CN107143613A - A kind of vibration reduction platform with quasi- zero stiffness - Google Patents
A kind of vibration reduction platform with quasi- zero stiffness Download PDFInfo
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- CN107143613A CN107143613A CN201710381635.4A CN201710381635A CN107143613A CN 107143613 A CN107143613 A CN 107143613A CN 201710381635 A CN201710381635 A CN 201710381635A CN 107143613 A CN107143613 A CN 107143613A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
- F16F15/0275—Control of stiffness
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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Abstract
本发明一种具有准零刚度的减振平台，包括动平台、减振器、调节装置、连杆和底座；底座与连杆下部连接，连杆上部通过虎克铰链与动平台连接；虎克铰链另一端连接减振器头部，减振器底端马蹄铁与调节装置连接，调节装置与动平台连接；本发明具有较高的支撑刚度的同时，还具有较低的运动刚度，减振效果好；可以通过调节装置来调节减振器的初始位置，可实现宽频域减振，具有良好的工程实用性；在具有良好的减振效果的同时，结构简单、制造成本低。
The invention provides a quasi-zero stiffness vibration damping platform, comprising a moving platform, a shock absorber, an adjusting device, a connecting rod and a base; the base is connected to the lower part of the connecting rod, and the upper part of the connecting rod is connected to the moving platform through a Hooke hinge; Hooke The other end of the hinge is connected to the head of the shock absorber, the horseshoe at the bottom of the shock absorber is connected to the adjustment device, and the adjustment device is connected to the moving platform; while the present invention has high support rigidity, it also has low motion rigidity and the vibration reduction effect Good; the initial position of the shock absorber can be adjusted through the adjusting device, which can realize vibration reduction in a wide frequency range, and has good engineering practicability; while having a good vibration reduction effect, the structure is simple and the manufacturing cost is low.
Description
技术领域technical field
本发明属于机械减振装置技术领域，具体地说，本发明涉及一种多维减振平台。The invention belongs to the technical field of mechanical damping devices, in particular, the invention relates to a multi-dimensional damping platform.
背景技术Background technique
振动是自然界普遍存在的一种现象，振动会影响精密仪器设备的功能，降低加工精度和光洁度，加剧构件的疲劳和磨损，从而缩短机器和结构物的使用寿命，振动还可能引起结构的大变形破坏。在机构工程和机械工程领域，一直都在寻求一种性能优越的减振平台。目前已公开的相关专利，如专利号 201610545258.9。Vibration is a phenomenon ubiquitous in nature. Vibration will affect the functions of precision instruments and equipment, reduce processing accuracy and smoothness, and aggravate fatigue and wear of components, thereby shortening the service life of machines and structures. Vibration may also cause large deformation of structures destroy. In the field of mechanism engineering and mechanical engineering, a vibration damping platform with superior performance has been sought. Related patents that have been published so far, such as patent number 201610545258.9.
发明内容Contents of the invention
本发明的目的是提供提供一种具有准零刚度的减振平台，该减振平台同时具备较高的静态刚度和较低的动态刚度，并可实现刚度可调。The object of the present invention is to provide a vibration-damping platform with quasi-zero stiffness. The vibration-damping platform has high static stiffness and low dynamic stiffness at the same time, and the stiffness can be adjusted.
一种具有准零刚度的减振平台，包括动平台、减振器、调节装置、连杆和底座；A vibration damping platform with quasi-zero stiffness, comprising a moving platform, a shock absorber, an adjustment device, a connecting rod and a base;
底座设置有六个底座铰链支架，且设置有同等数目的轮辐，连杆下部与底座上的底座铰链支架连接，且可以绕铰链支架旋转；The base is provided with six base hinge brackets, and is provided with the same number of spokes, and the lower part of the connecting rod is connected with the base hinge bracket on the base, and can rotate around the hinge bracket;
连杆的上部通过虎克铰链与动平台连接，下部与底座铰链支架连接；The upper part of the connecting rod is connected to the moving platform through the Hooke hinge, and the lower part is connected to the base hinge bracket;
动平台的底面设有六条滑槽；每二滑槽各相平行，均匀布置在动平台底部；The bottom surface of the moving platform is provided with six chutes; every two chutes are parallel to each other and evenly arranged at the bottom of the moving platform;
减振器的头部通过虎克铰链与动平台转动连接，其底端马蹄铁与调节装置转动连接；The head of the shock absorber is rotatably connected to the moving platform through the Hooke hinge, and the bottom end of the horseshoe is rotatably connected to the adjustment device;
调节装置的底板通过六角螺母与动平台上的滑槽连接，且可在滑槽内移动；The bottom plate of the adjusting device is connected with the chute on the moving platform through a hex nut, and can move in the chute;
虎克铰链包括第三铰链支架、第四铰链支架、第一铰链支架和第二铰链支架；第三铰链支架和第四铰链支架通过十字型连接件连接；十字型连接件一端连接轴，十字型连接件可沿轴轴线方向移动；第二铰链支架通过轴与第三铰链支架水平连接；第一铰链支架与第三铰链支架垂直固定连接。The Hooke hinge includes the third hinge bracket, the fourth hinge bracket, the first hinge bracket and the second hinge bracket; the third hinge bracket and the fourth hinge bracket are connected by a cross-shaped connector; one end of the cross-shaped connector is connected to the shaft, and the cross-shaped The connecting piece can move along the axial direction of the shaft; the second hinge bracket is horizontally connected to the third hinge bracket through the shaft; the first hinge bracket is vertically fixedly connected to the third hinge bracket.
动平台与虎克铰链的第一铰链支架相连接。The moving platform is connected with the first hinge bracket of the Hooke hinge.
连杆的上端与虎克铰链上的第四铰链支架连接。The upper end of the connecting rod is connected with the fourth hinge bracket on the Hooke hinge.
减振器的头部与虎克铰链的第二铰链支架连接，且底端马蹄铁与调节装置的铰链支架连接。The head of the shock absorber is connected with the second hinge bracket of the Hooke hinge, and the bottom horseshoe is connected with the hinge bracket of the adjusting device.
调节装置包括一底板，底板下通过六角螺母固定有二滑块，底板上二侧固定有铰链支架。The adjusting device includes a bottom plate, two sliders are fixed under the bottom plate through hexagonal nuts, and hinge brackets are fixed on two sides of the bottom plate.
调节装置的滑块与动平台滑槽连接，且可在滑槽内移动。The sliding block of the adjusting device is connected with the sliding groove of the moving platform, and can move in the sliding groove.
减振器包括头部、弹簧调节块、活塞杆、减振弹簧、底端马蹄铁；头部连接活塞杆，活塞杆上端装有弹簧调节块，外围包裹减振弹簧，尾端设置底端马蹄铁；活塞杆一端设有活塞，活塞将工作缸分为上下两个腔，活塞上安装有复原阀和流通阀，工作缸底部设有补偿阀和压缩阀，工作缸外侧设有贮油缸、工作液充满整个工作缸，贮油缸内储存大部分工作液。The shock absorber includes a head, a spring adjustment block, a piston rod, a damping spring, and a bottom horseshoe; the head is connected to the piston rod, and the upper end of the piston rod is equipped with a spring adjustment block, and the shock absorber spring is wrapped around the periphery, and the bottom end is provided with a horseshoe; There is a piston at one end of the piston rod, and the piston divides the working cylinder into upper and lower chambers. A recovery valve and a flow valve are installed on the piston. A compensation valve and a compression valve are installed at the bottom of the working cylinder. The entire working cylinder stores most of the working fluid in the oil storage cylinder.
一种通过准零刚度减振平台，准零刚度实现步骤：A quasi-zero-stiffness damping platform, the realization steps of quasi-zero stiffness:
首先计算当动平台受到外界激振力时，达到静平衡位置时减振器上的减振弹簧的变形量；First, calculate the deformation of the damping spring on the shock absorber when the moving platform is subjected to an external excitation force and reaches the static equilibrium position;
然后根据所放物体达到静平衡位置时，减振器上的减振弹簧的变形量和减振器的预压缩量，使减振器的预紧力向内；Then according to the deformation of the shock absorber spring on the shock absorber and the precompression amount of the shock absorber when the placed object reaches the static equilibrium position, the pretightening force of the shock absorber is inward;
当动平台向下运动时，减振器上的减振弹簧产生正刚度；通过弹簧调节块调节与上一减振器相对的减振器上的减振弹簧的变形量，调节该减振器的预压缩量，使该减振器的预紧力向外；当动平台向下运动时该减振器上的减振弹簧产生负刚度；两相对的减振器产生的正负刚度在数值上相加就可以实现整个减振系统的总刚度为零，从而实现准零刚度减振平台。When the moving platform moves downward, the damping spring on the shock absorber produces positive stiffness; adjust the deformation of the damping spring on the shock absorber opposite to the previous shock absorber through the spring adjustment block to adjust the shock absorber The pre-compression amount of the shock absorber makes the pre-tightening force of the shock absorber outward; when the moving platform moves downward, the shock absorber spring on the shock absorber produces negative stiffness; the positive and negative stiffness of the two opposite shock absorbers are in the numerical Adding up can realize that the total stiffness of the entire vibration damping system is zero, thereby realizing a quasi-zero stiffness vibration damping platform.
本发明的有益效果是：1.该减振平台具有较高的支撑刚度的同时，还具有较低的运动刚度，减振效果好；The beneficial effects of the present invention are: 1. The vibration-damping platform has high support stiffness and low motion stiffness, and the vibration-damping effect is good;
2.该减振平台可以通过调节装置来调节减振器的初始位置，可实现宽频域减振，具有良好的工程实用性；2. The damping platform can adjust the initial position of the damper through the adjustment device, which can realize wide-frequency vibration damping and has good engineering practicability;
3.该减振平台在具有良好的减振效果的同时，结构简单、制造成本低。3. The vibration damping platform has a good vibration damping effect, simple structure and low manufacturing cost.
附图说明Description of drawings
图1是本发明一种准零刚度减振平台的结构示意图；Fig. 1 is the structural representation of a kind of quasi-zero stiffness damping platform of the present invention;
图2是本发明一种准零刚度减振平台中底座结构示意图；Fig. 2 is a schematic diagram of the structure of the base in a quasi-zero-stiffness damping platform of the present invention;
图3是本发明一种准零刚度减振平台中虎克铰链结构示意图；Fig. 3 is a schematic diagram of the Hooke hinge structure in a quasi-zero-stiffness damping platform of the present invention;
图4是本发明一种准零刚度减振平台中减振器结构示意图；Fig. 4 is a structural schematic diagram of a shock absorber in a quasi-zero stiffness shock absorbing platform of the present invention;
图5是本发明一种准零刚度减振平台中减振器的内部结构示意图；Fig. 5 is a schematic diagram of the internal structure of a shock absorber in a quasi-zero-stiffness damping platform of the present invention;
图6是本发明一种准零刚度减振平台中调节装置结构示意图；Fig. 6 is a structural schematic diagram of an adjusting device in a quasi-zero stiffness damping platform of the present invention;
图7是本发明一种准零刚度减振平台中动平台结构示意图。Fig. 7 is a schematic structural diagram of a moving platform in a quasi-zero-stiffness damping platform according to the present invention.
具体实施方式detailed description
为详细说明本发明的技术内容、构造特征、所达成目的及功效，下面将结合实施例并配合附图予以详细说明。In order to describe the technical content, structural features, achieved goals and effects of the present invention in detail, the following will be described in detail in conjunction with the embodiments and accompanying drawings.
参阅图1至图7，本发明一种准零刚度减振平台，包括动平台6、减振器4、调节装置5、连杆2和底座1；Referring to Figures 1 to 7, a quasi-zero-stiffness damping platform of the present invention includes a moving platform 6, a shock absorber 4, an adjustment device 5, a connecting rod 2 and a base 1;
底座1设置有六个底座铰链支架11，且设置有同等数目的轮辐12，连杆2 下部与底座铰链支架11连接，且可以绕铰链支架旋转；上部通过虎克铰链3与动平台6连接；The base 1 is provided with six base hinge brackets 11, and is provided with the same number of spokes 12, the lower part of the connecting rod 2 is connected with the base hinge bracket 11, and can rotate around the hinge bracket; the upper part is connected with the moving platform 6 through the Hooke hinge 3;
动平台6的底面设有六条滑槽61；每二滑槽61各相平行；The bottom surface of the moving platform 6 is provided with six chutes 61; every two chutes 61 are parallel to each other;
减振器4的头部通过虎克铰链3与动平台6转动连接，其底端马蹄铁与调节装置5转动连接；The head of the shock absorber 4 is rotatably connected to the moving platform 6 through the Hooke hinge 3, and the bottom end of the horseshoe is rotatably connected to the adjusting device 5;
调节装置5的底板51通过六角螺母与动平台6上的滑槽61连接，且可在滑槽内移动；The bottom plate 51 of the adjusting device 5 is connected with the chute 61 on the moving platform 6 through a hex nut, and can move in the chute;
虎克铰链3包括第三铰链支架31、第四铰链支架36、第一铰链支架33和第二铰链支架34；第三铰链支架31和第四铰链支架36通过十字型连接件32连接；十字型连接件32一端连接轴35，十字型连接件32可沿轴轴线方向移动；第二铰链支架34通过轴35与第三铰链支架31水平连接；第一铰链支架33与第三铰链支架31垂直固定连接；动平台6与虎克铰链的第一铰链支架33相连接；Hooker hinge 3 comprises the 3rd hinge bracket 31, the 4th hinge bracket 36, the first hinge bracket 33 and the second hinge bracket 34; The 3rd hinge bracket 31 and the 4th hinge bracket 36 are connected by cross connector 32; One end of the connecting piece 32 is connected to the shaft 35, and the cross-shaped connecting piece 32 can move along the axis of the shaft; the second hinge bracket 34 is horizontally connected with the third hinge bracket 31 through the shaft 35; the first hinge bracket 33 is vertically fixed to the third hinge bracket 31 Connect; the moving platform 6 is connected with the first hinge bracket 33 of the Hooke hinge;
连杆2的上端与虎克铰链3上的第四铰链支架36连接。The upper end of the connecting rod 2 is connected with the fourth hinge bracket 36 on the Hooke hinge 3 .
减振器4的头部41与虎克铰链3的第二铰链支架34连接，且底端马蹄铁45与调节装置5的铰链支架54连接。The head 41 of the shock absorber 4 is connected to the second hinge bracket 34 of the Hooke hinge 3 , and the bottom horseshoe 45 is connected to the hinge bracket 54 of the adjusting device 5 .
调节装置5包括一底板51，底板51下通过六角螺母固定有二平行滑块52，底板51上二侧固定有铰链支架54。The adjustment device 5 includes a bottom plate 51, two parallel sliders 52 are fixed under the bottom plate 51 through hex nuts, and hinge brackets 54 are fixed on two sides of the bottom plate 51.
调节装置5的滑块52与动平台滑槽61连接，且可在滑槽61内移动。The sliding block 52 of the adjusting device 5 is connected with the sliding slot 61 of the moving platform, and can move in the sliding slot 61 .
减振器4包括头部41、活塞杆42、弹簧调节块43、减振弹簧44、底端马蹄铁45；头部41连接活塞杆42，活塞杆42上端装有弹簧调节块43，外围包裹减振弹簧44，尾端设置底端马蹄铁45；活塞杆42一端设有活塞47，活塞47将工作缸分为上下两个腔，活塞上安装有复原阀46和流通阀412，工作缸底部设有补偿阀48和压缩阀49，工作缸外侧设有贮油缸410、工作液充满整个工作缸 411，贮油缸410内储存大部分工作液。Shock absorber 4 comprises head 41, piston rod 42, spring adjusting block 43, damping spring 44, bottom end horseshoe 45; Vibrating spring 44, tail end is provided with bottom horseshoe 45; One end of piston rod 42 is provided with piston 47, and piston 47 divides working cylinder into upper and lower chambers, and recovery valve 46 and circulation valve 412 are installed on the piston, and working cylinder bottom is provided with The compensation valve 48 and the compression valve 49 are equipped with an oil storage cylinder 410 outside the working cylinder, and the working fluid is filled with the entire working cylinder 411, and most of the working fluid is stored in the oil storage cylinder 410.
当动平台6向下运动时，连杆2向外旋转，带动第四铰链支架36向外运动，第四铰链支架36带动十字型连接件32向外运动，十字型连接件32带动轴35 向外运动，轴35上的第二铰链支架34带动活塞杆42拉伸运动，活塞杆42带动活塞47拉伸，导致上腔的体积减小，下腔的体积增大，上腔的工作压力高于下腔，流通阀412关闭，复原阀46打开，工作液通过复原阀46节流后向下腔流动，从而产生拉伸阻力，减小振动。由于活塞杆42占据上腔的一部分体积，导致上腔体积减小的量小于下腔的体积增大的量，上腔的工作液向下腔流动后不足以充满下腔，下腔产生负压，下腔的压力低于贮油缸的压力，压缩阀49关闭，补偿阀48打开，贮油缸410的工作液向工作缸411下腔补偿工作液，保持工作缸411里的工作液连续。When the moving platform 6 moves downward, the connecting rod 2 rotates outward, driving the fourth hinge bracket 36 to move outward, the fourth hinge bracket 36 drives the cross-shaped connecting piece 32 to move outward, and the cross-shaped connecting piece 32 drives the shaft 35 to move outward. External movement, the second hinge bracket 34 on the shaft 35 drives the piston rod 42 to stretch, and the piston rod 42 drives the piston 47 to stretch, resulting in a decrease in the volume of the upper chamber, an increase in the volume of the lower chamber, and a high working pressure in the upper chamber. In the lower cavity, the circulation valve 412 is closed, the recovery valve 46 is opened, and the working fluid flows to the lower cavity after throttling by the recovery valve 46, thereby generating tensile resistance and reducing vibration. Since the piston rod 42 occupies part of the volume of the upper chamber, the decrease in the volume of the upper chamber is less than the increase in the volume of the lower chamber, and the working fluid in the upper chamber is not enough to fill the lower chamber after flowing into the lower chamber, so the lower chamber generates negative pressure , the pressure of the lower chamber is lower than the pressure of the oil storage cylinder, the compression valve 49 is closed, and the compensation valve 48 is opened, and the working fluid of the oil storage cylinder 410 compensates the working fluid to the working cylinder 411 lower cavity, so as to keep the working fluid in the working cylinder 411 li continuously.
当动平台6向上运动时，连杆2向内旋转，带动第四铰链支架36向内运动，第四铰链支架36带动十字型连接件32向内运动，十字型连接件32带动轴35 向内运动，轴35上的第二铰链支架34带动活塞杆42压缩运动，活塞杆42带动活塞47压缩，导致上腔的体积增大，下腔的体积减小，复原阀46关闭，流通阀412打开，下腔的工作液通过流通阀412向上腔流动，充满上腔。由于活塞杆42占据上腔一部分体积，导致上腔体积增大的量小于下腔的体积减小的量，下腔的工作液向上腔流动充满上腔后多出一部份工作液使补偿阀48关闭，压缩阀49打开向贮油缸410流动节流产生压缩阻力，减小振动。When the moving platform 6 moves upwards, the connecting rod 2 rotates inward, driving the fourth hinge bracket 36 to move inward, the fourth hinge bracket 36 drives the cross-shaped connector 32 to move inward, and the cross-shaped connector 32 drives the shaft 35 to move inward movement, the second hinge bracket 34 on the shaft 35 drives the piston rod 42 to compress, and the piston rod 42 drives the piston 47 to compress, resulting in an increase in the volume of the upper cavity and a decrease in the volume of the lower cavity, the recovery valve 46 is closed, and the flow valve 412 is opened , the working fluid in the lower chamber flows through the flow valve 412 to the upper chamber and fills the upper chamber. Since the piston rod 42 occupies part of the volume of the upper chamber, the increase in the volume of the upper chamber is less than the decrease in the volume of the lower chamber, and the working fluid in the lower chamber flows to the upper chamber to fill the upper chamber, and an extra part of the working fluid will make the compensation valve 48 is closed, and the compression valve 49 is opened to throttle the oil storage cylinder 410 to generate compression resistance and reduce vibration.
一种通过准零刚度减振平台，准零刚度实现步骤：A quasi-zero-stiffness damping platform, the realization steps of quasi-zero stiffness:
首先计算当动平台6受到外界激振力时，达到静平衡位置时减振器4上的减振弹簧44的变形量；First calculate the amount of deformation of the damping spring 44 on the shock absorber 4 when the moving platform 6 is subjected to an external excitation force and reaches the static equilibrium position;
然后根据所放物体达到静平衡位置时，减振器4上的减振弹簧44的变形量和减振器的预压缩量，使减振器的预紧力向内；Then according to the placed object when reaching the static equilibrium position, the amount of deformation of the damping spring 44 on the shock absorber 4 and the precompression of the shock absorber make the pretightening force of the shock absorber inward;
当动平台向下运动时，减振器上4的减振弹簧44产生正刚度；通过弹簧调节块43调节与上一减振器相对的减振器上的减振弹簧的变形量，调节该减振器 4的预压缩量，使该减振器4的预紧力向外；当动平台向下运动时该减振器4上的减振弹簧44产生负刚度；两相对的减振器产生的正负刚度在数值上相加就可以实现整个减振系统的总刚度为零，从而实现准零刚度减振平台。When the moving platform moved downwards, the damping spring 44 on the damper produced positive stiffness; the deflection of the damping spring on the damper relative to the previous damper was adjusted by the spring adjusting block 43, and the damping spring was adjusted to adjust the The pre-compression amount of the shock absorber 4 makes the pretightening force of the shock absorber 4 outward; when the moving platform moves downward, the shock absorber 4 on the shock absorber 4 produces negative stiffness; the two relative shock absorbers The resulting positive and negative stiffness can be added numerically to realize the total stiffness of the entire vibration damping system to be zero, thereby realizing a quasi-zero stiffness vibration damping platform.
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