Vibration control structure and vibration control system

Abstract

To provide a vibration control structure and a vibration control system capable of suppressing even vibration along a vertical direction.SOLUTION: The vibration control structure includes a first base part, and a vibration control unit, the vibration control unit including a second base part, a first rotary shaft, a first wheel, a second rotary shaft, a second wheel, and an oscillation mechanism, the oscillation mechanism having a support member, an oscillation shaft, an oscillation member, and a spring, the support member being mounted to the second base part, the oscillation shaft being provided on the support member and extending in a Z direction, the oscillating member being capable of oscillating in a direction of shaft rotation of the oscillation shaft, the spring being provided on the X1 side of the oscillation member with respect to the oscillating shaft, the second rotary shaft being provided on the X2 side of the oscillation member with respect to the oscillation shaft.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to vibration control structures and systems. [Background technology]

[0002] Vibration control structures and systems are applied to traveling devices in factories and vibration isolation devices for buildings (see, for example, Patent Document 1). The vibration control system (support device) described in Patent Document 1 comprises a base, a top platform, and an intermediate member, with the top platform provided above the base via the intermediate member. The intermediate member is provided with drive units (first drive unit, second drive unit) having motors. The configuration will be briefly described below.

[0003] The base has a first rail. The platform has a second rail. An object is placed on the platform. When viewed from above, the first rail and the second rail are perpendicular to each other. When viewed from the side, the first rail and the second rail are arc-shaped and convex downward. The intermediate member has a first protrusion movable on the first rail, a first drive unit that drives the first protrusion to rotate, a second protrusion movable on the second rail, and a second drive unit that drives the second protrusion to rotate.

[0004] With this configuration, when vibration occurs on the base, the first protrusion rotates on the first rail, causing the intermediate member and the top platform to move along the first rail. Also, the second protrusion rotates on the second rail, causing the intermediate member and the top platform to move along the second rail. In this way, the top platform moves (swings) along the arc-shaped first and second rails, thereby preventing the lateral vibrations generated on the base from being transmitted to the object on the top platform. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2023-107872 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the vibration control system of Patent Document 1, when vertical vibrations occur in the base, it may be difficult to suppress the vibrations.

[0007] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a vibration control structure and a vibration control system that are capable of suppressing vibrations even in the vertical direction. [Means for solving the problem]

[0008] In order to achieve the above object, a vibration-damping structure according to one embodiment of the present disclosure includes a first base and a vibration-damping unit attached to the first base, the vibration-damping unit including a second base, a first rotating shaft provided on the second base and extending in a first direction, a first wheel supported by the first rotating shaft and rotatable relative to the second base in a direction around the first rotating shaft, a second rotating shaft provided on one side of the first rotating shaft in a second direction intersecting the first direction and extending along the first direction, a second wheel supported by the second rotating shaft and rotatable in a direction around the second rotating shaft, and a vibration-damping unit provided on the second base and configured to vibrate the second wheel. a swing mechanism for moving the first base portion relative to the first wheel and the second wheel, wherein a portion of the first base portion is disposed between the first wheel and the second wheel, and the swing mechanism includes a support member attached to the second base portion and located on one side of the second direction with respect to the second base portion, a swing shaft provided on the support member and extending in a third direction intersecting the first direction and the second direction, a swing member extending in the first direction and swingable in a direction around the swing shaft, and a spring provided on the swing member on one side of the swing shaft in the first direction, and the second rotation shaft is provided on a portion of the swing member on the other side of the swing shaft in the first direction.

[0009] In addition, in a vibration control system according to one embodiment of the present disclosure, the rails are arranged in a pair with a gap in the first direction, and the vibration control units are arranged in pairs with a gap in the third direction corresponding to each of the pair of rails.

[0010] As described above, in the vibration control system of Patent Document 1, a top platform is provided above a base platform via an intermediate member. However, in the vibration control system of Patent Document 1, if vibrations generated in the base platform are in the vertical direction, it may be difficult to suppress the vibrations.

[0011] In contrast, the vibration-damping structure and vibration-damping system of the present disclosure are capable of suppressing vibrations along the vertical direction as well. Hereinafter, the effects of the vibration-damping structure and vibration-damping system of the present disclosure will be specifically described.

[0012] First, when the vibration-damping structure and vibration-damping system according to the present disclosure are applied to a traveling device in a factory, for example, the vibration-damping unit is attached to a base such as a dolly of the traveling device, and for example, cargo is loaded on the loading section. A part of the first base is disposed between the first wheel and the second wheel.

[0013] As a result, when the vibration control unit vibrates in the vertical direction (second direction) and a force acts from the first base to push the second wheel down, causing the swinging member to swing and the spring to contract, the spring tries to expand due to the reaction force. Then, the swinging member swings and pushes up the second wheel, sandwiching the first base between the second wheel and the first wheel.

[0014] This prevents vibrations generated on the base from being transmitted to the object on the mounting section. Even if the vibrations generated on the base are vertical, they are prevented from being transmitted to the object on the mounting section.

[0015] In this way, according to the present disclosure, a vibration control structure and a vibration control system are provided that are capable of suppressing vibrations even in the vertical direction.

[0016] In a preferred embodiment of the vibration-damping structure, the first base is a rail that extends in the third direction. Thus, compared to, for example, an arc-shaped rail that is convex on one side in the second direction, the rail of the present disclosure that extends in the third direction is easier to manufacture.

[0017] In a preferred embodiment of the vibration-damping structure, the first base is a rail, and the rail has a convex arc shape toward one side in the second direction when viewed from the first direction. With this, when the one side in the second direction is, for example, the lower side, a damping force due to gravity acts on the vibration-damping structure toward the longitudinal end of the rail. Therefore, the vibration-damping structure can be more stably positioned in the region between both longitudinal ends of the rail (for example, a region near the longitudinal center).

[0018] In a desirable embodiment of the vibration-damping structure, the second base portion includes a mounting portion for placing an object thereon, the mounting portion having a mounting surface extending in the third direction when viewed from the first direction, and an intersection angle between a straight line connecting the first rotation axis and the second rotation axis and the mounting surface when viewed from the first direction is other than 90 degrees.

[0019] Consider the case where the first wheel and the second wheel move along a rail extending linearly in the first direction for the first mode in which the intersection angle between the line connecting the first and second rotation axes and the mounting surface is other than 90 degrees, and the second mode in which the intersection angle between the line connecting the first and second rotation axes and the mounting surface is 90 degrees. Since the distance between the first and second rotation axes in the first mode is greater than the distance between the first and second rotation axes in the second mode, the force that pinches the rail between the second wheel and the first wheel is greater in the first mode. Therefore, in the first mode, the transmission of vibration can be more suppressed even when a larger load is applied to the vibration control system, for example, when the weight of the object is large or when a large force such as an earthquake is applied.

[0020] In a preferred embodiment of the vibration-damping structure, the rocking mechanism has a length adjustment device that adjusts the length of the spring. For example, by compressing the length of the spring in advance to be shorter than its natural length using the length adjustment device, the force with which the second wheel and the first wheel pinch the rail becomes greater, so that the transmission of the vibration can be more effectively suppressed even when a greater load is applied to the vibration-damping system, for example, when the weight of the object is large. Also, by making the length of the spring longer than its natural length in advance, the force with which the second wheel and the first wheel pinch the rail becomes smaller, so that it is preferable to apply this to cases where the weight of the object is small, for example.

[0021] In a desirable embodiment of the vibration-damping structure, the rail has a first portion and a second portion when viewed from the first direction, and the thickness of the second portion in the second direction is thicker than the thickness of the first portion in the second direction.

[0022] Therefore, when the first and second wheels are located in the second position, the force with which the second and first wheels pinch the rail is greater than when the first and second wheels are located in the first position. This further suppresses vibrations transmitted from the base to the object on the placement unit, even with a straight rail.

[0023] In a preferred embodiment of the vibration-damping structure, the first base portion is a rail, and the thickness of both ends in the longitudinal direction of the rail is greater than the thickness of a portion between the both ends.

[0024] Therefore, as the distance between the first and second wheels increases toward both ends of the rail in the longitudinal direction, the spring contracts more, increasing the reaction force of the spring as it tries to expand, and the force with which the second and first wheels pinch the rail increases. This makes it possible to better suppress the transmission of vibrations when, for example, the weight of the object is large or a large force such as an earthquake acts on the vibration control system, placing a large load on the vibration control system.

[0025] In a preferred embodiment of the vibration-damping structure, each of the first wheel and the second wheel includes a first member and a second member provided on the outer periphery of the first member, and the friction coefficient of the second member is greater than that of the first member. Therefore, compared to a wheel formed of a member having a friction coefficient smaller than that of the second member, for example, the first wheel and the second wheel according to the present disclosure have a higher braking force, and therefore the vibration-damping structure according to the present disclosure has a higher vibration-damping function.

[0026] In a preferred embodiment of the vibration control system, the vibration control system further comprises an actuator capable of changing the distance between the two vibration control units in the third direction.

[0027] When viewed from the first direction, the rail has a convex arc shape on one side in the second direction. Here, the displacement of the vibration control system in the second direction becomes larger when the distance between the two vibration control units in the third direction is reduced. In this way, the distance between the two vibration control units in the third direction can be changed to match the desired displacement of the vibration control system in the second direction.

[0028] In a preferred embodiment of the vibration-damping system, the first base and the vibration-damping unit are connected via an elastic member, which improves the vibration-damping performance by sandwiching the rail between the second wheel and the first wheel using the elastic force of the spring of the swing mechanism, and further improves the vibration-damping function of the entire vibration-damping system, since the transmission of vibration from the vibration-damping unit can be suppressed by the elastic member. Effect of the Invention

[0029] According to the present disclosure, it is possible to provide a vibration control structure and a vibration control system that are capable of suppressing vibrations even in the vertical direction. [Brief description of the drawings]

[0030] [Figure 1] FIG. 1 is a perspective view showing a vibration damping system according to a first embodiment. [Diagram 2]FIG. 2 is a perspective view showing the vibration damping system of the first embodiment. [Diagram 3] FIG. 3 is an enlarged perspective view of a portion of FIG. [Figure 4] FIG. 4 is an enlarged perspective view of the vibration damping unit of FIG. [Diagram 5] FIG. 5 is a front view of the vibration damping unit of FIG. 4 as viewed from a third direction. [Figure 6] FIG. 6 is a perspective view showing the first wheel. [Figure 7A] FIG. 7A is a schematic diagram of a first modified example of a length adjustment device for adjusting the length of a spring. [Figure 7B] FIG. 7B is a schematic diagram of a second modified example of a length adjustment device for adjusting the length of a spring. [Figure 8A] FIG. 8A is a schematic side view of the rail of the second embodiment. [Figure 8B] FIG. 8B is a schematic side view of the rail of the second embodiment. [Figure 9A] FIG. 9A is a schematic diagram of a rail of a third modified example seen from the side. [Figure 9B] FIG. 9B is a schematic diagram of the rail of the third modified example seen from the side. [Figure 10] FIG. 10 is a graph showing a schematic diagram of friction damping by a spring-mass system. [Figure 11] FIG. 11 is a graph showing a schematic diagram of viscous damping by a damper. [Figure 12] FIG. 12 is a graph combining FIG. 10 and FIG. [Figure 13] FIG. 13 is a schematic side view of the rail of the fourth modified example. [Figure 14] FIG. 14 is a perspective view showing a vibration damping unit according to the third embodiment. [Figure 15A] FIG. 15A is a schematic diagram showing the wheels and rails of FIG. [Figure 15B] FIG. 15B is a schematic diagram showing the wheels and rails in the first embodiment. [Figure 16]FIG. 16 is a perspective view showing a vibration damping system according to the fourth embodiment. [Figure 17A] FIG. 17A is a schematic diagram showing a vibration damping system according to a fifth embodiment. [Figure 17B] FIG. 17B is a schematic diagram showing the vibration damping system of the fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] Hereinafter, a mode for carrying out the invention (hereinafter, referred to as an embodiment) will be described in detail with reference to the drawings. Note that the present invention is not limited to the following embodiment. Furthermore, the components in the following embodiment include those that a person skilled in the art can easily imagine, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the components disclosed in the following embodiment can be appropriately combined.

[0032] Also, in the drawings, XYZ coordinates are shown. The X direction is perpendicular to the Y direction and the Z direction. The Y direction is perpendicular to the X direction and the Z direction. The Z direction is perpendicular to the X direction and the Y direction. The X direction is also called the first direction, the X1 side is one side of the first direction, and the X2 side is the other side of the first direction. The Y direction is also called the second direction, the Y1 side is one side of the second direction, and the Y2 side is the other side of the second direction. The Z direction is also called the third direction, the Z1 side is one side of the third direction, and the Z2 side is the other side of the third direction.

[0033] [First embodiment] First, a vibration control structure 100 and a vibration control system 200 according to a first embodiment will be described. Fig. 1 is a perspective view showing the vibration control system of the first embodiment. Fig. 2 is a perspective view showing the vibration control system of the first embodiment. Fig. 3 is a perspective view showing an enlarged portion of Fig. 2.

[0034] 1, the vibration control system 200 includes a vibration control structure 100. The vibration control structure 100 includes a rail 5 (first base 1) and a vibration control unit 2. In the vibration control system 200, the rails 5 are provided in pairs on the X1 side and the X2 side, and two vibration control units 2 are attached to one rail 5.

[0035] The rail 5 is also referred to as the first base portion 1. As shown in FIG. 1 to FIG. 3, the rail 5 has an arc shape convex toward the Y1 side when viewed from the X direction. As shown in FIG. 1 and FIG. 2, the rail 5 is provided in pairs on the X1 side and the X2 side with a gap therebetween. As shown in FIG. 3, the rail 5 includes a rail holding member 51 and a rail main body 50. The rail holding member 51 is a flat plate extending in the Y direction. In the rail 5 on the Z1 side, the rail main body 50 is attached to the X1 side surface of the rail holding member 51. Specifically, the rail main body 50 is fastened to the Y2 side end of the rail holding member 51 via a bolt. The Y2 side end of the rail holding member 51 extends along the Y2 side end of the rail main body 50. The rail main body 50 includes a thick portion 52, a thin portion 53, and a plate 54. The plate 54 is not an essential component, and the plate 54 may be omitted. This is because the rails 5 are provided in a pair on the left and right, so that the vibration control unit 2 does not come off the rails 5 even without the plate 54. The thick portion 52, the thin portion 53, and the plate 54 are arranged adjacent to each other in the X direction. The thin portion 53 has a smaller thickness in the Y direction than the thick portion 52. For this reason, a groove portion 55 is formed facing the thin portion 53, the thick portion 52, and the plate 54. The groove portion 55 is provided on the Y1 side and the Y2 side of the thin portion 53. The first wheel 23 is inserted into the groove portion 55 on the Y2 side, and the second wheel 25 is inserted into the groove portion 55 on the Y1 side. In this way, the first wheel 23 and the second wheel 25 can move along the rail 5. In other words, a part of the rail 5 is arranged between the first wheel 23 and the second wheel 25.

[0036] The vibration control unit 2 also includes a mounting portion 120 shown in Figs. 1 and 2. The mounting portion 120 is a frame. Specifically, the mounting portion 120 is a rectangular frame body when viewed from the Y direction. As shown in Fig. 1, the mounting portion 120 has a mounting surface 121 at the end on the Y2 side, and an object 220 is placed on the mounting surface 121. The rail holding member 51 is fixed to the base 210.

[0037] The vibration control system 200 can be used for a wide range of applications, such as a traveling device in a factory, a vibration isolation device for a building, etc. When the vibration control system 200 is applied to a traveling device in a factory, the base 210 is, for example, a vehicle body equipped with wheels, and the target object 220 is, for example, a baggage or a transport pallet.

[0038] Next, the vibration damping unit 2 will be described in detail. Fig. 4 is an enlarged perspective view of the vibration damping unit of Fig. 3. Fig. 5 is a front view of the vibration damping unit of Fig. 4 as seen from a third direction. Fig. 6 is a perspective view showing the first wheel 23 and the second wheel 25.

[0039] As shown in Figures 4 and 5, the vibration control unit 2 includes, in addition to the aforementioned mounting portion 120, a second base portion 21, a first rotating axis AX1, a first wheel 23, a second rotating axis AX2, a second wheel 25, and a rocking mechanism 3.

[0040] As shown in FIG. 5, the second base portion 21 has a first plate 211, a second plate 212, a third plate 213, and an L-shaped bracket 214.

[0041] The first plate 211 extends in the X direction. The first plate 211 is fixed to the mounting portion 120 and supports the mounting portion 120 in the Y direction. The second plate 212 and the third plate 213 are fixed to the first plate 211. Specifically, the second plate 212 and the third plate 213 extend from the first plate 211 toward the Y1 side. The second plate 212 and the third plate 213 are disposed with an interval therebetween in the X direction. The second plate 212 and the third plate 213 are connected via a shaft portion 62a extending in the X direction. This will be described in detail below.

[0042] The end of the shaft portion 62a on the X2 side is fixed to the head portion 62b, and the end of the shaft portion 62a on the X1 side is formed with a male screw, which is fastened to a nut 62c. The first wheel 23 is equipped with a resin-wrapped bearing 63. The resin-wrapped bearing 63 has an inner ring 63a, an outer ring 63b, and a rolling element 63c. The inner circumference of the inner ring 63a is a through hole 231a. The vertical plate portion 214a of the L-shaped bracket 214 is provided with a through hole 214c, and the second plate 212 and the third plate 213 are also provided with a through hole 212a and a through hole 213a corresponding to the through hole 214c, respectively. The first wheel 23 is attached rotatably to the axle portion 62a by inserting the axle portion 62a into the inner periphery of the through hole 231a of the first wheel 23, the through hole 212a of the second plate 212, and the through hole 213a of the third plate 213. Spacers 61a and 61b are sandwiched between the second plate 212 and the first wheel 23, and between the third plate 213 and the first wheel 23, respectively. The rotation axis of the axle portion 62a is the first rotation axis AX1. In other words, the second base portion 21 is provided with the first rotation axis AX1 extending in the X direction, and the first wheel 23 is provided on the first rotation axis AX1, which is rotatable in the axial direction around the first rotation axis AX1. The L-shaped bracket 214 has a vertical plate portion 214a extending in the Y direction and a horizontal plate portion 214b extending in the X direction. The vertical plate portion 214a of the L-shaped bracket 214 is fastened to the third plate 213 via a nut 62c. The swing mechanism 3 is provided on the Y1 side of the L-shaped bracket 214. The procedure for assembling the first wheel 23 and the L-shaped bracket 214 will be briefly described below.

[0043] First, the shaft portion 62a is inserted into the through hole 212a of the second plate 212, the through hole of the spacer 61a, the through hole 231a of the first wheel 23, the through hole of the spacer 61b, the through hole 213a of the third plate 213, and the through hole 214c of the vertical plate portion 214a. Then, the nut 62c is fastened to the male thread at the end of the shaft portion 62a on the X1 side.

[0044] The swing mechanism 3 includes a support member 31, a swing axis AX3, a swing member 33, a spring 34, and a spring guide 215.

[0045] The support member 31 is fixed to the horizontal plate portion 214b of the L-shaped bracket 214 via a bolt BL. The support member 31 extends from the horizontal plate portion 214b toward the Y1 side. The swinging member 33 extends along the X direction in FIG. 5. The swinging member 33 is swingably supported at the end of the support member 31 on the Y1 side via a pin 36 extending in the Z direction. That is, the central axis of the pin 36 is the swinging axis AX3, and the swinging axis AX3 extends in the Z direction. The swinging member 33 can swing in a direction around the swinging axis AX3. The spring guide 215 is attached to the horizontal plate portion 214b. The spring guide 215 is disposed on the X1 side with respect to the support member 31. The spring guide 215 extends in the Y direction. The spring 34 is inserted into the outer periphery of the spring guide 215. The spring 34 extends along the Y direction in the state of FIG. 5. The spring 34 abuts against both the horizontal plate portion 214 b of the L-shaped bracket 214 and the swinging member 33 .

[0046] The second wheel 25 is provided at a portion of the rocking member 33 on the X2 side of the pin 36. Specifically, a shaft portion 71a extending in the X direction is provided at the end of the rocking member 33 on the X2 side, and the second wheel 25 is attached to the outer circumferential surface of the shaft portion 71a. The end of the shaft portion 71a on the X2 side is formed into a male screw, and a nut 71b is fastened to the male screw. The second wheel 25 also includes a resin-wrapped bearing 72, similar to the first wheel 23. The resin-wrapped bearing 72 includes an inner ring 72a, an outer ring 72b, and a rolling element 72c. This allows the second wheel 25 to be rotatable relative to the shaft portion 71a. The rotation axis of the shaft portion 71a is the second rotation axis AX2. That is, the second wheel 25 is rotatable in the direction around the second rotation axis AX2. The second rotation axis AX2 is located on the Y1 side with respect to the first rotation axis AX1. The second rotation axis AX2 extends along the X direction. The second rotation axis AX2 is provided on the oscillating member 33 at a portion on the X2 side with respect to the oscillating axis AX3.

[0047] Therefore, when the thin-walled portion 53 of the rail 5 is disposed between the first wheel 23 and the second wheel 25, the second wheel 25 is pressed toward the Y1 side, and the rocking member 33 rocks in the axial direction about the rocking axis AX3 (counterclockwise direction in FIG. 5). Then, the portion of the rocking member 33 on the X1 side of the rocking axis AX3 compresses the spring 34. Therefore, a reaction force that tries to extend in the Y direction acts on the spring 34, and the rocking member 33 rocks in the axial direction about the rocking axis AX3 (clockwise direction in FIG. 5). As a result, the second wheel 25 is pressed toward the Y2 side, and the thin-walled portion 53 of the rail 5 is sandwiched between the first wheel 23 and the second wheel 25.

[0048] Next, the structure of the first wheel 23 and the second wheel 25 will be described. In this embodiment, the first wheel 23 and the second wheel 25 have the same structure, but may have different structures. The structure of the first wheel 23 and the second wheel 25 can be applied in various ways. Fig. 6 is a perspective view showing the first wheel 23.

[0049] As shown in FIG. 6, the first wheel 23 is composed of two members, and the first wheel 23A is composed of one member. The first wheel 23 includes a first member 231 and a second member 232. The first member 231 is a metallic cylindrical member arranged on the inner periphery side. A through hole 231a extending in the axial direction (X direction) is provided in the center of the first member 231. The first member 231 includes the resin-wrapped bearing 63 described above, and the inner periphery of the inner ring 63a of the resin-wrapped bearing 63 is the through hole 231a. A cylindrical second member 232 is provided on the outer periphery side of the first member 231. The second member 232 is indicated by dotted hatching. The material of the second member 232 is, for example, resin. That is, the friction coefficient of the second member 232 is larger than the friction coefficient of the first member 231. The second member 232 has a cylindrical portion 232a and a flange portion 232b. The rail 5 abuts against the outer circumferential surface of the cylindrical portion 232a.

[0050] The first wheel 23A is formed of a single member, the third member 231A. The first wheel 23A is made of, for example, metal as a whole. A through hole 231Aa extending in the axial direction (X direction) is provided in the center. A pair of flanges 231Ac are provided on both axial ends of the cylindrical portion 231Ab.

[0051] As described above, the vibration damping structure 100 according to the first embodiment includes the first base 1 and the vibration damping unit 2. The vibration damping unit 2 includes the second base 21, the first rotating axis AX1, the first wheel 23, the second rotating axis AX2, the second wheel 25, and the swing mechanism 3. The swing mechanism 3 includes a support member 31, a swing axis AX3, a swing member 33, and a spring 34. The support member 31 is attached to the second base 21. The swing axis AX3 is provided on the support member 31 and extends in the Z direction. The swing member 33 can swing in a direction around the swing axis AX3. The spring 34 is provided on the swing member 33 on the X1 side with respect to the swing axis AX3. The second rotating axis AX2 is provided on the swing member 33 at a portion on the X2 side with respect to the swing axis AX3.

[0052] In addition, the vibration control system 200 according to the first embodiment has a pair of rails 5 spaced apart in the X direction, and two vibration control units 2 are provided corresponding to each of the pair of rails 5 and spaced apart in the Z direction.

[0053] As described above, in the vibration control system of Patent Document 1, a platform is provided above the base via an intermediate member. When vibration occurs on the base, the platform moves along the arc-shaped first and second rails, so that when vibration occurs on the base in a lateral direction, the vibration is prevented from being transmitted to an object on the platform. However, in the vibration control system of Patent Document 1, when the vibration generated on the base is in the vertical direction, it may be difficult to suppress the vibration.

[0054] In contrast, the vibration-damping structure 100 and the vibration-damping system 200 according to this embodiment can also suppress vibrations along the vertical direction. Hereinafter, the effects of the vibration-damping structure 100 and the vibration-damping system 200 according to this embodiment will be specifically described.

[0055] First, when the vibration control structure 100 and the vibration control system 200 are applied to a traveling device in a factory, for example, the vibration control unit 2 is attached to a base 210 such as a dolly of the traveling device, and an object 220 such as luggage is loaded on the placement portion 120. A part of the rail 5 (first base portion 1) is disposed between the first wheel 23 and the second wheel 25.

[0056] Therefore, when the vibration control unit 2 vibrates in the vertical direction (Y direction) and a force acts to push the second wheel 25 down from the rail 5, causing the swinging member 33 to swing and the spring 34 to contract, the spring 34 tries to expand due to the reaction force. Then, the swinging member 33 swings and pushes up the second wheel 25, and the rail 5 is sandwiched between the second wheel 25 and the first wheel 23. This suppresses the transmission of vibrations generated in the base 210 to the object 220 on the placement unit 120. In particular, even if the vibrations generated in the base 210 are directed in the vertical direction, the transmission of the vibrations to the object 220 on the placement unit 120 is suppressed.

[0057] In this way, the vibration control structure 100 and the vibration control system 200 according to this embodiment provide a vibration control structure and a vibration control system that are capable of suppressing vibrations even in the up-down direction (Y direction).

[0058] The rail 5 (first base portion 1) according to the first embodiment has an arc shape that protrudes toward the Y1 side when viewed from the X direction.

[0059] When the Y1 side is, for example, the lower side, a damping force due to gravity acts on the vibration damping structure 100 toward the longitudinal ends of the rail 5. Therefore, the vibration damping structure 100 can be more stably positioned in the region between both longitudinal ends of the rail 5 (for example, the region near the longitudinal center).

[0060] The material of the wheels can be adjusted to adjust the friction coefficient and depending on the purpose of use.

[0061] For example, when the wheel material is urethane, it has abrasion resistance and a large overload capacity, so it can be used in environments with a lot of vibration and shock, and is effective for vibration control systems mounted on cars and outdoor-running robots.Furthermore, fluororubber has excellent heat resistance, oil resistance, and chemical resistance, so it is effective in medical, pharmaceutical, and food manufacturing sites.

[0062] The vibration control system 200 has a pair of rails 5 spaced apart in the X direction, and two vibration control units 2 are provided corresponding to each of the pair of rails 5 and spaced apart in the Z direction.

[0063] That is, a total of four vibration control units 2 are provided on both sides in the X direction and both sides in the Z direction in the vibration control system 200. Since the four vibration control units 2 are thus distributed and arranged in a well-balanced manner in the X direction and the Z direction, the vibration control system 200 according to this embodiment has a higher vibration control function.

[0064] [First Modification] Next, a first modified example will be described below: Fig. 7A is a schematic diagram of a first modified example relating to a length adjustment device that adjusts the length of a spring.

[0065] The swing mechanism 3 includes a length adjustment device 35. As shown in Fig. 7A, the length adjustment device 35 includes an L-shaped bracket 214, a spring guide 215, a swing member 33, a spacer 351, and a spring 34.

[0066] That is, a spacer 351 is added to the structure described in Fig. 5. The spacer 351 is attached to the spring guide 215 in a state in which it is positioned between the L-shaped bracket 214 and the spring 34. This makes it possible to set the length of the spring 34 shorter than in the state of Fig. 5. It is possible to prepare a plurality of spacers 351 with different thicknesses and replace the spacer 351 according to the desired length of the spring 34.

[0067] As described above, the rocking mechanism 3 according to the first modified example has the length adjustment device 35 that adjusts the length of the spring 34.

[0068] For example, by compressing the length of the spring 34 in advance to be shorter than its natural length by the length adjustment device 35, the force with which the second wheel 25 and the first wheel 23 pinch the rail 5 becomes larger. If the length of the spring 34 is compressed in advance to be shorter than its natural length, the spring constant becomes larger, so it is preferable to apply it when the weight of the object 220 is large or when a large force such as an earthquake acts, for example. Also, if the length of the spring 34 is made longer than its natural length in advance, the force with which the second wheel 25 and the first wheel 23 pinch the rail 5 becomes smaller. If the length of the spring 34 is made longer than its natural length in advance, the spring constant becomes smaller, so it is preferable to apply it when the weight of the object 220 is small, for example.

[0069] [Second modified example] Next, a description will be given of a second modified example of the length adjustment device for adjusting the length of a spring.

[0070] As shown in FIG. 7B, the length adjustment device 35A is different from the length adjustment device 35 (see FIG. 7A) in that a spring guide 215A and a nut 352 are different.

[0071] Specifically, a male screw portion is provided on the outer circumferential surface of spring guide 215A, and nut 352 engages with the male screw. Nut 352 holds the Y-direction position of spacer 351. By rotating nut 352, the Y-direction position of spacer 351 changes, so it is possible to set the Y-direction position to match the desired length of spring 34.

[0072] As described above, the rocking mechanism 3 according to the second modified example has the length adjustment device 35A that adjusts the length of the spring 34. Since the length adjustment device 35A has the nut 352, it is possible to more firmly hold the height position of the spacer 351.

[0073] [Second embodiment] Next, a second embodiment will be described. Fig. 8A is a schematic diagram of a rail of the second embodiment as viewed from the side. Fig. 8B is a schematic diagram of a rail of the second embodiment as viewed from the side.

[0074] As shown in Figures 8A and 8B, the rail 5A has an arc shape convex toward the Y1 side when viewed from the X direction. Both the Y1 side surface and the Y2 side surface of the rail 5A are arc-shaped when viewed from the X direction. The rail 5A extends in the longitudinal direction. The rail 5A has a thickness T3 at both ends 5Aa in the longitudinal direction. The rail 5A has a thickness T4 at a central portion 5Ab in the longitudinal direction. That is, the thickness of the portion between both ends 5Aa is T4. The thickness T3 is thicker than the thickness T4.

[0075] When the vibration-damping unit 2 swings along the longitudinal direction of the rail 5A, as shown in FIG. 8A, it usually swings within the range of the swing range 5Ac. Here, as shown in FIG. 8B, when a large load is applied to the vibration-damping system 200 and the vibration-damping unit 2 swings in the region 5Ad (see FIG. 8A) beyond the range of the swing range 5Ac, the distance between the first wheel 23 and the second wheel 25 becomes larger than when the vibration-damping unit 2 swings within the range of the swing range 5Ac. Therefore, the spring 34 of the swing mechanism 3 is greatly compressed, so that the reaction force is also large, and the force with which the second wheel 25 presses the rail 5A is also large. Outside the range of the swing range 5Ac, the thickness of the rail 5A becomes a variable that increases proportionally as it moves outward in the longitudinal direction. The variable indicates that outside the range of the swing range 5Ac of the rail 5A shown in FIG. 8A, the thickness of the rail 5A increases proportionally as it moves in the longitudinal direction with respect to a line along the center of the thickness of the rail 5A.

[0076] As described above, in the second embodiment, the thickness T3 of the rail 5A at both longitudinal ends 5Aa is thicker than the thickness T4 at a portion between the both longitudinal ends 5Aa (for example, the central portion 5Ab in the longitudinal direction).

[0077] Therefore, when the force pushing down the second wheel 25 acts toward both ends 5Aa of the rail 5A in the longitudinal direction, the swinging member 33 swings and the spring 34 contracts, and the spring 34 tries to expand due to the reaction force. Then, the swinging member 33 swings and the second wheel 25 is pushed up, and the second wheel 25 and the first wheel 23 sandwich the rail 5A with a larger force. That is, the force that the spring 34 tries to expand becomes larger toward both ends 5Aa of the rail 5A in the longitudinal direction. Therefore, the second embodiment is preferably applied when the vibration control system swings in the region 5Ad beyond the range of the swinging region 5Ac, for example, when the weight of the object 220 is large or when a large load is applied to the vibration control system such as when a large force acts due to an earthquake.

[0078] [Third Modification] Next, a third modified example will be described. Figure 9A is a schematic diagram of the rail of the third modified example seen from the side. Figure 9B is a schematic diagram of the rail of the third modified example seen from the side.

[0079] In the second embodiment, both the Y1-side surface and the Y2-side surface of the rail 5A are arc-shaped when viewed from the X direction. In contrast, in the third modified example, the Y1-side surface of the rail 5B is substantially arc-shaped when viewed from the X direction, and the Y2-side surface is linear.

[0080] Specifically, the surface on the Y1 side of the rail 5B has an inclined surface 5Baa and a flat surface 5Bba. The flat surface 5Bba is a straight line extending in the Z direction when viewed from the X direction, and corresponds to the central portion 5Bb. The swinging region 5Bc is also disposed corresponding to the flat surface 5Bba. The inclined surface 5Baa is adjacent to the flat surface 5Bba in the Z direction. The inclined surface 5Baa approaches the Y1 side as it moves outward in the Z direction. The surface on the Y2 side of the rail 5B is a flat surface 5Bd. The flat surface 5Bd is a straight line extending in the Z direction throughout the entire area in the Z direction when viewed from the X direction.

[0081] The thickness of the rail 5B at both ends 5Ba in the longitudinal direction is thickness T5. The thickness of the rail 5B at the central portion 5ABb in the longitudinal direction is thickness T6. The thickness T5 is thicker than the thickness T6. As shown in FIG. 9B, when a large load is applied to the vibration control system 200 and the vibration control system 200 swings beyond the range of the swing range 5Bc, the distance between the first wheel 23 and the second wheel 25 becomes larger than when the vibration control system 200 swings within the range of the swing range 5Bc. Therefore, the spring 34 of the swing mechanism 3 is greatly compressed, so that the reaction force is also large, and the force with which the second wheel 25 presses the rail 5B is also large. Outside the range of the swing range 5Bc, the thickness of the rail 5B is a variable that increases proportionally as it moves outward in the longitudinal direction. This variable indicates that the thickness of the rail 5B increases proportionally as it moves in the longitudinal direction with respect to the flat surface 5Bd of the rail 5B outside the range of the swing range 5Bc of the rail 5B shown in FIG. 9A.

[0082] Next, we will explain the vibration damping when the wheel oscillates on the rail. Figure 10 is a graph that shows friction damping by the spring-mass system. Figure 11 is a graph that shows viscous damping by the damper. Figure 12 is a graph that combines Figures 10 and 11.

[0083] Friction damping in a normal spring-mass system can be expressed by the following formulas 1 and 2, and the damping tendency is shown in Fig. 10. In Fig. 10, x is the spring displacement, m is the mass applied to the rail, k is the spring constant, and F is the friction force. When the displacement x is positive, formula 1 applies, and when the displacement x is negative, formula 2 applies.

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[0084] As shown in Fig. 10, in a spring-mass system, the displacement x decays proportionally with time. Also, the direction of the friction force changes depending on the direction of the speed, and since it is nonlinear, the calculations are complicated and the controllability is not good.

[0085] In contrast, with viscous damping such as the damper shown in Figure 11, the displacement x decreases exponentially over time, and if the displacement and displacement angle are considered to be minute, linear approximation can be performed, making calculations easier.

[0086] The graph in Fig. 12 shows mode 1 (thin solid line) shown in Fig. 10, mode 2 (dashed line) and mode 3 (thick solid line) shown in Fig. 11. That is, mode 3 (thick solid line) corresponds to the rail according to this embodiment (the rail shown in Fig. 8A and Fig. 9A described above). Mode 3 is a graph of a simulation that approximates viscous damping by adjusting the variables described with reference to Fig. 8A and Fig. 9A described above. In this way, if the relational expression between the variables and the viscosity coefficient is derived, a spring mass damper system can be configured simply by adjusting the variables, and the calculation of the equation of motion becomes easier, thereby improving designability and vibration control performance.

[0087] As described above, in the third modified example, the thickness T3 of the rail 5A at both longitudinal ends 5Aa is greater than the thickness T4 at the portion between the both longitudinal ends 5Aa.

[0088] Therefore, as a force acts to push down the second wheel 25 toward both ends 5Aa of the rail 5A in the longitudinal direction, the swinging member 33 swings and the spring 34 contracts, and the spring 34 tries to expand due to the reaction force. Then, the swinging member 33 swings and the second wheel 25 is pushed up, and the rail 5A is sandwiched between the second wheel 25 and the first wheel 23. This further suppresses the transmission of vibration of the vibration control unit 2 to the object on the mounting part 120.

[0089] In the third modification, the thickness T5 of the rail 5B at both longitudinal ends 5Ba is greater than the thickness T6 at a portion between the both longitudinal ends 5Ba.

[0090] In this case, as in the second embodiment, the force with which the spring 34 tries to expand increases toward both ends 5Ba in the longitudinal direction of the rail 5B. For this reason, the third modified example is preferably applied when the vibration control system oscillates in a range beyond the oscillation range 5Bc, for example, when the weight of the target object 220 is large or when a large load is applied to the vibration control system such as when a large force is applied due to an earthquake or the like.

[0091] [Fourth Variation] Next, a fourth modified example will be described below. Fig. 13 is a schematic side view of the rail of the fourth modified example.

[0092] 13, when viewed from the X direction, the center line C of the rail 4 extends linearly in the Z direction. That is, the rail 4 extends in the Z direction.

[0093] The rail 4 has a first portion 41, a second portion 42, and both end portions 4a when viewed from the X direction. The both end portions 4a are provided at the end portion on the Z1 side and the end portion on the Z2 side. The thickness in the Y direction at the first portion 41 is thickness T1. The thickness in the Y direction at the second portion 42 is thickness T2. The thickness in the Y direction at both end portions 4a is thickness T2. Thickness T2 is thicker than thickness T1. The Z direction end portions of the second portion 42 are curved when viewed from the X direction.

[0094] As described above, the rail 4 (first base portion 1) according to the fourth modified example extends in the Z direction. Therefore, compared with the rail 5 having an arc shape that protrudes toward the Y1 side, for example, the rail 4 (first base portion 1) can be manufactured more easily.

[0095] The rail 4 has a first portion 41 and a second portion 42. The thickness T2 at the second portion 42 is greater than the thickness T1 at the first portion 41.

[0096] Therefore, when the first wheel 23 and the second wheel 25 are located at the second portion 42, the force with which the second wheel 25 and the first wheel 23 pinch the rail 4 is greater than when the first wheel 23 and the second wheel 25 are located at the first portion 41. This further suppresses vibrations transmitted from the base 210 to the object 220 on the mounting portion 120, even for rail 4 that extends linearly.

[0097] [Third embodiment] Next, a third embodiment will be described. Fig. 14 is a perspective view showing a vibration damping unit of the third embodiment. Fig. 15A is a schematic diagram showing the wheel and rail of Fig. 14. Fig. 15B is a schematic diagram showing the wheel and rail in the first embodiment.

[0098] 15B, the intersection angle between a straight line L2 connecting the first rotation axis AX1 and the second rotation axis AX2 and the mounting surface 121 is 90 degrees. That is, the first rotation axis AX1 and the second rotation axis AX2 are aligned along the Y direction.

[0099] In contrast to this, in the vibration damping unit 2A according to the third embodiment, the intersection angle θ between the straight line L1 connecting the first rotation axis AX1 and the second rotation axis AX2 and the mounting surface 121 is other than 90 degrees. This will be explained in detail below.

[0100] As shown in FIG. 14 and FIG. 15A, a straight line L1 is a straight line connecting the first rotation axis AX1 and the second rotation axis AX2. The distance between the first rotation axis AX1 and the second rotation axis AX2 is a distance D1. The placement portion 120 has a placement surface 121. When viewed from the X direction, the intersection angle θ between the straight line L1 and the placement surface 121 is other than 90 degrees. That is, the straight line L1 and the placement surface 121 are inclined with respect to being perpendicular to each other. Note that a rail 4A is disposed between the first wheel 23 and the second wheel 25. The thickness of the rail 4A in the Y direction is a thickness T10.

[0101] 15B, in the first embodiment, the intersection angle between a straight line L2 connecting the first rotation axis AX1 and the second rotation axis AX2 and the mounting surface 121 is 90 degrees. The distance between the first rotation axis AX1 and the second rotation axis AX2 is a distance D2.

[0102] A procedure for setting the intersection angle θ between the straight line L1 and the mounting surface 121 to a value other than 90 degrees will be briefly described. Specifically, the L-shaped bracket 214 is tilted so that the intersection angle θ shown in Fig. 14 and Fig. 15A is set to a value other than 90 degrees. Then, as described above, with the L-shaped bracket 214 tilted, the bolt BL is fastened as shown in Fig. 5 to attach the vertical plate portion 214a of the L-shaped bracket 214 to the third plate 213. Note that, when the intersection angle θ between the straight line L1 and the mounting surface 121 is set to 90 degrees, the bolt BL is fastened as shown in Fig. 5 to attach the vertical plate portion 214a of the L-shaped bracket 214 to the third plate 213 while the straight line L2 is held so as to face the Y direction as shown in Fig. 15B.

[0103] Comparing FIG. 15A and FIG. 15B, the distance between the first rotation axis AX1 and the second rotation axis AX2 is greater in FIG. 15A. That is, the distance D1 is greater than the distance D2. Therefore, in FIG. 15A, the spring 34 (see FIG. 5) is compressed more and a reaction force that tries to extend in the Y direction acts more strongly. Therefore, the second wheel 25 is pressed toward the Y2 side with a greater force, and the rail 5 is sandwiched between the first wheel 23 and the second wheel 25 with a greater force. Therefore, according to the vibration control unit 2A according to the third embodiment, the frictional force (damping) can be easily adjusted by changing the intersection angle θ.

[0104] As described above, in the third embodiment, the intersection angle θ between the straight line L1 connecting the first rotation axis AX1 and the second rotation axis AX2 and the placement surface 121 when viewed from the X direction is other than 90 degrees.

[0105] Consider a case where the first wheel 23 and the second wheel 25 oscillate along the rail 4A extending linearly in the X direction in a first mode in which the intersection angle θ between the straight line L1 connecting the first rotation axis AX1 and the second rotation axis AX2 and the placement surface 121 is other than 90 degrees, and a second mode in which the intersection angle θ between the straight line L1 connecting the first rotation axis AX1 and the second rotation axis AX2 and the placement surface 121 is 90 degrees. That is, the first mode is a mode according to the third embodiment, and the second mode is a mode other than the third embodiment. In the first mode, as shown in FIG. 15A, the distance between the first rotation axis AX1 and the second rotation axis AX2 is a distance D1. In the second mode, as shown in FIG. 15B, the distance between the first rotation axis AX1 and the second rotation axis AX2 is a distance D2. Since the distance D1 is greater than the distance D2, the force of the second wheel 25 and the first wheel 23 pinching the rail 4A is greater. As a result, the first aspect (the aspect of the third embodiment) further suppresses the transmission of vibrations generated in the base 210 to the object 220 on the mounting portion 120 compared to the second aspect (an aspect other than the third embodiment).

[0106] [Fourth embodiment] Next, a fourth embodiment will be described. Fig. 16 is a perspective view showing a vibration control system according to the fourth embodiment. As shown in Fig. 16, in a vibration control system 200A according to the fourth embodiment, a rail 5 (first base 1) and a mounting portion 120 (vibration control unit 2) are connected via an elastic member 140. A specific description will be given below.

[0107] First, the rail 5 is included in the first base 1. The mounting portion 120 is included in the vibration damping unit 2. Therefore, in the fourth embodiment, the first base 1 and the vibration damping unit 2 are connected via an elastic member 140. The elastic member 140 is, for example, a spring 141.

[0108] As described above, the mounting portion 120 is a rectangular frame when viewed from the Y direction. One end of the spring 141 is connected to the four corners 120a of the rectangular frame. The other end of the spring 141 is connected to the Z-direction end of the rail holding member 51. That is, the corners of the mounting portion 120 and the Z-direction end of the rail holding member 51 are connected via the spring 141. Note that this is not limited to the present embodiment, and any aspect in which the vibration control unit 2 (movable part) including the mounting portion 120 and the rail 5 (stationary part) including the rail holding member 51 are connected via the spring 141 is applicable. That is, the movable part in the vibration control system is the vibration control unit 2 including the mounting portion 120, and the stationary part is the rail 5 including the rail holding member 51. Therefore, any aspect in which the movable part and the stationary part in the vibration control system are connected via the spring 141 is applicable.

[0109] As described above, in the vibration control system according to the fourth embodiment, the first base 1 and the vibration control unit 2 are connected via the spring 141 (elastic member 140).

[0110] In addition to improving the vibration control performance by using the elastic force of the spring 34 of the oscillating mechanism 3 to clamp the rail 4 between the second wheel 25 and the first wheel 23, a spring mass damper system can be formed, which suppresses vibrations and improves the vibration control function, thereby further improving the vibration control function of the vibration control system as a whole.

[0111] [Fifth embodiment] Next, a fifth embodiment will be described. Fig. 17A is a schematic diagram showing a vibration damping system of the fifth embodiment. Fig. 17B is a schematic diagram showing a vibration damping system of the fifth embodiment.

[0112] The vibration damping system according to the fifth embodiment further includes an actuator 130. This will be described in detail below.

[0113] As shown in FIG. 17A, two vibration control units 2 are provided on one rail 5 with a gap therebetween in the Z direction. When viewed from the X direction, the rail 5 has an arc shape that protrudes toward the Y1 side. A first wheel 23 abuts on the Y2 side surface of the rail 5. That is, a first wheel 23 of the vibration control unit 2 on the Z1 side and a first wheel 23 of the vibration control unit 2 on the Z2 side abut on one rail 5. The vibration control unit 2 on the Z1 side and the vibration control unit 2 on the Z2 side are connected via an actuator 130. An example of the actuator 130 is a linear actuator. The actuator 130 includes, for example, an actuator body 132 and a shaft 131. When the actuator body 132 is driven, the shaft 131 expands and contracts, so that the vibration control unit 2 on the Z1 side and the vibration control unit 2 on the Z2 side approach each other in the Z direction as shown in Fig. 17A, or the vibration control unit 2 on the Z1 side and the vibration control unit 2 on the Z2 side move away from each other in the Z direction as shown in Fig. 17B. In this way, the actuator 130 can change the distance between the two vibration control units 2 in the Z direction.

[0114] As described above, the vibration control system according to the fifth embodiment further includes the actuator 130 capable of changing the distance between the two vibration control units 2 in the Z direction.

[0115] According to the vibration control system of the fifth embodiment, the Z-direction separation distance between the vibration control unit 2 on the Z1 side and the vibration control unit 2 on the Z2 side can be controlled, making it possible to provide the mounting portion 120 with a Y-direction lifting function and to perform active vibration control in the Z direction. [Explanation of symbols]

[0116] 1 1st base 2 Vibration Control Unit 3. Swing Mechanism 4 Rail 4a Both ends 4A Rail 5 Rail 5A Rail 5Aa both ends 5Ab central part 5Ac oscillation range 5B Rail 5Ba both ends 5Baa Slope 5Bb central part 5Bba flat surface 5Bc Swing Range 5Bd flat surface 21 Second base 23 1st wheel 23A 1st wheel 25 2nd wheel 31 Support member 33 Swinging member 34 Spring 35 Length adjustment device 35A Length adjustment device 36 pin 41 Part 1 42 Part 2 50 Rail body 51 Rail retaining member 52 Thick wall part 53 Thin section 54 Plate 55 Concave groove part 61a, 61b Spacer 62a Shaft 62b Head 62c Nut 63 Resin-wrapped bearing 63a Inner circle 63b Outer ring 63c Rolling elements 71a Shaft 71b Nut 72 Resin-wrapped bearings 72a Inner circle 72b Outer ring 72c rolling element 100 Vibration-damping structure 120 Placement section 120a Corner 130 Actuator 132 Actuator body 131 Shaft 140 Elastic member 141 Spring 200 Vibration Control System 200A Vibration Control System 210 Foundation 211 Plate 1 212 Second Plate 212a Through hole 213 3rd Plate 213a Through hole 214 L-bracket 214a Vertical plate section 214b Horizontal plate part 214c through hole 215 Spring Guide 215A Spring Guide 220 Object 231 First member 231a Through hole 231A Third Component 231Aa through hole 231Ab Cylinder 231Ac flange 232 Second member 232a Cylindrical part 232b Flange 351 Spacer 352 Nut AX1 First rotation axis AX2 Second rotation axis AX3 Swing Axis BL Bolt D1, D2 distance L1 straight line T1 Thickness T2 Thickness T3 Thickness T4 Thickness T5 Thickness T6 Thickness T10 Thickness θ Intersection angle

Claims

1. A first base portion; a vibration control unit attached to the first base, The vibration damping unit includes: A second base portion; a first rotation shaft provided on the second base and extending in a first direction; a first wheel supported by the first rotation shaft and rotatable relative to the second base in a direction around the first rotation shaft; a second rotation shaft provided on one side of the first rotation shaft in a second direction intersecting the first direction and extending along the first direction; a second wheel supported by the second rotating shaft and rotatable in a direction around the second rotating shaft; a swing mechanism provided on the second base and configured to swing the second wheel, a portion of the first base is disposed between the first wheel and the second wheel; The rocking mechanism includes: a support member attached to the second base and positioned on one side of the second base in the second direction; a swing shaft provided on the support member and extending in a third direction intersecting the first direction and the second direction; a swing member extending in the first direction and swingable about the swing shaft; a spring provided on one side of the pivot shaft in the first direction in the pivot member, The second rotation shaft is provided at a portion of the swing member on the other side in the first direction with respect to the swing shaft. Vibration-damping structure.

2. the first base portion is a rail, The rail extends in the third direction. The vibration damping structure according to claim 1.

3. the first base portion is a rail, When viewed from the first direction, the rail has an arc shape that is convex toward one side in the second direction. The vibration damping structure according to claim 1.

4. The second base portion includes a placement portion on which an object is placed, The placement portion has a placement surface extending in the third direction as viewed from the first direction, When viewed from the first direction, an intersection angle between a straight line connecting the first rotation axis and the second rotation axis and the placement surface is other than 90 degrees. The vibration damping structure according to claim 1.

5. The rocking mechanism includes: A length adjustment device for adjusting the length of the spring is provided. The vibration damping structure according to any one of claims 1 to 4.

6. The rail has a first portion and a second portion when viewed from the first direction, The thickness of the second portion in the second direction is greater than the thickness of the first portion in the second direction. The vibration damping structure according to claim 2.

7. the first base portion is a rail, The thickness of the rail at both ends in the longitudinal direction is The thickness of the portion between the two ends is thicker than that of the portion between the two ends. The vibration damping structure according to claim 1.

8. Each of the first wheel and the second wheel has A first member and a second member provided on an outer circumferential side of the first member, The coefficient of friction of the second member is greater than the coefficient of friction of the first member. The vibration damping structure according to any one of claims 1 to 4.

9. A vibration control system comprising the vibration control structure according to claim 2 or 3, The rails are provided in a pair at an interval in the first direction, The vibration damping units are provided in pairs at intervals in the third direction corresponding to each of the pair of rails. Vibration control system.

10. further comprising an actuator capable of changing a distance between the two vibration damping units in the third direction; 10. The vibration control system of claim 9.

11. The first base and the vibration damping unit are connected via an elastic member.

10. The vibration control system of claim 9.

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