CN110778649A - Three-degree-of-freedom parallel vibration isolation platform with quasi-zero rigidity characteristic - Google Patents
Three-degree-of-freedom parallel vibration isolation platform with quasi-zero rigidity characteristic Download PDFInfo
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- CN110778649A CN110778649A CN201911154944.3A CN201911154944A CN110778649A CN 110778649 A CN110778649 A CN 110778649A CN 201911154944 A CN201911154944 A CN 201911154944A CN 110778649 A CN110778649 A CN 110778649A
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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
A three-degree-of-freedom parallel vibration isolation platform with quasi-zero stiffness characteristics comprises a static platform, a movable platform, a branched chain and a quasi-zero stiffness mechanism, wherein the static platform is connected with an external basic platform; the movable platform bottom plate 12 is connected with a branch chain in the radial direction of every 120 degrees by taking the centroid as the circle center, and the branch chain is erected on the support frame bottom plate 7 of the static platform; the movable platform bottom plate 12 is supported with a vertical spring 6 at the radial position, and the bottom of the vertical spring 6 is supported on the static platform bottom plate 1; the movable platform bottom plate 12 is connected with the branched chain through a rotating shaft mounting seat 19; the branched chain comprises a parallelogram mechanism consisting of a first rotating shaft 18, a second rotating shaft 18a and two connecting rods 11, and the movable platform is ensured to be always kept in a horizontal state when moving in space; the horizontal spring 10 and the vertical spring 6 constitute the quasi-zero stiffness mechanism. The three-dimensional translational degree of freedom vibration isolation device is simple and compact in structure, has flexible movement characteristics, and meets the requirement of spatial three-translational degree of freedom vibration isolation.
Description
Technical Field
The invention relates to a parallel mechanism, in particular to a three-degree-of-freedom parallel vibration isolation platform with a quasi-zero stiffness characteristic.
Background
The vehicle-mounted instrument equipment is inevitably influenced by vibration during the running process of the vehicle. Such vibration may affect the reliability of the in-vehicle instrument device.
The vibration experienced by the mechanical equipment can be decomposed into six coordinate directions of vibration. The vibration and impact standards of our national military standard and some precision instruments and equipment all put clear requirements on the vibration and impact response in three translation directions. The three-degree-of-freedom vibration isolation mechanism can well meet the requirement.
Compared with the vibration isolation problem of medium-high frequency vibration, the difficulty of solving the low-frequency vibration isolation problem by utilizing the prior art is higher. Further lowering the natural frequency of the vibration isolation system is one of the effective means for achieving low frequency vibration isolation. But the mode of reducing the natural frequency by reducing the rigidity of the vibration isolation system can lead to the insufficient bearing capacity of the system, and can lead to the problems of overlarge static deformation or instability of the system in serious cases. The quasi-zero stiffness mechanism formed by connecting the positive stiffness mechanism and the negative stiffness mechanism in parallel can reduce the natural frequency of the vibration isolation system on the premise of ensuring the bearing capacity of the vibration isolation system, and is an important means for solving the problem of low-frequency vibration isolation.
In the aspect of three-degree-of-freedom vibration isolation, the patent "a low-frequency three-degree-of-freedom vibration isolator" CN101832352A discloses a three-degree-of-freedom vibration isolation device. The vibration isolation device consists of an air spring and a pair of hollow cylindrical permanent magnets, wherein an outer hollow cylindrical water magnet is fixed at the top of an air spring main body, and an inner hollow cylindrical permanent magnet is fixed on a rubber piston of the air spring, so that three-degree-of-freedom vibration isolation is realized. The mechanism has the defects that when the designed natural frequency is low, the volume of the air spring chamber is overlarge to cause unstable position control, so that the air spring cannot normally work, and the air spring cannot meet the requirements of low-frequency/ultra-low-frequency vibration isolation; the patent "three degree of freedom initiative vibration isolation platform" CN104976488A discloses a three degree of freedom initiative vibration isolation platform, and this vibration isolation platform comprises upper mounting plate, lower platform, first telescopic link, second telescopic link, third telescopic link, cantilever and crossbeam, can reduce upper mounting plate translation and horizontal hunting vibration, and this mechanism's defect lies in that the vibration isolation system natural frequency is great can't realize low frequency/ultralow frequency vibration isolation, and working space is little. Patent "a three degree of freedom parallel connection vibration isolation platform that contains turriform flexible branch" CN105563466A, patent "a three degree of freedom parallel connection vibration isolation platform that contains variable angular form branch" CN105538293A disclose two kind similar three freedom parallel connection vibration isolation platforms, although they can realize three degree of freedom vibration isolation, the natural frequency of vibration isolation system is great and can not realize low frequency vibration isolation.
In the aspect of vibration isolation of a quasi-zero stiffness mechanism, a quasi-zero stiffness vibration isolator with parallel positive and negative stiffness in a patent CN108662055A, a quasi-zero stiffness vibration isolator with parallel positive and negative stiffness in a patent CN109139760A and a quasi-zero stiffness parallel vibration absorber in a patent CN103256332A are all designed to be vibration isolation devices with the characteristic of quasi-zero stiffness based on the theory of quasi-zero stiffness, but the invention patents have the common defect that a moving part only has single-direction freedom degree and only has single-degree-of-freedom vibration isolation effect, so that the engineering application range of the moving part and the vibration isolation device is limited.
The patent CN101871505A discloses a three-degree-of-freedom vibration isolation platform applying a quasi-zero stiffness vibration isolator, which comprises an upper platform, a lower platform, 8 elastic branched chain structures and a silica gel magneto-rheological damper, wherein the 8 elastic branched chain structures are fixed between the upper platform and the lower platform in a 4-point orthogonal symmetrical supporting mode in pairs, and the axes of the two elastic branched chain structures at each point are mutually vertical; the silica gel magnetorheological damper is arranged at the geometric center between the upper platform and the lower platform. The vibration isolation device is only simple to arrange a plurality of single-degree-of-freedom quasi-zero stiffness vibration isolators, so that the upper platform can only translate on three axes of an X axis, a Y axis and a Z axis, the plurality of vibration isolators are easy to influence each other, the vibration isolation performance of the platform is reduced, meanwhile, the working space of the platform is small, the size is too large, the structure is complex, and the engineering application is limited.
In summary, the existing three-degree-of-freedom vibration isolation mechanism cannot obtain good low-frequency vibration isolation performance, while the existing quasi-zero stiffness vibration isolator with positive stiffness and negative stiffness connected in parallel cannot realize three-degree-of-freedom vibration isolation although the existing quasi-zero stiffness vibration isolator has good low-frequency/ultralow-frequency vibration isolation performance, and the technical limitations cause that the existing three-degree-of-freedom vibration isolation mechanism cannot be used for solving the problem of low-frequency three-degree-.
Disclosure of Invention
In order to overcome the problems, the invention provides a three-degree-of-freedom parallel vibration isolation platform with a simple and compact structure and a quasi-zero rigidity characteristic.
The technical scheme adopted by the invention is as follows: a three-degree-of-freedom parallel vibration isolation platform with quasi-zero stiffness characteristics comprises a static platform, a movable platform, a branched chain and a quasi-zero stiffness mechanism, wherein the static platform is connected with an external basic platform;
the bottom plates of the static platform and the movable platform are both in a flat plate shape and are horizontally arranged, the bottom plate 12 of the movable platform is connected with a branch chain in the radial direction of every 120 degrees taking the centroid as the circle center, the branch chain is erected on the bottom plate 7 of the support frame of the static platform, and the radial direction forms a symmetrical line of the shape of the bottom plate 12 of the movable platform; the movable platform bottom plate 12 is supported with a vertical spring 6 at the radial position, and the bottom of the vertical spring 6 is supported on the static platform bottom plate 1;
the movable platform bottom plate 12 is connected with the branched chain through a rotating shaft mounting seat 19;
the static platform bottom plate 1 is provided with a support frame 3 at the radial corresponding position, the top of the support frame 3 is provided with a horizontally arranged support frame bottom plate 7, the support frame bottom plate 7 is provided with a horizontal spring 10 and a linear slider guide rail module 21 which are arranged along the radial direction, the linear slider guide rail module 21 comprises a guide rail which is arranged along the radial direction, and the horizontal spring 10 is arranged between a first horizontal spring mounting seat 8 and a rotating shaft slider 13;
the branched chain comprises: the rotating shaft sliding block 13 is slidably arranged on the guide rail, the rotating shaft sliding block 13 is connected with a rotating shaft mounting seat 19 through a parallelogram mechanism, the parallelogram mechanism comprises a first rotating shaft 18 arranged on the rotating shaft mounting seat 19, a second rotating shaft 18a arranged on the rotating shaft sliding block 13, and a connecting rod 11, two ends of the connecting rod are respectively hinged with the first rotating shaft 18 and the second rotating shaft 18a, the connecting rod 11 is parallel to the radial direction, the first rotating shaft 18 and the second rotating shaft 18a are perpendicular to the radial direction, and the plane where the parallelogram mechanism is located is parallel to the movable platform bottom plate 12;
the horizontal spring 10 and the vertical spring 6 form the quasi-zero stiffness mechanism.
Further, the static platform comprises a support frame 3 arranged on a bottom plate 1 of the static platform, a support frame rib plate 4 is attached to the support frame 3, the longitudinal section of the support frame rib plate 4 is in an inverted L shape, the vertical edge of the support frame rib plate 4 is fixedly connected with the support frame 3, the horizontal edge of the support frame rib plate 4 is flush with the top end of the support frame 3, and a support frame base 7 is arranged on the top surfaces of the support frame rib plate 4 and the support frame 3; the linear sliding block guide rail module 21 comprises a guide rail and a sliding block in sliding connection with the guide rail, a first horizontal spring mounting seat 8 is arranged at one end, away from the movable platform, of the linear sliding block guide rail module 21, and a second horizontal spring mounting seat 8a used for preventing the sliding block from exceeding the stroke is arranged at one end, close to the movable platform, of the linear sliding block guide rail module 21; a plurality of groups of screw holes for mounting a horizontal spring mounting seat 8 are arranged on the support frame base 7 along the radial direction, and a horizontal spring guide column 9 for mounting a horizontal spring 10 is also arranged on the horizontal spring mounting seat 8;
the bottom of the vertical spring 6 is supported by a static platform vertical spring guide post 2 arranged on a static platform bottom plate 1, the top of the static platform vertical spring guide post 2 is provided with a limit step, the vertical spring sleeve 5 is arranged on the upper surface of the limit step, and the top of the vertical spring sleeve 5 is sleeved with the vertical spring 6.
Further, the branched chain comprises a rotating shaft sliding block 13, the rotating shaft sliding block 13 is arranged at the top end of the sliding block, and the rotating shaft sliding block 13 is connected with the guide rail in a sliding mode through the sliding block. 4. The three-degree-of-freedom parallel vibration isolation platform with the quasi-zero stiffness characteristic as claimed in claim 1, wherein: and the lower surface of the movable platform bottom plate is provided with a rotating shaft mounting seat 19 used for being connected with the branched chain and a movable platform vertical spring guide post 22 used for mounting the vertical spring 6.
Further, a horizontal spring 10 in the quasi-zero stiffness mechanism is arranged between a first horizontal spring mounting seat 8 of the static platform and a rotating shaft sliding block 13 of the branched chain, and the compression amount of the horizontal spring is adjusted by changing the mounting position of the first horizontal spring mounting seat 8; the vertical spring 6 is arranged between the lower surface of the movable platform bottom plate 12 and the vertical spring sleeve 5 of the static platform, and the compression amount of the vertical spring 6 is adjusted by changing the thickness of the vertical spring sleeve 5.
The invention has the beneficial effects that: 1) the novel three-degree-of-freedom parallel mechanism is designed for the vibration isolation platform, the structure is simple and compact, the flexible movement characteristic is achieved, and the requirement of spatial three-translation-degree-of-freedom vibration isolation is met. 2) The vibration isolation platform introduces a quasi-zero stiffness theory into the design of the three-degree-of-freedom parallel mechanism, obtains the parallel vibration isolation platform with the quasi-zero stiffness characteristic and the vibration isolation effect in the three translational degrees-of-freedom direction, generates the quasi-zero stiffness in the vertical direction, ensures the bearing capacity in the vertical direction and simultaneously reduces the inherent frequency of the vibration isolation platform in the vertical direction, and ensures that the vibration isolation platform has a good vibration isolation effect in the horizontal direction by the horizontal spring group in the quasi-zero stiffness structure. 3) The compression amount of the horizontal spring and the compression amount of the vertical spring of the vibration isolation platform have adjustability, the quasi-zero stiffness can be adjusted according to different requirements of vibration isolation equipment and use, the low-frequency three-degree-of-freedom vibration isolation performance is guaranteed, and the vibration isolation platform has certain adaptability.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a top view of the present invention.
Fig. 4 is a schematic structural diagram of the stationary platen and the spring assembly of the present invention.
FIG. 5 is a schematic structural diagram of the movable platform of the present invention.
FIG. 6 is a schematic diagram of the structure of a branched chain according to the present invention.
Fig. 7 is a schematic diagram of a quasi-zero stiffness mechanism according to the present invention.
Fig. 8 is a stiffness characteristic curve 1 of a quasi-zero stiffness mechanism according to the present invention.
Fig. 9 is a stiffness characteristic 2 of a quasi-zero stiffness mechanism according to the present invention.
FIG. 10 is a functional simulation of vertical vibration isolation transfer according to the present invention.
Description of reference numerals: 1. a stationary platform floor; 2. a static platform vertical spring guide post; 3. a support frame; 4. a rib plate of the support frame; 5. a vertical spring sleeve; 6. a vertical spring; 7. a support frame bottom plate; 8. a first horizontal spring mount; 8a, a second horizontal spring mounting seat; 9. a horizontal spring guide post; 10. a horizontal spring; 11. a connecting rod; 12. a movable platform bottom plate; 13. a rotating shaft slider; 14. a first shaft bearing; 15. a connecting rod rotating shaft; 16. a first clamp spring; 17. a connecting rod rotating shaft bearing; 18. a first rotating shaft; 18a, a second rotating shaft; 19. a rotating shaft mounting base; 20. a rotating shaft bearing sleeve; 21. a linear slider guide rail module; 22. and the movable platform is provided with a vertical spring guide post.
Detailed Description
The invention will be further described with reference to specific examples, but the scope of the invention is not limited thereto:
referring to the attached drawings, the three-degree-of-freedom parallel vibration isolation platform with the quasi-zero stiffness characteristic comprises a static platform connected with an external basic platform, a movable platform bearing vibration isolation equipment, a branched chain and a quasi-zero stiffness mechanism;
the bottom plates of the static platform and the movable platform are both in a flat plate shape and are horizontally arranged, the bottom plate 12 of the movable platform is connected with a branch chain in the radial direction of every 120 degrees taking the centroid as the circle center, the branch chain is erected on the bottom plate 7 of the support frame of the static platform, and the radial direction forms a symmetrical line of the shape of the bottom plate 12 of the movable platform; the movable platform bottom plate 12 is supported with a vertical spring 6 at the radial position, and the bottom of the vertical spring 6 is supported on the static platform bottom plate 1;
the movable platform bottom plate 12 is connected with the branched chain through a rotating shaft mounting seat 19; the lower surface of the movable platform bottom plate is provided with a rotating shaft mounting seat 19 used for being connected with the branched chain and a movable platform vertical spring guide post 22 used for mounting the vertical spring 6;
the static platform bottom plate 1 is provided with a support frame 3 at the radial corresponding position, the support frame 3 is provided with a support frame rib plate 4 in an attaching mode, the longitudinal section of the support frame rib plate 4 is in an inverted L shape, the vertical edge of the support frame rib plate 4 is fixedly connected with the support frame 3, the transverse edge of the support frame rib plate 4 is flush with the top end of the support frame 3, and a support frame base 7 is horizontally arranged on the top surfaces of the support frame rib plate 4 and the support frame 3; a horizontal spring 10 and a linear slider guide rail module 21 which are arranged along the radial direction are arranged on the bottom plate 7 of the support frame, the linear slider guide rail module 21 comprises a guide rail arranged along the radial direction and a slider which is in sliding connection with the guide rail, and a rotating shaft slider 13 is arranged at the top end of the slider; a first horizontal spring mounting seat 8 is arranged at one end, far away from the movable platform, of the linear slider guide rail module 21, and a second horizontal spring mounting seat 8a used for preventing the slider from exceeding the stroke is arranged at one end, near the movable platform, of the linear slider guide rail module 21; the horizontal spring 10 is arranged between the first horizontal spring mounting seat 8 and the rotating shaft sliding block 13; a plurality of groups of screw holes for mounting a horizontal spring mounting seat 8 are arranged on the support frame base 7 along the radial direction, and a horizontal spring guide column 9 for mounting a horizontal spring 10 is also arranged on the horizontal spring mounting seat 8; the bottom of the vertical spring 6 is supported by the vertical spring guide post 2 of the static platform arranged on the static platform bottom plate 1, the top of the vertical spring guide post 2 of the static platform is provided with a limit step, the vertical spring sleeve 5 is arranged on the upper surface of the limit step, and the vertical spring 6 is sleeved at the top of the vertical spring sleeve 5.
The branched chain comprises: the rotating shaft sliding block 13 is arranged at the top end of the sliding block, and the rotating shaft sliding block 13 is connected with the guide rail in a sliding mode through the sliding block; the rotating shaft sliding block 13 is connected with a rotating shaft mounting seat 19 through a parallelogram mechanism, the parallelogram mechanism comprises a first rotating shaft 18 arranged on the rotating shaft mounting seat 19, a second rotating shaft 18a arranged on the rotating shaft sliding block 13, and a connecting rod 11, two ends of the connecting rod 11 are respectively hinged with the first rotating shaft 18 and the second rotating shaft 18a through a connecting rod rotating shaft 15, the connecting rod 11 is parallel to the radial direction, the first rotating shaft 18 and the second rotating shaft 18a are perpendicular to the radial direction, and the plane of the parallelogram mechanism is parallel to the movable platform bottom plate 12; the connecting rod rotating shaft 15 is perpendicular to the plane of the parallelogram mechanism, shaft connecting rod rotating shaft bearings 17 are arranged at two ends of the connecting rod rotating shaft 15, the outer end face of each connecting rod rotating shaft bearing 17 is limited by a first clamp spring 16, and the connecting rod 11 can freely rotate around the connecting rod rotating shaft 15; the first rotating shaft 18 is mounted on the rotating shaft mounting seat 19 through a first rotating shaft bearing 14, the first rotating shaft bearing 14 is positioned with the second clamp spring through a first rotating shaft bearing sleeve 20, and the first rotating shaft 18 can freely rotate in the rotating shaft mounting seat 19; the second rotating shaft 18a is mounted on the rotating shaft sliding block 13 through a second rotating shaft bearing, the second rotating shaft bearing is positioned with a third clamp spring through a second rotating shaft bearing sleeve, the second rotating shaft 18a can freely rotate in the rotating shaft sliding block 13, and the rotating shaft mounting seat is fixed on the lower surface of the movable platform bottom plate 12 through screws.
The horizontal spring 10 and the vertical spring 6 form the quasi-zero stiffness mechanism. The horizontal spring 10 is arranged between the first horizontal spring mounting seat 8 of the static platform and the rotating shaft sliding block 13 of the branched chain, and the compression amount of the horizontal spring can be adjusted by changing the mounting position of the first horizontal spring mounting seat 8; the vertical spring 6 is arranged between the lower surface of the movable platform bottom plate 12 and the vertical spring sleeve 5 of the static platform, and the compression amount of the vertical spring 6 can be adjusted by changing the thickness of the vertical spring sleeve 5.
The specific working principle is as follows: in the initial state, the movable platform, the connecting rod 11 and the horizontal spring 10 are all in the horizontal state and are in the same horizontal plane; under the action of external excitation, the movable platform leaves a balance position, and can only translate in space due to the limitation of the parallelogram mechanism; by selecting proper rigidity values of the horizontal spring 10 and the vertical spring 6, the movable platform can move in a quasi-zero rigidity position interval all the time, and the influence on the rigidity of the system is generated under the action of the quasi-zero rigidity mechanism, so that the whole mechanism generates a vibration isolation effect.
Fig. 7 is a schematic diagram of a quasi-zero stiffness mechanism related to the three-degree-of-freedom vibration isolation platform with the quasi-zero stiffness characteristic. G is the gravity of the movable platform mechanism and the vibration-isolated equipment; l is the length of the connecting rod; λ and k
hThe precompression and stiffness of the horizontal spring; p is the precompression force generated by the horizontal spring; k is a radical of
vIs the stiffness of the vertical support spring; and x is the vertical distance of the movable platform from the balance position. Selecting proper vertical spring stiffness to enable the movable platform, the connecting rod and the horizontal spring to be in the same horizontal plane in an initial state; the stiffness generated by the quasi-zero stiffness mechanism according to the virtual displacement principle is as follows:
when the vertical distance x that the movable platform leaves the balanced position satisfies the following formula, the quasi-zero stiffness mechanism produces the effect, makes the vibration isolation platform have the quasi-zero stiffness characteristic:
fig. 8 and 9 are stiffness characteristic curves of the three-degree-of-freedom vibration isolation platform with quasi-zero stiffness characteristic under different conditions, wherein λ is shown in the figure
0The ratio of the pre-compression amount of the horizontal spring to the length L of the connecting rod is α, the ratio of the stiffness of the vertical spring to the horizontal spring is α, and the stiffness value of the quasi-zero stiffness generated by the influence of the value of the structural parameter of the quasi-zero stiffness mechanism can be known from the figures 8 and 9, and the range of the quasi-zero stiffness interval can be obtained, so that the proper structural parameter is selected according to different vibration isolation requirements and working condition requirements.
Fig. 10 is a simulation diagram of a vertical vibration isolation transfer function of a three-degree-of-freedom vibration isolation platform with a quasi-zero stiffness characteristic according to an embodiment of the invention. In the figure, a solid line is a vertical vibration isolation transfer function curve of the three-degree-of-freedom vibration isolation platform with the quasi-zero stiffness characteristic, and a dotted line is a vertical vibration isolation transfer function curve of a common vibration isolation platform without the quasi-zero stiffness mechanism. One of the two curves shows that the natural frequency of the vibration isolation platform obviously moves forward after the quasi-zero stiffness mechanism is adopted, and therefore compared with a common vibration isolation system, the three-degree-of-freedom vibration isolation platform with the quasi-zero stiffness characteristic can effectively reduce the natural frequency of the vibration isolation system, broaden the vibration isolation frequency band and effectively improve the vibration isolation performance.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.
Claims (5)
1. The utility model provides a three degree of freedom parallel connection vibration isolation platform with quasi-zero rigidity characteristic which characterized in that: the vibration isolation device comprises a static platform connected with an external basic platform, a movable platform for bearing a device to be subjected to vibration isolation, a branched chain and a quasi-zero stiffness mechanism;
the bottom plates of the static platform and the movable platform are both in a flat plate shape and are horizontally arranged, the bottom plate (12) of the movable platform is connected with a branch chain in the radial direction of every 120 degrees taking the centroid as the circle center, the branch chain is erected on the bottom plate (7) of the support frame of the static platform, and the radial direction forms a symmetrical line of the shape of the bottom plate (12) of the movable platform; a vertical spring (6) is supported on the movable platform bottom plate (12) at the radial position, and the bottom of the vertical spring (6) is supported on the static platform bottom plate (1);
the movable platform bottom plate (12) is connected with the branched chain through a rotating shaft mounting seat (19);
the static platform bottom plate 1 is provided with a support frame (3) at the radial corresponding position, the top of the support frame (3) is provided with a horizontally arranged support frame bottom plate (7), the support frame bottom plate (7) is provided with a horizontal spring (10) and a linear slider guide rail module (21) which are arranged along the radial direction, the linear slider guide rail module (21) comprises a guide rail which is arranged along the radial direction, and the horizontal spring (10) is arranged between a first horizontal spring mounting seat (8) and a rotating shaft slider (13);
the branched chain comprises: the rotating shaft sliding block (13) is slidably arranged on the guide rail, the rotating shaft sliding block (13) is connected with a rotating shaft mounting seat (19) through a parallelogram mechanism, the parallelogram mechanism comprises a first rotating shaft (18) arranged on the rotating shaft mounting seat 19, a second rotating shaft (18a) arranged on the rotating shaft sliding block (13), and a connecting rod (11) with two ends respectively hinged with the first rotating shaft (18) and the second rotating shaft (18a), the connecting rod (11) is parallel to the radial direction, the first rotating shaft (18) and the second rotating shaft (18a) are perpendicular to the radial direction, and the plane of the parallelogram mechanism is parallel to the moving platform bottom plate (12);
the horizontal spring (10) and the vertical spring (6) form the quasi-zero stiffness mechanism.
2. The three-degree-of-freedom parallel vibration isolation platform with the quasi-zero stiffness characteristic as claimed in claim 1, wherein: the static platform comprises a support frame (3) arranged on a bottom plate (1) of the static platform, a support frame rib plate (4) is attached to the support frame (3), the longitudinal section of the support frame rib plate (4) is in an inverted L shape, the vertical edge of the support frame rib plate (4) is fixedly connected with the support frame (3), the horizontal edge of the support frame rib plate (4) is flush with the top end of the support frame (3), and a support frame base (7) is arranged on the top surfaces of the support frame rib plate (4) and the support frame (3); the linear sliding block guide rail module (21) comprises a guide rail and a sliding block in sliding connection with the guide rail, a first horizontal spring mounting seat (8) is arranged at one end, away from the movable platform, of the linear sliding block guide rail module (21), and a second horizontal spring mounting seat (8a) used for preventing the sliding block from exceeding the stroke is arranged at one end, close to the movable platform, of the linear sliding block guide rail module (21); a plurality of groups of screw holes for mounting a horizontal spring mounting seat (8) are arranged on the support frame base (7) along the radial direction, and a horizontal spring guide column (9) for mounting a horizontal spring (10) is also arranged on the horizontal spring mounting seat (8);
the bottom of the vertical spring (6) is supported by a static platform vertical spring guide post (2) arranged on a static platform bottom plate (1), the top of the static platform vertical spring guide post (2) is provided with a limiting step, the vertical spring sleeve (5) is arranged on the upper surface of the limiting step, and the vertical spring (6) is sleeved at the top of the vertical spring sleeve (5).
3. The three-degree-of-freedom parallel vibration isolation platform with the quasi-zero stiffness characteristic as claimed in claim 2, wherein: the branched chain comprises a rotating shaft sliding block (13), the rotating shaft sliding block (13) is arranged at the top end of the sliding block, and the rotating shaft sliding block (13) is connected with the guide rail in a sliding mode through the sliding block.
4. The three-degree-of-freedom parallel vibration isolation platform with the quasi-zero stiffness characteristic as claimed in claim 1, wherein: and the lower surface of the movable platform bottom plate is provided with a rotating shaft mounting seat (19) used for being connected with the branched chain and a movable platform vertical spring guide post (22) used for mounting a vertical spring (6).
5. The three-degree-of-freedom parallel vibration isolation platform with the quasi-zero stiffness characteristic as claimed in claim 2, wherein: a horizontal spring (10) in the quasi-zero stiffness mechanism is arranged between a first horizontal spring mounting seat (8) of the static platform and a rotating shaft sliding block (13) of the branched chain, and the compression amount of the horizontal spring is adjusted by changing the mounting position of the first horizontal spring mounting seat (8); the vertical spring (6) is arranged between the lower surface of the movable platform bottom plate (12) and the vertical spring sleeve (5) of the static platform, and the compression amount of the vertical spring (6) is adjusted by changing the thickness of the vertical spring sleeve (5).
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| CN201911154944.3A CN110778649A (en) | 2019-11-22 | 2019-11-22 | Three-degree-of-freedom parallel vibration isolation platform with quasi-zero rigidity characteristic |
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| CN201911154944.3A CN110778649A (en) | 2019-11-22 | 2019-11-22 | Three-degree-of-freedom parallel vibration isolation platform with quasi-zero rigidity characteristic |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113639146A (en) * | 2021-07-12 | 2021-11-12 | 浙江工业大学 | Semi-actively controlled quasi-zero stiffness parallel mechanism vibration isolation device and control method |
| CN114278703A (en) * | 2021-12-30 | 2022-04-05 | 哈尔滨工程大学 | Low-frequency quasi-zero stiffness vibration isolator integrated with double-geometric nonlinear structure |
-
2019
- 2019-11-22 CN CN201911154944.3A patent/CN110778649A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113639146A (en) * | 2021-07-12 | 2021-11-12 | 浙江工业大学 | Semi-actively controlled quasi-zero stiffness parallel mechanism vibration isolation device and control method |
| CN114278703A (en) * | 2021-12-30 | 2022-04-05 | 哈尔滨工程大学 | Low-frequency quasi-zero stiffness vibration isolator integrated with double-geometric nonlinear structure |
| CN114278703B (en) * | 2021-12-30 | 2024-03-15 | 哈尔滨工程大学 | Low-frequency quasi-zero stiffness vibration isolator integrated by double-geometric nonlinear structure |
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