CN114033833B - Parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator - Google Patents
Parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator Download PDFInfo
- Publication number
- CN114033833B CN114033833B CN202111436526.0A CN202111436526A CN114033833B CN 114033833 B CN114033833 B CN 114033833B CN 202111436526 A CN202111436526 A CN 202111436526A CN 114033833 B CN114033833 B CN 114033833B
- Authority
- CN
- China
- Prior art keywords
- electromagnet
- electromagnetic
- stiffness
- connecting plate
- vibration isolator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- F16F15/03—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 magnetic or electromagnetic means
-
- 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
- F16F15/06—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 with metal springs
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention belongs to the technical field of low-frequency vibration isolation structures, and particularly relates to a parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator. The vibration isolation device comprises a vibration isolation base, and an electromagnetic positive stiffness device and an electromagnetic negative stiffness device which are arranged on the vibration isolation base; the vibration isolation base includes: the device comprises a load mounting plate, a base connecting plate, a plurality of guide shafts and a compression spring; the electromagnetic positive stiffness device comprises: the device comprises an armature connecting piece, a suspension bracket, a first electromagnet and an armature; the electromagnetic negative stiffness includes: the second electromagnet, the magnet guide mechanism, the permanent magnet and the limiting mechanism; the invention is used for solving the problem that the vibration isolation performance of the vibration isolator is reduced or is not matched with the original vibration isolation characteristic when the working condition, the external excitation change and the elastic element are aged in the actual engineering, and the dynamic and static parameters of the system are adjusted by utilizing the rigidity devices with the electromagnets at two positions, so that the influence of the working condition or the structural change of the system on the original system can be coped with, and the vibration isolator with high static rigidity and low dynamic rigidity can always keep the required vibration isolation performance.
Description
Technical Field
The invention belongs to the technical field of low-frequency vibration isolation structures, and particularly relates to a parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator.
Background
Generally speaking, a positive stiffness mechanism and a negative stiffness mechanism are connected in parallel to form the high-static-low dynamic stiffness vibration isolator, the positive stiffness mechanism determines the bearing capacity of the vibration isolator, and the negative stiffness mechanism is used for reducing the dynamic stiffness of the vibration isolator. Therefore, the high static stiffness vibration isolator and the low dynamic stiffness vibration isolator have high static stiffness and low dynamic stiffness, can bear large equipment load mass, and simultaneously enable equipment to have low dynamic stiffness when vibrating at a static balance position. However, the structural parameters of the currently studied vibration isolator with high static stiffness and low dynamic stiffness are mainly designed according to specific working conditions, and the vibration isolation performance of the vibration isolator is sharply reduced due to the change of the working conditions, the change of external excitation and the aging of an elastic element in actual engineering, so that the traditional vibration isolator with high static stiffness and low dynamic stiffness cannot play the excellent vibration isolation performance.
Disclosure of Invention
The invention aims to provide an electromagnetic vibration isolator with adjustable parameters, which aims to solve the problem that the vibration isolation performance of the vibration isolator with high static stiffness and low dynamic stiffness is reduced due to the change of working conditions and external excitation in practical engineering and the aging of an elastic element.
In order to achieve the purpose, the invention adopts the following technical scheme.
A parameter-adjustable high static low dynamic stiffness electromagnetic vibration isolator comprises a vibration isolation base 1, and an electromagnetic positive stiffness device 2 and a negative stiffness component 3 which are arranged on the vibration isolation base 1;
the vibration isolation base 1 includes: the device comprises a load mounting plate 1a, a base connecting plate 1b, a guide shaft 1c and a compression spring 1d;
the base connecting plate 1b is fixedly arranged, and the guide shaft 1c is vertically arranged on the base connecting plate 1b; the load mounting plate 1a is horizontally arranged on the upper side of the base connecting plate 1b, and the load mounting plate 1a is provided with a through hole which can be sleeved on the guide shaft 1 c; the compression spring 1d is sleeved on the guide shaft 1c, and two ends of the compression spring respectively abut against the load mounting plate 1a and the base connecting plate 1b; the electromagnetic positive stiffness device 2 and the negative stiffness component 3 are arranged between the load mounting plate 1a and the base connecting plate 1b;
the electromagnetic positive stiffness device 2 includes: the device comprises an armature connecting piece 2a, a suspension bracket 2b, a first electromagnet 2c and an armature 2d; the suspension bracket 2b is fixed on the base connecting plate 1b, and the first electromagnet 2c is fixedly arranged on the suspension bracket 2b; the upper end of the armature connecting piece 2a is fixed on the load mounting plate 1a, and the lower end extends downwards and is close to the suspension bracket 2b; the armature 2d is fixedly arranged at the lower end of the armature connecting piece 2a and extends towards one side of the first electromagnet 2c, and the first electromagnet 2c generates electricity to generate magnetic force so that the armature connecting piece 2a has force moving up and down;
the negative stiffness assembly 3 comprises: the second electromagnet 3a, the magnet guide mechanism 3b, the permanent magnet 3c and the limiting mechanism 3d;
the second electromagnet 3a is fixedly arranged on the base connecting plate 1b, and a magnetic core of the second electromagnet 3a is horizontally arranged along the left-right direction;
the magnet guide mechanism 3b includes: two linear guide rails 3e symmetrically arranged on the left side and the right side of the second electromagnet 3a, and two permanent magnet supporting seats 3f arranged on the linear guide rails 3 e;
the permanent magnet supporting seat 3f can move left and right on the linear guide rail 3 e; two permanent magnets 3c are arranged on the two permanent magnet supporting seats 3f respectively;
the limiting mechanism 3d includes: two horizontal push rods 3g connected to the permanent magnet support base 3f, and two limit arms 3j connected to the load mounting plate 1 a;
the horizontal push rod 3g extends out of the second electromagnet 3a along the horizontal direction to form an extrusion bulb 30g; the lower end of the limiting arm 3j is provided with a semicircular guide part 3k, and the extrusion ball head 30g is propped against the semicircular guide part 3k and moves vertically along the outer circular surface thereof.
The further improvement or the preferred embodiment of the parameter-adjustable high static low dynamic stiffness electromagnetic vibration isolator further comprises that the load mounting plate 1a is a flat plate, and the load mounting plate 1a is horizontally arranged; the through holes are uniformly arranged on the edge of the load mounting plate 1 a; the base connecting plate 1b is provided with through holes at corresponding positions; sliding bearings 1e are arranged in the through holes and the through holes, and the guide shafts 1c are sleeved in the sliding bearings 1 e.
The further improvement or the preferred embodiment of the parameter-adjustable high static low dynamic stiffness electromagnetic vibration isolator further comprises that the load mounting plate 1a is a horizontally arranged rectangular flat plate, and the through holes are arranged at four corners of the load mounting plate 1 a; still including setting up guide bar 1g between guiding axle 1c, guide bar 1g is fixed to be set up on base connecting plate 1b, and the cover is equipped with compression spring on the guide bar 1g, is provided with the hole that supplies guide bar 1g to pass on the load mounting panel 1 a.
The further improvement or the preferred embodiment of the parameter-adjustable high static stiffness and low dynamic stiffness electromagnetic vibration isolator further comprises that the negative stiffness component 3 is arranged at the center of the base connecting plate 1b, and the electromagnetic positive stiffness device 2 is arranged on the front side or the rear side of the negative stiffness component 3;
the armature connecting piece 2a is of an L-shaped structure and comprises a vertical connecting arm 20a vertically arranged on the front side or the rear side of the negative stiffness component 3 and a transverse connecting arm 20b connected to the top end of the vertical connecting arm 20a and extending to the center of the base connecting plate 1b, a connecting plate 20c is arranged on the upper side of the tail end of the transverse connecting arm 20b, and the connecting plate 20c is detachably connected to the center of the lower end face of the load mounting plate 1 a.
The further improvement or the preferred embodiment of the electromagnetic vibration isolator with high static stiffness and low dynamic stiffness and adjustable parameters further comprises that the suspension bracket 2b is arranged on the front side or the rear side of the negative stiffness component 3; the suspension bracket 2b is in a structure of a shape of a letter 21274;
the first electromagnet 2c includes: e-shaped silicon steel sheet groups 20d respectively arranged on two cross arms of the v-shaped 21274-shaped suspension bracket 2b and differential coils 20E wound on the E-shaped silicon steel sheet groups 20 d; the openings of the two E-shaped silicon steel sheet groups 20d are arranged oppositely; the armature 2d extends horizontally between the two E-shaped silicon steel sheet sets 20 d.
The further improvement or the preferred embodiment of the parameter-adjustable high static and low dynamic stiffness electromagnetic vibration isolator further comprises that the negative stiffness component 3 further comprises an electromagnet support seat, and the electromagnet support seat consists of a support rod 30a and an electromagnet mounting frame 30b provided with the top end of the support rod 30 a; the support rod 30a is vertical to the base connecting plate 1b, and the lower end of the support rod is fixed at the center of the upper end face of the base connecting plate 1b; the second electromagnet 3a is fixedly mounted on the electromagnet mounting bracket 30 b.
A further improvement or a preferred embodiment of the parameter-adjustable high static and low dynamic stiffness electromagnetic vibration isolator further comprises that the second electromagnet 3a comprises a columnar permanent magnet 30c and a spiral coil 30d;
the negative stiffness component 3 further comprises guide rail mounting seats 30e, and the guide rail mounting seats 30e are respectively mounted on the left side and the right side of the electromagnet supporting seat; the linear guide rail 3e is arranged at the top of the guide rail mounting seat 30 e; the lower end of the permanent magnet support base 3f is provided with a slide block 30f which can be matched with the linear guide rail 3 e.
Further improvement or preferred embodiment of the electromagnetic vibration isolator with adjustable parameters and high static stiffness and low dynamic stiffness further comprises that in the specific calculation of the structural parameters:
the electromagnetic force F of the first electromagnet (2 c) p Is calculated in the following way:
wherein, mu 0 Represents the vacuum permeability; a represents the pole area; n represents the number of coil turns; h represents an initial value of the air gap, and x represents the variation of the air gap; i is 1 Energizing a coil in the first electromagnet (2 c);
electromagnetic force f of second electromagnet (3 a) m Is calculated in the following way:
wherein, w 1 ＝123.6，w 2 ＝12.8，w 3 =20.5,d is the distance between the permanent magnet with two movable ends and the end face of the spiral coil, I 2 Is the current in the coil of the second electromagnet (3 a);
the restoring force f (z) of the vibration isolation and vibration isolation device is calculated in the following way:
wherein z is 0 The compression amount of the compression spring in the balance position;
k is the stiffness of the compression straight spring, and the radius of the semicircular guide part is r 1 The radius of the ball head of the ball is r 2 Z is the displacement in the vertical direction from the static balance position, and beta is the number of the compression springs;
the conditions that should be met when the vibration isolator reaches quasi-zero stiffness are as follows:
wherein d is 0 The distance between the permanent magnets on the two sides of the negative stiffness component and the spiral coil when the vibration isolator is in a static balance position.
The beneficial effects are that:
the invention is used for solving the problem that in actual engineering, when working conditions, external excitation change and elastic elements are aged, the vibration isolation performance of the vibration isolator is reduced or is not matched with the original vibration isolation characteristic, and the dynamic and static parameters of the vibration isolator are adjusted by utilizing the rigidity devices with the electromagnets at two positions, so that the vibration isolator can deal with the influence of the working conditions or the structural change of the vibration isolator on the original vibration isolator, and the vibration isolation performance required by the vibration isolator with high static and low dynamic rigidity is always kept.
When the compression spring is aged or the bearing mass is changed in use, the vibration isolator can also meet the condition of low-frequency vibration isolation characteristics by adjusting the coil current in the electromagnetic positive stiffness device and the electromagnetic negative stiffness component.
The two rigidity mechanisms adopt a magnetic suspension supporting force transmission technology, the structure does not need to be lubricated when in action, the mechanism basically has no abrasion, the mechanism can work in a severe environment, the adaptability is strong, the rigidity can be adjusted and controlled in the movement process by controlling the working parameters of the electromagnet, the use is flexible, the service life is long, and the control mode is simple.
Drawings
FIG. 1 is a front view of an electromagnetic vibration isolator with adjustable parameters and high static and low dynamic stiffness;
FIG. 2 is an oblique view of the parameter adjustable high static low dynamic stiffness electromagnetic isolator;
FIG. 3 is a side view of the parameter adjustable high static low dynamic stiffness electromagnetic isolator;
FIG. 4 is a first schematic structural diagram of an electromagnetic positive stiffness device;
FIG. 5 is a second structural schematic diagram of the electromagnetic positive stiffness device;
FIG. 6 is a first schematic structural view of a negative stiffness assembly;
FIG. 7 is a structural schematic diagram II of a negative stiffness assembly;
FIG. 8 is a schematic diagram of the structure of an electromagnetic control part of the electromagnetic positive stiffness device;
FIG. 9 is a graph of fitted curves versus finite element calculations for currents 0A, 1A and 2A;
FIG. 10 is a graph of fitted curves versus calculated finite elements for currents 3A, 4A and 5A;
FIG. 11 is a schematic view of the negative stiffness assembly in operation;
figure 12 is a graph of force, current, and displacement for the vibration isolator;
figure 13 is a force, current versus displacement graph for the vibration isolator;
figure 14 is a graph of stiffness, current versus displacement for the vibration isolator;
figure 15 is a graph of stiffness, current versus displacement for the vibration isolator;
figure 16 is a comparison of the force transmission curves of the isolator at different currents;
wherein the reference numerals include:
the vibration isolation device comprises a vibration isolation base 1, a load mounting plate 1a, a base connecting plate 1b, a plurality of guide shafts 1c, a compression spring 1d, a sliding bearing 1E, a guide rod 1g, an electromagnetic positive stiffness device 2, an armature connecting piece 2a, a connecting arm 20b, a connecting plate 20c, an E-shaped silicon steel sheet group 20d, a differential coil 20E, a suspension bracket 2b, a first electromagnet 2c, an armature 2d, a negative stiffness component 3, a second electromagnet 3a, a magnet guiding mechanism 3b, a permanent magnet 3c, a limiting mechanism 3d, a linear guide rail 3E, a permanent magnet supporting seat 3f, a horizontal push rod 3g, a supporting rod 30a, an electromagnet mounting frame 30b, a columnar permanent magnet 30c, a spiral coil 30d, a guide rail mounting seat 30E, a sliding block 30f, an extrusion ball head 30g, a limiting arm 3j, a semicircular guide part 3k and an arc-shaped guide surface 30k.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The invention relates to a parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator which comprises a vibration isolation base 1, and an electromagnetic positive stiffness device 2 and a negative stiffness component 3 which are arranged on the vibration isolation base 1;
as shown in fig. 1 and 2, the vibration isolation base 1 includes: a load mounting plate 1a, a base connecting plate 1b, a plurality of guide shafts 1c and a compression spring 1d;
the base connecting plate 1b is fixedly arranged, and the guide shaft 1c is vertically arranged on the base connecting plate 1b; the load mounting plate 1a is horizontally arranged on the upper side of the base connecting plate 1b, and the load mounting plate 1a is provided with a through hole which can be sleeved on the guide shaft 1 c; the compression spring 1d is sleeved on the guide shaft 1c, and two ends of the compression spring respectively abut against the load mounting plate 1a and the base connecting plate 1b; the electromagnetic positive stiffness device 2 and the negative stiffness component 3 are arranged between the load mounting plate 1a and the base connecting plate 1b;
wherein the vibration isolation base is used for supporting and connecting integrally, and simultaneously as rigidity mechanism and bearing structure and treat the fixed knot structure of being connected between the vibration isolation equipment or article, base connecting plate 1a is connected with ground or basic bearing structure, or directly forms by bearing structure's part, load mounting panel 1a can move about from top to bottom for support needs real equipment or structure, during the in-service use, load mounting panel and base connecting plate are not necessarily the flat structure of standard, still probably box-like or all kinds of platform fixed knot that are convenient for fix and support as required.
As a general and simple structural scheme, the general load mounting plate 1a can be designed as a flat plate, and in order to ensure the stability of the upper device, the load mounting plate 1a is horizontally arranged; the load mounting plate 1a can be provided with various structures such as hole grooves and columns for positioning, fixing and supporting, the load mounting plate is supported by a bottom spring, and through holes for controlling the distribution positions of the springs are uniformly arranged on the edge of the load mounting plate 1a to ensure balanced stress; the base connecting plate 1b is provided with a through hole at a corresponding position; sliding bearings 1e are arranged in the through holes and the through holes, and the guide shafts 1c are sleeved in the sliding bearings 1 e. The sliding bearing is beneficial to improving the smoothness of the up-and-down movement of the load mounting plate, reducing the abrasion and enabling the vibration isolation and vibration isolation device to be more flexible.
In order to facilitate processing and assembly, in this embodiment, the load mounting plate 1a is a rectangular flat plate, and the through holes are arranged at four corners of the load mounting plate 1 a;
in order to improve the stability of the device, guarantee that the load mounting plate 1a can stably support, prevent the slope card from dying, if necessary can also set up guide bar 1g between guide shaft 1c, guide bar 1g is fixed to be set up on the base connecting plate 1b, the cover is equipped with compression spring on the guide bar 1g, is provided with the hole that supplies guide bar 1g to pass on the load mounting plate 1 a. The guide rod 1g is used for supporting and assisting the guide shaft in limiting, guiding and assembling alignment.
As shown in fig. 3 and 4, the electromagnetic positive stiffness device 2 includes: the device comprises an armature connecting piece 2a, a suspension bracket 2b, a first electromagnet 2c and an armature 2d;
the suspension bracket 2b is fixed on the base connecting plate 1b, and the first electromagnet 2c is fixedly arranged on the suspension bracket 2b; the upper end of the armature connecting piece 2a is fixed on the load mounting plate 1a, and the lower end extends downwards and is close to the suspension bracket 2b; the armature 2d is fixedly arranged at the lower end of the armature connecting piece 2a and extends towards one side of the first electromagnet 2c, and the first electromagnet 2c generates magnetic force when being electrified so that the armature connecting piece 2a has force moving up and down;
in the specific using process, the armature can be stressed and move up and down under the action of electromagnetic force, and finally the armature connecting piece and the upper side load mounting plate 1a are driven to be stressed and move, so that the parameters of the positive stiffness vibration isolator are controlled, and the electromagnet is fixed on the base connecting plate 1b and is the interaction between the base connecting plate and the load mounting plate.
The suspension bracket 2b is arranged on the front side or the rear side of the negative stiffness component 3; in order to facilitate the installation of the silicon steel sheet group on the electromagnet, the suspension bracket 2b adopts a v-21274h-shaped structure;
the first electromagnet 2c includes: e-shaped silicon steel sheet groups 20d respectively arranged on two cross arms of the v-21274-shaped suspension bracket 2b and differential coils 20E wound on the E-shaped silicon steel sheet groups 20 d; the openings of the two E-shaped silicon steel sheet groups 20d are arranged oppositely; the armature 2d extends horizontally between the two E-shaped silicon steel sheet sets 20 d.
As shown in fig. 6 and 7, the negative stiffness assembly 3 includes, in proximity to the structural principle of the positive stiffness vibration isolator: the device comprises a second electromagnet 3a, a magnet guide mechanism 3b, a permanent magnet 3c and a limiting mechanism 3d;
the second electromagnet 3a is fixedly arranged on the base connecting plate 1b, and a magnetic core of the second electromagnet 3a is horizontally arranged along the left-right direction;
the magnet guide mechanism 3b includes: two linear guide rails 3e symmetrically arranged on the left side and the right side of the second electromagnet 3a, and two permanent magnet supporting seats 3f arranged on the linear guide rails 3 e;
the permanent magnet support seat 3f can move left and right on the linear guide rail 3 e; two permanent magnets 3c are arranged on the two permanent magnet supporting seats 3f respectively;
the limiting mechanism 3d includes: two horizontal push rods 3g connected to the permanent magnet support base 3f, and two limit arms 3j connected to the load mounting plate 1 a;
the horizontal push rod 3g extends to a position away from the second electromagnet 3a along the horizontal direction to form an extrusion bulb 30g; the lower end of the limiting arm 3j is provided with a semicircular guide part 3k, and the extrusion ball head 30g is propped against the semicircular guide part 3k and moves vertically along the outer circular surface thereof.
Particularly, a guide groove 30k which can be butted with the extrusion ball head 30g is arranged on the outer surface of the semicircular guide part 3 k; the squeeze bulb 30g moves toward the slot 30k to ensure the relative movement between the two is stable.
In order to facilitate the integral structure and the adjustment and recovery of the rigidity characteristic of the vibration isolator, as a preferred scheme, in the embodiment, the negative rigidity component 3 is arranged at the center of the base connecting plate 1b, and the electromagnetic positive rigidity device 2 is arranged on the front side or the rear side of the negative rigidity component 3;
in order to ensure the balance of the position of the stress point, the armature connecting piece 2a is of an L-shaped structure and comprises a vertical connecting arm 20a vertically arranged at the front side or the rear side of the negative stiffness component 3 and a transverse connecting arm 20b connected to the top end of the vertical connecting arm 20a and extending to the central position of the base connecting plate 1b, wherein a connecting plate 20c is arranged on the upper side of the tail end of the transverse connecting arm 20b, and the connecting plate 20c is detachably connected to the central position of the lower end face of the load mounting plate 1 a.
The negative stiffness component 3 also comprises an electromagnet support seat, and the electromagnet support seat consists of a support rod 30a and an electromagnet mounting rack 30b provided with the top end of the support rod 30 a; the supporting rod 30a is vertical to the base connecting plate 1b, and the lower end of the supporting rod is fixed at the center of the upper end face of the base connecting plate 1b; the second electromagnet 3a is fixedly mounted on the electromagnet mounting bracket 30 b.
The second electromagnet 3a includes a columnar permanent magnet 30c and a spiral coil 30d;
the negative stiffness component 3 further comprises guide rail mounting seats 30e, and the guide rail mounting seats 30e are respectively mounted on the left side and the right side of the electromagnet supporting seat; the linear guide rail 3e is arranged at the top of the guide rail mounting seat 30 e; the lower end of the permanent magnet support base 3f is provided with a slide block 30f which can be matched with the linear guide rail 3 e.
As shown in fig. 8, the electromagnetic force in the electromagnetic positive stiffness device is a function related to the coil current and the air gap, the positive direction is defined as downward, and the expression of the electromagnetic force obtained by using the simplified magnetic circuit method is as follows:
wherein, mu 0 Represents the vacuum permeability; a represents the magnetic pole area; n represents the number of coil turns; h represents an initial value of the air gap, and x represents the variation of the air gap; I.C. A 1 Refers to the coil energizing current.
As shown in fig. 9, according to finite element simulation of the structure of the negative stiffness component 3, curve fitting is performed by using software, and the calculation formula of the electromagnetic force of the structure can be:
wherein w 1 ＝123.6，w 2 ＝12.8，w 3 =20.5,d is the distance between the permanent magnet with two movable ends and the end face of the spiral coil, I 2 For the current in the coil, the variation curves are shown in fig. 9 (the fitted curve is compared with the calculated finite element value when the current is 0A, 1A and 2A) and fig. 10 (the fitted curve is compared with the calculated finite element value when the current is 3A, 4A and 5A).
As shown in fig. 11, when the parameter-adjustable high static stiffness and low dynamic stiffness vibration isolator starts to work, the extrusion ball head 30g slides up and down along the semicircular guide part 3k, the stiffness of the compression spring is k, and the radius of the semicircular guide part isIs r 1 Radius of the extruded bulb is r 2 Defining a coordinate z as the displacement in the vertical direction from the static equilibrium position, and the downward direction is positive; the restoring force of the isolation vibration isolator can be expressed as:
in the formula, z 0 The compression amount of the vertical spring in the balance position; I.C. A 1 Energizing current to a coil in the electromagnetic positive stiffness device; i is 2 The energizing current of the coil in the negative stiffness component; alpha is an included angle between a connecting line of the semicircular guide part and the center of the extrusion ball head and the horizontal direction
Substituting into the above formula, one can obtain:
in the formula (d) 0 For the distance between the permanent magnets on the two sides of the negative stiffness component and the spiral coil when the vibration isolator is in a static balance position, the stiffness expression of the vibration isolator can be obtained by the above formula differential:
let z =0 and K =0, the conditions that should be satisfied when the available vibration isolator reaches quasi-zero stiffness are:
if I 1 ＝I 2 And =0 and the vibration isolator parameter meets the formula above, the vibration isolator can be regarded as a passive quasi-zero stiffness vibration isolator, and if the rated load of the vibration isolator is m, the connecting line of the semicircular guide part and the center of the extrusion ball head is exactly in a horizontal state, namely mg =4kz 0 The armature of the electromagnetic positive stiffness device is positioned at the initial position, and the vibration isolator reachesThe static balance is achieved, and the current I is applied to the electromagnetic positive stiffness device 1 And =0. If the load is changed, the working point of the vibration isolator can be restored to the original balance position by adjusting the current of the electromagnetic positive stiffness device. Under rated load, the restoring force and the rigidity of the vibration isolator are as follows:
specific examples are as follows:
designing vibration isolator parameter k =1500N/m, d 0 ＝0.005m，r 1 ＝0.045m，r 2 ＝0.006m；
When the vibration isolator reaches quasi-zero rigidity, the current in the negative rigidity component is calculated to be I 2QZS ＝3.56A。
Fig. 12 and 13 show the force and current of the vibration isolator as a function of displacement, and it can be seen that the nonlinearity of the vibration isolator is stronger and stronger as the electrified current is increased.
Fig. 14 and 15 show the stiffness, current and displacement of the vibration isolator. As can be seen from the figure, the vibration isolator always exhibits positive stiffness when the current is small; when the current increases to reach I 2QZS When the vibration isolator is used, the rigidity of the vibration isolator at the static balance position is zero, and the rigidity is always positive in other intervals; when the current is too large, the negative stiffness component plays a dominant role in the vibration isolator, so that the vibration isolator has negative stiffness in a certain interval.
In order to verify the vibration isolation performance of the adjustable vibration isolator with high static stiffness and low dynamic stiffness, a test platform is set up to perform a test of the force transfer rate of the single-degree-of-freedom vibration isolator under rated load. The force transfer rate curves of the adjustable high static low dynamic stiffness vibration isolation and isolation isolator and the equivalent linear vibration isolator with the negative stiffness components under different currents are shown in figure 16. As can be seen from the figure, the resonance frequency of the equivalent linear vibration isolator is 7.8Hz, and the peak value of the force transmission rate is 54.32dB; when the current is 4A, the resonance frequency of the vibration isolation and control device with high static stiffness and low dynamic stiffness is 3.6Hz, and the peak value of the force transfer rate is 33.57dB; when the current is 5A, the resonant frequency is 2.8Hz, and the peak value of the force transmission rate is 26.43dB. The principle of the designed negative stiffness component is correct, the inherent frequency of the vibration isolator can be effectively reduced, the vibration isolation frequency range of the vibration isolator is widened, and the vibration isolation effect is relatively better compared with that of an equivalent linear vibration isolator.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. The parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator is characterized by comprising a vibration isolation support (1), and an electromagnetic positive stiffness device (2) and an electromagnetic negative stiffness device (3) which are arranged on the vibration isolation support (1);
the vibration isolation mount (1) includes: a load mounting plate (1 a), a base connecting plate (1 b), a plurality of guide shafts (1 c), and a compression spring (1 d);
the base connecting plate (1 b) is fixedly arranged, and the guide shaft (1 c) is vertically arranged on the base connecting plate (1 b); the load mounting plate (1 a) is horizontally arranged on the upper side of the base connecting plate (1 b), and a through hole which can be sleeved on the guide shaft (1 c) is formed in the load mounting plate (1 a); the compression spring (1 d) is sleeved on the guide shaft (1 c), and two ends of the compression spring respectively abut against the load mounting plate (1 a) and the base connecting plate (1 b); the electromagnetic positive stiffness device (2) and the electromagnetic negative stiffness device (3) are arranged between the load mounting plate (1 a) and the base connecting plate (1 b);
the electromagnetic positive stiffness device (2) comprises: the device comprises an armature connecting piece (2 a), a suspension bracket (2 b), a first electromagnet (2 c) and an armature (2 d);
the suspension bracket (2 b) is fixed on the base connecting plate (1 b), and the first electromagnet (2 c) is fixedly arranged on the suspension bracket (2 b); the upper end of the armature connecting piece (2 a) is fixed on the load mounting plate (1 a), and the lower end extends downwards and is close to the suspension bracket (2 b); the armature (2 d) is fixedly arranged at the lower end of the armature connecting piece (2 a) and extends towards one side of the first electromagnet (2 c), and the first electromagnet (2 c) generates electricity to generate magnetic force so that the armature connecting piece (2 a) has force moving up and down;
the electromagnetic negative stiffness device (3) comprises: a second electromagnet (3 a), a magnet guide mechanism (3 b), a permanent magnet (3 c) and a limiting mechanism (3 d);
the second electromagnet (3 a) is fixedly arranged on the base connecting plate (1 b), and a magnetic core of the second electromagnet (3 a) is horizontally arranged along the left-right direction;
the magnet guide mechanism (3 b) includes: two linear guide rails (3 e) symmetrically arranged on the left side and the right side of the second electromagnet (3 a), and two permanent magnet supporting seats (3 f) arranged on the linear guide rails (3 e);
the permanent magnet supporting seat (3 f) can move left and right on the linear guide rail (3 e); two permanent magnets (3 c) are arranged on the two permanent magnet supporting seats (3 f) respectively;
the limiting mechanism (3 d) comprises: two horizontal push rods (3 g) connected to the permanent magnet support base (3 f), and two limit arms (3 j) connected to the load mounting plate (1 a);
the horizontal push rod (3 g) extends to a position away from the second electromagnet (3 a) along the horizontal direction to form an extrusion ball head (30 g); the lower end of the limiting arm (3 j) is provided with a semicircular guide part (3 k), and the extrusion ball head (30 g) abuts against the semicircular guide part (3 k) and moves vertically along the outer circle surface of the extrusion ball head.
2. The electromagnetic vibration isolator with adjustable parameters and high static stiffness and low dynamic stiffness as claimed in claim 1, characterized in that the load mounting plate (1 a) is a horizontally arranged rectangular flat plate; the through holes are uniformly arranged on the edge of the load mounting plate (1 a); the base connecting plate (1 b) is provided with a through hole at a corresponding position; sliding bearings (1 e) are arranged in the through holes and the through holes, and the guide shafts (1 c) are sleeved in the sliding bearings (1 e).
3. The parameter-adjustable high static low dynamic stiffness electromagnetic vibration isolator according to claim 2, characterized in that the load mounting plate (1 a) is a rectangular flat plate, and the through holes are arranged at four corners of the load mounting plate (1 a); still including setting up guide bar (1 g) between guiding axle (1 c), guide bar (1 g) is fixed to be set up on base connecting plate (1 b), and the cover is equipped with compression spring on guide bar (1 g), is provided with the hole that supplies guide bar (1 g) to pass on load mounting panel (1 a).
4. The parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator according to claim 1, characterized in that the electromagnetic negative stiffness device (3) is arranged at the center of the base connecting plate (1 b), and the electromagnetic positive stiffness device (2) is arranged at the front side or the rear side of the electromagnetic negative stiffness device (3);
armature connecting piece (2 a) are L shape structure, including vertical linking arm (20 a) of vertical setting in electromagnetism burden rigidity device (3) front side or rear side to and connect horizontal linking arm (20 b) on vertical linking arm (20 a) top and extend to base connecting plate (1 b) central point and put, the terminal upside of horizontal linking arm (20 b) is provided with connecting plate (20 c), connecting plate (20 c) detachably connect and put at load mounting panel (1 a) lower extreme face central point.
5. The parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator according to claim 4, characterized in that the suspension bracket (2 b) is arranged on the front side or the rear side of the electromagnetic negative stiffness device (3); the suspension bracket (2 b) is of a structure of a shape of a letter 21274;
the first electromagnet (2 c) comprises: e-shaped silicon steel sheet groups (20 d) respectively arranged on two cross arms of the v-21274-shaped suspension bracket (2 b), and differential coils (20E) wound on the E-shaped silicon steel sheet groups (20 d);
the openings of the two E-shaped silicon steel sheet groups (20 d) are arranged oppositely; the armature (2 d) horizontally extends between the two E-shaped silicon steel sheet groups (20 d).
6. The parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator according to claim 1, wherein the electromagnetic negative stiffness device (3) further comprises an electromagnet support seat, and the electromagnet support seat is composed of a support rod (30 a) and an electromagnet mounting frame (30 b) provided with the top end of the support rod (30 a); the supporting rod (30 a) is vertical to the base connecting plate (1 b) and the lower end of the supporting rod is fixed at the center of the upper end face of the base connecting plate (1 b); the second electromagnet (3 a) is fixedly arranged on the electromagnet mounting frame (30 b);
the second electromagnet (3 a) comprises a columnar permanent magnet (30 c) and a spiral coil (30 d);
the electromagnetic negative stiffness device (3) further comprises guide rail mounting seats (30 e), and the guide rail mounting seats (30 e) are respectively mounted on the left side and the right side of the electromagnet supporting seat; the linear guide rail (3 e) is arranged at the top of the guide rail mounting seat (30 e); the lower end of the permanent magnet supporting seat (3 f) is provided with a sliding block (30 f) which can be matched with the linear guide rail (3 e).
7. The electromagnetic vibration isolator with adjustable parameters according to claim 1, characterized in that during the specific calculation of the structural parameters:
the electromagnetic force F of the first electromagnet (2 c) p Is calculated in the following way:
wherein, mu 0 Represents the vacuum permeability; a represents the pole area; n represents the number of coil turns; h represents an initial value of the air gap, and x represents the variation of the air gap; I.C. A 1 Energizing a coil in the first electromagnet (2 c);
electromagnetic force f of second electromagnet (3 a) m Is calculated in the following way:
wherein, w 1 ＝123.6，w 2 ＝12.8，w 3 =20.5,d is the distance between the permanent magnet with two movable ends and the end face of the spiral coil, I 2 Is the current in the coil of the second electromagnet (3 a);
the restoring force f (z) of the vibration isolation system is calculated as follows:
wherein z is 0 The compression amount of the compression spring in the balance position;
k is the stiffness of the compression straight spring and the radius of the semicircular guide part is r 1 Radius of ball head of ball extrusion is r 2 Z is the displacement in the vertical direction from the static equilibrium position, and beta is the number of compression springs;
the conditions that should be met when the system reaches quasi-zero stiffness are:
wherein d is 0 The distance between the permanent magnets on two sides of the electromagnetic negative stiffness device and the spiral coil when the system is in a static balance position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111436526.0A CN114033833B (en) | 2021-11-29 | 2021-11-29 | Parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111436526.0A CN114033833B (en) | 2021-11-29 | 2021-11-29 | Parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114033833A CN114033833A (en) | 2022-02-11 |
| CN114033833B true CN114033833B (en) | 2023-01-17 |
Family
ID=80145867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111436526.0A Active CN114033833B (en) | 2021-11-29 | 2021-11-29 | Parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114033833B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114658783A (en) * | 2022-03-22 | 2022-06-24 | 中国人民解放军海军工程大学 | Quasi-zero stiffness vibration isolator with adjustable positive and negative stiffness |
| CN114857194A (en) * | 2022-03-22 | 2022-08-05 | 中国人民解放军海军工程大学 | Electromagnetic negative stiffness device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2825769A1 (en) * | 2001-06-06 | 2002-12-13 | Vibrachoc Sa | Vibration damping mechanism for helicopter includes spring-mounted inertial mass with magnet and coil generating electric power in response to vibration |
| CN101709763A (en) * | 2009-12-10 | 2010-05-19 | 华中科技大学 | Horizontal two-degree-of-freedom vibration isolating mechanism |
| JP2010180961A (en) * | 2009-02-05 | 2010-08-19 | Technical Research & Development Institute Ministry Of Defence | Vibration isolation unit and friction damper |
| CN102606673A (en) * | 2012-03-26 | 2012-07-25 | 湖南大学 | Load-bearing adjustable zero-stiffness electromagnetic vibration isolator and control method thereof |
| CN102853018A (en) * | 2012-08-21 | 2013-01-02 | 华中科技大学 | Vibration isolator with magnetic suspension unit |
| CN103453062A (en) * | 2013-08-15 | 2013-12-18 | 华中科技大学 | Zero-rigidity magnetic-suspension active vibration isolator and six-degree-of-freedom vibration isolation system consisting of vibration isolator |
| CN104033535A (en) * | 2014-06-05 | 2014-09-10 | 哈尔滨工程大学 | Three-dimensional vibration isolation device applicable to low-frequency vibration |
| CN107654551A (en) * | 2017-10-25 | 2018-02-02 | 西安交通大学 | A kind of multiple degrees of freedom low frequency vibration isolation device based on mode of oscillation and pendulum modal coupling |
| CN112696454A (en) * | 2020-12-28 | 2021-04-23 | 哈尔滨工程大学 | Magnetic suspension type quasi-zero stiffness electromagnetic vibration isolator with active negative stiffness |
-
2021
- 2021-11-29 CN CN202111436526.0A patent/CN114033833B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2825769A1 (en) * | 2001-06-06 | 2002-12-13 | Vibrachoc Sa | Vibration damping mechanism for helicopter includes spring-mounted inertial mass with magnet and coil generating electric power in response to vibration |
| JP2010180961A (en) * | 2009-02-05 | 2010-08-19 | Technical Research & Development Institute Ministry Of Defence | Vibration isolation unit and friction damper |
| CN101709763A (en) * | 2009-12-10 | 2010-05-19 | 华中科技大学 | Horizontal two-degree-of-freedom vibration isolating mechanism |
| CN102606673A (en) * | 2012-03-26 | 2012-07-25 | 湖南大学 | Load-bearing adjustable zero-stiffness electromagnetic vibration isolator and control method thereof |
| CN102853018A (en) * | 2012-08-21 | 2013-01-02 | 华中科技大学 | Vibration isolator with magnetic suspension unit |
| CN103453062A (en) * | 2013-08-15 | 2013-12-18 | 华中科技大学 | Zero-rigidity magnetic-suspension active vibration isolator and six-degree-of-freedom vibration isolation system consisting of vibration isolator |
| CN104033535A (en) * | 2014-06-05 | 2014-09-10 | 哈尔滨工程大学 | Three-dimensional vibration isolation device applicable to low-frequency vibration |
| CN107654551A (en) * | 2017-10-25 | 2018-02-02 | 西安交通大学 | A kind of multiple degrees of freedom low frequency vibration isolation device based on mode of oscillation and pendulum modal coupling |
| CN112696454A (en) * | 2020-12-28 | 2021-04-23 | 哈尔滨工程大学 | Magnetic suspension type quasi-zero stiffness electromagnetic vibration isolator with active negative stiffness |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114033833A (en) | 2022-02-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114033833B (en) | Parameter-adjustable high-static-low dynamic stiffness electromagnetic vibration isolator | |
| US5535853A (en) | Actuator having a two ended actuator rod movable longitudinally and transversely | |
| CN112696449B (en) | Negative stiffness electromagnetic actuating mechanism suitable for low-frequency vibration reduction and isolation | |
| CN103398132B (en) | A kind of varying load negative stiffness vibration isolator | |
| US7508098B2 (en) | Transfer apparatus | |
| CN214702674U (en) | Vibration test system of superconducting maglev train suspension frame | |
| CN109870881A (en) | The macro box-like long stroke precision movement platform of micro-group | |
| US5994799A (en) | Positioning apparatus for a positioning head | |
| CN216242022U (en) | High static low dynamic stiffness electromagnetic vibration isolator | |
| CN106933045A (en) | A kind of auxiliary support apparatus and the photoetching machine equipment with Auxiliary support | |
| CN114658783A (en) | Quasi-zero stiffness vibration isolator with adjustable positive and negative stiffness | |
| CN114151507B (en) | Quasi-zero stiffness vibration isolator with adjustable electromagnetic negative stiffness and vertical eddy current damping | |
| CN218217070U (en) | XY motor module of lead bonding equipment | |
| CN114857194A (en) | Electromagnetic negative stiffness device | |
| JP2865369B2 (en) | Magnetic suction gas floating type pad | |
| CN113126444B (en) | Vertical supporting component, vertical supporting device and photoetching machine | |
| CN211117302U (en) | Buffer device and shock absorber | |
| KR101011951B1 (en) | Stage Apparatus | |
| CN208313509U (en) | Adjustable gravity balance device | |
| CN102758875B (en) | Magnetic levitation balance mass framework | |
| JP4500767B2 (en) | Elevator active suspension using repulsive magnetic force | |
| KR101864846B1 (en) | Linear motor motion stage with passive reaction force compensation function | |
| CN113309784B (en) | Geometric nonlinear adjustable multi-stable-state device | |
| JP4559655B2 (en) | Vibration control device | |
| CN117553095A (en) | Compact type rigidity-adjustable quasi-zero rigidity vibration isolator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |