CN102865328B - Hybrid mechanism-based five-dimensional vibration isolation platform - Google Patents
Hybrid mechanism-based five-dimensional vibration isolation platform Download PDFInfo
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- CN102865328B CN102865328B CN201210324161.7A CN201210324161A CN102865328B CN 102865328 B CN102865328 B CN 102865328B CN 201210324161 A CN201210324161 A CN 201210324161A CN 102865328 B CN102865328 B CN 102865328B
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Abstract
The invention relates to a five-dimensional vibration isolation device which is suitable for equipment arranged on a dynamic carrier. Aiming at the problem of five-dimensional vibration of the equipment on the dynamic carrier, one hybrid mechanism-based vibration isolation platform is arranged between an equipment mounting platform and a carrier connecting platform to realize five-dimensional vibration isolation. The vibration isolation platform consists of the equipment mounting platform (1), a middle platform (2), the carrier connecting platform (5), six branched chains comprising vibration isolation subsystems and a constraint branch containing no vibration isolation subsystem, so that vibration isolation along spatial three-movement two-rotation directions can be realized. Each vibration isolation subsystem in each branched chain is formed by connecting a linear spring (3) and a magneto-rheological damper (4) in parallel; and control over the entire platform is realized by changing a damping coefficient of the magneto-rheological damper. Since the movement and the rotation of a hybrid mechanism are fully decoupled, the control of the system is relatively simple. Experiments prove that the vibration isolation platform using the five-dimensional vibration isolation device enables that a vibration signal transferred to the equipment by the carrier is obviously weakened, so that the vibration isolation platform has the advantage of effectively and reliably improving the dynamic environment of the equipment of the dynamic carrier.
Description
Technical field
The present invention relates to a kind of five dimension isolation mountings of the equipment be placed on dynamic carrier.
Background technique
Due to the property complicated and changeable of dynamic carrier motion state, the equipment be placed on dynamic carrier is often in severe dynamics environment in its operating life, and the equipment that therefore ensures can not be destroyed and normal work is the problem that must solve in apparatus carriers process.Because the vibration of the equipment on dynamic carrier mostly is multi-dimensional vibration, having developed very ripe one-dimensional theory of vibration isolation can not directly apply.Common way utilizes the multidimensional of flexible material to be out of shape the object implemented multidimensional vibration isolation to a certain extent or reached multidimensional vibration isolation by the combination of one-dimensional vibrating isolation system by special material.But special material is general easy to be aging, and performance is stable not, and often make system very complicated by the method that one-dimensional vibrating isolation system realizes multidimensional vibration isolation.So the multidimensional vibration isolation problems of dynamic carrier equipment still needs to find better mode.The development of paralleling mechanism is in recent years just for the development of multidimensional vibrating isolation system provides a kind of well approach.Except can providing multi-dimensional movement, paralleling mechanism also has the uniquenesses such as structural rigidity is large, fast response time, but also has the intrinsic defects such as sports coupling is strong, working space is little, easy generation is unusual simultaneously.Therefore for five dimension vibrations of equipment, we are according to the feature of serial parallel mechanism, adopting hybrid mechanism as vibrating isolation system agent structure, realizing the decoupling zero of translation and rotation when ensureing mechanism's advantage, five of dynamic load equipment dimension vibration performances are very significantly improved.
Summary of the invention
For five dimension vibration problems of the equipment be installed on dynamic carrier, in order to ensure that equipment can work normally, the invention provides a kind of vibration-isolating platform based on five degree of freedom hybrid mechanism.Vibration-isolating platform comprises equipment mountion plate 1, halfpace 2, and six of carrier connecting platform 5 and connecting platform contain side chain and a central constrained branched chain of insulator system.In side chain, each insulator system composes in parallel by a Hookean spring 3 and a MR damper 4.During use, can by stage+module of the present invention between carrier and equipment, can economic, the dynamics environment that reliably improves equipment on dynamic carrier.Generally, carrier vibration is caused jointly by the reason such as environment and engine rotation, and therefore the vibration of dynamic carrier has wider frequency band, thus makes equipment have low frequency significantly to vibrate and dither simultaneously.But after installing vibration-isolating platform of the present invention, elastic element can block the transmission of high band vibrational energy, makes dither fully decay; Simultaneously damping member can absorbing vibrational energy effectively, and low frequency, significantly vibration are inhibited.Therefore, vibration-isolating platform of the present invention can play the effect of vibration isolation in wider frequency band, and the working environment of the equipment be installed on dynamic carrier is significantly improved.
Accompanying drawing explanation
The structural representation of Fig. 1 for being connected by rigid hinge described in the specific embodiment of the invention one.
The structural representation of Fig. 2 for being connected by flexible hinge described in specific embodiments of the present invention one.
The structural representation of Fig. 3 for being connected by rigid hinge described in the specific embodiment of the invention three.
Embodiment
Embodiment one: present embodiment relates to a kind of five dimension vibration-isolating platforms of the equipment be installed on dynamic carrier, the side chain that it comprises equipment mountion plate 1, halfpace 2, carrier connecting platform 5, six contain insulator system and a central constrained branched chain composition.Each insulator system is composed in parallel by a Hookean spring 3 and a MR damper 4.
The side chain containing insulator system having same structure by three between halfpace 2 of the present invention and carrier connecting platform 5 is connected.Each side chain is connected with halfpace 2 by a cylindric pair, is connected with carrier connecting platform 5 by a revolute, and insulator system uses as a translation pair, and therefore halfpace 2 has three translation freedoms relative to carrier connecting platform 5.Be connected with a central constrained branched chain by the side chain containing insulator system that three structures are identical between equipment mountion plate 1 and halfpace 2.Each insulator system is connected with equipment mountion plate 1 by a ball pair, be connected with halfpace 2 by a universal hinge, insulator system uses as translation pair equally, and two platforms are connected only by a universal hinge by central constrained branched chain, therefore equipment mountion plate 1 has two rotational freedoms relative to halfpace 2.And all kinematic pair all can be replaced by the flexible hinge with identical degrees of freedom in system simultaneously.So vibration-isolating platform of the present invention can implement vibration isolation on direction, five, space, and translation and rotation decoupling zero.
Embodiment two: the difference of present embodiment and embodiment one is, in this connection, platform 2 and carrier connecting platform 5 is in three side chains, insulator system is connected with halfpace 2 by a universal hinge or flexible hinge, and be connected with carrier connecting platform 5 by a cylindric pair or flexible hinge, each side chain provides one to retrain couple, and therefore halfpace 2 has three translation freedoms relative to carrier connecting platform 5.
Embodiment three: the difference of present embodiment and embodiment two is, in this connection, platform 2 is with three side chains of carrier connecting platform 5, insulator system is connected with halfpace 2 by a revolute or flexible hinge, each side chain provides two couple constraints to halfpace 2, and therefore halfpace 2 pairs of carrier connecting platforms 5 still have three translation freedoms.
Embodiment four: present embodiment is from the different of embodiment one, in this connection, platform 2 is with three side chains of carrier connecting platform 5, insulator system is connected with carrier connecting platform 5 by a translation pair or flexible hinge, and insulator system itself uses as cylindric pair, each side chain still provides one to retrain couple to halfpace 2, and therefore halfpace 2 has three translation freedoms relative to carrier connecting platform 5.
Embodiment five: the difference of present embodiment and embodiment one is, contain in the side chain of insulator system at connection device mountion plate 1 and halfpace 2, insulator system is connected with equipment mountion plate by a ball pair or flexible hinge, and be connected with halfpace 2 by a revolute or flexible hinge, and use as cylindric pair every a period of time system, each side chain has six-freedom degree.
Embodiment six: the difference of present embodiment and embodiment five is, contain in the side chain of insulator system at connection device mountion plate 1 and halfpace 2, insulator system is connected with equipment mountion plate 1 by a universal hinge or flexible hinge, also be connected with halfpace 2 by a universal hinge or flexible hinge simultaneously, insulator system still uses as cylindric pair, and each side chain has six-freedom degree.
Claims (1)
1. five dimension vibration-isolating platforms based on hybrid mechanism, comprise the insulator system in interconnective equipment mountion plate (1), halfpace (2), carrier connecting platform (5) and side chain, halfpace (2) is connected with carrier connecting platform (5) by the side chain comprising insulator system that three structures are identical, each insulator system is connected with halfpace (2) by cylindric pair, is connected with carrier connecting platform (5) by revolute pair, halfpace (2) is connected with equipment mountion plate (1) with a middle pole not comprising insulator system by the periphery side chain comprising insulator system that three structures are identical, in periphery side chain, each insulator system is connected with equipment mountion plate (1) by ball pair, be connected with halfpace (2) by universal hinge, and middle pole is only connected with halfpace (2) with equipment mountion plate (1) by a universal hinge, it is characterized in that: each insulator system is composed in parallel by Hookean spring (3) and MR damper (4), sliding pair can be equal to, equipment mountion plate (1) only has two rotational freedoms that vert relative to halfpace (2), halfpace (2) has three one-movement-freedom-degrees relative to carrier connecting platform (5), rotating with one-movement-freedom-degree is decoupling zero.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210324161.7A CN102865328B (en) | 2012-09-04 | 2012-09-04 | Hybrid mechanism-based five-dimensional vibration isolation platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210324161.7A CN102865328B (en) | 2012-09-04 | 2012-09-04 | Hybrid mechanism-based five-dimensional vibration isolation platform |
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| CN102865328A CN102865328A (en) | 2013-01-09 |
| CN102865328B true CN102865328B (en) | 2015-06-17 |
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| CN201210324161.7A Active CN102865328B (en) | 2012-09-04 | 2012-09-04 | Hybrid mechanism-based five-dimensional vibration isolation platform |
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| CN112211950A (en) * | 2020-10-12 | 2021-01-12 | 哈尔滨工程大学 | Double-layer composite three-dimensional passive vibration isolation device |
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Address after: 518055 Harbin University Campus, Xili University City, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Harbin Institute of Technology (Shenzhen) Address before: 518055 Harbin University Campus, Xili University City, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Harbin Institute of Technology Shenzhen Graduate School |