CN111306244B - A quasi-zero stiffness vibration isolator - Google Patents
A quasi-zero stiffness vibration isolator Download PDFInfo
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- CN111306244B CN111306244B CN201911342984.0A CN201911342984A CN111306244B CN 111306244 B CN111306244 B CN 111306244B CN 201911342984 A CN201911342984 A CN 201911342984A CN 111306244 B CN111306244 B CN 111306244B
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- 230000003287 optical effect Effects 0.000 claims description 43
- 238000002955 isolation Methods 0.000 abstract description 23
- 230000003068 static effect Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Classifications
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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
- F16F15/046—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 using combinations of springs of different kinds
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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
- F16F2228/00—Functional characteristics, e.g. variability, frequency-dependence
- F16F2228/04—Frequency effects
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- General Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
本发明公开了一种准零刚度隔振器，克服了目前线性隔振系统不能在保持必要承载能力的同时降低起始隔振频率的问题，其包括负刚度机构与正刚度机构；负刚度机构包括2套定关节结构、支撑结构、板簧、底板、4个直线轴承、2个轴承连接块、载物台与带颈法兰、4个短销与5个2号短轴；2套定关节结构安装在支撑结构中竖轴的两侧与2横轴之间，2套定关节结构的短杆一端通过轴承连接块中的直线轴承和2根横轴连接，2套定关节结构的长杆下端和套装在竖轴下端并位于固定块上方的底板采用短销连接；叠置的带颈法兰、板簧与载物台螺栓连接，带颈法兰与竖轴顶端螺纹连接；正刚度机构套装在竖轴上，其顶端和4个十字连接器的底端接触，其底端安装在底板上。
The invention discloses a quasi-zero stiffness vibration isolator, which overcomes the problem that the current linear vibration isolation system cannot reduce the initial vibration isolation frequency while maintaining the necessary bearing capacity. The device comprises a negative stiffness mechanism and a positive stiffness mechanism; the negative stiffness mechanism comprises two sets of fixed joint structures, a support structure, a leaf spring, a base plate, four linear bearings, two bearing connection blocks, a stage and a neck flange, four short pins and five No. 2 short shafts; the two sets of fixed joint structures are installed between the two sides of the vertical axis and the two horizontal axes in the support structure, one end of the short rod of the two sets of fixed joint structures is connected to the two horizontal axes through the linear bearings in the bearing connection blocks, and the lower ends of the long rods of the two sets of fixed joint structures and the base plate which is sleeved on the lower end of the vertical axis and located above the fixed block are connected by short pins; the stacked neck flanges, leaf springs and the stage are bolted, and the neck flange is threadedly connected to the top end of the vertical axis; the positive stiffness mechanism is sleeved on the vertical axis, the top end of the positive stiffness mechanism contacts the bottom ends of the four cross connectors, and the bottom end of the positive stiffness mechanism is installed on the base plate.
Description
Technical Field
The invention relates to a device belonging to the field of low-frequency vibration isolation, in particular to a nonlinear quasi-zero stiffness vibration isolator with parallel positive and negative stiffness.
Background
In practical engineering, some high-precision mechanical equipment needs to isolate vibration transmitted to the equipment by a foundation in use so as to ensure the necessary precision of the equipment, and in order to isolate the vibration, a traditional vibration isolation method is to install a spring and a rubber pad (damping) at the joint of the equipment and a supporting structure for linear vibration isolation. As known from vibration theory, the initial vibration isolation frequency of the linear vibration isolation method is the natural frequencyMultiple times. Thus, to achieve vibration isolation in the lower frequency domain can only reduce the natural frequency of the vibration isolation system, i.e., reduce its stiffness for a linear vibration isolation system, but low stiffness can cause a greater static displacement of the system. The quasi-zero stiffness vibration isolator realizes low dynamic stiffness of the integral vibration isolation system by utilizing the parallel connection of the positive stiffness mechanism and the negative stiffness mechanism, and then, according to the natural frequency expression of the vibration isolation systemThe reduced stiffness allows for a lower natural frequency of the vibration isolation system. Compared with a linear vibration isolation system with the same static bearing capacity, the quasi-zero stiffness vibration isolator has an isolation effect on vibration in a lower frequency domain, keeps higher static stiffness, and can bear a load of a certain weight.
Disclosure of Invention
The invention aims to solve the technical problem that the linear vibration isolation system in the prior art cannot reduce the initial vibration isolation frequency while maintaining the necessary bearing capacity, and provides a quasi-zero stiffness vibration isolator.
In order to solve the technical problems, the invention adopts the following technical scheme that the quasi-zero stiffness vibration isolator comprises a negative stiffness mechanism and a positive stiffness mechanism;
The negative stiffness mechanism comprises 2 fixed joint structures, supporting structures, leaf springs, a bottom plate, 4 linear bearings, 2 bearing connecting blocks, an objective table, a necked flange, 4 short pins and 5 No. 2 short shafts, wherein the fixed joint structures, the supporting structures, the leaf springs and the bottom plate are identical in structure;
The fixed joint structure further comprises 3I-shaped joints with the same structure, 3Y-shaped joints with the same structure, 2 round pipe clamps with the same structure, a No.1 short shaft and a fixed rod, wherein the two ends of the long rod are in threaded connection with the 2I-shaped joints with the same structure, the two ends of the short rod and the I-shaped joints are in threaded connection with the Y-shaped joints, the two ends of the fixed rod are in threaded connection with the 2Y-shaped joints with the same structure, one end of the long rod is connected with one end of the short rod, which is provided with the Y-shaped joint, by adopting the No.1 short shaft, the two ends of the No.1 short shaft, which extends out of the Y-shaped unthreaded hole on the Y-shaped joint, of the bearing with the same structure are sleeved on the two ends of the short rod, and one end of the round pipe clamps with the same structure, which is sleeved on the long rod and the short rod, of the 2 short shaft are connected by adopting a short pin;
The supporting structure also comprises 4I-shaped connectors with the same structure, 9 cross connectors with the same structure and two same fixing shafts; the two ends of the No. 2 short shafts are respectively and vertically connected to the 2 cross shafts with the same structure through the cross connectors, wherein the No. 2 short shafts fixed to the middle positions of the two cross shafts with the same structure are vertically and cross-connected with the space of the vertical shaft through the 1 cross connector, so that the 2 cross shafts with the same structure are fixed on the front side and the rear side of the vertical shaft in parallel and vertically crossed with the space;
one end of the 2 fixed shaft connecting 'I' type joints with the same structure is connected with two ends of the fixed block by adopting 2 short pins with the same structure, the other end of the 2 fixed shaft connecting 'I' type joints with the same structure is connected with 2 symmetrical cross connectors with the same structure arranged at two ends of the 2 transverse shafts with the same structure by adopting 2 short shafts with the same structure, the upper end of the vertical shaft is in threaded connection with the neck flange, and the lower end of the vertical shaft is in threaded connection with the fixed block;
the positive stiffness mechanism comprises a spring, a spring base No. 1 and a spring base No. 2;
The fixed joint structure with the same structure is symmetrically arranged on the left side and the right side of a vertical shaft in a supporting structure and is positioned between 2 transverse shafts with the same structure in the supporting structure, one end of a short rod in the fixed joint structure with the same structure of the 2 sets is sleeved and connected with the transverse shafts with the same structure through a linear bearing arranged in a bearing connecting block, the lower end of a long rod in the fixed joint structure with the same structure of the 2 sets is connected with a bottom plate sleeved at the lower end of the vertical shaft and positioned above a fixed block in the supporting structure through a short pin, a neck flange and a plate spring which are overlapped from bottom to top are connected with an objective table through bolts, the neck flange is in threaded connection with the top end of the vertical shaft, the bottom end face of the plate spring is in contact and connection with 4 bearings with the same structure in the fixed joint structure with the same structure of the 2 sets, the top end face of the positive rigidity mechanism is sleeved on the vertical shaft, the bottom end face of the positive rigidity mechanism is in contact and connected with the bottom face of a cross connector with the middle part of the same structure of the 2 fixed joint structure through a spring base with the number 1, the bottom end of the positive rigidity mechanism is arranged on the bottom plate through a spring base with the number 2, and the spring is arranged between the spring base and the spring base number 1 and the spring base.
According to the technical scheme, the cross connector is a cuboid-shaped structural member, two ends of the cross connector are provided with optical through holes with the same structure, rotation axes of the 2 optical through holes with the same structure are perpendicular to each other in a space crossing mode, distances between the rotation axes of the 2 optical through holes with the same structure and the left end face and the right end face are equal, a gap with the same thickness is formed along the radial direction of the 2 optical through holes with the same structure and perpendicular to the left end face and the right end face, the gap is communicated with the 2 optical through holes with the same structure, a threaded hole is formed in one of two side walls of the gap, a threaded hole for installing a bolt is formed in the other one of the two side walls of the gap, and the bolt is inserted into the optical through hole in the one side wall and then connected with the threaded hole in the other side wall.
According to the technical scheme, the fixing block is a cuboid structural member, two ends of the fixing block are symmetrically provided with U-shaped grooves with the same structure, 2 optical through holes with collinear rotation axes are symmetrically formed in the groove walls of the U-shaped grooves with the same structure, a central threaded hole matched with the threaded end part of the vertical shaft is formed in the center of the fixing block, and the rotation axes of the central threaded hole are perpendicular to the rotation axes of the optical through holes formed in the groove walls of the U-shaped grooves at the two ends of the fixing block in a space crossing mode.
The base comprises a base and 4 lugs with the same structure, the base is a rectangular plate, a 2-section stepped through hole is formed in the center of the base, the diameter of a small-diameter section light through hole is equal to that of a vertical shaft, the two holes are in sliding fit, a large-diameter section light through hole is equal to the outer diameter of a No. 2 spring base, 4 light through holes are symmetrically formed in the periphery of the 2-section stepped through hole, the central connecting line of the 4 light through holes is a quadrangle with the base and the symmetrical axis, the lug is a rectangular plate, one end of the lug is provided with the light through hole, the distance from the rotary axis of the light through hole to the other end of the lug is large, the 4 rectangular lugs with the same structure are vertically arranged on the base, and the 4 rectangular lugs with the same structure are symmetrically arranged in parallel to the longitudinal and transverse symmetry line of the base.
According to the technical scheme, the bearing connecting block is a U-shaped structural member, a groove is formed in the upper end of the bearing connecting block, groove wall light through holes with rotation axes being collinear are formed in two groove walls, 2 groove bottom light through holes with the same structure and with the rotation axes being parallel and symmetrical are formed in the groove bottom wall of the bearing connecting block, the diameter of each groove bottom light through hole is equal to the outer diameter of a torus in the flanged linear bearing, threaded connecting holes are formed in the upper portion and the lower portion of each groove bottom light through hole, and the 2 threaded connecting holes are aligned with the 2 light through holes in a flange seat in the flanged linear bearing.
The spring base 1 comprises a bottom disc 1 and a hollow cylinder 1, wherein a light through hole 1 is formed in the center of the bottom disc 1, the diameter of the light through hole 1 is equal to that of a vertical shaft, the light through hole 1 and the vertical shaft are assembled, the bottom surface of the bottom disc 1 is contacted with a plane formed by fixing bottom end faces of 4 cross connectors with the same structure in the middle of 2 cross shafts with the same structure, the outer diameter of the hollow cylinder 1 is equal to the inner diameter of the spring, one end of the hollow cylinder 1 is connected with the upper surface of the bottom disc 1 into a whole, and the light through holes 1 and the rotation axes of the bottom disc 1 are collinear.
Compared with the prior art, the invention has the beneficial effects that:
1. the quasi-zero stiffness vibration isolator can meet the requirements of high static stiffness and low dynamic stiffness, and widens the vibration isolation frequency range while maintaining the bearing capacity;
2. compared with other quasi-zero stiffness vibration isolators, the quasi-zero stiffness vibration isolator provided by the invention has a wider quasi-zero stiffness interval, and has a better isolation effect on low-frequency and large-amplitude vibration.
Drawings
The invention is further described below with reference to the accompanying drawings:
Fig. 1 is an isometric view of a quasi-zero stiffness isolator structure according to the present invention
Fig. 2 is an isometric view of a fixed joint structure used in a quasi-zero stiffness vibration isolator according to the present invention
FIG. 3 is an isometric view of a support structure employed in a quasi-zero stiffness vibration isolator according to the present invention;
FIG. 4 is an isometric view of a base plate structure employed in a quasi-zero stiffness vibration isolator according to the present invention;
FIG. 5 is an isometric view of a bearing connection block structure employed in a quasi-zero stiffness vibration isolator according to the present invention;
FIG. 6 is an isometric view of a leaf spring structure employed in a quasi-zero stiffness vibration isolator according to the present invention;
Fig. 7 is an isometric view of a number 2 spring mount structure employed in a quasi-zero stiffness vibration isolator according to the present invention;
FIG. 8 is an isometric view of a necked flange configuration employed in a quasi-zero stiffness vibration isolator according to the present invention;
fig. 9 is an isometric view of a spring mount structure No. 1 employed in a quasi-zero stiffness vibration isolator according to the present invention;
Figure 10 is an isometric view of a flanged linear bearing structure used in a quasi-zero stiffness vibration isolator according to the present invention;
FIG. 11 is an isometric view of a stage structure employed in a quasi-zero stiffness vibration isolator according to the present invention;
FIG. 12 is an isometric view of a combination of 'Y' -shaped joint structures employed in a quasi-zero stiffness vibration isolator according to the present invention;
FIG. 13 is an isometric view of an "I" joint configuration employed in a quasi-zero stiffness vibration isolator according to the present invention;
fig. 14 is an isometric view of a tube clamp structure used in a quasi-zero stiffness vibration isolator according to the present invention;
figure 15 is an isometric view of a cross connector structure used in a quasi-zero stiffness vibration isolator according to the present invention;
Fig. 16 is an isometric view of a fixed block structure employed in a quasi-zero stiffness vibration isolator according to the present invention;
Figure 17 is a static characteristic of a quasi-zero stiffness vibration isolator according to the present invention;
In the figure: 1, a fixed joint structure, 2, a supporting structure, 3, a plate spring, 4, a bottom plate, 5, a flanged linear bearing, 6, a bearing connecting block, 7, an objective table, 8, a necked flange, 9, a spring base, 101.1, a spring base, 102.2, an 'I' -shaped joint, 'Y' joint, 13, circular tube clamp, 14, long rod, 15, short rod, 16.1 short shaft, 17, rolling bearing, 18, fixed rod, 19, cross connector, 20, fixed block, 21.2 short shaft, 22, short pin, 23, vertical shaft, 24, transverse shaft, 25, fixed shaft.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
The quasi-zero stiffness vibration isolator comprises a negative stiffness mechanism and a positive stiffness mechanism.
1. Referring to fig. 1, the negative stiffness mechanism comprises 2 sets of fixed joint structures 1 with the same structure, a supporting structure 2, a plate spring 3, a bottom plate 4, 4 linear bearings 5 with the same structure, 2 bearing connecting blocks 6 with the same structure, an objective table 7, a neck flange 8, 4 short pins 22 with the same structure and 5 short shafts 21 with the same structure 2.
Referring to fig. 2, the fixed joint structure 1 includes 3 identical I-shaped joints 11, 3 identical Y-shaped joints 12, 2 identical circular tube clamps 13, a long rod 14, a short rod 15, a No. 1 short shaft 16, 2 identical bearings 17 and a fixed rod 18;
The 'I' -shaped connector 11 is an SC series cylinder connector standard component, the whole body of the 'I' -shaped connector is a cylindrical structural component, one end of the 'I' -shaped connector 11 is parallel to the axis and symmetrically provided with two countersink planes, an 'I' -shaped optical through hole is arranged perpendicular to the countersink planes, and a longitudinal rotary axis at the other end of the 'I' -shaped connector 11 is provided with an 'I' -shaped threaded blind hole.
The Y-shaped connector 12 is an SC series cylinder connector standard component, two parallel clamping pieces are symmetrically arranged at one end of the Y-shaped connector 12, a Y-shaped optical through hole is arranged perpendicular to the two clamping pieces and penetrates through the two clamping pieces, and a Y-shaped threaded blind hole is arranged on the longitudinal rotary axis at the other end of the Y-shaped connector 12.
The middle part of the circular tube clamp 13 is provided with a tube clamp light through hole, the left end bulge is radially provided with a gap which is communicated with the tube clamp light through hole and is used for clamping and has equal thickness, the right end head part is a sheet-shaped plate-type structural member, the right end light through hole is arranged on the surface of the right end bulge in a penetrating way, and the center of the left end bulge is provided with a left end thread through hole with a rotation axis which is perpendicular to the rotation axis space intersection of the tube clamp light through hole in the middle part of the circular tube clamp 13.
The long rod 14 is a cylindrical straight rod structural member, external threads are arranged at two ends of the long rod 14, and the long rod 14 is connected with 2I-shaped connectors 11 with the same structure through the external threads at the two ends;
The short rod 15 is a cylindrical straight rod structural member, external threads are arranged at two ends of the short rod 15, and the short rod 15 is connected with the Y-shaped connector 12 through the external threads at two ends and the I-shaped connector 11;
The No. 1 short shaft 16 is a cylindrical straight rod 3-section stepped shaft piece, the diameters of a first section shaft and a third section shaft at two ends are equal, the lengths of the first section shaft and the third section shaft are equal, the diameters of the first section shaft and the third section shaft are smaller than the diameters of a second section shaft at the middle position, and two rolling bearings 17 are respectively arranged on the first section shaft and the third section shaft;
the bearing 17 is a 6000-series deep groove ball bearing;
The fixing rod 18 is a cylindrical straight rod structural member, external threads are arranged at two ends of the fixing rod 18, and the external threads at two ends of the fixing rod 18 are connected with the two Y-shaped connectors 12;
one end of the short rod 15 is connected with the 'I' -shaped joint 11 through threads, the other end of the short rod 15 is connected with the 'Y' -shaped joint 12 through threads, one end of the long rod 14 is connected with the second 'I' -shaped joint 11 through threads, the other end of the long rod 14 is connected with the third 'I' -shaped joint 11 through threads, the No.1 short shaft 16 is simultaneously inserted into a light hole on the 'Y' -shaped joint 12 connected with the I '-shaped joint 11 connected with the other end of the long rod 14 and the other end of the short rod 15, wherein the end part of the' I '-shaped joint 11 connected with the end of the long rod 14 is arranged in the middle of the end part of the' Y '-shaped joint 12 connected with the end of the short rod 15, the long rod 14 is rotationally connected with the other end of the short rod 15, and 2 bearings 17 with the same structure are sleeved on the two ends of the No.1 short shaft 16 extending out of the Y' -shaped light hole on the 'Y' -shaped joint 12;
The two ends of the fixed rod 18 and the second Y-shaped joint 12 are in threaded connection with the third Y-shaped joint 12, one end of the Y-shaped joint 12 at the two ends of the fixed rod 18 is connected with one end of the 2 round tube clamps 13 with the same structure through the 2 short pins 22, namely one end of the 2 round tube clamps 13 with the same structure is arranged in the middle of one end of the 2Y-shaped joints 12 with the same structure, the 2 short pins 22 with the same structure are inserted into the I-shaped unthreaded holes and the Y-shaped unthreaded holes on the 2 pairs of round tube clamps 13 and the Y-shaped joint 12, and the other ends of the 2 round tube clamps 13 with the same structure are sleeved in the middle parts of the long rod 14 and the short rod 15 and clamped and fixed by bolts.
Referring to fig. 3, the supporting structure 2 includes 9 cross connectors 19 with identical structures, a fixed block 20, a vertical shaft 23, two transverse shafts 24 with identical structures, two fixed shafts 25 with identical structures, and 4 'I' -shaped joints 11 with identical structures.
Referring to fig. 15, the cross connector 19 is a rectangular structural member, two ends of the cross connector 19 are provided with optical through holes, rotation axes of the 2 optical through holes with the same structure are perpendicular to each other in a space crossing manner, distances between the rotation axes of the 2 optical through holes with the same structure and the left end face and the right end face are equal, a gap with the thickness of 2mm is formed along the radial direction of the 2 optical through holes with the same structure and perpendicular to the left end face and the right end face, the gap is communicated with the 2 optical through holes with the same structure, a threaded hole is formed in one of two side walls of the gap, an optical hole is formed in the other side wall of the two side walls of the gap, and bolts are inserted into the optical through holes in the one side wall and then connected with the threaded holes in the other side wall, so that the clamping function of the cross connector 19 is realized.
Referring to fig. 16, the fixing block 20 is a rectangular structural member, two ends of the fixing block 20 are symmetrically provided with 'U' -shaped grooves with the same structure, two groove walls of the 'U' -shaped grooves are provided with optical through holes with collinear rotation axes, a center threaded hole matched with the end part of the vertical shaft 23 provided with threads is formed in the center of the fixing block 20, and the rotation axes of the center threaded hole are perpendicular to the rotation axes of the optical through holes formed in the groove walls of the 'U' -shaped grooves at two ends of the fixing block 20 in a space crossing manner.
The No. 2 short shaft 21 is a cylinder with the same diameter;
The short pin 22 is a cylinder with equal diameter;
The vertical shaft 23 is a cylindrical straight rod structural member, and threads are respectively arranged at two ends of the vertical shaft 23.
The transverse shaft 24 is a cylindrical straight rod structural member;
The fixed shaft 25 is a cylindrical straight rod structural member, external threads are arranged at two ends of the fixed shaft 25, and two ends of the fixed shaft 25 are connected with the two I-shaped connectors 11 through threads.
The 3 short shafts 21 with the same structure and the number 2 are respectively fixed at the left end, the right end and the middle position of two transverse shafts 24 with the same structure in parallel through 2 cross connectors 19 with the same structure, specifically, the two ends of the short shafts 21 are respectively and vertically connected to the 2 transverse shafts 24 with the same structure through the cross connectors 19. The 2 # short shafts 21 fixed at the middle position of the two transverse shafts 24 with the same structure are in space vertical cross connection with the vertical shafts 23 through 1 transverse cross connectors 19, so that the 2 transverse shafts 24 with the same structure are fixed at the front side and the rear side of the vertical shafts 23 in parallel and aligned and vertically crossed, the right side of the vertical shafts 23 positioned at the middle position of the 2 transverse shafts 24 with the same structure is provided with two transverse connectors 19 for forming a bottom plane with the two transverse connectors 19 fixed at the left side of the vertical shafts 23 positioned at the middle position of the 2 transverse shafts 24 with the same structure, and the bottom plane is used for supporting the 1 # spring base 101.
The 2 short pins 22 with the same structure are simultaneously inserted into the I-shaped optical through holes on the I-shaped connectors 11 connected with one ends of the fixed shafts 25 with the same structure and the optical through holes at two ends of the fixed block 20, one ends of the I-shaped connectors 11 are positioned in the U-shaped grooves at two ends of the fixed block 20, the other ends of the fixed shafts 25 with the same structure are connected with the I-shaped connectors 11, the I-shaped connectors 11 are sleeved at the middle of the short shafts 21 connected with the two ends of the cross shafts 24 with the same structure by the cross connectors 19 through the I-shaped optical through holes on the I-shaped connectors 11, namely, the end parts of the I-shaped connectors 11 at the other ends of the fixed shafts 25 with the same structure are placed between the cross connectors 19 at the two ends of the cross shafts 24 with the same structure.
Referring to fig. 6, the plate spring 3 is a rectangular thin plate structural member, 4 plate spring light through holes with the same structure are arranged at the center of the plate spring 3, and the 4 plate spring light through holes with the same structure are symmetrically arranged relative to the longitudinal symmetry axis and the transverse symmetry axis of the plate spring 3;
referring to fig. 4, the base plate 4 includes a base and 4 lugs having the same structure;
The base is a rectangular plate, a 2-section stepped through hole is formed in the center of the base, the diameter of a small-diameter section light through hole is equal to that of a vertical shaft 23, the two holes are in sliding fit, the outer diameter of a large-diameter section light hole is equal to that of a No.2 spring base 102, 4 light through holes are symmetrically formed in the periphery of the 2-section stepped through hole, and the central connecting line of the 4 light through holes is quadrilateral with the same symmetrical axis of the base;
The lug is a rectangular plate, one end of the lug is provided with an optical through hole, the distance between the rotating axis of the optical through hole and the other end of the lug, namely the distance between the rotating axis of the optical through hole and the installed base is large, in the embodiment, the distance between the rotating axis of the optical through hole and the upper surface of the rectangular base is 22mm,4 rectangular lugs with the same structure are vertically installed on the base, the 4 rectangular lugs with the same structure are symmetrically arranged relative to the longitudinal symmetry line of the base, one end of an 'I' -shaped joint 11 connected with one end of a long rod 14 in the fixed joint structure 1 is installed between two front-back symmetrical lugs on one side of the base plate 4, and a short pin 22 is adopted to connect the 'I' -shaped joint 11 connected with one end of the long rod 14 in the fixed joint structure 1 with the two front-back symmetrical lugs on one side of the base plate 4.
Referring to fig. 1 and 10, the flanged linear bearing 5 includes a ring body and a flange seat, the inner diameter of the ring body is equal to the diameter of a transverse shaft 24 in the supporting structure 2, the outer diameter is equal to the inner diameter of a bottom wall light through hole on the bearing connecting block 6, the elongated flange seat is symmetrically provided with light through holes along two longitudinal ends, the axial distance between the two light through holes is equal to the axial distance between two threaded holes on the bearing connecting block 6, one end of the ring body is connected with a large end surface of the flange seat into a whole, the rotation axis of the ring body is collinear with the symmetry line of the flange seat, and the flanged linear bearing 5 and the bearing connecting block 6 are connected by adopting screws.
Referring to fig. 5, the bearing connection block 6 is a U-shaped structure, the upper end of the bearing connection block 6 is provided with a groove, two groove wall light through holes with collinear rotation axes are arranged on two groove walls, two groove bottom light through holes with equal structures and parallel and symmetrical rotation axes are arranged on the groove bottom wall of the bearing connection block 6, the diameter of each groove bottom light through hole is equal to the outer diameter of a torus in the flanged linear bearing 5, two threaded connection holes are respectively arranged above and below the two groove bottom light through holes, the two threaded connection holes are aligned with the two light through holes on a flange seat in the flanged linear bearing 5, a No.2 short shaft 21 is simultaneously inserted into the groove wall light through holes on the two groove walls and the 'I' light through holes on an 'I' type joint 11 connected with one end of a short rod 15 in a fixed joint structure, and one end of the short rod 15 is connected with one end of the 'I' type joint 11 and is placed in the groove at the upper end of the bearing connection block 6.
Referring to fig. 8, the necked flange 8 comprises a flange base and a neck, wherein the flange base is a disc-shaped structural member, 4 flange light through holes with the same structure are symmetrically arranged on the flange base along a rotation axis, the distances between the two opposite flange light through holes are equal, the 4 flange light through holes with the same structure on the flange base are aligned with the 4 plate spring light through holes with the same structure on the plate spring 3, and the center of the flange base is provided with a threaded through hole which is the same as a threaded hole of the neck;
referring to fig. 11, the stage 7 is a rectangular plate, and 4 stage light through holes with the same structure are symmetrically arranged at the centers of the longitudinal symmetry axis and the transverse symmetry axis, and the 4 stage light through holes with the same structure on the stage 7 are aligned with the 4 leaf spring light through holes with the same structure on the leaf spring 3. Bolts are sequentially inserted into flange bases with neck flanges 8, plate springs 3 and flange light through holes, plate spring light holes and object stage light through holes which are arranged on the object stage 7, and nuts are screwed in the plate spring light holes and the object stage light through holes, so that the neck flanges 8 and the plate springs 3 are connected with the object stage 7.
2. Referring to fig. 1, the positive stiffness mechanism includes a spring 9, a spring mount 101 No. 1, and a spring mount 102 No. 2.
The spring 9 is a cylindrical spiral spring wound by spring wires. The spring 9 is mounted on spring mount No. 1101 and spring mount No.2 102 at both ends.
Referring to fig. 9, the spring base 101 includes a bottom disk 1 and a hollow cylinder 1;
The center of the No. 1 bottom disc is provided with a No. 1 light through hole, the diameter of the No. 1 light through hole is equal to that of the vertical shaft 23, the two holes are assembled, and the bottom surface of the No. 1 bottom disc is contacted with a bottom plane formed by 4 cross connectors 19 with the same structure in the middle position of a transverse shaft 24 with the same structure;
The outer diameter of the No. 1 hollow cylinder is equal to the inner diameter of the spring 9, and the rotation axes of the No. 1 hollow cylinder, the No. 1 unthreaded hole and the No. 1 bottom disc in the No. 1 spring base 101 are collinear.
Referring to fig. 7, the spring base 102 includes a bottom disk No. 2 and a hollow cylinder No. 2;
The center of the No. 2 bottom disc is provided with a No. 2 light through hole, the diameter of the No. 2 light through hole is equal to the diameter of the vertical shaft 23, the diameter of the No. 2 light through hole is matched with the diameter of the large-diameter section light hole in the 2-section stepped hole on the bottom plate 4, the outer diameter of the No. 2 bottom disc is equal to the inner diameter of the large-diameter section light hole in the 2-section stepped hole on the bottom plate 4, the bottom end face of the No. 2 bottom disc is in contact with an annular shoulder formed by the diameter difference in the 2-section stepped hole on the bottom plate 4.
The outer diameter of the No. 2 hollow cylinder is equal to the inner diameter of the spring 9, and the rotation axes of the No. 2 hollow cylinder, the No. 2 unthreaded hole and the No. 2 bottom disc in the No. 2 spring base 102 are collinear.
The invention relates to a working principle of a quasi-zero stiffness vibration isolator, which comprises the following steps:
a quasi-zero stiffness vibration isolator realizes low dynamic stiffness of an integral vibration isolation system by utilizing a positive stiffness mechanism and a negative stiffness mechanism which are connected in parallel, and the dynamic stiffness is expressed according to natural frequency of the vibration isolation system The vibration isolator has better isolation effect on vibration in a low frequency domain, simultaneously keeps higher static rigidity, and can bear a load of a certain weight, when the vibration isolator is used, the bottom plate 4 is fixed, the object table 7 bears a weight, the vibration isolator is compressed, the distance between the object table 7 and the bottom plate 4 is reduced, the bearing connecting block 6 moves to two sides along the transverse shaft 24, the rolling bearings 17 in the two-side fixed joint mechanism 1 roll to two sides along the surface of the plate spring 3, the long rod 14 rotates around the short pin 22, the plate spring 3 is bent and deformed by a fixed angle formed by the long rod 14 and the short rod 15, the whole negative rigidity mechanism generates negative rigidity in the vertical direction, the compression spring 9 generates positive rigidity in the vertical direction, and the negative rigidity mechanism generates negative rigidity in the vertical direction, so that the rigidity of the whole vibration isolator is quasi zero rigidity. When the stage 7 vibrates up and down at the equilibrium position, the dynamic stiffness of the vibration isolator is close to zero, and the natural frequency is naturally low. The quasi-zero stiffness vibration isolator can produce lower transmissibility relative to the same excitation frequency, so that good isolation is achieved for vibrations even at very low frequencies.
Claims (6)
1. The quasi-zero stiffness vibration isolator is characterized by comprising a negative stiffness mechanism and a positive stiffness mechanism;
The negative stiffness mechanism comprises 2 fixed joint structures (1), supporting structures (2), leaf springs (3), a bottom plate (4), 4 linear bearings (5) with the same structure, 2 bearing connecting blocks (6) with the same structure, an objective table (7), a necked flange (8), 4 short pins (22) with the same structure and a No. 2 short shaft (21) with the same structure;
The fixed joint structure (1) comprises 3I-shaped joints (11) with the same structure, 3Y-shaped joints (12) with the same structure, 2 circular tube clamps (13) with the same structure, a long rod (14), a short rod (15), a No. 1 short shaft (16), 2 bearings (17) with the same structure and a fixed rod (18);
The two ends of the long rod (14) are in threaded connection with 2I-shaped joints (11) with the same structure, the two ends of the short rod (15) and the I-shaped joints (11) are in threaded connection with the Y-shaped joints (12), the two ends of the fixed rod (18) are in threaded connection with the 2Y-shaped joints (12) with the same structure, one end of the long rod (14) is connected with one end of the short rod (15) provided with the Y-shaped joints (12) by adopting a short shaft (16) with the 1 number, 2 bearings (17) with the same structure are sleeved on the two ends of the short shaft (16) with the 1 number of the Y-shaped unthreaded holes extending out of the Y-shaped joints (12), and the two ends of the fixed rod (18) are connected with one end of 2 round tube clamps (13) with the same structure sleeved on the long rod (14) and the short rod (15) by adopting a short pin (22);
the supporting structure (2) also comprises 4I-shaped connectors (11) with the same structure, 9 cross connectors (19) with the same structure and two identical fixed shafts (25);
The two ends of the No. 2 short shafts (21) are respectively and vertically connected to the 2 cross shafts (24) with the same structure through the cross connectors (19), wherein the No. 2 short shafts (21) fixed at the middle position of the two cross shafts (24) with the same structure are in space vertical cross connection with the vertical shafts (23) through the 1 cross connectors (19) with the same structure, so that the 2 cross shafts (24) with the same structure are fixed at the front side and the rear side of the vertical shafts (23) in parallel and vertically crossed in space, and the two cross connectors (19) fixed at the right side of the vertical shafts (23) at the middle position of the 2 cross shafts (24) with the same structure are used for forming a bottom plane with the two cross connectors (19) fixed at the left side of the vertical shafts (23) at the middle position of the 2 cross shafts (24) with the same structure, and the bottom plane is connected with the spring base (101);
one end of the 2 fixed shafts (25) with the same structure is connected with two ends of the I-shaped joint (11) by adopting 2 short pins (22) with the same structure and two ends of the fixed block (20), the other end of the 2 fixed shafts (25) with the same structure is connected with the other end of the I-shaped joint (11) by adopting 2 short shafts (21) with the same structure and 2 symmetrical cross connectors (19) with the same structure, which are arranged at two ends of the 2 transverse shafts (24) with the same structure, the upper end of the vertical shaft (23) is in threaded connection with the necked flange (8), and the lower end of the vertical shaft (23) is in threaded connection with the fixed block (20);
the positive stiffness mechanism comprises a spring (9), a spring base (101) of No. 1 and a spring base (102) of No. 2;
The device comprises a support structure (2), a fixed joint structure (1) with the same structure, a plate spring (3) and an objective table (7), wherein the fixed joint structure (1) with the same structure is symmetrically arranged on the left side and the right side of a vertical shaft (23) in the support structure (2) and positioned between two transverse shafts (24) with the same structure in the support structure (2), one ends of short rods (15) in the fixed joint structure (1) with the same structure are connected in a sleeved mode through linear bearings (5) arranged in a bearing connecting block (6) and the transverse shafts (24) with the same structure in the 2, the lower ends of long rods (14) in the fixed joint structure (1) with the same structure in the 2 are connected with a bottom plate (4) sleeved at the lower end of the vertical shaft (23) and positioned above a fixed block (20) in the support structure (2) by adopting a short pin (22), a necked flange (8) and a plate spring (3) from bottom to top are connected with the objective table (7) by adopting bolts, the bottom end face of the plate spring (3) is connected with the top end face of the threaded connection of the bearing (23) by adopting the straight bearings (5), the bottom face of the plate spring (3) is connected with the same structure in the fixed joint structure (1) with the 4 structures in the same structure in the structure, the fixed joint structure (1) with the same structure in the 2, the same rigidity is connected with the top face of the vertical shaft (1) by the same as the straight joint structure, and the top face of the straight joint structure is connected with the straight joint structure, and the base (1 is connected with the base (1 through the straight connector (17) and the base is connected with the base, and the base structure, and the base is connected with the base connector is directly has the base structure and the base connector has the base structure. The bottom end of the positive stiffness mechanism is arranged on the bottom plate (4) through a No.2 spring base (102), and the spring (9) is arranged between a No. 1 spring base (101) and a No.2 spring base (102).
2. The quasi-zero stiffness vibration isolator according to claim 1, wherein the cross connector (19) is a cuboid-shaped structural member, two ends of the cross connector (19) are provided with optical through holes with the same structure, the rotation axes of the 2 optical through holes with the same structure are in space crossing and vertical, the distances between the rotation axes of the 2 optical through holes with the same structure and the left end face and the right end face are equal, a gap with the same thickness is arranged along the radial direction of the 2 optical through holes with the same structure and vertical to the left end face and the right end face, the gap is communicated with the 2 optical through holes with the same structure, a threaded hole is arranged on one side wall of two side walls of the gap, an optical hole for mounting a bolt is arranged on the other side wall of the two side walls of the gap, and the optical through holes are inserted into the optical through holes on one side wall by bolts and are connected with the threaded hole on the other side wall.
3. The quasi-zero stiffness vibration isolator according to claim 1, wherein the fixed block (20) is a cuboid structural member, two ends of the fixed block (20) are symmetrically provided with 'U' -shaped grooves with the same structure, the groove walls of the 2 'U' -shaped grooves with the same structure are symmetrically provided with optical through holes with collinear rotation axes, the center of the fixed block (20) is provided with a central threaded hole matched with the threaded end part of the vertical shaft (23), and the rotation axes of the central threaded hole are perpendicular to the rotation axes of the optical through holes arranged on the groove walls of the 'U' -shaped grooves at the two ends of the fixed block (20) in a space crossing mode.
4. A quasi-zero stiffness vibration isolator according to claim 1, wherein the base plate (4) comprises a base and 4 structural lugs;
The base is a rectangular plate, a 2-section stepped through hole is formed in the center of the base, the diameter of a small-diameter section light through hole is equal to that of a vertical shaft (23), the two holes are in sliding fit, the outer diameter of a large-diameter section light hole is equal to that of a No. 2 spring base (102), 4 light through holes are symmetrically formed in the periphery of the 2-section stepped through hole, and the central connecting line of the 4 light through holes is quadrilateral with the same symmetrical axis of the base;
the lug is a rectangular plate, one end of the lug is provided with an optical through hole, the distance between the rotating axis of the optical through hole and the other end of the lug, namely the distance between the rotating axis of the optical through hole and the installed base is large, 4 rectangular lugs with the same structure are vertically installed on the base, and the 4 rectangular lugs with the same structure are symmetrically arranged in parallel relative to the longitudinal and transverse symmetry line of the base.
5. The quasi-zero stiffness vibration isolator according to claim 1 is characterized in that the bearing connecting block (6) is a U-shaped structural member, grooves are formed in the upper end of the bearing connecting block (6), groove wall light through holes with collinear rotation axes are formed in two groove walls, 2 groove bottom wall light through holes with the same structure and parallel and symmetrical rotation axes are formed in the groove bottom wall of the bearing connecting block (6), the diameter of each groove bottom wall light through hole is equal to the outer diameter of a ring body in the flanged linear bearing (5), threaded connecting holes are formed in the upper portion and the lower portion of each groove bottom wall light through hole, and the 2 threaded connecting holes are aligned with the 2 light through holes in a flange seat in the flanged linear bearing (5).
6. A quasi-zero stiffness vibration isolator according to claim 1, wherein the spring mount (101) comprises a bottom disk No.1 and a hollow cylinder No. 1;
The center of the No.1 bottom disc is provided with a No.1 optical through hole, the diameter of the No.1 optical through hole is equal to that of the vertical shaft (23), the No.1 optical through hole and the vertical shaft are assembled, and the bottom surface of the No.1 bottom disc is contacted with a plane formed by the bottom end surfaces of 4 cross connectors (19) with the same structure, wherein the bottom surfaces of the cross connectors are fixed in the middle of 2 cross shafts (24) with the same structure;
The outer diameter of the No. 1 hollow cylinder is equal to the inner diameter of the spring (9), one end of the No. 1 hollow cylinder is connected with the upper surface of the No. 1 bottom disc into a whole, and the rotation axes of the No. 1 hollow cylinder, the No. 1 optical through hole and the No. 1 bottom disc are collinear.
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| CN111911576A (en) * | 2020-09-09 | 2020-11-10 | 吉林大学 | Quasi-zero stiffness vibration isolator with cantilever leaf springs |
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