Seismic isolation device and control method

Abstract

To restrain a change in a positional relationship between an opposed part such as a frame and a structure before and after an earthquake.SOLUTION: The seismic isolation device 10 includes a base 11 having an upper surface on which a structure is placed, a gas layer forming device (air layer forming device 13) configured to form a gas layer (air layer 30) between the base 11 and a facing portion (mount 12) facing an 11b of a lower surface of the base 11, and actuators 14 configured to horizontally move the base 11 or the facing portion.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a seismic isolation device and a control method. [Background technology]

[0002] Various technologies have been proposed for seismic isolation devices to suppress shaking of structures when an earthquake occurs. For example, Patent Document 1 discloses a seismic isolation device that suppresses shaking of a structure by raising the structure using an air layer when an earthquake occurs. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-162492 Summary of the Invention [Problem to be solved by the invention]

[0004] In a seismic isolation device that uses a gas layer, such as an air layer, to levitate a structure, when an earthquake occurs, a gas layer forms between the base on which the structure rests and the opposing part, such as a platform, that faces the underside of the base, making it difficult for ground vibrations to be transmitted to the structure. However, this does not mean that vibrations are completely prevented from being transmitted to the structure during an earthquake. As a result, when the structure and base land on the opposing part, such as a platform, after the earthquake has ended, the positional relationship between the opposing part and the structure may change from the positional relationship before the earthquake. In this case, problems such as instability in the structure's posture after landing may occur. Therefore, it is desirable to suppress changes in the positional relationship between the opposing part, such as a platform, and the structure before and after an earthquake.

[0005] An object of the present disclosure is to provide a seismic isolation device and a control method that can suppress changes in the positional relationship between an opposing part of a frame or the like and a structure before and after an earthquake. [Means for solving the problem]

[0006] In order to solve the above problems, the seismic isolation device disclosed herein comprises a base on which a structure is placed, a gas layer forming device that forms a gas layer between the base and an opposing part that faces the underside of the base when an earthquake occurs, and an actuator that can move the base or the opposing part horizontally.

[0007] The facing portion may be provided so as to be movable in the horizontal direction, and the actuator may adjust the horizontal position of the facing portion.

[0008] A control device may be provided that controls the actuator so that the horizontal position of the opposing part follows the horizontal position of the base when an earthquake occurs.

[0009] A control device may be provided that controls the actuator so that the horizontal position of the opposing part moves to the horizontal position of the base after the earthquake has ended.

[0010] The actuator may be capable of horizontally moving the base by exerting a force on the base in the horizontal direction.

[0011] A control device may be provided that controls the actuator so that changes in the horizontal position of the base are suppressed when an earthquake occurs.

[0012] A control device may be provided that controls the actuator so that the horizontal position of the base moves to the horizontal position of the opposing part after the earthquake has ended.

[0013] In order to solve the above problems, the control method disclosed herein is a control method for a seismic isolation device that has a base on which a structure is placed and an opposing part that faces the underside of the base, and includes the steps of: lifting the base relative to the opposing part based on the detection of an earthquake occurrence; and applying a force to at least one of the opposing part and the base so as to reduce the relative displacement between the relatively lifted opposing part and the base.

[0014] The step of applying the force may be performed by actively controlling at least one of the counter portion and the base.

[0015] The method may include a step of applying a force to at least one of the opposing portion and the base based on detection of the end of the earthquake, thereby reducing the deviation between the opposing portion that has risen relatively and the base, and a step of installing the opposing portion relative to the base after the step of reducing the deviation between the opposing portion and the base. [Effects of the Invention]

[0016] According to the present disclosure, it is possible to suppress changes in the positional relationship between the opposing part of a mounting base or the like and the structure before and after an earthquake. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a seismic isolation device according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a schematic diagram showing a state of the seismic isolation device according to the embodiment of the present disclosure when an earthquake occurs. [Figure 3] FIG. 3 is a flowchart illustrating an example of a flow of processing performed by the control device according to the embodiment of the present disclosure. [Figure 4] FIG. 4 is a graph showing an example of the transition of various state quantities when an earthquake occurs in a seismic isolation device according to a comparative example. [Figure 5] FIG. 5 is a graph showing an example of the transition of various state quantities when an earthquake occurs in a seismic isolation device according to an embodiment of the present disclosure. [Figure 6] FIG. 6 is a schematic diagram showing the configuration of a seismic isolation device according to a modified example of the present disclosure. [Figure 7] FIG. 7 is a flowchart showing an example of a flow of processing performed by a control device according to a modification of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Dimensions, materials, and other specific numerical values ​​shown in the embodiments are merely examples for ease of understanding and, unless otherwise specified, do not limit the present disclosure. In this specification and drawings, elements having substantially the same functions and configurations are designated by the same reference numerals to avoid redundant explanation, and elements not directly related to the present disclosure are not shown.

[0019] FIG. 1 is a schematic diagram showing the configuration of a seismic isolation device 10 according to this embodiment. The seismic isolation device 10 is a device that, when an earthquake occurs, makes it difficult for shaking to be transmitted to a structure by raising the structure using an air layer (see air layer 30 in FIG. 2, which will be described later). FIG. 1 is a view of the seismic isolation device 10 viewed horizontally. The up-down direction in FIG. 1 corresponds to the vertical direction. Hereinafter, the vertically upward direction and the vertically downward direction will also be simply referred to as the upward direction and the downward direction, respectively.

[0020] As shown in FIG. 1, the seismic isolation device 10 includes, for example, a base 11, a mount 12, an air layer forming device 13, an actuator 14, a base sensor 15, a seismic sensor 16, and a control device 17.

[0021] The base 11 has a flat plate shape extending on a horizontal plane. When viewed vertically, the base 11 has, for example, a rectangular shape. The vertical length of the base 11 corresponds to the thickness of the base 11. Various structures can be placed on the upper surface 11a of the base 11. Examples of such structures include servers, semiconductor manufacturing equipment, medical equipment, various devices used in manufacturing lines, and artworks. The lower surface 11b of the base 11 faces the upper surface 12a of the stand 12 in the vertical direction.

[0022] The mount 12 corresponds to an example of an opposing portion that faces the lower surface 11b of the base 11. The mount 12 is installed on the ground 20. However, the mount 12 may also be installed on the floor of a building or the like. The mount 12 has a flat plate shape extending on a horizontal plane. When viewed in the vertical direction, the mount 12 has, for example, a rectangular shape. When viewed in the vertical direction, the dimensions of the mount 12 and the dimensions of the base 11 are approximately the same. However, when viewed in the vertical direction, the dimensions of the mount 12 and the dimensions of the base 11 do not have to be the same. The vertical length of the mount 12 corresponds to the thickness of the mount 12.

[0023] When an earthquake occurs, the air layer forming device 13 forms an air layer (see air layer 30 in FIG. 2 described later) between the base 11 and the mount 12. However, when an earthquake occurs, a layer of gas other than air may be formed between the base 11 and the mount 12. In other words, the air layer forming device 13 corresponds to an example of a gas layer forming device that forms a gas layer between the base 11 and an opposing portion that faces the lower surface 11b of the base 11 when an earthquake occurs.

[0024] As shown in FIG. 1, the air layer forming device 13 of the present disclosure includes a tank 13a, a supply pipe 13b, an injection port 13c, an electromagnetic valve 13d, and a sealing member 13e.

[0025] Tank 13a, supply pipe 13b, and solenoid valve 13d are provided within base 11. Tank 13a stores high-pressure air. Supply pipe 13b connects tank 13a to nozzle 13c. Jet port 13c opens to bottom surface 11b of base 11. Solenoid valve 13d is provided in supply pipe 13b.

[0026] When solenoid valve 13d is closed, the air in tank 13a is blocked by solenoid valve 13d and is not sent to the nozzle 13c side of supply pipe 13b relative to solenoid valve 13d. On the other hand, when solenoid valve 13d is open, the air in tank 13a is sent through supply pipe 13b to nozzle 13c. The air is then sprayed downward from nozzle 13c. The operation of solenoid valve 13d is controlled by control device 17.

[0027] The sealing member 13e seals the gap between the lower surface 11b of the base 11 and the pedestal 12. The sealing member 13e is a thin plate made of a metal material such as stainless steel. The sealing member 13e extends along the entire outer periphery of the lower surface 11b of the base 11. The sealing member 13e extends downward from the outer periphery of the lower surface 11b of the base 11. The lower end of the sealing member 13e abuts against the upper surface 12a of the pedestal 12. The lower end of the sealing member 13e is slidable along the upper surface 12a of the pedestal 12.

[0028] FIG. 2 is a schematic diagram showing the state of the seismic isolation device 10 according to this embodiment when an earthquake occurs. When an earthquake occurs, the solenoid valve 13d opens. As a result, air in the tank 13a passes through the supply pipe 13b and is ejected downward from the ejection port 13c. Then, as shown in FIG. 2, an air layer 30 is formed in the space defined by the lower surface 11b of the base 11, the upper surface 12a of the mount 12, and the sealing member 13e. In this way, the base 11 is lifted by the air layer 30. As a result, a structure placed on the base 11 is also lifted by the air layer 30, making it difficult for shaking to be transmitted to the structure.

[0029] The actuator 14 can move the gantry 12 in the horizontal direction. As described above, the gantry 12 is separate from the ground 20 or the floor of the building and is provided so as to be movable in the horizontal direction. For example, the gantry 12 can be moved in the horizontal direction by a guide mechanism or the like that guides the gantry 12 in the horizontal direction. The actuator 14 can adjust the horizontal position of the gantry 12. The actuator 14 is, for example, a linear motor. However, the actuator 14 may be something other than a linear motor. For example, the actuator 14 may be a mechanism including a rotary motor and a ball screw mechanism. The operation of the actuator 14 is controlled by the control device 17.

[0030] In the seismic isolation device 10, the actuator 14 adjusts the horizontal position of the pedestal 12, thereby suppressing changes in the positional relationship between the pedestal 12 and a structure before and after an earthquake. Below, an example will be described in which the actuator 14 adjusts the position of the pedestal 12 in the left-right direction in FIG. 1. Also, below, the left-right direction in FIG. 1 will be simply referred to as the left-right direction. In other words, below, the left-right position of the pedestal 12 is adjusted by the actuator 14. However, the direction in which the position of the pedestal 12 is adjusted by the actuator 14 may be other than the left-right direction.

[0031] As described above, the direction in which the position of the gantry 12 is adjusted by the actuator 14 is a specific horizontal direction among directions perpendicular to the vertical direction. However, the direction in which the position of the gantry 12 is adjusted by the actuator 14 may be not only one direction but also two or more directions. For example, by using multiple guide mechanisms that guide the gantry 12 in different directions, the actuator 14 can adjust the position of the gantry 12 in multiple directions.

[0032] The base sensor 15 detects the behavior of the base 11. For example, the base sensor 15 detects the relative displacement of the base 11 with respect to the mount 12 in the left-right direction. The above-mentioned relative displacement corresponds to the distance between the left-right position of the base 11 and the left-right position of the mount 12. For example, the base sensor 15 detects the speed of the base 11 in the left-right direction. The base sensor 15 is, for example, a laser displacement meter. However, the base sensor 15 may be a sensor other than a laser displacement meter. The base sensor 15 is, for example, provided on the base 11.

[0033] The earthquake sensor 16 detects seismic waves to observe earthquake shaking. The earthquake sensor 16 is installed, for example, on the ground 20 or the floor of a building.

[0034] The control device 17 includes, for example, a processor 17a and a memory 17b. The processor 17a includes, for example, a central processing unit (CPU) or the like. The memory 17b includes, for example, a ROM in which programs and the like are stored, and a RAM as a work area or the like. The functions of the control device 17 are realized, for example, by the processor 17a executing a program stored in the memory 17b.

[0035] For example, the control device 17 acquires detection results from the base sensor 15 and the earthquake sensor 16. For example, the control device 17 controls the operation of the solenoid valve 13d of the air layer forming device 13 and the actuator .

[0036] 3 is a flowchart showing an example of the flow of processing performed by the control device 17 according to this embodiment. The processing flow shown in FIG. 3 is executed repeatedly at preset time intervals, for example.

[0037] 3 starts, in step S101, the control device 17 determines whether or not an earthquake has occurred. The control device 17 can determine whether or not an earthquake has occurred, for example, based on the detection result of the earthquake sensor 16. For example, the control device 17 determines that an earthquake has occurred when a P wave indicating the initial tremor of an earthquake is detected.

[0038] If it is determined that no earthquake has occurred (step S101 / NO), step S101 is repeated. On the other hand, if it is determined that an earthquake has occurred (step S101 / YES), the process proceeds to step S102.

[0039] If the determination in step S101 is YES, in step S102, the control device 17 starts levitation control. The levitation control is control for levitating the base 11 and the structure placed on the base 11 by the air layer 30. For example, the control device 17 starts the levitation control by opening the solenoid valve 13d of the air layer forming device 13, thereby levitating the base 11 and the structure placed on the base 11 by the air layer 30.

[0040] After step S102, in step S103, the control device 17 executes first position control. The first position control is control of the actuator 14 to make the left-right position of the gantry 12 follow the left-right position of the base 11. That is, in the first position control, the control device 17 controls the actuator 14 so that the left-right position of the gantry 12 follows the left-right position of the base 11. The control device 17 executes the first position control, for example, based on the detection result of the base sensor 15. For example, the control device 17 controls the actuator 14 to adjust the left-right position of the gantry 12 so that the relative displacement of the base 11 with respect to the gantry 12 in the left-right direction is reduced.

[0041] After step S103, in step S104, the control device 17 determines whether the earthquake has ended. The control device 17 can determine whether the earthquake has ended, for example, based on the detection result of the earthquake sensor 16. For example, the control device 17 determines that the earthquake has ended when seismic waves are no longer detected. Alternatively, the control device 17 may determine that the earthquake has ended when the magnitude of the seismic waves (for example, amplitude or vibration energy) falls below a predetermined threshold, even if seismic waves are detected.

[0042] If it is determined that the earthquake has not ended (step S104 / NO), the process returns to step S103. On the other hand, if it is determined that the earthquake has ended (step S104 / YES), the process proceeds to step S105.

[0043] If the determination in step S104 is YES, in step S105, the control device 17 executes second position control. The second position control is control of the actuator 14 to move the left-right position of the gantry 12 to the left-right position of the base 11. That is, in the second position control, the control device 17 controls the actuator 14 so that the left-right position of the gantry 12 moves to the left-right position of the base 11. The control device 17 executes the second position control, for example, based on the detection result of the base sensor 15. For example, the control device 17 controls the actuator 14 to adjust the left-right position of the gantry 12 so that the relative displacement of the base 11 with respect to the gantry 12 in the left-right direction is eliminated or is reduced to a predetermined deviation.

[0044] After step S105, in step S106, the control device 17 ends the levitation control, and the processing flow shown in Fig. 3 ends. For example, the control device 17 closes the solenoid valve 13d of the air layer forming device 13 to end the formation of the air layer 30 and end the levitation control. At this time, for example, the air forming the air layer 30 leaks out from the gap between the sealing member 13e and the pedestal 12, and the air layer 30 disappears. Then, the base 11 and the structure descend as the air layer 30 disappears and land on the pedestal 12.

[0045] Fig. 4 is a graph showing an example of the transition of various state quantities when an earthquake occurs in a seismic isolation device according to a comparative example. Fig. 5 is a graph showing an example of the transition of various state quantities when an earthquake occurs in the seismic isolation device 10 according to this embodiment. Unlike the seismic isolation device 10 according to this embodiment, the seismic isolation device according to the comparative example does not include an actuator 14. Therefore, in the comparative example, when an earthquake occurs, levitation control is executed, but the above-mentioned first position control and second position control are not executed while levitation control is being executed.

[0046] In addition, Figures 4 and 5 show the maximum acceleration of 341.7 cm / s 2The results are from a numerical analysis simulation in which the El Centro N-S wave is used as the seismic wave, the duration of the seismic wave is set to 53.78 seconds, the air layer 30 is considered to be a spring element and a damper element, and the base 11 is considered to be a mass point, with the natural period and damping ratio of the system being set to 15 seconds and 0.2, respectively.

[0047] 4 and 5 show the base relative position, gantry position, base acceleration, and gantry acceleration as various state quantities. The base relative position means the relative position of the base 11 with respect to the gantry 12 in the left-right direction. The gantry position means the left-right position of the gantry 12. The base acceleration means the acceleration of the base 11 in the left-right direction. The gantry acceleration means the acceleration of the gantry 12 in the left-right direction.

[0048] When an earthquake occurs, levitation control is performed in the comparative example as in the present embodiment. Therefore, when an earthquake occurs, an air layer 30 is interposed between the base 11 and the pedestal 12 in the comparative example as in the present embodiment. This makes it difficult for vibrations to be transmitted to the base 11. However, this does not mean that vibrations are completely prevented from being transmitted to the base 11 when an earthquake occurs. Specifically, while levitation control is being performed, the air layer 30 connects the base 11 and the pedestal 12 and functions as a spring element and a damper element acting in the left-right direction. Therefore, in the comparative example, as shown in FIG. 4, when an earthquake occurs, the pedestal position does not change, but the relative position of the base changes. In particular, when a long-period earthquake occurs, the change in the relative position of the base is likely to be large.

[0049] Furthermore, in the comparative example, the relative position of the base 11 is likely to change before and after the earthquake due to the horizontal displacement of the base 11 relative to the mount 12 when an earthquake occurs. In other words, the positional relationship between the mount 12 and the structure placed on the base 11 is likely to change before and after the earthquake.

[0050] As described above, in this embodiment, when an earthquake occurs, the control device 17 executes the first position control to control the actuator 14 so that the left-right direction position of the gantry 12 follows the left-right direction position of the base 11. As a result, in this embodiment, when an earthquake occurs, the change in the base relative position is suppressed as shown in Fig. 5. Furthermore, when an earthquake occurs, the change in the base relative position is suppressed, and therefore the base acceleration is also reduced.

[0051] Furthermore, as described above, in this embodiment, after the earthquake ends, the control device 17 executes the second position control to control the actuator 14 so that the left-right position of the gantry 12 moves to the left-right position of the base 11. This makes it possible to suppress changes in the relative position of the base before and after the earthquake. In other words, it is possible to suppress changes in the positional relationship between the gantry 12 and the structure placed on the base 11 before and after the earthquake.

[0052] As described above, the seismic isolation device 10 according to this embodiment includes the base 11 on which a structure is placed, a gas layer forming device (in the above example, the air layer forming device 13) that forms a gas layer (in the above example, the air layer 30) between the base 11 and an opposing portion (in the above example, the base 12) that faces the underside 11b of the base 11 during an earthquake, and the actuator 14 that can move the opposing portion in a horizontal direction (in the above example, the left-right direction). This allows the actuator 14 to reduce horizontal displacement of the base 11 relative to the opposing portion during execution of levitation control. Therefore, it is possible to suppress changes in the positional relationship between the opposing portion, such as the base 12, and the structure placed on the base 11 before and after an earthquake. This prevents problems such as the structure becoming unstable after landing.

[0053] In particular, in the seismic isolation device 10 according to this embodiment, the opposing part (the base 12 in the above example) is provided so as to be movable in the horizontal direction, and the actuator 14 adjusts the horizontal position of the opposing part. As a result, during execution of levitation control, the actuator 14 is used to appropriately reduce the horizontal relative displacement of the base 11 with respect to the opposing part.

[0054] Furthermore, the seismic isolation device 10 according to this embodiment includes a control device 17 that controls the actuator 14 so that the horizontal position of the opposing part (the mount 12 in the above example) follows the horizontal position of the base 11 when an earthquake occurs. This suppresses changes in the relative position of the base when an earthquake occurs. Furthermore, suppressing changes in the relative position of the base when an earthquake occurs also reduces the base acceleration.

[0055] In particular, the seismic isolation device 10 according to this embodiment includes a control device 17 that controls the actuator 14 so that, after an earthquake has ended, the horizontal position of the opposing part (the mount 12 in the above example) moves to the horizontal position of the base 11. This appropriately suppresses changes in the positional relationship between the opposing part, such as the mount 12, and the structure placed on the base 11 before and after an earthquake.

[0056] The seismic isolation device 10 according to this embodiment has been described above. However, various components of the seismic isolation device 10 may be added or modified as appropriate.

[0057] For example, in the above example, the air layer 30 is formed in the space partitioned by the lower surface 11b of the base 11, the upper surface 12a of the mount 12, and the sealing member 13e. However, the sealing member 13e may be omitted from the seismic isolation device 10. In this case, the air layer forming device 13 can form the air layer 30 between the lower surface 11b of the base 11 and the upper surface 12a of the mount 12 by continuously injecting air from the injection port 13c.

[0058] For example, in the above example, both the first position control and the second position control are executed during the execution of the levitation control. However, only one of the first position control and the second position control may be executed during the execution of the levitation control. Furthermore, during the execution of the levitation control, the horizontal position of the gantry 12 may be adjusted by a control different from the first position control and the second position control.

[0059] 6 is a schematic diagram showing the configuration of a seismic isolation device 10A according to a modified example of the present disclosure. The seismic isolation device 10A differs from the seismic isolation device 10 described above in that the actuator 14 is replaced with an actuator 14A.

[0060] Actuator 14A is capable of moving base 11 in the horizontal direction. Specifically, actuator 14A is capable of moving base 11 in the horizontal direction by applying a force to base 11 in the horizontal direction. Actuator 14A is, for example, a linear motor. However, actuator 14A may be something other than a linear motor. However, if actuator 14A is a linear motor, earthquake vibrations are blocked to some extent between the coil and magnet of the linear motor. Therefore, transmission of earthquake vibrations to base 11 is suppressed. In this way, if actuator 14A can drive a movable part (for example, the above-mentioned magnet) without contact, transmission of earthquake vibrations to base 11 is suppressed. The operation of actuator 14A is controlled by control device 17.

[0061] In the seismic isolation device 10A, the actuator 14A applies a horizontal force to the base 11, thereby suppressing changes in the positional relationship between the frame 12 and the structure before and after an earthquake. Below, an example will be described in which the actuator 14A applies a force to the base 11 in the left-right direction in FIG. 6. Also, below, the left-right direction in FIG. 6 will be simply referred to as the left-right direction. In other words, below, the left-right position of the base 11 is adjusted by the actuator 14A. However, the direction of the force applied to the base 11 by the actuator 14A may be other than the left-right direction.

[0062] As described above, the direction of the force applied by actuator 14A to base 11 is a specific horizontal direction among directions perpendicular to the vertical direction. However, the direction of the force applied by actuator 14A to base 11 may be not only one direction but also two or more directions.

[0063] 7 is a flowchart showing an example of the flow of processing performed by the control device 17 according to the modified example of the present disclosure. The processing flow shown in FIG. 7 is executed repeatedly at preset time intervals, for example.

[0064] The processing flow shown in FIG. 7 differs from the processing flow shown in FIG. 4 in that steps S103 and S105 are replaced with steps S201 and S202.

[0065] In the processing flow shown in FIG. 7, after step S102, in step S201, the control device 17 executes the first force control. The first force control is control of the actuator 14A to suppress changes in the horizontal position of the base 11. That is, in the first force control, the control device 17 controls the actuator 14A so as to suppress changes in the horizontal position of the base 11. The control device 17 executes the first force control, for example, based on the detection result of the base sensor 15. For example, the control device 17 controls the actuator 14A so that a force is applied to the base 11 in the direction opposite to the movement direction of the base 11 and that increases as the speed of the base 11 in the left-right direction increases. This suppresses changes in the base relative position when an earthquake occurs. Furthermore, as changes in the base relative position are suppressed when an earthquake occurs, the base acceleration is also reduced.

[0066] After step S201, in step S104, the control device 17 determines whether the earthquake has ended. If it is determined that the earthquake has not ended (step S104 / NO), the process returns to step S201. On the other hand, if it is determined that the earthquake has ended (step S104 / YES), the process proceeds to step S202.

[0067] If the determination in step S104 is YES, in step S202, the control device 17 executes the second force control. The second force control is control of the actuator 14A to move the left-right position of the base 11 to the left-right position of the gantry 12. That is, in the second force control, the control device 17 controls the actuator 14A so that the left-right position of the base 11 moves to the left-right position of the gantry 12. The control device 17 executes the second force control, for example, based on the detection result of the base sensor 15. For example, the control device 17 controls the actuator 14A to adjust the left-right position of the base 11 so that there is no relative displacement of the base 11 with respect to the gantry 12 in the left-right direction. This makes it possible to suppress changes in the relative position of the base before and after an earthquake. That is, it is possible to suppress changes in the positional relationship between the gantry 12 and the structure placed on the base 11 before and after an earthquake.

[0068] After step S202, in step S106, the control device 17 ends the levitation control, and the processing flow shown in FIG. 7 ends.

[0069] As described above, the seismic isolation device 10A according to the modified example includes the base 11 on which a structure is placed, a gas layer forming device (air layer forming device 13 in the above example) that forms a gas layer (air layer 30 in the above example) between the base 11 and an opposing portion (frame 12 in the above example) that faces the underside 11b of the base 11 during an earthquake, and an actuator 14A that can move the base 11 in the horizontal direction (left and right in the above example). This allows the actuator 14A to reduce horizontal relative displacement of the base 11 with respect to the opposing portion during execution of levitation control. Therefore, it is possible to suppress changes in the positional relationship between the opposing portion, such as the frame 12, and the structure placed on the base 11 before and after an earthquake. This prevents problems such as the structure's posture becoming unstable after landing.

[0070] In particular, in the seismic isolation device 10A according to the modified example, the actuator 14A applies a horizontal force to the base 11, thereby moving the base 11 in the horizontal direction. As a result, during execution of levitation control, the actuator 14A is used to appropriately reduce the horizontal relative displacement of the base 11 with respect to the opposing part (the mount 12 in the above example).

[0071] In particular, the seismic isolation device 10A according to the modified example includes a control device 17 that controls the actuator 14A so as to suppress changes in the horizontal position of the base 11 when an earthquake occurs. This suppresses changes in the relative position of the base when an earthquake occurs. Furthermore, suppressing changes in the relative position of the base when an earthquake occurs also reduces the base acceleration.

[0072] In particular, the seismic isolation device 10A according to the modified example includes a control device 17 that controls the actuator 14A so that the horizontal position of the base 11 moves to the horizontal position of the opposing part (the mount 12 in the above example) after the earthquake has ended. This appropriately suppresses changes in the positional relationship between the opposing part, such as the mount 12, and the structure placed on the base 11 before and after the earthquake.

[0073] The seismic isolation device 10A according to the modified example has been described above, but various components may be added or modified as appropriate to the seismic isolation device 10A.

[0074] For example, similar to the seismic isolation device 10, the sealing member 13e may be omitted from the seismic isolation device 10A.

[0075] For example, in the above example, the mount 12 is installed on the ground 20. However, the mount 12 may be omitted from the seismic isolation device 10A. In this case, the ground 20 or the floor surface of a building or the like corresponds to the opposing part. In other words, the air layer forming device 13 can form an air layer 30 in the space partitioned by the underside 11b of the base 11, the ground 20 or the floor surface of a building or the like, and the sealing member 13e by injecting air from the injection port 13c.

[0076] For example, in the above example, both the first force control and the second force control are executed during execution of the levitation control. However, only one of the first force control and the second force control may be executed during execution of the levitation control. Furthermore, during execution of the levitation control, the force applied to the base 11 may be adjusted by a control different from the first force control and the second force control.

[0077] As explained above, the control method for the seismic isolation devices 10, 10A includes the steps of: lifting the base 11 relative to the opposing part (the mount 12 in the above example) based on the detection of an earthquake (step S102 in FIG. 3 or FIG. 7 in the above example); and applying a force to at least one of the opposing part and the base 11 so as to reduce the relative displacement between the relatively lifted opposing part and the base 11 (step S103 in FIG. 3 or step S201 in FIG. 7 in the above example). As a result, as mentioned above, it is possible to suppress changes in the positional relationship between the opposing part, such as the mount 12, and the structure placed on the base 11 before and after an earthquake.

[0078] The step of applying a force may also be performed by performing active control (for example, the first position control or the first force control described above) on at least one of the opposing part (in the above example, the pedestal 12) and the base 11. This appropriately suppresses changes in the positional relationship between the opposing part, such as the pedestal 12, and the structure placed on the base 11 before and after an earthquake.

[0079] The method may also include a step of applying a force to at least one of the opposing part (the pedestal 12 in the above example) and the base 11 based on the detection of the end of the earthquake, thereby reducing the deviation between the relatively raised opposing part and the base 11 (in the above example, step S105 in FIG. 3 or step S202 in FIG. 7), and a step of installing the opposing part relative to the base 11 (in the above example, step S106 in FIG. 3 or 7) after the step of reducing the deviation between the opposing part and the base 11. This appropriately suppresses the change in the positional relationship between the opposing part, such as the pedestal 12, and the structure placed on the base 11 before and after the earthquake.

[0080] Although the embodiments of the present disclosure have been described above with reference to the accompanying drawings, it goes without saying that the present disclosure is not limited to such embodiments. It is clear that a person skilled in the art can conceive of various modifications and alterations within the scope of the claims, and it is understood that such modifications and alterations also fall within the technical scope of the present disclosure. [Explanation of symbols]

[0081] 10 Seismic isolation device 10A Seismic isolation device 11. Base 11b Bottom side 12 Mounting base (opposite part) 13 Air layer forming device (gas layer forming device) 14 Actuators 14A Actuator 17 Control device 30 Air layer (gas layer)

Claims

1. a base on which the structure is placed; a gas layer forming device that forms a gas layer between the base and an opposing portion that faces the lower surface of the base when an earthquake occurs; an actuator capable of moving the base or the opposing portion in a horizontal direction; Equipped with Seismic isolation device.

2. The facing portion is provided so as to be movable in a horizontal direction, The actuator adjusts the horizontal position of the opposing portion. The seismic isolation device according to claim 1 .

3. a control device that controls the actuator so that the horizontal position of the opposing part follows the horizontal position of the base when an earthquake occurs; The seismic isolation device according to claim 2.

4. a control device that controls the actuator so that the horizontal position of the facing part moves to the horizontal position of the base after the earthquake ends; The seismic isolation device according to claim 2 or 3.

5. The actuator is capable of horizontally moving the base by applying a force to the base in the horizontal direction. The seismic isolation device according to claim 1 .

6. a control device that controls the actuator so that a change in the horizontal position of the base is suppressed when an earthquake occurs; The seismic isolation device according to claim 5.

7. a control device that controls the actuator so that the horizontal position of the base moves to the horizontal position of the opposing part after the earthquake ends; The seismic isolation device according to claim 5 or 6.

8. A control method for a seismic isolation device having a base on which a structure is placed and an opposing portion that faces a lower surface of the base, a step of lifting the base relative to the facing portion based on detection of an earthquake occurrence; applying a force to at least one of the opposing portion and the base so as to reduce a relative displacement between the relatively raised opposing portion and the base; Including, Control method.

9. the step of applying the force is performed by actively controlling at least one of the opposing portion and the base. The control method according to claim 8.

10. a step of applying a force to at least one of the facing portion and the base based on detection of the end of the earthquake, thereby reducing a deviation between the facing portion that has relatively risen and the base; a step of installing the facing portion on the base after the step of reducing the misalignment between the facing portion and the base; Including, The control method according to claim 8.

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