CN104791411B - A kind of high sensitivity vibration-isolating platform based on communication type magnetic rheological liquid damper - Google Patents

Abstract

The invention relates to a high-sensitivity vibration isolation platform based on a connected magnetorheological fluid damper, including a solid platform, a moving platform, a damper, a connecting pipe, a piston rod and a compensation cylinder, and the connecting pipe is fixed on the solid platform , the communication pipe is a cross structure, including a compensation cylinder interface located in the center and four damper interfaces located around, the compensation cylinder communicates with the compensation cylinder interface, and the damper is provided with four, They communicate with four damper interfaces respectively, the lower end of the piston rod is connected in the damper, and the upper end is slidably connected with the moving platform. The vibration isolation platform of the present invention not only solves the problem of traditional linear vibration isolation systems in isolating low-frequency or ultra-low-frequency vibrations, but also avoids the disadvantages of complex structure, high manufacturing cost and energy consumption of the vibration isolation platform; the vibration isolation platform has simple structure and stepless damping Adjustable, suitable for vibration isolation in wide frequency domain, can be widely used in precision equipment with strict requirements on vibration isolation, and has good engineering applicability.

Description

A High Sensitivity Vibration Isolation Platform Based on Unicom Magnetorheological Fluid Damper

technical field

The invention relates to a vibration isolation platform, in particular to a high-sensitivity vibration isolation platform based on a connected magnetorheological fluid damper, and belongs to the technical field of vibration reduction and vibration isolation in mechanical engineering.

Background technique

With the rapid development of engineering science and technology and the rapid improvement of people's material living standards, people have higher and higher requirements for vibration isolation technology of some equipment. In many cases, vibration is considered a negative factor. For example, vibration will affect the functions of precision instruments and equipment, reduce machining accuracy, aggravate fatigue and wear of components, and shorten the service life of its structures. Vibration may also cause large deformation and damage to the structure. Some bridges have collapsed due to vibration; flutter of aircraft wings and buffeting of wheels often cause accidents; vibration of vehicles, ships and engine rooms will deteriorate the load-bearing conditions.

Vibration isolation refers to the use of additional systems to isolate the vibration source and the controlled object to achieve the purpose of suppressing the vibration of the controlled object. In modern society, people's requirements for the vibration environment, product and structure vibration characteristics have been further improved, such as the vibration isolation protection of high-precision optical instruments by the optical vibration isolation platform during measurement, and the vibration and noise reduction of underwater navigation submarines, etc. The requirements for vibration technology are becoming more and more stringent. However, traditional linear vibration isolators have gradually exposed some limitations. For example, the linear vibration isolation system can only be used when the external disturbance frequency is greater than the natural frequency of the vibration isolator. The vibration isolation effect can only be achieved when the vibration is doubled, and the vibration control effect is limited by the structural space and stability guarantee when dealing with local and low-frequency external disturbances.

At present, the existing vibration isolation platform has a good vibration isolation effect on large displacement vibration. Its defect is that when it is adjusted to the equilibrium position, if the vibration isolation equipment generates a small vibration, such as 0.1mm-1mm vibration, it will not reach To the expected vibration isolation effect. Applying the magnetorheological fluid damper to the vibration isolation platform will greatly improve the performance of the vibration isolation platform.

Contents of the invention

The purpose of the present invention is to provide a high-sensitivity vibration isolation platform based on a connected magneto-rheological fluid damper in order to overcome the above-mentioned defects in the prior art. The vibration isolation platform of the present invention can realize both local and system control, so that The damping platform has both high static stiffness and low dynamic stiffness, and the stiffness and damping are steplessly adjustable.

The purpose of the present invention can be achieved through the following technical solutions:

A high-sensitivity vibration isolation platform based on a connected magnetorheological fluid damper, including a solid platform, a moving platform, a damper, a connecting pipe, a piston rod and a compensation cylinder, the connecting pipe is fixed on the solid platform, and the The communication pipe is a cross structure, including a compensation cylinder interface located in the center and four damper interfaces located around, the compensation cylinder communicates with the compensation cylinder interface, and the damper is provided with four, respectively connected to the four The two damper interfaces are connected, the lower end of the piston rod is connected in the damper, and the upper end is slidably connected with the moving platform.

The lower surface of the moving platform is provided with a ring-shaped sliding groove, the upper end of the piston rod is provided with a spherical groove, and a rolling ball is installed in the spherical groove, and the rolling ball is arranged in the sliding groove, and the sliding groove specification The path of the rolling ball.

The communication pipe is assembled by four branch pipes to form a cross structure, the inner ends of the four branch pipes are connected to form a compensation cylinder interface, the outer end of the four branch pipes is the damper interface, and the inner ends of the four branch pipes are connected Each branch pipe is equipped with a matching permanent magnetic ring of the connecting pipe and an exciting coil of the connecting pipe, which is convenient for local control.

The damper includes a damper liquid storage cylinder, a damper permanent magnet ring, a damper excitation coil, a piston assembly and a damper cover, and the damper liquid storage cylinder is connected with the damper cover to form a cylinder body. The piston assembly is arranged in the cylinder body, and the cylinder body is divided into the first working cylinder and the second working cylinder. An annular gap is formed between the piston assembly and the inner wall of the damper liquid storage cylinder, and the lower end of the piston rod extends into the rod The body is connected with the piston assembly, the damper cover is provided with a communication pipe interface connected with the damper interface, and the permanent magnetic ring of the damper is installed on the outer ring of the damper liquid storage cylinder, which can prevent magneto-rheological liquid precipitation, and ensure the safety of failure; the damper excitation coil is installed in the inner ring of the damper liquid storage cylinder, used to control the damping of the magneto-rheological fluid passing through the annular gap.

The piston assembly is respectively provided with 4 compression compensation valve passages and 4 tension compensation valve passages, respectively for the compression and extension strokes, and the compression compensation valve passages and tension compensation valve passages are respectively provided with compensation The valve stem is sleeved with a compensation valve spring on the compensation valve stem.

The compensation cylinder includes a compensation cylinder shell, a compensation cylinder moving piston and a compensation cylinder head, the compensation cylinder shell is connected with the compensation cylinder head, the compensation cylinder moving piston is arranged in the compensation cylinder shell, and the compensation cylinder shell The interior is divided into a nitrogen chamber and a magneto-rheological fluid chamber. The compensation cylinder shell is provided with an air filling valve port communicating with the nitrogen chamber, and a compensation cylinder sealing plug is provided on the air filling valve port. A compensation cylinder head opening communicated with the magneto-rheological fluid cavity, the compensation cylinder head opening communicating with the compensation cylinder interface.

A sealing ring is arranged between the moving piston of the compensation cylinder and the housing of the compensation cylinder.

The magnetorheological fluid cavity is filled with magnetorheological fluid.

The upper surface of the fixed platform is provided with a fixing groove conforming to the shape of the connecting pipe, and the connecting pipe is fixed in the fixing groove.

The magnetorheological fluid cavity of the compensation cylinder is respectively connected to the working cylinders of the four dampers through the communication pipe, so that the magnetorheological fluid in the magnetorheological fluid cavity can circulate in the compensation cylinder and the four dampers, The circulation path of the magnetorheological fluid forms a stable system network, which is convenient to load the corresponding current to control the damping force of the system and increase the stability of the system.

In the present invention, the compensation cylinder is arranged at the central position, and its function is to change the volume of the magnetorheological fluid cavity through the volume change of the nitrogen cavity when necessary, so that the magnetorheological fluid can quickly reach a stable state, and then the system can quickly reach a stable state .

The high-sensitivity vibration isolation platform of the present invention can ensure the rotating pairs in the four degrees of freedom of the moving platform, which are respectively moving pairs along X, Y, and Z axes and rotating pairs around the Z axis.

Compared with the prior art, the vibration isolation platform of the present invention not only solves the problem of traditional linear vibration isolation systems in isolating low-frequency or ultra-low-frequency vibrations, but also avoids the disadvantages of complex structure, high manufacturing cost and energy consumption of the vibration isolation platform; the vibration isolation platform With simple structure and stepless adjustment of damping, it is suitable for vibration isolation in a wide frequency range, and can be widely used in precision equipment that requires strict vibration isolation, and has good engineering applicability. Specifically, it has the following advantages and beneficial effects:

1. The interconnected magnetorheological fluid channel structure, coupled with the compression compensation valve channel and tension compensation valve channel on the piston assembly, speeds up the response speed of the system, improves the sensitivity, and ensures the coordination between various parts Work;

2. The stiffness damping of each damper is steplessly adjustable;

3. Simultaneous local control and system control, combined with the function of the compensation cylinder, are suitable for various frequency domains;

4. The application of the permanent magnetic ring can avoid the magnetorheological fluid from settling, maintain a certain damping force at all times, and have high failure safety.

Description of drawings

Fig. 1 is a structural schematic diagram 1 of the present invention;

Fig. 2 is a structural schematic diagram II of the present invention;

Fig. 3 is a schematic diagram of the axial full section structure of the present invention;

4 is a schematic diagram of a three-dimensional structure of a moving platform of the present invention;

Fig. 5 is a schematic diagram of the axial full section structure of the moving platform of the present invention;

Fig. 6 is a schematic diagram of the structure of the piston rod;

Fig. 7 is a structural schematic diagram of the overall working chamber of the present invention;

Fig. 8 is a schematic diagram of the three-dimensional structure of the communication pipe of the present invention;

Fig. 9 is a schematic diagram of the axial full-section structure of the communication pipe of the present invention;

Fig. 10 is a horizontal cross-sectional structural schematic diagram of a connecting pipe of the present invention;

Fig. 11 is a schematic diagram of the axial full section structure of the damper of the present invention;

Fig. 12 is a schematic diagram of the axial full section structure of the compensation cylinder of the present invention;

Fig. 13 is a structural schematic diagram of the moving piston of the compensation cylinder of the present invention;

Fig. 14 is a schematic diagram of the solid platform structure of the present invention;

Fig. 15 is a diagram showing four degrees of freedom of the present invention.

The marks in the figure are: 1, moving platform, 101, sliding groove, 2, piston rod, 21, rolling ball, 3, first damper, 31, damper liquid storage cylinder, 32, damper permanent magnet ring, 33 Damper excitation coil, 34, piston assembly, 341, compression compensation valve passage, 342, tension compensation valve passage, 343, compensation valve stem, 344, compensation valve spring, 35, damper cover, 36, first working cylinder, 37, the second working cylinder, 38, the connecting pipe interface, 39, the annular gap, 4, the second damper, 5, the fixed platform, 51, the fixed groove, 6, the object placement surface, 7, the fourth damper, 8, Compensation cylinder assembly, 81. Compensation cylinder sealing plug, 82. Compensation cylinder shell, 83. Compensation cylinder moving piston, 84. Compensation cylinder head, 85. Magneto-rheological fluid chamber, 86. Gas filling valve port, 87. Nitrogen chamber, 88. Sealing ring, 89. Compensation cylinder head opening, 9. Third damper, 10. Unicom pipe, 102. Unicom pipeline permanent magnet ring, 103. Unicom pipeline excitation coil, 104. Damper interface, 105. Compensation cylinder interface , 106, Unicom pipe channel.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Example

A high-sensitivity vibration isolation platform based on a connected magnetorheological fluid damper, as shown in Figures 1 to 3, including a solid platform 5, a moving platform 1, a damper, a connecting pipe 10, a piston rod 2 and a compensation cylinder 8 , the communication pipe 10 is fixed on the solid platform 5, the communication pipe 10 is a cross structure, including a compensation cylinder interface 105 located in the center and four damper interfaces 104 located around, the compensation cylinder 8 communicates with the compensation cylinder interface 105, the damping There are four dampers, which are respectively the first damper 3, the second damper 4, the third damper 9 and the fourth damper 7. The four dampers are respectively connected with the four damper interfaces 104, and the lower end of the piston rod 2 Connected in the damper, the upper end is slidingly connected with the moving platform 1, and the upper surface of the moving platform 1 is an object placement surface 6.

As shown in Figures 4 to 7, the lower surface of the moving platform 1 is provided with an annular sliding groove 101, the upper end of the piston rod 2 is provided with a spherical groove, and a rolling ball 21 is installed in the spherical groove, and the rolling ball 21 is arranged in the sliding groove 101. Inside, and the sliding groove 101 regulates the path of the rolling ball 21.

As shown in Figures 7 to 10, the communication pipe 10 is assembled from four branch pipes to form a cross structure, the inner ends of the four branch pipes are connected to form a compensation cylinder interface 105, and the outer ends of the four branch pipes are the damper interface. 104. The interiors of the four branch pipes are connected to form a communication pipe channel 106, and each branch pipe is respectively equipped with a matching permanent magnetic ring 102 of the communication pipe and a field coil 103 of the communication pipe to facilitate local control.

As shown in Figure 3 and Figure 11, the damper includes a damper liquid storage cylinder 31, a damper permanent magnet ring 32, a damper excitation coil 33, a piston assembly 34 and a damper cover 35, and the damper liquid storage cylinder 31 and the damper The cover 35 is connected to form a cylinder body, the piston assembly 34 is arranged in the cylinder body, and the cylinder body is divided into a first working cylinder 36 and a second working cylinder 37, and an annular gap 39 is formed between the piston assembly 34 and the inner wall of the damper liquid storage cylinder 31 The lower end of the piston rod 2 extends into the rod body and is connected with the piston assembly 34. The damper cover 35 is provided with a communication pipe interface 38 communicating with the damper interface 104, and the damper permanent magnet ring 32 is installed on the outside of the damper liquid storage cylinder 31. coil, which can prevent the magnetorheological fluid from settling, and ensure the safety of failure; the damper excitation coil 33 is installed in the inner ring of the damper liquid storage cylinder 31, and is used to control the damping of the magnetorheological fluid passing through the annular gap 39 .

The piston assembly 34 is respectively provided with four compression compensation valve passages 341 and four tension compensation valve passages 342, respectively for the compression and extension strokes, and the compression compensation valve passages 341 and the tension compensation valve passages 342 are respectively provided with compensation valves The rod 343 is sleeved with a compensation valve spring 344 on the compensation valve rod 343 .

As shown in Figure 12 and Figure 13, the compensating cylinder 8 includes a compensating cylinder shell 82, a compensating cylinder moving piston 83 and a compensating cylinder cover 84, the compensating cylinder shell 82 is connected with the compensating cylinder cover 84, and the compensating cylinder moving piston 83 is arranged on the compensating cylinder shell 82, and the interior of the compensation cylinder shell 82 is divided into a nitrogen chamber 87 and a magneto-rheological fluid chamber 85. The compensation cylinder shell 82 is provided with an air filling valve port 86 communicating with the nitrogen chamber 87, and a compensation valve port 86 is set on the air filling valve port The cylinder sealing plug 81 and the compensation cylinder head 84 are provided with a compensation cylinder head opening 89 communicating with the magneto-rheological fluid chamber 85 , and the compensation cylinder head opening 89 is communicating with the compensation cylinder interface 105 . A sealing ring 88 is arranged between the compensation cylinder moving piston 83 and the compensation cylinder housing 82 . The magnetorheological fluid cavity 85 is filled with magnetorheological fluid.

As shown in Figure 14, the upper surface of the solid platform 5 is provided with a fixing groove 51 matching the shape of the communication pipe 10, and the communication pipe 10 is fixed in the fixing groove 51, and the fixing groove 51 is provided to facilitate the circulation of the magnetorheological fluid.

The high-sensitivity vibration-isolation platform of the present invention can ensure that the four degrees of freedom of the moving platform include the moving pairs along the X, Y, and Z axes and the rotating pair around the Z axis, as shown in FIG. 15 .

The magnetorheological fluid cavity 85 of the compensation cylinder 8 is connected to the working cylinders of the four dampers through the communication pipe 10, so that the magnetorheological fluid in the magnetorheological fluid cavity 85 can flow between the compensation cylinder 8 and the four dampers. The circulation in the damper makes the flow path of the magnetorheological fluid form a stable system network, which is convenient to load the corresponding current to control the damping force of the system and increase the stability of the system. The compensation cylinder 8 is set at the center, and its function is to change the volume of the magnetorheological fluid chamber 85 through the volume change of the nitrogen chamber 87 when necessary, so that the magnetorheological fluid can quickly reach a stable state, and then the system can quickly reach a stable state.

The working principle of the compression and extension stroke of a single damper is as follows:

Compression stroke of the damper: After electrification, when the piston rod 2 is under the pressure F, it is in a compressed state, the piston assembly 34 moves toward the second working chamber 37, and part of the magnetorheological fluid in the second working chamber 37 passes through the communication pipe The interface 38 flows to the communication pipe 10, and part of it flows to the first working chamber 36 through the annular gap 39 (2mm). The magnetic field generated by the permanent magnet ring 32 of the damper and the excitation coil 33 of the damper will act on the latter two, causing their states to change, so that the damper has a certain resistance to compression and damping force.

Stretching stroke of the damper: After electrification, when the piston rod 2 is under the action of the tension F, it is in a stretched state, the piston assembly 34 moves toward the first working chamber 36, and part of the magnetorheological fluid in the first working chamber 36 passes through The annular gap 39 (2mm) flows to the second working chamber 37. In order to achieve stability quickly, a part of the magnetorheological fluid will flow to the second working chamber 37 through the stretch compensation valve channel 342. At this time, the permanent magnetic ring 32 of the damper and the damper The magnetic field generated by the excitation coil 33 of the device will act on the two parts of the magnetorheological fluid to change its state, so that the damper has a certain tensile resistance.

Since the system is composed of four connected parallel dampers, different vibration isolation effects will be produced when subjected to different forces. The four dampers may be in tension or compression at the same time, or part of them may be in tension and some in compression. In any case, due to the action of the connecting pipe and the compensation cylinder, the system will coordinate their respective relationships in real time, so that It reaches a steady state as quickly as possible.

The above descriptions of the embodiments are for those of ordinary skill in the art to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described here to other embodiments without creative efforts. Therefore, the present invention is not limited to the above-mentioned embodiments. Improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should fall within the protection scope of the present invention.

Claims (9)

1. a high sensitivity vibration-isolating platform based on communication type magnetic rheological liquid damper, it is characterised in that include Gu platform (5), moving platform (1), antivibrator, cross over pipe (10), piston rod (2) and compensation cylinder (8), Described cross over pipe (10) is fixed on solid platform (5), and described cross over pipe (10) is criss-cross construction, Including compensation cylinder interface (105) being positioned at center and four antivibrator interfaces (104) being positioned at surrounding, Described compensation cylinder (8) connects with compensating cylinder interface (105), and described antivibrator is provided with four, respectively Connecting with four antivibrator interfaces (104), described piston rod (2) lower end is connected in antivibrator, upper end with Moving platform (1) is slidably connected.

A kind of high sensitivity vibration isolation based on communication type magnetic rheological liquid damper the most according to claim 1 is put down Platform, it is characterised in that described moving platform (1) lower surface offers circular ring type sliding tray (101), described Piston rod (2) upper end is provided with spherical groove, is provided with roller ball (21), described roller ball (21) in spherical groove It is located in sliding tray (101), and the path of sliding tray (101) specification roller ball (21).

A kind of high sensitivity vibration isolation based on communication type magnetic rheological liquid damper the most according to claim 1 is put down Platform, it is characterised in that described cross over pipe (10) is assembled by four branch pipe(tube)s and forms criss-cross construction, four The inner of branch pipe(tube) is connected to be formed and compensates cylinder interface (105), and the outer end of four branch pipe(tube)s is antivibrator interface (104), the inside of four branch pipe(tube)s is connected and forms cross over pipe passage (106), fills respectively on every branch pipe(tube) There is the unicom pipeline permanent-magnetic clamp (102) and unicom pipeline magnet exciting coil (103) matched.

A kind of high sensitivity vibration isolation based on communication type magnetic rheological liquid damper the most according to claim 1 is put down Platform, it is characterised in that described antivibrator includes antivibrator liquid storage cylinder (31), antivibrator permanent-magnetic clamp (32), resistance Buddhist nun's device magnet exciting coil (33), piston component (34) and damper cover (35), described antivibrator liquid storage cylinder (31) Be connected formation cylinder body with damper cover (35), described piston component (34) is located in cylinder body, and is divided by cylinder body Become the first working cylinder (36) and the second working cylinder (37), described piston component (34) and antivibrator liquid storage cylinder (31) forming annular gap (39) between inwall, described piston rod (2) lower end is stretched in the body of rod and and piston Assembly (34) connects, and described damper cover (35) offers the connection connected with antivibrator interface (104) Pipe joint (38), described antivibrator permanent-magnetic clamp (32) is contained in the outer ring of antivibrator liquid storage cylinder (31), institute The antivibrator magnet exciting coil (33) stated is contained in the inner ring of antivibrator liquid storage cylinder (31).

A kind of high sensitivity vibration isolation based on communication type magnetic rheological liquid damper the most according to claim 4 is put down Platform, it is characterised in that described piston component (34) be respectively equipped with 4 compression compensation valve passages (341) and 4 stretch compensation valve passages (342), are respectively compression and stretching travel shunts, described compression compensation valve passage (341) and it is respectively equipped with compensation valve rod (343) in stretch compensation valve passage (342), compensates valve rod (343) On be arranged with recuperation valve spring (344).

A kind of high sensitivity vibration isolation based on communication type magnetic rheological liquid damper the most according to claim 1 is put down Platform, it is characterised in that described compensation cylinder (8) includes compensating cylinder shell (82), compensation cylinder moves piston (83) and compensate cylinder head (84), described compensation cylinder shell (82) with compensation cylinder head (84) be connected, Described compensation cylinder moves piston (83) and is located in compensation cylinder shell (82), and will compensate cylinder shell (82) Inside is divided into nitrogen chamber (87) and magnetorheological sap cavity (85), described compensation cylinder shell (82) offers with The aerating valve port (86) that nitrogen chamber (87) connects, arranges compensation cylinder seal plug (81) on aerating valve port (86), Compensation cylinder head opening (89) connected with magnetorheological sap cavity (85) is offered in described compensation cylinder head (84), This compensation cylinder head opening (89) connects with compensating cylinder interface (105).

A kind of high sensitivity vibration isolation based on communication type magnetic rheological liquid damper the most according to claim 6 is put down Platform, it is characterised in that described compensation cylinder moves and is provided with between piston (83) and compensation cylinder shell (82) Sealing ring (88).

A kind of high sensitivity vibration isolation based on communication type magnetic rheological liquid damper the most according to claim 6 is put down Platform, it is characterised in that described magnetorheological sap cavity (85) is built with magnetic flow liquid.

A kind of high sensitivity vibration isolation based on communication type magnetic rheological liquid damper the most according to claim 1 is put down Platform, it is characterised in that described solid platform (5) upper surface offers and consolidating that cross over pipe (10) shape is coincide Determining groove (51), described cross over pipe (10) is fixed in fixing groove (51).