CN108757803A - The quasi- zero stiffness isolation mounting of six degree of freedom - Google Patents

Abstract

The invention discloses a six-degree-of-freedom quasi-zero-stiffness vibration isolation device, comprising: a fixed seat (10); at least three three-degree-of-freedom quasi-zero-stiffness mechanisms (20), and at least three of the three-degree-of-freedom quasi-zero-stiffness mechanisms (20) are respectively installed at multiple corners of the fixed seat (10); the mounting seat (30), the multiple corners of the mounting seat (30) are respectively connected with at least three of the three-degree-of-freedom quasi-zero stiffness mechanisms (20) are connected. The six-degree-of-freedom quasi-zero-stiffness vibration isolation device achieves six-degree-of-freedom quasi-zero stiffness by connecting multiple three-degree-of-freedom quasi-zero-stiffness mechanisms (20) in parallel, and realizes hierarchical control of static bearing capacity through the number of parallel connections, which is easy to standardize and serialize , and the device has compact structure, space saving, light weight and high reliability. The six-degree-of-freedom quasi-zero-stiffness vibration isolation device solves the problems that the existing quasi-zero-stiffness vibration isolation device is inconvenient to control the static bearing capacity and occupies a large space.

Description

Six degrees of freedom quasi-zero stiffness vibration isolation device

technical field

The invention relates to the technical field of vibration isolation, in particular to a six-degree-of-freedom quasi-zero-stiffness vibration isolation device.

Background technique

The function of the vibration isolation device is to reduce the dynamic coupling between the vibration-isolated equipment and the vibration source, thereby reducing the transmission of the undesirable vibration of the vibration source to the vibration-isolated equipment. Some equipment in automobiles, ships, and aerospace vehicles, such as aircraft flight control systems, are very sensitive to vibration environments. Therefore, in order to ensure that these equipment can work normally, it is necessary to specially set up corresponding vibration isolation devices for shock absorption.

At present, most quasi-zero-stiffness vibration isolation devices only focus on vibration isolation in one direction, such as the axial or torsional direction; and, only a few of the existing quasi-zero-stiffness vibration isolation devices can adjust the static Carrying capacity. Therefore, a quasi-zero-stiffness vibration isolation device with more degrees of freedom is required to simultaneously isolate vibrations in multiple directions and make its static load-carrying capacity easier to control. The known six-degree-of-freedom quasi-zero-stiffness vibration isolation devices are all of the Stewart type, which are hinged by six single-degree-of-freedom quasi-zero-stiffness rods. The overall size of this Stewart-type six-degree-of-freedom quasi-zero-stiffness vibration isolation device is equivalent to that of the object to be isolated, and is positively related to the static bearing capacity, occupying a larger space.

Contents of the invention

The main purpose of the present invention is to provide a six-degree-of-freedom quasi-zero-stiffness vibration isolation device to at least solve the technical problems that the quasi-zero-stiffness vibration isolation device in the prior art is inconvenient to control the static bearing capacity and occupies a large space.

In order to achieve the above object, the present invention provides a six-degree-of-freedom quasi-zero-stiffness vibration isolation device, comprising: a fixed base; A plurality of corners of the fixed seat; an installation seat, and the plurality of corners of the installation seat are respectively connected with at least three three-degree-of-freedom quasi-zero-stiffness mechanisms.

Further, the three-degree-of-freedom quasi-zero-stiffness mechanism includes: the base, which is installed on the fixed base by bolts; three pairs of springs, the two ends of which are hingedly mounted on the base; the connecting head, the middle part of the three pairs of springs Both are hinged with the connecting head, and the mounting seat is connected with the three-degree-of-freedom quasi-zero-stiffness mechanism through the connecting head.

Further, the base includes: a lower installation ring, which is installed on the fixed seat through bolts, and three first hinged supports are evenly distributed along the circumferential direction on the lower installation ring; an upper installation ring, which is evenly distributed along the circumferential direction There are three second hinged supports, three first hinged supports and three second hinged supports arranged alternately; a plurality of connecting rods, and the lower mounting ring and the upper mounting ring are connected by a plurality of connecting rods.

Further, the three pairs of springs are rotationally symmetrical along the vertical axis of the base at 120°.

Further, the first hinged support and the second hinged support are ball joints, Hooke joints or tapered shallow blind holes.

Further, the number of three-degree-of-freedom quasi-zero-stiffness mechanisms is four, and the four three-degree-of-freedom quasi-zero-stiffness mechanisms are symmetrically installed at the four corners of the fixing base, and the four corners of the mounting base are respectively connected to a three-degree-of-freedom quasi-zero The connectors in the stiffness mechanism are connected.

Further, a plurality of hollow grooves are arranged side by side on the fixing base and the mounting base.

The six-degree-of-freedom quasi-zero-stiffness vibration isolation device applying the technical solution of the present invention installs at least three three-degree-of-freedom quasi-zero-stiffness mechanisms on the fixed seat, and at least three three-degree-of-freedom quasi-zero-stiffness mechanisms are respectively installed on multiple At each corner, connect multiple corners of the mount with at least three three-degree-of-freedom quasi-zero-stiffness mechanisms, and achieve six-degree-of-freedom quasi-zero-stiffness by connecting multiple (>3) three-degree-of-freedom quasi-zero-stiffness mechanisms in parallel. The hierarchical control of the static bearing capacity is realized through the number of parallel connections, which is easy to standardize and serialize, and the device has a compact structure, saves space, is light in weight, and has high reliability. The six-degree-of-freedom quasi-zero-stiffness vibration isolation device solves the problems that the existing quasi-zero-stiffness vibration isolation device is inconvenient to control the static bearing capacity and occupies a large space.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages, which will be further described in detail with reference to the accompanying drawings.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a schematic structural diagram of a quasi-zero stiffness vibration isolation device according to an embodiment of the present invention.

Fig. 2 is a front view structural diagram of a three-degree-of-freedom quasi-zero-stiffness mechanism in a quasi-zero-stiffness vibration isolation device according to an embodiment of the present invention.

FIG. 3 is a schematic bottom view of a three-degree-of-freedom quasi-zero-stiffness mechanism in a quasi-zero-stiffness vibration isolation device according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a base in a quasi-zero-stiffness vibration isolation device according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a single spring in the spring centering of the quasi-zero-stiffness vibration isolation device according to the embodiment of the present invention.

Fig. 6 is a schematic diagram of the internal structure of a single spring in the spring center of the quasi-zero stiffness vibration isolation device according to the embodiment of the present invention.

Wherein, the above-mentioned accompanying drawings include the following reference signs:

10. Fixed seat; 20. Three-degree-of-freedom quasi-zero stiffness mechanism; 21. Base; 22. Spring pair; 23. Connector; 30. Mounting seat; 40. Hollow groove; 211. Lower mounting ring; 212. Upper mounting Ring; 213, connecting rod; 214, first hinged support; 215, second hinged support.

Detailed ways

In order to facilitate the understanding of the present invention, the present invention will be described more fully and in detail below in conjunction with the accompanying drawings and preferred embodiments, but the protection scope of the present invention is not limited to the following specific embodiments.

Unless otherwise defined, all technical terms used hereinafter have the same meanings as commonly understood by those skilled in the art. "First", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only for the convenience of distinguishing corresponding components. Likewise, words like "a" or "one" do not indicate a limitation of quantity, but indicate that there is at least one. Words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "Down", "Left", "Right" and so on are only used to indicate the relative positional relationship. When the absolute position of the described object changes, the relative positional relationship also changes accordingly.

Referring to FIGS. 1 to 6 , a six-degree-of-freedom quasi-zero-stiffness vibration isolation device according to an embodiment of the present invention includes a fixing base 10 , at least three three-degree-of-freedom quasi-zero-stiffness mechanisms 20 and a mounting base 30 . Wherein, at least three three-degree-of-freedom quasi-zero-stiffness mechanisms 20 are respectively installed at multiple corners of the holder 10; multiple corners of the mounting base 30 are respectively connected with at least three three-degree-of-freedom quasi-zero-stiffness mechanisms 20; The base 30 is located above the fixing base 10 , and the mounting base 30 is not directly connected to the fixing base 10 .

The aforementioned six-degree-of-freedom quasi-zero-stiffness vibration isolation device installs at least three three-degree-of-freedom quasi-zero-stiffness mechanisms 20 on the fixed base 10, and at least three three-degree-of-freedom quasi-zero-stiffness mechanisms 20 are respectively installed on the multiple positions of the fixed base 10. At each corner, multiple corners of the mount 30 are respectively connected to at least three three-degree-of-freedom quasi-zero-stiffness mechanisms 20, and a six-degree-of-freedom quasi-zero-stiffness mechanism 20 is achieved by connecting multiple (>3) three-degree-of-freedom quasi-zero-stiffness mechanisms 20 in parallel. Zero stiffness, graded control of static bearing capacity through parallel connections, easy to standardize and serialize, and the device is compact in structure, space-saving, light in weight and high in reliability. The six-degree-of-freedom quasi-zero-stiffness vibration isolation device solves the problems that the existing quasi-zero-stiffness vibration isolation device is inconvenient to control the static bearing capacity and occupies a large space.

Specifically, referring to FIG. 1 , FIG. 2 and FIG. 3 , in this embodiment, the three-degree-of-freedom quasi-zero-stiffness mechanism 20 includes a base 21 , three pairs of springs 22 and a connecting head 23 . Wherein, the base 21 is installed on the fixed seat 10 by bolts; the two ends of the spring pairs 22 are all hingedly installed on the base 21; It is connected with the three-degree-of-freedom quasi-zero-stiffness mechanism 20; the three pairs of springs 22 are rotationally symmetrical along the vertical axis of the base 21 at 120°. Among them, the spring pair 22 is preloaded, and the overall static bearing capacity is synthesized by the static stand difference of the spring pair 22 at the balance point, and the ingenious balance between its stiffness, size, and preload makes the dynamic stiffness at the balance point 0 .

Further, referring to FIG. 4 , the base 21 includes a lower mounting ring 211 , an upper mounting ring 212 and a plurality of connecting rods 213 . Wherein, the lower mounting ring 211 is installed on the fixed seat 10 by bolts, and the lower mounting ring 211 is provided with three first hinged supports 214 evenly distributed along the circumferential direction; the upper mounting ring 212 is provided with three second hinged supports 215 evenly distributed along the circumferential direction , three first articulated supports 214 and three second articulated supports 215 are alternately arranged; the lower mounting ring 211 and the upper mounting ring 212 are connected by a plurality of connecting rods 213 . Adopting such a base 21 can, on the one hand, reduce the weight of the entire vibration isolation device; on the other hand, it is also convenient for assembly and disassembly.

In this embodiment, the first hinged support 214 and the second hinged support 215 can be spherical hinges, Hooke hinges or conical shallow blind holes; each spring of the spring pair 22 is provided with spherical hinges, Hooke hinges Hinge or tip. The spherical hinges, Hooke hinges or tapered shallow blind holes of the first hinged support 214 and the second hinged support 215 are mated with the spherical hinges, Hooke hinges or tips at both ends of the spring.

Referring to Fig. 1, in the present embodiment, the quantity of three-degree-of-freedom quasi-zero-stiffness mechanism 20 is preferably four, and these four three-degree-of-freedom quasi-zero-stiffness mechanisms 20 are symmetrically installed at four corners of the fixed seat 10, and the mounting seat The four corners of 30 are respectively connected with the connecting head 23 in a three-degree-of-freedom quasi-zero-stiffness mechanism 20 . In this way, the vibration isolation of six degrees of freedom can be ensured, and the whole vibration isolation device has better stability.

In order to further reduce the weight of the vibration isolation device, in this embodiment, a plurality of hollow grooves 40 are arranged side by side on the fixing base 10 and the mounting base 30 . By providing a plurality of hollow grooves 40 on the fixing base 10 and the mounting base 30, the materials used for the fixing base 10 and the mounting base 30 are reduced, and the overall weight of the quasi-zero-stiffness vibration isolation device with six degrees of freedom is effectively reduced.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (7)

1. a kind of quasi- zero stiffness isolation mounting of six degree of freedom, which is characterized in that including：

Fixed seat（10）；

The quasi- zero stiffness mechanism of at least three Three Degree Of Freedoms（20）, at least three quasi- zero stiffness mechanisms of Three Degree Of Freedom（20）Respectively Mounted on the fixed seat（10）Multiple angles at；

Mounting base（30）, the mounting base（30）Multiple angles respectively at least three quasi- zero stiffness mechanisms of Three Degree Of Freedom （20）It is connected.

2. the quasi- zero stiffness isolation mounting of six degree of freedom according to claim 1, which is characterized in that the Three Degree Of Freedom standard zero Rigidity mechanism（20）Including：

Pedestal（21）, the fixed seat is mounted on by bolt（10）On；

Three auxiliary springs pair（22）, the spring pair（22）Both ends be hingedly mounted on the pedestal（21）On；

Connector（23）, the three secondary springs pair（22）Middle part with the connector（23）It is hinged, the mounting base（30） Pass through the connector（23）With the quasi- zero stiffness mechanism of the Three Degree Of Freedom（20）It is connected.

3. the quasi- zero stiffness isolation mounting of six degree of freedom according to claim 2, which is characterized in that the pedestal（21）Packet It includes：

Lower part mounting ring（211）, the lower part mounting ring（211）It is mounted on the fixed seat by bolt（10）On, under described Portion's mounting ring（211）On be circumferentially uniformly arranged there are three the first pivoting support（214）；

Top mounting ring（212）, the top mounting ring（212）On be circumferentially uniformly arranged there are three the second pivoting support （215）, three first pivoting supports（214）With three second pivoting supports（215）It is staggered；

More connecting rods（213）, the lower part mounting ring（211）With the top mounting ring（212）Pass through the more connections Bar（213）It is connected.

4. the quasi- zero stiffness isolation mounting of six degree of freedom according to claim 3, which is characterized in that the three secondary springs pair （22）Along the pedestal（21）120 ° of rotational symmetry of vertical axis.

5. the quasi- zero stiffness isolation mounting of six degree of freedom according to claim 3, which is characterized in that first pivoting support （214）With second pivoting support（215）For flexural pivot, Hooke's hinge or the shallow blind hole of taper.

6. the quasi- zero stiffness isolation mounting of six degree of freedom according to claim 2, which is characterized in that the Three Degree Of Freedom standard zero Rigidity mechanism（20）Quantity be four, four quasi- zero stiffness mechanisms of Three Degree Of Freedom（20）It is symmetrically mounted on the fixed seat （10）Four angles at, the mounting base（30）Four angles respectively with a quasi- zero stiffness mechanism of Three Degree Of Freedom（20）In The connector（23）It is connected.

7. the quasi- zero stiffness isolation mounting of six degree of freedom according to claim 1, which is characterized in that the fixed seat（10）With The mounting base（30）On be set side by side with multiple hollow slots（40）.