 3 and a damping element c 3.
- the intermediate platform has a positive It is supported from floor 1 by a support mechanism consisting of a k element and a damping element cl.
- a linear actuator 10 having a negative panel characteristic is arranged between the intermediate table and the floor 1 in parallel with the panel element k 1 and the damping element c 1.
- an actuator (linear actuator) 8 having a negative panel characteristic and a panel element k2 having a positive panel characteristic are arranged.
- the panel element k2 having a positive panel characteristic between the intermediate table 2 and the vibration isolation table 3 can be deleted.
- linear actuators such as a voice coil motor, a linear motor, a pneumatic actuator, and a hydraulic actuator can be used instead of the linear actuators 8 and 10. is there.
- FIG. 9 shows an eighth embodiment of the vibration isolator according to the present invention.
- the eighth embodiment is an example of the configuration of a vibration damping device using an air panel used in a conventional passive vibration damping device as the load support mechanism 5.
- a plurality of (two in this example) intermediate tables 2 are supported on the floor 1 by a support mechanism having a predetermined panel characteristic having a positive panel characteristic.
- a linear actuator 8 having a negative panel characteristic is arranged between the intermediate table 2 and the vibration isolation table 3.
- the vibration isolation table 3 is formed so as to cover the whole of the intermediate table 2 from above, and the vibration isolation table 3 has a positive spring characteristic air constituting the load support mechanism 5.
- Panel 9 is located between floor 1 and floor.
- the support mechanism k1 having the positive panel characteristics described above is provided with a damping device cl in parallel as shown in the figure, if necessary.
- the vibration isolation table when the absolute values of both the positive and negative stiffness are equal, the vibration isolation table is It utilizes the phenomenon that the rigidity it has becomes theoretically infinite.
- a "magnetic levitation mechanism with zero power characteristics” is mentioned as an example of an element that achieves negative rigidity, and a coil spring was used as "positive rigidity” until now.
- the phenomenon that the stiffness becomes theoretically infinite “means that“ negative stiffness ”and“ positive stiffness ” In the case where the "character” is arranged, it can be realized only with respect to the rigidity in the axial direction.
- at least the six-axis “negative rigidity” and “positive rigidity” must be arranged in series.
- a vertically mounted hybrid electromagnet (a magnetic levitation mechanism with the above-mentioned zero-pitch characteristics; hereinafter referred to as a magnetic levitation mechanism) has a large size to support the mass of the intermediate table and vibration isolation table.
- a magnetic levitation mechanism a magnetic levitation mechanism with the above-mentioned zero-pitch characteristics; hereinafter referred to as a magnetic levitation mechanism
- the ones arranged in the horizontal direction do not need to support gravity, but need to have a differential structure. For this reason, it is necessary to develop two types of combinations of negative rigidity and positive rigidity to develop a vibration isolation table.
- the vibration of the intermediate stage on one axis may affect other axes. If four sets of “negative stiffness” and “positive stiffness” must be used in series for three degrees of freedom due to the structure of the vibration isolation table, it is necessary to eliminate the redundancy. Complex control systems are required. In addition, even when vibration isolation in all six degrees of freedom is not required, six degrees of freedom must be considered. As described above, in each of the embodiments described above, the above-described problem occurs because the configuration is such that the intermediate stand is shared.
- the following ninth to 12th embodiments of the present invention introduce a unit whose rigidity in the axial direction is theoretically infinite.
- at least one set of the base, the middle stand, and the vibration isolation table is united, and a unit of freedom is provided with the vibration isolation function with one degree of freedom. Since one unit has one intermediate table, it is possible to solve the problem of the common intermediate table when performing multi-degree-of-freedom vibration isolation. Also, by combining a plurality of units, vibration isolation with multiple degrees of freedom is possible, and there is no need to consider extra degrees of freedom. If all six degrees of freedom are to be isolated, a parallel link mechanism should be used.
- FIG. 10 shows a ninth embodiment.
- This ninth embodiment is the same as the first to eighth embodiments described above.
- At least one set of the base (base), intermediate table (first member), and vibration isolation table (second member) is unitized, and one unit is used as one vibration isolation device. It is composed.
- 21 is a base (hereinafter referred to as base), 22 is an intermediate table as a first member, 23 is a vibration isolation table as a second member, As shown in the figure, the base 21 and the anti-vibration table 23 are connected with the opposing members separated vertically by connecting members 28 and 29, so that the opposing members alternate. Are located.
- the opposing member is formed of a flat plate as shown in the figure.
- the opposing member is not necessarily a flat plate, and a support mechanism, a magnetic levitation mechanism, and a load support mechanism can be attached, and the above-described function can be achieved.
- various forms of facing members can be used.
- the connecting members 28 and 29 can be appropriately shaped at the time of design.
- the intermediate table 22 is disposed between the opposing members between the base 21 and the vibration isolation table 23 as shown in the figure.
- the intermediate table 22 is supported on the base 21 by a support mechanism k1 having a predetermined panel characteristic having a positive panel characteristic.
- a magnetic levitation mechanism 24 having a predetermined panel characteristic having a negative panel characteristic is disposed in the fin.
- a load supporting mechanism having a positive panel characteristic k 3 constituting the load supporting mechanism is arranged between the base 21 and the vibration isolating table 23 on the vibration isolating table 23.
- Each support mechanism having a positive spring characteristic described above is provided with a damping device c 1 in parallel as needed.
- the electromagnets constituting the magnetic levitation mechanism are provided on the intermediate table, and the permanent magnets are provided on the vibration isolation table 23.
- the arrangement may be reversed.
- the panel k3 as the load supporting mechanism, it is also possible to use the air panel described in the above embodiment.
- a panel element having a positive panel characteristic can be arranged in parallel with the magnetic levitation mechanism 24.
- FIG. 11 shows a tenth embodiment.
- a linear actuator 32 having a positive rigidity is arranged in parallel with the support mechanism k1 in the ninth embodiment.
- FIG. 12 shows the eleventh embodiment.
- an actuator 31 having negative rigidity is arranged in place of the magnetic levitation mechanism in the ninth embodiment.
- FIG. 13 shows the 12th embodiment.
- the twelfth embodiment is different from the ninth embodiment in the magnetic levitation.
- an actuator 31 having a negative rigidity and a panel element k2 having a positive panel characteristic are arranged, and a positive mechanism is arranged in parallel with a supporting mechanism arranged between the base and the intermediate table.
- the actuator 32 with rigidity is arranged.
- At least one set of the base (base), the intermediate base (first member), and the vibration isolation table (second member) is united. It is composed.
- the base and the vibration isolation table both have opposing members, and the opposing members are connected by connecting members 28 and 29, and the opposing members of the base and the vibration isolation table alternate.
- the structure is such that an intermediate table is placed between the base in the center and the facing member of the vibration isolation table (called a nesting type).
- a nesting type an intermediate table is placed between the base in the center and the facing member of the vibration isolation table
- the following thirteenth to sixteenth embodiments are the same as those of the ninth embodiment to the twelveth embodiment and the support mechanisms of the ninth to the twelveth embodiments described above with reference to FIGS.
- the nested structure is not required and a more practical unit can be obtained.
- FIG. 14 shows a thirteenth embodiment.
- the nested vibration damping device shown in the ninth embodiment and the non-nested structure shown in the second embodiment and the like are used. It is configured in combination.
- reference numeral 21 denotes a base (hereinafter referred to as a base); 22, an intermediate table as a first member; 23, an anti-vibration table as a second member;
- the vibration table 23 is arranged vertically apart as shown in the figure, and an intermediate table is disposed between the base 21 and the vibration isolation table 23.
- the base 21 supports the intermediate table 22 through a support mechanism kl having a predetermined panel characteristic having a positive spring characteristic, and furthermore, the intermediate table 22 is provided between the intermediate table 22 and the vibration isolation table 23.
- a magnetic levitation mechanism 24 having a predetermined panel characteristic having a negative panel characteristic is disposed.
- a load supporting mechanism having a positive panel characteristic k 3 constituting the load supporting mechanism is disposed between the vibration isolation table 23 and the base 21.
- Each of the support mechanisms having the positive panel characteristics described above is provided with a damping device c 1 in parallel as needed.
- the electromagnets constituting the magnetic levitation mechanism are installed on the vibration isolation table 23, and the permanent magnets are installed on the intermediate table 22.
- this arrangement can be reversed.
- the panel k3 as the load support mechanism, it is also possible to use the air panel described in the above embodiment.
- a panel element having a positive panel characteristic can be arranged in parallel with the magnetic levitation mechanism 24.
- FIG. 15 shows a fourteenth embodiment.
- a linear actuator 32 having a positive rigidity is arranged in parallel with the support mechanism k1 in the thirteenth embodiment.
- FIG. 16 shows a fifteenth embodiment.
- an actuator 31 having negative rigidity is arranged in place of the magnetic levitation mechanism in the thirteenth embodiment.
- FIG. 17 shows a sixteenth embodiment.
- an actuator 31 having a negative rigidity and a panel element k 2 having a positive panel characteristic are arranged.
- An actuator 32 having a positive rigidity is arranged in parallel with the support mechanism arranged between them.
- Figure 18 and Figure 19 show how to use the above unitized vibration isolator.
- Fig. 18 shows an example where a unitized anti-vibration device is arranged in parallel with the table legs.
- Fig. 19 shows an example of a 6-DOF active anti-vibration device using a parallel link.
- the shapes and types of the intermediate table and the vibration isolation table, the shapes of the electromagnet and the permanent magnet, Type and arrangement of them Electromagt is installed on an intermediate table or anti-vibration table, permanent magnet is installed on anti-vibration table or intermediate table, ferromagnetic material is added in addition to permanent magnet, Alternatively, a permanent magnet may be incorporated into the core of the electromagnet and installed on only one of the vibration isolation table and the intermediate table, and a ferromagnetic material may be installed on the other.
- Shape and type of spring and damping device and their arrangement on the intermediate table an appropriate damping device may be installed between the floor and the intermediate table in addition to the panel
- magnetic levitation with zero power characteristics Means
- the control means of the actuator the type of displacement sensor, the type of control circuit, the form of power amplification and the form of control of the actuator by them), the direction of vibration isolation (in
- the floor is a so-called base, and the shapes of the intermediate base and the vibration isolation table can be appropriately selected.
- a support mechanism (panel element) having a positive rigidity a passive elastic body including rubber or the like or an actuator having a positive rigidity can be used.
- a magnetic levitation mechanism having a negative stiffness various actuators that are actively controlled to have a negative stiffness can be used.
- the present invention employs a configuration in which a support mechanism having a positive panel characteristic and a support mechanism having a negative panel characteristic are connected in series with a load supporting mechanism having a positive spring characteristic.
- the structure can be simplified, and the design of the whole anti-vibration device becomes easier, and at the same time, the cost can be reduced.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/571,610 US20070273074A1 (en) | 2003-09-11 | 2004-03-30 | Method And Apparatus For Vibration Isolation |
EP04724355A EP1669634A1 (en) | 2003-09-11 | 2004-03-30 | Method and device for vibration resistance |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003319165 | 2003-09-11 | ||
JP2003-319165 | 2003-09-11 |
Publications (1)
Publication Number | Publication Date |
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WO2005026573A1 true WO2005026573A1 (ja) | 2005-03-24 |
Family
ID=34308554
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/004491 WO2005026573A1 (ja) | 2003-09-11 | 2004-03-30 | 除振方法およびその装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20070273074A1 (ja) |
EP (1) | EP1669634A1 (ja) |
KR (1) | KR20060056387A (ja) |
CN (1) | CN1849467A (ja) |
WO (1) | WO2005026573A1 (ja) |
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US7726452B2 (en) * | 2005-06-02 | 2010-06-01 | Technical Manufacturing Corporation | Systems and methods for active vibration damping |
US20130293889A1 (en) * | 2012-04-20 | 2013-11-07 | Canon Kabushiki Kaisha | Position measuring apparatus, pattern transfer apparatus, and method for manufacturing a device |
US9791014B1 (en) * | 2013-03-15 | 2017-10-17 | Hrl Laboratories, Llc | Enhanced damping materials using negative stiffness inserts |
CN114458723A (zh) * | 2022-02-14 | 2022-05-10 | 国网重庆市电力公司电力科学研究院 | 一种准零刚度隔振装置及其设计方法 |
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US20100030384A1 (en) | 2008-07-29 | 2010-02-04 | Technical Manufacturing Corporation | Vibration Isolation System With Design For Offloading Payload Forces Acting on Actuator |
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- 2004-03-30 EP EP04724355A patent/EP1669634A1/en not_active Withdrawn
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US9791014B1 (en) * | 2013-03-15 | 2017-10-17 | Hrl Laboratories, Llc | Enhanced damping materials using negative stiffness inserts |
CN114458723A (zh) * | 2022-02-14 | 2022-05-10 | 国网重庆市电力公司电力科学研究院 | 一种准零刚度隔振装置及其设计方法 |
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Also Published As
Publication number | Publication date |
---|---|
US20070273074A1 (en) | 2007-11-29 |
CN1849467A (zh) | 2006-10-18 |
EP1669634A1 (en) | 2006-06-14 |
KR20060056387A (ko) | 2006-05-24 |
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