CN114198455A

CN114198455A - Self-balancing vibration damping system mounted on carrying equipment

Info

Publication number: CN114198455A
Application number: CN202111534952.8A
Authority: CN
Inventors: 杨慧新; 胡景晨
Original assignee: Shanghai New Era Robot Co ltd
Current assignee: Shanghai New Era Robot Co ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2022-03-18

Abstract

The invention discloses a self-balancing vibration reduction system installed on carrying equipment. The sensing module is used for acquiring the motion data of the carrying equipment. The active vibration reduction module comprises a first rotating assembly and a second rotating assembly, the first rotating assembly is arranged in the accommodating space, and the second rotating assembly is arranged at the driving end of the first rotating assembly and used for butt joint of the bearing module. The control module synchronously controls the first rotating assembly and the second rotating assembly to operate according to the motion data so as to provide acting force in opposite tilting directions of the bearing module. When the first rotating assembly drives the bearing module to do rolling motion, the second rotating assembly drives the bearing module to do pitching motion, and when the first rotating assembly drives the bearing module to do pitching motion, the second rotating assembly drives the bearing module to do rolling motion. This patent can realize holding the control of module along roll and two direction motion degrees of freedom of every single move, makes and holds the module and keeps steadily.

Description

Self-balancing vibration damping system mounted on carrying equipment

Technical Field

The invention relates to the technical field of vibration reduction of carrying equipment, in particular to a self-balancing vibration reduction system arranged on the carrying equipment.

Background

Self-balancing means that a vehicle, for example, can sense and automatically compensate for inertial displacement caused by vertical vibration, rapid acceleration or sudden stop due to uneven road surface in real time during the traveling process of the vehicle, so that personnel, equipment or special substances in the vehicle are always in a relatively stable balanced state.

In life, people often feel carsickness, seasickness, jolts and vibrations due to poor road conditions, large wind and waves and other factors when riding vehicles such as automobiles, ships, yachts and the like, and can cause uncomfortable reactions such as vomiting and the like in serious cases. In the case of transporting special equipment or materials using vehicles such as automobiles and ships, the equipment may be damaged or the materials may be deteriorated due to shaking or vibration. In order to solve the problems, most of the prior measures adopt a passive damping mode, and particularly, a vehicle seat or a ship seat usually adopts a passive damping spring for vibration damping, a layer of passive damping cushion is installed when special equipment or substances are transported, and the like.

For example, the invention patent with the application number of CN201811151776.8 discloses a robot chassis and a robot, and particularly discloses that when the robot runs, the robot is converted into the up-and-down movement of the chassis through a balance swing rod under the condition that the pitch angle is larger due to the sudden change of speed, thereby ensuring the stable running of the robot. The balance on one degree of freedom is realized by adopting a purely mechanical mode, a passive vibration damping mode is still adopted in the aspect of vibration damping, vibration damping effect is realized on high-frequency low-amplitude vibration, but no effect is realized on extremely low-frequency high-amplitude vibration, and the balance problem of up-down, pitching and rolling swing under complex road conditions can not be solved. At present, vehicles with active suspensions are used as land vehicles, ships with anti-rolling function are used as water vehicles, but the anti-rolling effect of the vehicles is limited, the vehicles do not have self-balancing function, and the vehicles are expensive. Particularly, in medical rescue vehicles, vibration and shaking of the vehicles have great influence on wounded and sick people, blood and special medicines, and researches show that inertial motion of sudden stop and the like of the vehicles can obviously influence the blood pressure of the wounded and the distribution of the blood in human bodies, and the serious condition of the wounded and the like can cause life safety problems.

Therefore, how to improve the technical defects in the prior art is always a problem to be solved by those skilled in the art.

Disclosure of Invention

The invention aims to provide a self-balancing vibration reduction system installed on carrying equipment, wherein a control module can synchronously control a first rotating assembly and a second rotating assembly to operate according to motion data acquired by a sensing module so as to realize the control of the freedom degree of motion of a bearing module along two directions of rolling and pitching, namely, acting forces in opposite inclination directions of the bearing module are provided, so that the bearing module is kept stable.

The technical scheme provided by the invention is as follows:

a self-balancing vibration reduction system for mounting to a vehicle, comprising:

the device comprises an active vibration reduction module, a control module, a sensing module and a bearing module;

the sensing module is arranged in the accommodating space of the carrying equipment and used for acquiring the motion data of the carrying equipment;

the active vibration reduction module comprises a first rotating assembly and a second rotating assembly, the first rotating assembly is installed in the accommodating space, and the second rotating assembly is installed at the driving end of the first rotating assembly and used for being in butt joint with the bearing module;

the control module synchronously controls the first rotating assembly and the second rotating assembly to operate according to the motion data so as to provide acting force in opposite inclination directions of the bearing module; when the first rotating assembly drives the bearing module to roll, the second rotating assembly drives the bearing module to pitch; or when the first rotating assembly drives the bearing module to do pitching motion, the second rotating assembly drives the bearing module to do rolling motion.

In some embodiments, further comprising:

the supporting module is positioned below the bearing module;

the first rotating assembly and the sensing module are both mounted to the support module.

In some embodiments, further comprising:

a passive vibration damping module mounted to the support module;

the first rotating assembly, the second rotating assembly and the passive vibration reduction module are arranged in series.

In some embodiments, the passive vibration attenuation module is a spring damper.

In some embodiments, the first rotating assembly includes a first motor, a first flange mount, and a revolute pair support;

the first motor and the revolute pair support are arranged on the support module, one end of the first flange seat is arranged at the driving end of the first motor, and the other end of the first flange seat is hinged to the revolute pair support;

the second rotating assembly comprises a second motor and a second flange seat;

the second motor is arranged on the first flange seat, and the second flange seat is arranged at the driving end of the second motor and is used for butting the bearing module;

wherein, the axis of rotation of first motor and the axis of rotation of second motor set up perpendicularly.

In some embodiments, the first flange seat is provided with a limiting block, and the second flange seat is provided with an anti-collision block;

in the process of rotating the first flange seat and the second flange seat, the limiting block is in abutting fit with the anti-collision block and used for limiting the continuous rotation of the first flange seat and the second flange seat.

In some embodiments, the receiving module is a first platform and the support module is a second platform;

the sensing module is arranged at one end, facing the first platform, of the second platform; and

the passive vibration reduction module is arranged at one end, back to the first platform, of the second platform.

In some embodiments, the receiving module is a first platform and the support module comprises a second platform and a third platform;

the second platform is located between the first platform and the third platform;

the sensing module is arranged at one end of the third platform facing to the second platform; and

the passive damping module is mounted between the second platform and the third platform.

In some embodiments, a guide bar is disposed at each of four corners of the third platform;

the second platform is provided with a sliding hole corresponding to the four guide rods;

and the four guide rods are connected with the four sliding holes in a one-to-one sliding mode, so that the distance between the second platform and the third platform can be adjusted under the action of the passive vibration damping module.

In some embodiments, the active damping module further comprises two linear drive assemblies;

the two linear driving assemblies are symmetrically arranged at two opposite sides of the supporting module and are arranged in parallel with the passive vibration reduction module;

the linear driving assembly comprises an electric push rod and a spherical hinge joint;

the electric push rod comprises a driving body and a telescopic rod which is connected with the driving body in a driving way;

the two driving bodies are symmetrically arranged on two opposite sides of the third platform; and

a spherical hinge support is arranged at the position of the second platform corresponding to the two telescopic rods;

the spherical hinge joint is arranged at the free end of the telescopic rod and is in butt joint with the spherical hinge support.

The invention has the technical effects that:

in this patent, sensing module installs in the accommodation space of delivery equipment to be used for acquireing the motion data of delivery equipment, control module can be according to the motion data synchro control first runner assembly and the operation of second runner assembly that sensing module acquireed, in order to realize accepting the control of module along two direction motion degrees of freedom of roll and every single move, also provide the effort of accepting module slope opposite direction promptly, make and accept the module and keep steadily, thereby reach the damping effect of self-balancing.

Drawings

The invention is described in further detail below with reference to the following figures and detailed description:

FIG. 1 is a schematic structural diagram of a self-balancing vibration damping system according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of the self-balancing damping system of FIG. 1 in another state;

FIG. 3 is a schematic view of the self-balancing damping system of FIG. 1 in yet another state;

FIG. 4 is an enlarged view of the partial area A shown in FIG. 3;

FIG. 5 is a schematic view of the self-balancing damping system of FIG. 1 in yet another state;

FIG. 6 is a schematic view of the self-balancing damping system of FIG. 1 in yet another state;

FIG. 7 is a diagram of a dynamic model of the self-balancing vibration damping system shown in FIG. 1;

FIG. 8 is a schematic structural diagram of a self-balancing vibration damping system provided by the present patent in another embodiment;

FIG. 9 is a schematic view of the self-balancing damping system of FIG. 8 in another state;

FIG. 10 is a schematic view of the self-balancing damping system of FIG. 8 in yet another state;

FIG. 11 is a schematic view of the self-balancing damping system of FIG. 8 in yet another state;

FIG. 12 is a diagram of a dynamic model of the self-balancing vibration damping system shown in FIG. 8;

FIG. 13 is a schematic structural diagram of a self-balancing vibration damping system provided by the present patent in yet another embodiment;

fig. 14 is a dynamic model diagram of the self-balancing vibration damping system shown in fig. 13.

The reference numbers illustrate:

an active damping module 100; a first rotating assembly 110; a first electric motor 111; a first flange seat 112; a stop block 1121; a first flange 1122; a second flange 1123; a mounting plate 1124; a revolute pair support 113; a second rotating assembly 120; a second motor 121; a second flange seat 122; an impact prevention block 1221; a linear drive assembly 130; an electric push rod 131; a drive body 1311; an expansion link 1312; a ball joint 132; a ball hinge support 133; a passive damping module 200; a top support 210; a sensing module 300; a first platform 410; a second platform 420; a third stage 430; a guide bar 510; a stopper 520.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

For the sake of simplicity, only the parts relevant to the invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

According to an embodiment of the present invention, as shown in fig. 1 to 13, a self-balancing vibration damping system mounted on a vehicle may specifically include an active vibration damping module 100, a control module, a sensing module 300, and a receiving module. The sensing module 300 is installed in the accommodating space of the carrier device to acquire the motion data of the carrier device. Active damping module 100 includes a first rotating assembly 110 and a second rotating assembly 120. The first rotating member 110 is installed in the accommodating space, and the second rotating member 120 is installed at the driving end of the first rotating member 110 for abutting against the receiving module. The control module synchronously controls the first rotating assembly 110 and the second rotating assembly 120 to operate according to the motion data so as to provide the acting force opposite to the inclination direction of the bearing module. When the first rotating assembly 110 drives the bearing module to perform a roll motion, the second rotating assembly 120 drives the bearing module to perform a pitch motion. Or when the first rotating assembly 110 drives the receiving module to perform a pitching motion, the second rotating assembly 120 drives the receiving module to perform a rolling motion.

In this embodiment, the sensing module 300 is installed in the accommodating space of the carrying device to obtain the motion data of the carrying device, and the control module can synchronously control the first rotating assembly 110 and the second rotating assembly 120 to operate according to the motion data obtained by the sensing module, so as to control the freedom degree of the movement of the carrying module along the rolling direction and the pitching direction, that is, provide the acting force opposite to the tilting direction of the carrying module, so that the carrying module is kept stable, and thus the self-balancing vibration reduction effect is achieved. The motion data of the vehicle may specifically include attitude data such as vehicle speed, displacement, and acceleration, and may further include vibration data such as inclination angle deviation, without any limitation.

It should be noted that, in this embodiment, the carrying device may be any vehicle such as a vehicle, a ship, or a yacht, and the self-balancing vibration damping system provided in this embodiment may be applied to any vehicle, which is not limited herein. Of course, in order to clearly and specifically explain the technical solution, the carrying device provided by the present invention is specifically explained by taking a vehicle as an example.

The vehicle may specifically include wheel sets, a chassis, a suspension system, and the like. The wheel set may include four wheels, a cantilever for connecting the wheels, and other components, which are not described herein again. The suspension system is assembled to the wheel sets via the chassis. Further, a self-balancing vibration damping system is mounted on the suspension system for carrying, for example, a seat, a stretcher, a locker or any other device, without limitation thereto. The self-balancing vibration reduction system can be used for relieving the vibration of the equipment caused by the action of external force, so that the equipment can automatically keep a stable state. It is worth mentioning that the self-balancing vibration damping system can be directly or indirectly installed on the suspension system, for example, a carriage can be installed on the suspension system, the inner space of the carriage is also the accommodating space stated in the patent, the self-balancing vibration damping system can be installed on the bottom wall inside the carriage, the patent does not limit the specific installation position, and the self-balancing vibration damping system can be flexibly arranged according to the actual use requirement.

Further, in the present embodiment, the self-balancing vibration damping system may further include a support module and a passive vibration damping module 200. Specifically, the supporting module is located below the receiving module, and the first rotating assembly 110 and the sensing module 300 are both mounted to the supporting module. The passive vibration damping module 200 is mounted on the support module, and the first rotating assembly 110, the second rotating assembly 120 and the passive vibration damping module 200 are arranged in series.

Specifically, when the vehicle is subjected to external force, such as pitching motion, rolling motion, inertia motion, etc., the suspension system of the vehicle can buffer high-frequency vibration of the chassis portion of the vehicle, the support module is mounted on the suspension system, the low-frequency vibration and part of the un-buffered high-frequency vibration can be transmitted to the support module through the suspension system, and the passive vibration damping module 200 mounted on the support module can effectively relieve part of the remaining high-frequency vibration. Further, the sensing module 300 may collect motion data of the supporting module in real time, that is, motion data of the vehicle, and actively control the first rotating component 110 and the second rotating component 120 of the active vibration damping module 100 to operate according to the motion data, the first rotating component 110 and the second rotating component 120 are engaged to assist in matching, so as to control the freedom of movement of the receiving module in both the roll direction and the pitch direction, that is, provide an acting force of the receiving module in opposite tilt directions with respect to the supporting module, and the two forces cancel each other out, so that the receiving module may not change in posture synchronously with the supporting module, and may be ensured to be kept in a stable state all the time, and thus, tools such as a seat, a storage box, a stretcher and the like installed on the receiving module may be kept stable all the time. This patent can form a self-balancing damping system through assembling initiative damping module 100 and passive damping module 200 in accepting the module and/or supporting the module, can make the carrying equipment all can carry out effective damping in the environment of high frequency low amplitude and low frequency high amplitude to reach the damping effect of self-balancing, make the carrying equipment remain the even running state all the time.

In this embodiment, referring to fig. 1 to 7, the receiving module may be a first platform 410, and the supporting module may include a second platform 420 and a third platform 430. The second platform 420 is located between the first platform 410 and the third platform 430. The sensing module 300 is mounted to an end of the third platform 430 facing the second platform 420, and the passive damping module 200 is mounted between the second platform 420 and the third platform 430.

It should be noted that, when the first platform 410, the second platform 420 and the third platform 430 are in the initial balance state, two of them are disposed in parallel. When the vehicle runs on an uneven road surface to cause the chassis and the suspension system to shake, the inclination range between the active damping module 100 and the passive damping module 200 can be adjusted under the engagement and matching of the three, so that tools such as a seat, a storage box and a stretcher which are installed on the first platform 410 can be kept stable all the time.

It should be noted that in the present embodiment, referring to fig. 1 to 7, the third platform 430 may be mounted on the suspension system. Further, based on the characteristics of the spring damper, such as wide load range, low natural frequency, good vibration isolation effect, compact structure, small overall size, convenience in installation, long service life, and strong adaptability to the working environment, the spring damper can be preferentially selected as the passive vibration damping module 200. Of course, the passive vibration damping module 200 may also be any other spring damping member, and is not limited herein, and the specific number of the spring dampers is not limited, and may be flexibly set according to the actual use requirement. When the spring damper is installed between the second platform 420 and the third platform 430, the remaining high-frequency low-amplitude vibration of the part which is not relieved by the suspension system can be effectively relieved, and thus the stability of the equipment such as the seat and the like can be effectively improved. .

Referring to fig. 1, one end of the spring damper is fixed to the third platform 430, and the second platform 420 is provided with a top support 210 corresponding to the spring damper, for fixing one end of the spring damper facing the second platform 420, so that the structural stability of the spring damper in use can be improved, and the vibration damping performance of the spring damper can be improved. Preferably, the top support 210 may be disposed at an end of the second platform 420 opposite to the third platform 430, a through hole may be formed at a position of the second platform 420 corresponding to the top support 210, and the spring damper may be fixed to the top support 210 through the through hole, such that the contact range between the spring damper and the second platform 420 may be expanded, but is not limited thereto, and any configuration is within the scope of the present patent.

In this embodiment, referring to fig. 1, the first rotating assembly 110 and the second rotating assembly 120 are both installed between the first platform 410 and the second platform 420 to adjust the inclination of the first platform 410 relative to the second platform 420, so that the first platform 410 is kept stable. The first rotating assembly 110 and the second rotating assembly 120 are active vibration damping formed under the control of the sensing module 300, and are arranged in series, so that the first rotating assembly and the second rotating assembly can be used for effectively damping low-frequency and high-amplitude vibration. Further, the first rotation assembly 110 and the second rotation assembly 120 are connected in series with a spring damper, and are used together for damping vibration of a device such as a seat. That is to say, the first rotating assembly 110, the second rotating assembly 120, the spring damper and the suspension system of the vehicle provided in this embodiment form a self-balancing vibration damping mode based on passive-active-passive vibration damping-self-balancing, so that the stability and comfort of the vehicle during the driving process are greatly improved.

In this embodiment, the control module is connected to the sensing module 300, the first rotating element 110 and the second rotating element 120 by signals and/or electrically. Specifically, referring to fig. 1 to 3, the first rotating assembly 110 may include a first motor 111, a first flange seat 112, and a revolute pair bracket 113. The first motor 111 and the revolute pair bracket 113 may be mounted on the support module, i.e., the second platform 420 of the embodiment, by any fixing method, which is not limited herein. One end of the first flange base 112 is mounted at the driving end of the first motor 111, and the other end thereof is hinged to the revolute pair bracket 113. Preferably, the first flange base 112 includes a first flange 1122, a second flange 1123, and a mounting plate 1124. The first flange 1122 is mounted at the drive end of the motor, the second flange 1123 is hinged to the revolute pair support 113, and the mounting plate 1124 is configured to abut the first flange 1122 against the second flange 1123. Thus, the first motor 111 operates to drive the mounting plate 1124 to rotate, and the revolute pair bracket 113 can make the mounting plate 1124 rotate more stably.

Further, the second rotating assembly 120 may include a second motor 121 and a second flange seat 122. The second motor 121 is mounted on the mounting plate 1124 of the first flange base 112, and the second flange base 122 is mounted at the driving end of the second motor 121 for abutting against the receiving module, i.e., the first platform 410. As shown in fig. 5 and 6, after the sensing module 300 obtains the motion data of the third platform 430, the control module can control the first motor 111 to drive the first platform 410 to perform a rolling motion along the left-right direction D-D and control the second motor 121 to drive the first platform 410 to perform a pitching motion along the front-back direction B-B according to the motion data. Alternatively, it is within the scope of the present disclosure that the first motor 111 may drive the first platform 410 to pitch in the fore-aft direction B-B, and the second motor 121 may drive the first platform 410 to roll in the left-right direction D-D. In this way, the inclination amplitude of the first platform 410 in any direction can be effectively adjusted, so that the first platform can be kept stable all the time.

It should be noted that, in the present embodiment, the first motor 111 and the second motor 121 may include, but are not limited to, a simple forward/reverse motor, and may further include a combination of a forward/reverse motor and a speed reducer. Still alternatively, in the present embodiment, the configurations of the first rotating assembly 110 and the second rotating assembly 120 are not limited to this, and it may also be any other driving component for providing rotation, and the specific configurations thereof may be arbitrarily set according to the actual use requirement, and this patent does not set any limitation to this.

It should be more worth mentioning that, in this embodiment, the first rotating assembly 110 rotates through driving the second rotating assembly 120, and then drives and accepts the module and move, and the second rotating assembly 120 can drive alone and accept the module and move, so, accept the module and in the course of carrying out the roll motion, it still can carry out pitching motion in step, so can make no matter accept the module and incline towards which direction, first rotating assembly 110 and second rotating assembly 120 homoenergetic can provide its inclination direction opposite effort, can improve the balanced effect of accepting the module greatly.

Further, in the present embodiment, referring to fig. 2 and 3, the second flange seat 122 may have an isosceles triangular block-shaped configuration, the inclined surface of which may be used for abutting against the first platform 410, and two symmetrical surfaces of which may be used for following the synchronous swing of the second motor 121. Because the rotation directions of the first flange seat 112 and the second flange seat 122 are perpendicular to each other, in order to protect the rotation stroke between the first flange seat 112 and the second flange seat 122 and ensure that no interference occurs between the first flange seat and the second flange seat, referring to fig. 4, the first flange seat 112 is provided with a limiting block 1121, the second flange seat 122 is correspondingly provided with an anti-collision block 1221, and in the rotation process of the first flange seat 112 and the second flange seat 122, the limiting block 1121 and the anti-collision block 1221 are in abutting fit for limiting the continuous rotation of the first flange seat 112 and the second flange seat 122. For example, the limiting block 1121 may be a triangular block-shaped structure, the impact-proof block 1221 may be a square block-shaped structure, and the inclined surface of the limiting block 1121 is used to be in contact with the impact-proof block 1221, and the specific structures of the limiting block 1121 and the impact-proof block 1221 may not be limited in this embodiment, and any structure capable of realizing stroke protection is within the protection scope of this patent.

Further, in this embodiment, with continued reference to fig. 1, the active damping module 100 may further include two linear drive assemblies 130. Specifically, the two linear driving assemblies 130 may be symmetrically disposed at two opposite sides of the support module, and are disposed in parallel with the passive damping module 200, i.e., the spring damper. Each linear driving assembly 130 may include an electric push rod 131 and a ball joint 132. The electric putter 131 includes a driving body 1311 electrically connected to the control module and/or a telescopic rod 1312 connected to the driving body 1311. The two driving bodies 1311 are symmetrically disposed at opposite sides of the third stage 430. The second platform 420 is provided with a ball joint support 133 corresponding to the two telescopic rods 1312, and the ball joint 132 is provided at the free end of the telescopic rod 1312 and is abutted against the ball joint support 133. Preferably, the two spherical hinge supports 133 are both mounted at one end of the second platform 420 opposite to the first platform 410 and located at opposite sides of the second platform 420, and the second platform 420 is hollowed out at a position corresponding to the spherical hinge supports 133 so as to allow the telescopic rod 1312 to pass through.

In this embodiment, under the control of the control module, the two linear driving assemblies 130 can be used to effectively damp the vibration of the equipment such as the seat in the environment with low frequency and high amplitude, and act between the second platform 420 and the third platform 430, so that the two linear driving assemblies can be connected in parallel with the spring damper and jointly used to damp the vibration of the equipment such as the seat.

Further, in this embodiment, referring to fig. 1 and 5, a guide rod 510 is further disposed at four corners of the third platform 430, and a sliding hole is disposed at a position of the second platform 420 corresponding to the four guide rods 510. The four guide bars 510 are slidably coupled to the four slide holes one by one to adjust a distance of the second platform 420 in the up-down direction C-C by the passive vibration damping module 200, i.e., the spring damper. Further, in order to prevent the second platform 420 from being separated from the end of the guide rods 510 during the up-and-down movement, a limiting portion 520 may be disposed at the free end of each guide rod 510, and the limiting portion 520 may be in abutting engagement with the sliding hole to limit the separation of the second platform 420 from the free end of the guide rod 510, so that the second platform 420 can move smoothly.

It should be noted that the electric push rod 131 is used for pushing the second platform 420 to move up and down along the guide rod 510, and can assist the spring damper to perform active and passive vibration reduction together, so as to improve the vibration reduction effect. In this embodiment, by providing the spherical hinge joint 132, the phenomenon of jamming of the second platform 420 during the up-and-down movement can be effectively prevented, and the movement flexibility of the second platform 420 is improved.

In this embodiment, referring to fig. 1 to 7, a specific process for achieving a state of balance of equipment such as a seat in a vehicle interior may include:

when the vehicle travels on an uneven road surface, the vehicle undergoes, for example, pitching motion in the front-rear direction B-B, rolling motion in the left-right direction D-D, and longitudinal motion in the up-down direction C-C, etc., due to the external force, as shown in fig. 5 and 6.

Further, the vehicle's own suspension system dampens high frequency vibrations of the vehicle chassis portion.

Further, the third stage 430 is mounted on the suspension system, low frequency vibrations and a portion of the undamped high frequency vibrations are transmitted to the third stage 430 through the suspension system, and the spring damper and the linear drive assembly 130 mounted between the second stage 420 and the third stage 430 are used together to dampen a portion of the remaining high frequency vibrations and the low frequency up and down vibrations.

Further, after the third platform 430 is vibrated, the sensing module 300 measures the motion data such as the attitude angle deviation and the acceleration variation of the third platform 430 relative to the equilibrium state, and transmits the motion data to the control module in real time, in order for the first platform 410 to be always in balance, that is, the posture of the first platform 410 does not change with the change of the postures of the second platform 420 and the third platform 430, the control module may calculate parameters such as speed, displacement, acceleration, etc. that the first rotating module 110, the second rotating module 120, and the linear driving module 130 need to output in order to keep the first platform 410 balanced based on the active and passive vibration damping self-balancing algorithm of the series-parallel robot, the first rotating module 110, the second rotating module 120, and the linear driving module 130 perform corresponding operations according to the instruction of the control module, thereby realizing self-balancing of the first platform 410, isolation of low-frequency high-amplitude vibration and attitude compensation. Because the linear driving assembly 130 is connected with the spring damper in parallel, and the first rotating assembly 110, the second rotating assembly 120 and the linear driving assembly 130 are connected in series, when the first rotating assembly 110, the second rotating assembly 120 and the linear driving assembly 130 synchronously execute actions, the high-frequency and low-amplitude vibration can be isolated through an active and passive vibration reduction algorithm.

It should be specifically stated that the attitude compensation of the first platform 410 with respect to the second platform 420 and the third platform 430 means that the third platform 430 moves along with the suspension system, and the second platform 420 moves correspondingly with the third platform 430, when the vehicle chassis tilts back and forth, rolls left and right, and moves up and down in a relatively balanced and stable state due to vibration, jolt, and the like, under the action of the self-balancing vibration damping system, the first platform 410 can always maintain a balanced state, and effectively isolate the low-frequency high-amplitude vibration and the high-frequency low-amplitude vibration, so as to achieve a self-balancing vibration damping effect, and enable the carrying equipment to always maintain a stable running state.

The embodiment can be suitable for scenes with poor road conditions, but the construction of general urban roads is more perfect, the road conditions are better, the problem of inertial motion caused by sudden braking, sharp turning, quick starting, quick stopping and the like is mainly solved in the driving process of a vehicle, and for the situation, as shown in fig. 8 to 12, the invention also provides a two-degree-of-freedom self-balancing vibration damping system in another embodiment, high-frequency vibration can be isolated through a suspension system of the vehicle, and referring to fig. 10 and 11, the self-balancing vibration damping system only needs to solve pitching motion along the front-back direction B-B and rolling motion along the left-right direction D-D caused by the inertial motion, and the stability of personnel, seats and other equipment or other substances in the vehicle can be ensured.

Specifically, compared to the above embodiments, the present embodiment retains the first platform 410 and the second platform 420, the first rotating assembly 110 and the second rotating assembly 120 in the above embodiments, and removes the third platform 430, the passive vibration damping module 200 and the linear driving assembly 130, so that the structure is simplified, the cost can be saved, and the present embodiment can be widely applied to road conditions with relatively perfect urban road construction. Referring to fig. 8, the structure and the operation principle of the first rotating assembly 110 and the second rotating assembly 120 are the same as those of the above embodiments, and specific reference may be made to the description of relevant parts of the above embodiments, which is not repeated herein.

Of course, some types of vehicles have large high-frequency vibration on the chassis due to poor performance of a suspension system or large vibration of an engine of the vehicle, and even though the vehicles run on urban road with good road conditions, the chassis of the vehicles has obvious vibration feeling. To cope with this, referring to fig. 13 and 14, the present invention further provides a self-balancing vibration damping system in another embodiment, based on the two-degree-of-freedom self-balancing vibration damping system, wherein the passive vibration damping module 200 is mounted at an end of the second platform 420 opposite to the first platform 410, and the passive vibration damping module 200 is mounted at the bottom of the vehicle cabin above the suspension system of the vehicle, so as to effectively damp high-frequency vibration.

Referring to fig. 13 and 14, the passive vibration damping module 200 may also adopt the technical solution of the spring damper in the above embodiment, and of course, the passive vibration damping module 200 may also be any other spring damping member, including but not limited to any passive vibration damping member such as an air spring, a steel wire rope vibration damping spring, and a rubber pad, and is within the protection scope of this patent.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.

Claims

1. A self-balancing vibration reduction system for mounting to a carrier apparatus, comprising:

2. The self-balancing vibration reduction system mounted to a vehicle of claim 1, further comprising:

the supporting module is positioned below the bearing module;

3. The self-balancing vibration reduction system mounted to a vehicle of claim 2, further comprising:

a passive vibration damping module mounted to the support module;

4. The self-balancing vibration reduction system for a vehicle as claimed in claim 3,

the passive vibration reduction module is a spring damper.

5. The self-balancing vibration reduction system for a vehicle according to any one of claims 2 to 4,

the first rotating assembly comprises a first motor, a first flange seat and a revolute pair support;

the second rotating assembly comprises a second motor and a second flange seat;

6. The self-balancing vibration reduction system for a vehicle according to claim 5,

the first flange seat is provided with a limiting block, and the second flange seat is provided with an anti-collision block;

7. The self-balancing vibration reduction system mounted to a vehicle according to claim 3 or 4,

the bearing module is a first platform, and the supporting module is a second platform;

8. The self-balancing vibration reduction system mounted to a vehicle according to claim 3 or 4,

the supporting module comprises a first platform and a second platform;

9. The self-balancing vibration reduction system for a vehicle as claimed in claim 8,

a guide rod is arranged at the four corners of the third platform;

10. The self-balancing vibration reduction system for a vehicle as claimed in claim 8,

the active vibration reduction module also comprises two linear driving components;