CN114061881B - Quasi-zero rigidity vibration test bed - Google Patents
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- CN114061881B CN114061881B CN202111449195.4A CN202111449195A CN114061881B CN 114061881 B CN114061881 B CN 114061881B CN 202111449195 A CN202111449195 A CN 202111449195A CN 114061881 B CN114061881 B CN 114061881B
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Abstract
The invention relates to a quasi-zero stiffness vibration test bed, which comprises a supporting mechanism, a quasi-zero stiffness mechanism, a vibration mechanism and a loading platform, wherein the supporting mechanism is arranged on the supporting mechanism; the supporting mechanism comprises a base at the bottom and a supporting frame fixed on the base; the quasi-zero stiffness mechanism comprises a plurality of parallelogram link mechanisms for supporting the object carrying platform; in each parallelogram link mechanism, adjacent rod pieces are mutually connected in a rotating mode, an extension spring is connected between a left rod piece and a right rod piece, an upper rod piece is connected with the carrying platform in a left-right sliding mode, and a lower rod piece is fixedly connected with the supporting frame; the vibration mechanism is installed on the base, the upper end of the vibration mechanism is a vibration table top, and the vibration table top is connected with the lower end of the object carrying platform. According to the invention, the connecting rod, the rack and the fixing seat structure are used as negative stiffness structures, and the extension spring is used as a positive stiffness structure, so that the loading platform has the load capacity and the mechanical characteristics of nonlinear stiffness are realized. The invention belongs to the field of vibration test mechanisms.
Description
Technical Field
The invention relates to a vibration test mechanism, in particular to a quasi-zero rigidity vibration test bed.
Background
With the rapid development of science and technology, the environment of the product in the processes of production, manufacture, storage, transportation, use and maintenance is more complex, and the vibration simulation test is taken as an important ring in the environment simulation test and has been widely applied in the fields of aerospace, building structures, industrial automation and the like. The electrodynamic vibration test bed can realize the test work of a wider frequency band, has the characteristics of convenient control, excellent waveform reproduction and the like, and is widely applied.
However, the electrodynamic vibration test bed uses the linear spring-mass system as a supporting structure, so that the maximum working load is limited, and in the test process, the electrodynamic vibration test bed actuator needs to generate a force for driving the table board to vibrate according to a preset command and also needs to overcome a pulling force generated by the displacement of the spring-mass system, so that the actuator needs to consume more energy and easily emit more heat.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: a quasi-zero rigidity vibration test bed with a novel structure is provided.
In order to achieve the purpose, the invention adopts the following technical scheme:
a quasi-zero rigidity vibration test bed comprises a supporting mechanism, a quasi-zero rigidity mechanism, a vibration mechanism and a carrying platform; the supporting mechanism comprises a base at the bottom and a supporting frame fixed on the base; the quasi-zero stiffness mechanism comprises a plurality of parallelogram link mechanisms for supporting the object carrying platform; in each parallelogram link mechanism, adjacent rod pieces are mutually connected in a rotating mode, an extension spring is connected between a left rod piece and a right rod piece, an upper rod piece is connected with the carrying platform in a left-right sliding mode, and a lower rod piece is fixedly connected with the supporting frame; the vibration mechanism is installed on the base, the upper end of the vibration mechanism is a vibration table top, and the vibration table top is connected with the lower end of the object carrying platform.
Preferably, the upper rod piece of the parallelogram link mechanism is a connecting rod, the lower rod piece of the parallelogram link mechanism is a fixed seat, and the left rod piece and the right rod piece are both racks; be provided with the slider on the connecting rod, both sides correspondence is provided with two linear guide around objective platform, and linear guide extends along left right direction, and the slider slides along linear guide, and fixing base fixed mounting evenly is provided with a plurality of fixed orificess that supply extension spring to articulate at braced frame's top in the frame at braced frame's top.
Preferably, the number of the parallelogram linkages is 4, and the parallelogram linkages are respectively positioned on the left side of the front side, the left side of the rear side, the right side of the front side and the right side of the rear side of the loading platform; the front left parallelogram linkage and the rear left parallelogram linkage are both inclined from lower left to upper right, and the front right parallelogram linkage and the rear right parallelogram linkage are both inclined from lower right to upper left.
Preferably, the parallelogram linkage mechanism comprises two states of an operating state and a non-operating state; in the non-working state, the extension spring has a pre-stretching amount, and the parallelogram linkage mechanism is at a preset height under the action of the extension spring; in the working state, the length of the extension spring is elongated, and the minimum angle between the rack of the parallelogram linkage mechanism and the fixed seat is reduced. The preset height refers to the projection of the parallelogram linkage mechanism on the vertical direction when the parallelogram linkage mechanism is in the balance position under the action of the extension spring.
Preferably, the supporting frame comprises 4 longitudinal beams and 4 cross beams, the 4 longitudinal beams are vertically arranged on four corners of the base, the 4 cross beams are horizontally arranged between every two adjacent longitudinal beams, the cross beams are arranged at the tops of the longitudinal beams, and the 4 cross beams are enclosed into a rectangle; the lower rod piece of the parallelogram link mechanism is connected with the cross beam.
As an optimization, vibration mechanism includes base, actuator, and the rotary type is connected between base and the actuator, and the actuator erects on the base through the base, and the vibration mesa is located the top of actuator.
Preferably, the rigidity of the tension spring is k, the length of the connecting rod is a, the length of the rack is b, the height of the rack is h, the projection of the tension spring on the rack is c, the included angle between the rack and the connecting rod is theta, the included angle between the tension spring and the horizontal direction is beta, the distance of the connecting rod from the balance position is delta h, and the system restoring force is F km (ii) a The system restoring force F when the link is forced downwardly away from the equilibrium position km Theta and beta will vary with delta h; the balance position is the position of the non-working state; the force-displacement characteristic curve mathematical model between the system restoring force and the distance of the connecting rod from the equilibrium position is as follows:
Preferably, the carrying platform is provided with a plurality of limiting holes for restricting the freedom degree of the carrying platform; the plurality of limiting holes are arranged into a plurality of circles, each circle of limiting holes are distributed in a concentric circle by taking the middle part of the upper surface of the carrying platform as the center, and in each circle of limiting holes, each limiting hole is uniformly distributed along the circumference. Wherein, restraint cargo platform degree of freedom refers to be connected cargo platform and actuator, wait to detect the object with the cargo platform top simultaneously and fix.
Preferably, one end of the rack is connected with the fixed seat through a rotating shaft and a bearing, and the other end of the rack is connected with the connecting rod through a rotating shaft and a bearing.
Preferably, an angle steel is arranged at the joint of the longitudinal beam and the cross beam, and the longitudinal beam and the cross beam are both of aluminum structures.
The principle of the invention is as follows: the quasi-zero stiffness vibration test bed adopts a frame structure as a supporting structure, negative stiffness is generated by utilizing the nonlinear mechanical instability of a parallelogram link mechanism, and the nonlinear stiffness characteristics of high static stiffness and low dynamic stiffness are realized by connecting the parallelogram link mechanism in parallel with an extension spring generating positive stiffness, namely the stiffness near a dynamic stiffness balance point of the quasi-zero stiffness vibration test bed is close to or equal to zero. Through the mode of mathematical modeling, select the extension spring of different rigidity, pretension volume according to the object of different masses, guarantee that quasi-zero rigidity mechanism is in near balance point, when vibration test bench actuator worked, the gravity of object can be offset to the power that the near high static rigidity of balance point produced, and dynamic stiffness is nearly zero to improve vibration test bench maximum load, reduce actuator energy consumption, reduce the heat and give off.
In summary, the present invention has the following advantages:
1. the invention realizes the non-linear rigidity characteristics of high static rigidity and low dynamic rigidity by connecting the parallelogram linkage mechanism which generates negative rigidity and has the geometrical non-linear mechanical characteristics with the extension spring which generates positive rigidity in parallel. The maximum load of the vibration test bed can be improved, the energy consumption of the actuator is reduced, and the heat dissipation is reduced. And simultaneously, the rigidity balance point of the quasi-zero rigidity structure is close to or equal to zero.
2. The invention can reduce the work load of the exciter, improve the load capacity, reduce the energy consumption of the actuator and reduce the heat dissipation.
3. The invention adopts a frame structure with small mass and high strength, is simple, reliable, small and portable, and can quickly adjust the size of the frame according to different requirements, thereby being suitable for vibrating mechanisms with different models and sizes.
4. According to the invention, the fixed seat, the rack and the connecting rod are connected in a manner of matching the bearing with the rotating shaft, and the connecting rod is connected with the table top in a manner of matching the guide rail with the sliding block, so that the influence of friction on improvement of the maximum load of the vibration test table can be reduced.
5. The rack of the invention is uniformly provided with a plurality of fixing holes which can be used for fixing extension springs with different rigidity and different pre-stretching amount, thereby ensuring that different objects can be positioned near a low dynamic rigidity balance point.
6. The invention can change the quasi-zero stiffness range by replacing racks with different models and sizes and extension springs with different models and sizes. When the angle between the connecting rod and the frame is increased or reduced in a non-working state, the quasi-zero rigidity range can be changed along with the angle; when the stiffness and the length of the extension spring are different, the quasi-zero stiffness range is changed; when the length of the connecting rod and the length of the frame are changed, the quasi-zero rigidity range can be changed.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a schematic structural diagram of the supporting mechanism of the present invention.
Fig. 4 is a schematic structural view of the parallelogram linkage mechanism of the present invention.
Fig. 5 is a schematic structural diagram of the carrier platform of the present invention.
Fig. 6 is a schematic diagram of a quasi-zero stiffness mechanism of the present invention.
Fig. 7 is a force-displacement characteristic curve according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
In the attached drawings, 1 is a base, 2 is a longitudinal beam, 3 is a vibration mechanism, 4 is a cross beam, 5 is a fixed seat, 6 is a rack, 7 is an extension spring, 8 is a connecting rod, 9 is a sliding block, 10 is a linear guide rail, and 11 is an object carrying platform.
The invention relates to a quasi-zero stiffness vibration test bed which specifically comprises a supporting mechanism, a quasi-zero stiffness mechanism, a vibration mechanism and a carrying platform.
The supporting mechanism comprises a base at the bottom and a supporting frame fixed on the base, the supporting frame comprises a longitudinal beam, a transverse beam and die-casting angle steel, the longitudinal beam and the transverse beam are of aluminum profile structures, mounting positions of the die-casting angle steel are arranged on the longitudinal beam and the transverse beam, and mounting holes of elastic sheet nuts are arranged on the transverse beam. The base is the rectangle plate of level setting, and braced frame sets up in the base top, and four longerons are vertical to be established at four edges and corners of base. The die-casting angle steel is characterized in that a cross beam is horizontally arranged between the top ends of two adjacent longitudinal beams, a rectangular cubic space is jointly formed by the four longitudinal beams, the four cross beams and the base, die-casting angle steel used for reinforcing the structural strength is arranged between the two adjacent cross beams and the longitudinal beams, and the die-casting angle steel, the cross beams and the longitudinal beams are fixedly connected and arranged on corresponding installation positions. And mounting holes for mounting the quasi-zero stiffness mechanism are formed in the front side cross beam and the rear side cross beam.
The quasi-zero stiffness mechanism comprises four parallelogram link mechanisms for supporting the object carrying platform, wherein two parallelogram link mechanisms are arranged above the front side beam, and the other two parallelogram link mechanisms are arranged above the rear side beam. The parallelogram link mechanism comprises a connecting rod, a fixed seat and two racks, wherein the connecting rod, the fixed seat and the racks jointly form four rod pieces of a parallelogram, the connecting rod is positioned at the upper side, the two racks are respectively positioned at the left side and the right side, and the fixed seat is positioned at the lower side. Through shell fragment nut and screw rod fixed connection between fixing base and the crossbeam, the fixing base is fixed in the crossbeam inboard, and the fixing base all is connected through bearing and pivot rotary type with controlling two stands, and the connecting rod all is connected through with the pivot rotary type with controlling two stands, evenly is provided with a plurality of fixed orificess in the frame. The parallelogram link mechanism also comprises an extension spring, and two ends of the extension spring are respectively hung in the fixing holes of the racks on the left side and the right side. The upper parts of the two parallelogram linkages on the left side are obliquely arranged towards the right side, and the upper parts of the two parallelogram linkages on the right side are obliquely arranged towards the left side.
The upper portion fixedly connected with slider mechanism at the connecting rod, both sides all correspond simultaneously and are provided with linear guide around objective platform, and two sliders that link to each other with two parallelogram link mechanisms of front side slide in the linear guide of objective platform front side, and two sliders that link to each other with two parallelogram link mechanisms of rear side slide in the linear guide of objective platform rear side to sliding connection between feasible parallelogram link mechanism and the objective platform. The objective platform is horizontal rectangle plate, is provided with two rings of spacing holes that run through from top to bottom at objective platform's upper surface center, and two rings of spacing holes are distributed with the centre of a circle. The linear guide rail is arranged on the carrying platform, and can realize the up-and-down movement of the carrying platform. The limiting hole is used for connecting the object carrying platform and the vibration plane and is simultaneously fixed with the upper part of the object carrying platform to be detected.
Still be provided with vibration mechanism above the base center, vibration mechanism includes base, actuator, and the rotary type is connected between base and the actuator, and the actuator erects on the base through the base, and the vibration mesa is located the top of actuator. In this embodiment, during operation, provide the vibrational force of vertical direction, drive objective table synchronous oscillation.
Aiming at different test requirements, the parallelogram link mechanism can be replaced by extension springs with different models and sizes, so that the quasi-zero stiffness range is changed. Similarly, the parallelogram linkage mechanism can be replaced by racks and connecting rods with different models and sizes, so that the quasi-zero rigidity range is changed. The parallelogram linkage mechanism can also change the initial angle between the link and the frame, thereby changing the quasi-zero stiffness range.
The rigidity of the tension spring is set to be k, the length of the connecting rod is a, the length of the rack is b, the height of the rack is h, the projection of the tension spring on the rack is c, the included angle between the rack and the connecting rod is theta, the included angle between the tension spring and the horizontal direction is beta, the distance of the connecting rod deviating from the balance position is delta h, and the system restoring force is F km . The system restoring force F when the link is forced downwardly away from the equilibrium position km Theta and beta will vary with delta h; the balance position is the position of the non-working state; the force-displacement characteristic curve mathematical model between the system restoring force and the distance of the connecting rod from the equilibrium position is as follows:
in this example, a is 600mm, b is 710mm, c is 200mm, h is 300mm, and k is 10N/mm, 15N/mm, or 20N/mm, respectively.
The use process of the invention is that firstly, the quasi-zero stiffness vibration test bed is in a non-working state, an object to be detected is not placed on the object carrying platform, the four parallelogram link mechanisms are in initial positions under the action of respective extension springs, and at the moment, the connecting rod, the fixed seat and the rack form an inclined parallelogram. Namely, the parallelogram linkage mechanism is in a non-working state at the moment, and the parallelogram linkage mechanism is at a preset height. Wherein, the initial position refers to the position of the device in the non-working state; the non-working state refers to that the object to be detected is not placed on the carrying platform; the predetermined height refers to the projection length of the parallelogram linkage in the vertical direction when the parallelogram linkage is in the equilibrium position under the action of the extension spring.
After the starting machine, to wait to detect the object and place on objective platform, this moment owing to wait to detect the action of gravity of object, objective platform downstream, the frame that drives parallelogram link mechanism simultaneously rotates for the fixing base, extension spring in the parallelogram link mechanism also lengthens simultaneously, the connecting rod of upside slides towards objective platform's middle part along with the slider, until objective platform and the system stability of quasi-zero rigidity mechanism, quasi-zero rigidity mechanism bears the weight of waiting to detect the object this moment, quasi-zero rigidity vibration test platform plays quasi-zero rigidity effect.
And finally, starting the vibration mechanism and carrying out a related vibration test.
For objects to be detected with different mass sizes, the specifications of the required quasi-zero stiffness mechanism are correspondingly different, namely the quasi-zero stiffness range of the device is different, therefore, when the objects to be detected with other mass sizes are required to be tested, the specifications of the required frame and the extension spring can be determined according to a force-displacement characteristic curve mathematical model between the restoring force of the system and the distance between the deviation of the connecting rod from the balance position, the original frame is taken down through the bearing, a new frame is installed in the parallelogram connecting rod mechanism, and the extension spring is hung in a fixed hole in the frame.
The plurality of fixing holes on the rack correspond to different pre-stretching amounts of the stretching spring, so that the specification of the quasi-zero stiffness mechanism can be changed by changing the hanging fixing holes, namely, the quasi-zero stiffness range of the device is changed.
The specification of the quasi-zero stiffness mechanism can also be changed by independently changing the specification of the frame. Meanwhile, the specification of the quasi-zero stiffness mechanism can be changed by changing the number of the parallelogram link mechanisms.
After the quasi-zero stiffness mechanism is set, the test process of the quasi-zero stiffness vibration test bed can be carried out.
The invention uses the structure of the connecting rod, the frame and the fixed seat as the negative rigidity structure; the extension spring is used as a positive stiffness structure, so that the loading platform has the loading capacity and simultaneously realizes the mechanical characteristics of nonlinear stiffness. The vibration mechanism is positioned at the middle lower part of the object carrying platform and can meet different use requirements by matching with parallelogram link mechanisms with different sizes and extension springs with different rigidity. The invention has the nonlinear rigidity characteristic of high static and low dynamic, can reduce the working load of test equipment such as an exciter and the like, reduces heat dissipation and has good bearing capacity.
The quasi-zero stiffness structure is a nonlinear stiffness characteristic structure which realizes high static and low dynamic through the arrangement and combination of positive stiffness elements and negative stiffness elements and by utilizing the coupling effect of the positive stiffness and the negative stiffness, and the dynamic stiffness balance point of the quasi-zero stiffness structure is close to or equal to zero. Therefore, the nonlinear stiffness objective table designed by utilizing the dynamic stiffness balance point of the quasi-zero stiffness theory can improve the loading capacity of equipment such as a vibration test bed and the like, reduce the energy consumption of an actuator and reduce the heat dissipation.
In addition to the above embodiments, the present invention may also adopt the fixing base, the connecting rod, the three frames and the two extension springs as a parallelogram structure unit. These variations are all within the scope of the present invention.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (7)
1. The utility model provides a quasi-zero rigidity vibration test bench which characterized in that: the device comprises a supporting mechanism, a quasi-zero stiffness mechanism, a vibration mechanism and a loading platform;
the supporting mechanism comprises a base at the bottom and a supporting frame fixed on the base;
the quasi-zero stiffness mechanism comprises a plurality of parallelogram link mechanisms for supporting the object carrying platform; in each parallelogram link mechanism, adjacent rod pieces are mutually connected in a rotating mode, an extension spring is connected between a left rod piece and a right rod piece, an upper rod piece is connected with the carrying platform in a left-right sliding mode, and a lower rod piece is fixedly connected with the supporting frame;
the vibration mechanism is arranged on the base, the upper end of the vibration mechanism is a vibration table top, and the vibration table top is connected with the lower end of the object carrying platform;
an upper rod piece of the parallelogram link mechanism is a connecting rod, a lower rod piece of the parallelogram link mechanism is a fixed seat, and a left rod piece and a right rod piece are both racks; the connecting rod is provided with a sliding block, the front side and the rear side of the carrying platform are correspondingly provided with two linear guide rails, the linear guide rails extend along the left and right directions, the sliding block slides along the linear guide rails, the fixed seat is fixedly arranged at the top of the supporting frame, and the rack is uniformly provided with a plurality of fixing holes for hanging the extension springs;
the parallelogram link mechanism comprises a working state and a non-working state; in the non-working state, the extension spring has a pre-stretching amount, and the parallelogram linkage mechanism is at a preset height under the action of the extension spring; in a working state, the length of the extension spring is elongated, and the minimum angle between the rack of the parallelogram linkage mechanism and the fixed seat is reduced;
the rigidity of the tension spring is set to be k, the length of the connecting rod is a, the length of the rack is b, the height of the rack is h, the projection of the tension spring on the rack is c, the included angle between the rack and the connecting rod is theta, the included angle between the tension spring and the horizontal direction is beta, the distance of the connecting rod deviating from the balance position is delta h, and the system restoring force is F km (ii) a The system restoring force F when the link is forced downwardly away from the equilibrium position km θ and β vary with Δ h; the balance position is the position of the non-working state; system recoveryThe mathematical model of the force-displacement characteristic curve between the complex force and the distance of the connecting rod deviating from the equilibrium position is as follows:
2. a quasi-zero stiffness vibration test stand according to claim 1, wherein: the number of the parallelogram link mechanisms is 4, and the parallelogram link mechanisms are respectively positioned on the left side of the front side, the left side of the rear side, the right side of the front side and the right side of the rear side of the loading platform; the front left parallelogram linkage and the rear left parallelogram linkage are both inclined from lower left to upper right, and the front right parallelogram linkage and the rear right parallelogram linkage are both inclined from lower right to upper left.
3. A quasi-zero stiffness vibration test stand according to claim 1, wherein: the supporting frame comprises 4 longitudinal beams and 4 cross beams, wherein the 4 longitudinal beams are vertically arranged on four corners of the base, the 4 cross beams are horizontally arranged between every two adjacent longitudinal beams, the cross beams are arranged at the tops of the longitudinal beams, and the 4 cross beams form a rectangle in an enclosing mode; the lower rod piece of the parallelogram link mechanism is connected with the cross beam.
4. A quasi-zero stiffness vibration test stand according to claim 1, wherein: the vibrating mechanism comprises a base and an actuator, wherein the base and the actuator are connected in a rotating mode, the actuator is erected on the base through the base, and the vibrating table top is located at the top of the actuator.
5. A quasi-zero stiffness vibration test bed according to claim 1, wherein: the carrying platform is provided with a plurality of limiting holes for restricting the freedom degree of the carrying platform; the plurality of limiting holes are arranged into a plurality of circles, each circle of limiting holes are distributed in a concentric circle by taking the middle part of the upper surface of the carrying platform as the center, and in each circle of limiting holes, each limiting hole is uniformly distributed along the circumference.
6. A quasi-zero stiffness vibration test bed according to claim 1, wherein: one end of the rack is connected with the fixed seat through a rotating shaft and a bearing, and the other end of the rack is connected with the connecting rod through a rotating shaft and a bearing.
7. A quasi-zero stiffness vibration test stand according to claim 3, wherein: the connecting part of the longitudinal beam and the cross beam is provided with angle steel, and the longitudinal beam and the cross beam are both of aluminum structures.
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| CN103116249A (en) * | 2012-12-12 | 2013-05-22 | 清华大学 | Negative stiffness system for gravity compensation of micropositioner |
| US9920793B1 (en) * | 2013-12-06 | 2018-03-20 | Hrl Laboratories, Llc | Negative stiffness system with variable preload adjustment |
| CN205780563U (en) * | 2016-05-23 | 2016-12-07 | 福州大学 | Drawing quasi-zero stiffness vibration isolators |
| CN106402267B (en) * | 2016-05-23 | 2018-07-17 | 福州大学 | Drawing quasi-zero stiffness vibration isolators and its implementation |
| CN106402229B (en) * | 2016-06-20 | 2018-05-08 | 南京航空航天大学 | A kind of scissors quasi-zero stiffness vibration isolators and its method of work |
| CN109312600B (en) * | 2017-02-23 | 2020-09-04 | 香港理工大学 | Improved passive vibration damping device |
| CN110332270B (en) * | 2019-07-23 | 2021-10-26 | 广州大学 | Folding quasi-zero rigidity vibration isolation device |
| CN110410443B (en) * | 2019-08-05 | 2020-08-14 | 北京航空航天大学 | Zero-rigidity impact isolation device |
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