TW201321623A - Pneumatic vibration damping apparatus - Google Patents

Pneumatic vibration damping apparatus Download PDF

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TW201321623A
TW201321623A TW101127079A TW101127079A TW201321623A TW 201321623 A TW201321623 A TW 201321623A TW 101127079 A TW101127079 A TW 101127079A TW 101127079 A TW101127079 A TW 101127079A TW 201321623 A TW201321623 A TW 201321623A
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air
struts
pressure
piston
payload
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TW101127079A
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Benjamim David Polzer
Gordon Fox West
Peter Whyle Walker
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Vale Sa
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/023—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 fluid means
    • F16F15/0232—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 fluid means with at least one gas spring

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

A pneumatic vibration isolating suspension is disclosed for supporting a payload on a moving carrier while suppressing the transmission of vibrations in the 1 to 50 Hz band between the carrier and the payload. The disclosed invention can be deployed in the air in a towed carrier or sonde, and operated from aircraft power, making it a suitable platform for airborne geophysical instrumentation. It also has particular application to airborne electromagnetic surveying operating in the same frequency band because the sensor vibrations that result in noise created by the modulation of the sensor coupling with the earth's magnetic field are suppressed. Furthermore, the invention can be constructed from resistive composite materials and non-magnetic metals, so it can be operated without producing significant modification to the ambient electromagnetic field being measured.

Description

氣動震動阻尼裝置 Pneumatic vibration damping device

本發明之態樣大體上係關於懸吊系統，且係關於用於減小在一特定頻寬下自一載具至一有效負載之運動傳輸或減小一固定載具由於其震動有效負載而在一特定頻寬下之震動之方法。更特定言之，本發明之態樣可設置在一移動載具上，該移動載具由於其運動而經受加速度變動，其中抑止該有效負載在一選定頻率頻帶下經歷之變動。 Aspects of the present invention generally relate to suspension systems and are related to reducing motion transmission from a carrier to a payload at a particular bandwidth or reducing a stationary carrier due to its vibration payload. A method of vibration at a particular bandwidth. More specifically, aspects of the invention may be provided on a mobile carrier that undergoes acceleration variations due to its motion, wherein the payload is inhibited from undergoing variations in a selected frequency band.

此申請案主張Polzer等人在2011年7月26日申請之名為「Pneumatic Vibration Damping Apparatus」之美國臨時申請案第61/511,809號之優先權，且係Polzer等人在2010年1月15日申請之名為「Stabilization System for Sensors on Moving Platforms」之美國專利申請案第12/688,565號之一部分連續申請案，該等案皆讓渡給其受讓人且皆以引用方式併入本文。 The priority of U.S. Provisional Application No. 61/511,809, filed on Jul. 26, 2011, to the name of P. One of the consecutive applications of U.S. Patent Application Serial No. 12/688,565, the entire disclosure of which is incorporated herein by reference.

減輕運動靈敏裝置上之非所要震動係存在豐富資訊之一主題。在許多情況中，此等器件之目的係為使一感測器或感測裝置與將增加噪音或使一量測變形之運動隔離。此等運動隔離器件(目的係為抑止震動在一有效負載與一支撐載具之間傳輸)通常使用震動吸收材料、涉及彈簧及阻尼器之機械隔離或其中採用勞倫茲力(Lorentz force)之氣動組件及磁浮效應。許多此等系統採用主動回饋及被動回饋之一組合以調整系統之有效質量、阻尼及硬度以最佳化該 隔離，以適合載具之運動類型及所運輸之有效負載之質量。先前技術之一相當大的部分考慮感測器與上面安裝感測器之載具之震動之隔離。 One of the richest themes of reducing the unwanted vibrations on motion sensitive devices. In many cases, the purpose of such devices is to isolate a sensor or sensing device from motion that would increase noise or deform a measurement. Such motion isolation devices (intended to suppress vibration transmission between a payload and a support carrier) typically use shock absorbing materials, mechanical isolation involving springs and dampers, or Lorentz force therein. Pneumatic components and magnetic floatation effects. Many of these systems use a combination of active feedback and passive feedback to adjust the effective mass, damping and stiffness of the system to optimize this Isolation to suit the type of motion of the vehicle and the quality of the payload being transported. A substantial portion of the prior art considers the isolation of the sensor from the vibration of the carrier on which the sensor is mounted.

為瞭解藉由本發明之態樣解決之問題，圖1中給定一運動隔離在一維中之一實例。一運動隔離機構之目的係為最小化由透過運動隔離裝置自藉由位於xp處之一載具平台賦予之一力fp轉移之力fm作用在一質量m上之位移xm。遵循Whorton等人(Damping mechanisms for microgravity vibration isolation,MSFC Centre Director's Discretionary Fund Final Report,Project NO.94-07,NASA/TM-1998-206953)，若此力透過具有常數k及阻尼d之一彈簧轉移至該質量，則：m d2xm/dt2+d d(xm-xp)/dt+k(xm-xp)=fm+fp (1)在採取拉普拉氏轉換(Laplace Transform)時對無外力運動產生下列條件：m s2 xm(s)+d s(xm(s)-xp(s))+k(xm(s)-xp(s))=0 (2)且產生下列轉移函數：xm(s)/xp(s)=(2ζωs+ω2)/(s2+2ζωs+ω2) (3)其中系統之自然頻率ω由ω2=k/m定義且阻尼比ζ定義為ζ2=d2/4km。該阻尼比係實際阻尼d對達到藉由d2=4km給定之臨界阻尼所需要的阻尼之比率。若該系統欲振盪，則該阻尼比必須小於1。 To understand the problem solved by the aspect of the present invention, an example of motion isolation in one dimension is given in FIG. The purpose of a motion isolation mechanism is to minimize the displacement x m acting on a mass m by the force f m imparted by the motion isolation device by a force f p imparted by one of the carrier platforms at x p . Follow the Damping mechanisms for microgravity vibration isolation (MSFC Centre Director's Discretionary Fund Final Report, Project NO. 94-07, NASA/TM-1998-206953) if the force is transmitted through a spring with constant k and damping d To this mass, then: md 2 x m /dt 2 + dd(x m -x p )/dt+k(x m -x p )=f m +f p (1) in taking Laplace conversion ( Laplace Transform) produces the following conditions for no external force motion: ms 2 x m (s) + ds(x m (s) - x p (s)) + k(x m (s) - x p (s)) = 0 (2) and produces the following transfer function: x m (s) / x p (s) = ( 2 ζ ωs + ω 2 ) / (s 2 + 2 ζ ωs + ω 2 ) (3) where the natural frequency ω of the system is ω 2 =k/m is defined and the damping ratio ζ is defined as ζ 2 =d 2 /4km. This damping ratio is the ratio of the actual damping d to the damping required to achieve the critical damping given by d 2 = 4 km. If the system is to oscillate, the damping ratio must be less than one.

此系統用作將載具位移轉移在阻尼自然頻率ωd以下之一低通濾波器，其中ω2 d=ω2(1-ζ2)。此一器件之一實例使用 於Gedex空載重力梯度計中，其中三個被動平移隔離平台使用彈簧，且阻尼器減小該梯度計在大於1 Hz之頻率下經歷之加速度。 This system is used as a low-pass filter that shifts the carrier displacement below the damping natural frequency ω d , where ω 2 d = ω 2 (1-ζ 2 ). An example of such a device is used in a Gedex no-load gravity gradiometer, where three passive translation isolation platforms use a spring and the damper reduces the acceleration experienced by the gradiometer at frequencies greater than 1 Hz.

震動隔離之特定其他方法增加質量m，以減小阻尼自然頻率。此等方法使用於結構設計中以控制建築物之搖擺，但不適用於在空載震動控制應用中使用，此係因為具有大質量之儀器及載具之操作變得過分昂貴。諸如美國專利第5,549,270號中之其他方法藉由機械構件降低有效彈簧常數k但卻限制行程。又其他方法對載具力使用加速度回饋以修改有效質量、使用速度回饋以修改阻尼，且使用位移回饋以修改有效彈簧常數。如此進行，方可按需要動態地修改阻尼及阻尼自然頻率。此等方法之實例係其中採用一力回饋傳感器之美國專利第6,196,514號及美國專利申請公開案第2002/0092350號。 A specific other method of vibration isolation increases the mass m to reduce the natural frequency of damping. These methods are used in structural design to control the sway of a building, but are not suitable for use in no-load vibration control applications because the operation of instruments and vehicles of great quality becomes excessively expensive. Other methods, such as in U.S. Patent No. 5,549,270, reduce the effective spring constant k by mechanical members but limit the stroke. Still other methods use acceleration feedback for the carrier force to modify the effective mass, use speed feedback to modify the damping, and use displacement feedback to modify the effective spring constant. This is done to dynamically modify the damping and damping natural frequencies as needed. Examples of such methods are U.S. Patent No. 6,196,514, which incorporates a force feedback sensor, and U.S. Patent Application Publication No. 2002/0092350.

在一地球物理量測之情況中，可透過若干途徑在行動載具中引入機械震動。例如，可藉由以下各者導致震動：機械組件不平衡移動、由於機械接頭彼此背向工作而引起的不均勻摩擦力、在一飛機或船之情況中由於風或波浪作用而引起的載具抖震、在一陸上載具之情況中載具跨不均勻地面之運動、電纜在風中或水中顫動，或在其中自一移動載具拖曳一載具之情況中之擺運動。因為與載具震動相關聯之力透過感測器之安裝點作用在該等感測器上，所以此等力可導致扭力施加於該感測器。此等扭力繼而可導致感測器相對於上面安裝感測器之行動載具而旋轉。此等旋轉 藉由該行動載具本身之旋轉而與賦予感測器之旋轉直接疊加。一般而言，載具震動導致感測器相對於上面安裝感測器之載具平移及旋轉。 In the case of a geophysical measurement, mechanical vibration can be introduced into the mobile vehicle in several ways. For example, vibration can be caused by: unbalanced movement of mechanical components, uneven friction caused by mechanical joints facing away from each other, vehicles caused by wind or waves in the case of an aircraft or ship Shaking, the movement of the carrier across the uneven ground in the case of a landborne vehicle, the cable vibrating in the wind or water, or the pendulum motion in the case where a carrier is towed from a moving vehicle. Because the force associated with the vibration of the vehicle acts on the sensors through the mounting points of the sensors, such forces can cause torque to be applied to the sensors. These torsional forces can in turn cause the sensor to rotate relative to the motion carrier on which the sensor is mounted. Such rotation The rotation of the sensor is directly superimposed by the rotation of the action carrier itself. In general, vehicle vibration causes the sensor to translate and rotate relative to the carrier on which the sensor is mounted.

震動可以若干方式引入噪音於感測器資料中。例如，機械震動可引入感測器形狀之小的幾何形狀變化、變更其對正偵測之數量之靈敏度。此一影響之一實例將係一電容性電極相對於另一者之運動導致電容之一變化、一線圈內之自運動改變其電感、兩個線圈之相對運動改變其等互感，及一透鏡相對於其焦平面之運動導致所偵測影像模糊。噪音亦可藉由相鄰物體之小運動引入一量測中，若該等相鄰物體導電，則小運動可引致渦流流動且因此取決於其解析度之一電磁特性而對一電磁量測或一品質之一量測增加噪音。震動亦可引入相鄰物體之位置之小的位移，該等位移可改變藉由感測器偵測之背景場，尤其係在一電磁量測之情況中物體導電、導磁或永久磁化或在質量足夠大時將對一重力量測增加噪音。 Vibration can introduce noise into the sensor data in several ways. For example, mechanical shock can introduce small geometric changes in the shape of the sensor, changing its sensitivity to the amount of positive detection. An example of such an effect would be that the movement of one capacitive electrode relative to the other causes a change in capacitance, the self-motion in a coil changes its inductance, the relative motion of the two coils changes their mutual inductance, and a lens is relatively Movement in its focal plane causes the detected image to be blurred. Noise can also be introduced into a measurement by small motions of adjacent objects. If the adjacent objects are conductive, small motions can cause eddy currents and therefore an electromagnetic measurement or an electromagnetic measurement depending on one of its resolutions. One quality measurement measures increase noise. The vibration can also introduce a small displacement of the position of the adjacent object, which can change the background field detected by the sensor, especially in the case of electromagnetic measurement, the object is conductive, magnetically or permanently magnetized or When the mass is large enough, it will increase the noise for a heavy force measurement.

若感測器在一大的背景靜場中旋轉，則噪音亦可引入於一向量分量之量測中。此等考慮尤其適用於電量測、磁量測、電磁量測及重力量測，其中地球之靜場遠大於場中通常測繪之變動。為減小感測器中藉由其等在地球之較大背景場中之旋轉而引起的運動引致噪音，該等感測器通常安裝在一感測器平台(「SP」)上，該感測器平台與運輸該感測器平台之行動載具機械隔離。此隔離具有兩個重要分量：一旋轉隔離，使得載具之旋轉自該SP去耦合；及與平 移加速度之隔離，注意若並未透過該SP之質量中心施加力，則平移加速度亦可耦合於旋轉或角加速度中。 If the sensor is rotated in a large background static field, noise can also be introduced into the measurement of a vector component. These considerations are particularly applicable to electrical, magnetic, electromagnetic, and heavy-force measurements, where the static field of the Earth is much larger than the usual mapping in the field. To reduce the motion-induced noise caused by the rotation of the sensor in its larger background field, the sensors are typically mounted on a sensor platform ("SP"). The detector platform is mechanically isolated from the mobile vehicle that transports the sensor platform. This isolation has two important components: a rotational isolation that causes the rotation of the carrier to decouple from the SP; The separation of the acceleration is noted. If the force is not applied through the mass center of the SP, the translational acceleration can also be coupled to the rotational or angular acceleration.

如先前論述，各種運動隔離技術已應用於載具與有效負載之數種組合。然而，在空載電磁量測之領域中，懸吊技術極大地受限於震動吸收材料之使用(包含鬆緊繩之系統)以提供彈簧常數及阻尼元件，諸如美國專利申請公開案第2003/0094952號、美國專利申請公開案第2003/0169045號及加拿大專利第2722457號。諸如所引用專利中使用之技術之技術有效地抑制較高頻率(25 Hz及以上)震動噪音，此震動噪音在空載電磁勘測產業中被稱為微音噪音。然而，在低於25 Hz之頻率下，震動引致噪音通常淹沒所量測之信號，提供一有效界限，在該有效界限之下極難以在低信號位準下獲取有意義的電磁資料。然而，介於1 Hz與25 Hz之間之頻帶亦係其中在可收集足夠低噪音之資料之情況下可更容易地觀察到諸如感應極化之若干重要現象之一頻帶。感應極化量測係用於診斷特定礦床存在及其他地質現象之一重要工具。將獲取頻帶限制在25 Hz及以上亦使得一些空載電磁系統無法看見許多高度導電的礦石，且可限制電磁系統之探測深度，尤其係在其中地面高度導電之區域之上。 As previously discussed, various motion isolation techniques have been applied to several combinations of vehicles and payloads. However, in the field of no-load electromagnetic measurements, suspension techniques are greatly limited by the use of shock absorbing materials (systems including bungee cords) to provide spring constants and damping elements, such as US Patent Application Publication No. 2003/0094952 No. US Patent Application Publication No. 2003/0169045 and Canadian Patent No. 2722457. Techniques such as those used in the cited patents effectively suppress higher frequency (25 Hz and above) vibration noise, which is known as microsonic noise in the no-load electromagnetic survey industry. However, at frequencies below 25 Hz, vibration-induced noise typically floods the measured signal, providing an effective limit below which it is extremely difficult to obtain meaningful electromagnetic data at low signal levels. However, the frequency band between 1 Hz and 25 Hz is one of the bands in which several important phenomena such as induced polarization can be more easily observed in the case where data with sufficiently low noise can be collected. Inductive polarization measurement is an important tool for diagnosing the existence of specific deposits and other geological phenomena. Limiting the acquisition band to 25 Hz and above also makes it impossible for some no-load electromagnetic systems to see many highly conductive ores and to limit the depth of detection of the electromagnetic system, especially over areas where the ground is highly conductive.

Turner等人(美國專利第6369573號)意識到減小一拖曳空載載具之旋轉以在地球場中作出SQUID磁力計量測之重要性。Turner使用嵌套球面、液體、擋板、彈簧與阻尼器之一組合，且主張減小一有效負載在大於20 Hz之資料獲取 頻帶中之旋轉運動。Henderson等人(美國專利第5117695號)使用內腔用一阻尼流體填充之同軸氣缸以及彈簧及阻尼器以保護諸如一加速度計之單軸器件，且期望用於太空船應用。 Turner et al. (U.S. Patent No. 6,369,573) recognizes the importance of reducing the rotation of a towed carrier to make SQUID magnetic measurements in the stadium. Turner uses a combination of nested spheres, liquids, baffles, springs, and dampers, and advocates reducing data acquisition for a payload at greater than 20 Hz. Rotational motion in the frequency band. Henderson et al. (U.S. Patent No. 5,117,695) uses a coaxial cylinder filled with a damping fluid and springs and dampers to protect a single axis device such as an accelerometer and is intended for spacecraft applications.

在空載地球物理之領域中，氣動運動隔離原則上主要透過使用(例如)空氣軸承使用於重力及重力梯度測量中。一高精度拖曳框架慣性平台及一重力計感測器用於其中修改並使用一空氣軸承陀螺儀以穩定系統之空載應用。然而，一般不能用可配置在一空載器件中之一基於氣動運動隔離系統來獲取空載地球物理資料。 In the field of no-load geophysics, aerodynamic motion isolation is used in principle primarily in gravity and gravity gradient measurements using, for example, air bearings. A high precision tow frame inertial platform and a gravimeter sensor are used in which the air bearing gyroscope is modified and used to stabilize the system's no-load application. However, it is generally not possible to acquire no-load geophysical data based on a pneumatic motion isolation system that can be configured in an empty device.

在一行動載具上進行低噪音、低頻電磁資料量測具有其他量測未曾呈現之挑戰。在空載操作中，此等挑戰需要使電磁感測器遠離飛機以限制機械噪音或電噪音，該機械噪音或電噪音可來自飛機結構透過地球磁場、飛機動力、飛機結構內之感應或藉由電磁傳輸及飛機推進系統之運動。一種解決飛機噪音問題之常見方法係在一封閉載具中安裝接收裝置，該封閉載具拖曳在一直升機或固定翼飛機下方與其相距通常自30公尺至80公尺範圍變化之某一距離。因此，安裝在載具中之任何運動隔離裝置面臨可安全地配置並可靠地控制之重量及大小限制。在一電磁勘測之情況中，運動控制裝置亦必須為電磁平靜，對可如何建立並操作一震動隔離裝置加上額外約束。此等約束迄今為止阻止在1 Hz至25 Hz頻率頻帶下成功地例行獲取低振幅電磁資料。 Low-noise, low-frequency electromagnetic data measurements on a mobile vehicle have the challenge of not showing other measurements. In no-load operation, such challenges require moving the electromagnetic sensor away from the aircraft to limit mechanical or electrical noise from the aircraft's structure through the Earth's magnetic field, aircraft power, induction within the aircraft structure, or by Electromagnetic transmission and movement of the aircraft propulsion system. One common method of solving aircraft noise problems is to install a receiving device in a closed vehicle that is towed under a helicopter or fixed-wing aircraft at a distance generally ranging from 30 meters to 80 meters. Therefore, any motion isolation device installed in the vehicle faces weight and size limitations that can be safely configured and reliably controlled. In the case of an electromagnetic survey, the motion control device must also be electromagnetically calm, with additional constraints on how the vibration isolation device can be established and operated. These constraints have so far prevented the successful routine acquisition of low amplitude electromagnetic data in the frequency band from 1 Hz to 25 Hz.

在當前最先進技術中，當處理一重複信號時通常在一感測器量測中藉由堆疊或平均化減小噪音。堆疊或平均化實際上調和在一特定時間間隔內獲取之感測器輸出。若感測器安裝在一行動載具上，則該感測器可隨著其所附接之載具移動而位移。若位移量顯著，則藉由感測器量測之場可根據該感測器接近導致該場之現象而改變。結果係：一單一堆疊可以不同比例調和由於複數個原因散射之場，藉此限制空間解析度或解決來自彼此之各種原因之能力。配置在行動空載勘測載具上之地球物理勘測系統面臨此一影響之一實例。在此等情況中，在一直升機之情況中通常沿平行橫跨線以大約30公尺/秒之一速度作出量測或在一固定翼飛機之情況中以大約90公尺/秒之一速度作出量測。對於在1 Hz下獲取之一信號，感測器通常在一循環內可橫跨30公尺(直升機)或90公尺(固定翼)。若一堆疊欲包含10個循環，則併入一單一堆疊中之行程之限度在一直升機系統之情況中將為300公尺，且在一固定翼系統之情況中為900公尺。在此等情況中，可能難以解決一目標原因，諸如一礦床或與一礦床相關聯之結構，其中其等尺寸遠小於藉由一單一堆疊跨越之距離。額外困難可包含地形變動、過載及水飽和，在該堆疊中亦調和之場進一步使該堆疊內之目標原因之信號模糊。 In current state of the art technology, noise is typically reduced by stacking or averaging in a sensor measurement when processing a repetitive signal. Stacking or averaging actually reconciles the sensor output acquired during a particular time interval. If the sensor is mounted on a mobile vehicle, the sensor can be displaced as the carrier to which it is attached moves. If the amount of displacement is significant, the field measured by the sensor can be changed according to the phenomenon that the sensor approaches the field. The result is that a single stack can modulate the field of scattering for a number of reasons in different proportions, thereby limiting spatial resolution or the ability to resolve various causes from each other. An example of this effect is faced by a geophysical survey system configured on a mobile empty survey vehicle. In such cases, in the case of a helicopter, measurements are typically taken at a speed of about 30 meters per second along a parallel span or at a speed of about 90 meters per second in the case of a fixed-wing aircraft. Make measurements. For one of the signals acquired at 1 Hz, the sensor can typically span 30 meters (helicopter) or 90 meters (fixed wing) in one cycle. If a stack is to contain 10 cycles, the limit of the stroke incorporated into a single stack will be 300 meters in the case of a helicopter system and 900 meters in the case of a fixed wing system. In such cases, it may be difficult to resolve a target cause, such as a deposit or a structure associated with a deposit, where its dimensions are much smaller than the distance spanned by a single stack. Additional difficulties may include terrain variations, overloads, and water saturation, and the field that is also blended in the stack further blurs the signal of the target cause within the stack.

藉由如美國專利申請案第2008/0246484A1號、美國專利第7,157,914號或美國專利申請案第2003/0094952號之此等系統例證空載EM方法中最先進的方法。藉由此等系統中 之載具運動產生之噪音在25 Hz臨限值以下顯著增加，使該25 Hz關卡以下的高精度、低噪音電磁量測變得無法實施。由於地面內所關注之許多物體之電性質僅可在跨1 Hz至25 Hz之頻率頻帶中偵測，所以無法以採用最先進的震動阻尼構件之移動電磁勘測系統偵測到該等電性質。 The most advanced method of the no-load EM method is exemplified by such systems as U.S. Patent Application No. 2008/0246484 A1, U.S. Patent No. 7,157,914, or U.S. Patent Application Serial No. 2003/0094952. In such a system The noise generated by the motion of the vehicle is significantly increased below the 25 Hz threshold, making the high-precision, low-noise electromagnetic measurement below the 25 Hz level impossible. Since the electrical properties of many objects of interest in the ground can only be detected in frequency bands spanning 1 Hz to 25 Hz, such electrical properties cannot be detected by a mobile electromagnetic survey system employing state of the art vibration damping members.

本發明之態樣係關於實驗室裝備(諸如電子顯微鏡或重力波偵測器)與震動之隔離，該等震動可發生在其等所在之建築物或其他靜止結構中。其他態樣係關於微重力實驗與藉由大氣摩擦、機械組件及國際太空站之太空人運動引起之震動及干擾之隔離。其他態樣係關於基於太空之望遠鏡及干涉量測儀器與藉由諸如反應輪及大氣阻力之來源引入之震動之隔離。 Aspects of the invention relate to isolation of laboratory equipment (such as electron microscopes or gravity wave detectors) from vibrations that may occur in buildings or other stationary structures in which they are located. Other patterns relate to microgravity experiments and the isolation of vibrations and disturbances caused by atmospheric friction, mechanical components, and spacecraft movements on the International Space Station. Other aspects relate to the separation of space-based telescopes and interference measuring instruments from vibrations introduced by sources such as reaction wheels and atmospheric drag.

本發明之態樣包含一可調氣動隔離系統，其使可作為一感測器平台之一有效負載與載具之運動隔離。所揭示之氣動系統之一主要優點係：其可經調整以抑止週期低至1 Hz的運動且可安裝在一受限體積中，諸如可自一直升機拖曳之一載具上。因此，本發明具有優於空載電磁量測中當前採用之基於彈性體(彈簧及阻尼器)之方法(其運動阻尼之下限位於大約25 Hz處)之一優點。 Aspects of the invention include an adjustable pneumatic isolation system that isolates the payload from one of the sensor platforms from the motion of the carrier. One of the main advantages of the disclosed pneumatic system is that it can be adjusted to inhibit motion as low as 1 Hz and can be installed in a limited volume, such as one carrier that can be towed from a helicopter. Thus, the present invention has the advantage over elastomer (spring and damper) based methods currently employed in no-load electromagnetic measurements, the lower limit of which is located at approximately 25 Hz.

結果可允許一有效負載遵循一軌道，該軌道大部分獨立於載具在該頻率頻帶中之軌道。本發明能夠經調整以因應不同重量的負載且因此在不同頻率頻帶中提供可調震動隔離。因為本發明可由高度電阻組件、非磁性金屬及低噪音 致動器構造，所以本發明對周圍電磁場、空載電磁勘測中之一重要特性提供極少變形。 The result may allow a payload to follow a track that is largely independent of the orbit of the carrier in that frequency band. The present invention can be adjusted to provide varying shock isolation in response to different weight loads and thus in different frequency bands. Because the invention can be made of a high resistance component, a non-magnetic metal and low noise The actuator is constructed so that the present invention provides minimal distortion to one of the important characteristics of the surrounding electromagnetic field, no-load electromagnetic survey.

本發明之此等態樣之額外優點及新穎特徵可部分在接下來的描述中予以描述，且可部分在熟習此項技術者檢查下文之後或在藉由實踐本發明而學習之後更明白。 Additional advantages and novel features of the invention may be described in part in the description which follows.

將參考下列圖式詳細描述系統及方法之各種例示性態樣。 Various illustrative aspects of the systems and methods will be described in detail with reference to the following drawings.

根據本發明之各種態樣，一感測器平台(SP)或感測器載具可安裝在一總成或「吊籃」中，以使該載具之運動與該吊籃隔離。本發明之態樣可附加至具有一框架之一載具，該載具在大部分情況中可為剛性但亦可含有內部阻尼構件。在其中自一載具拖曳該載具之情況中，該框架被稱為一「拖曳框架」，但應瞭解術語「框架」及「拖曳框架」可交換使用，且兩者皆描述用於將本發明附接至該載具之構件。對於行動應用，該載具可為其中運輸本發明之態樣之載具。在靜止應用之情況中，該載具可為其中容置本發明之態樣之靜止結構。 In accordance with various aspects of the present invention, a sensor platform (SP) or sensor carrier can be mounted in an assembly or "hanging basket" to isolate the motion of the carrier from the basket. Aspects of the invention may be attached to a carrier having a frame that may be rigid in most cases but may also contain internal damping members. In the case where the carrier is towed from a carrier, the frame is referred to as a "drag frame", but it should be understood that the terms "frame" and "drag frame" are used interchangeably, and both are described for The invention is attached to the components of the carrier. For mobile applications, the carrier can be a carrier in which the aspects of the invention are transported. In the case of a stationary application, the carrier can be a stationary structure in which the aspect of the invention is accommodated.

本發明之態樣使用氣動支桿以由框架支撐吊籃。每一支桿之上端可附接至該框架，其中該框架剛性地固定至該載具。該等支桿之下端可支撐上面安裝有效負載之一吊籃。在各種態樣中，該吊籃可位於該框架之下。然而，熟習此項技術者可意識到該吊籃亦可藉由該等支桿支撐在該框架上方，或該吊籃可安裝在該框架內，其中該等支桿自上方 及下方支撐該框架之重量。 The aspect of the invention uses a pneumatic strut to support the gondola by the frame. The upper end of each of the rods can be attached to the frame, wherein the frame is rigidly secured to the carrier. The lower ends of the struts support one of the baskets on which the payload is mounted. In various aspects, the gondola can be located below the frame. However, those skilled in the art will recognize that the gondola can also be supported above the frame by the struts, or the cradle can be mounted within the frame, wherein the struts are from above And the weight of the frame supported below.

複數個氣動支桿可承受有效負載之重量(該有效負載係經運動隔離之器件或儀器)，並提供必要的阻尼及彈力以在一選定截止頻率以上使該有效負載之運動與載具之運動隔離。提供足夠的阻尼以減輕系統諧振附近之有害行為。 每一支桿可由容置一氣動活塞之一氣缸組成。該活塞可具有將該氣缸分為一上腔室及一下腔室之一頭部及延伸穿過該下腔室、透過外殼之底部處之一密封小孔離開該外殼之一軸件。活塞頭與氣缸壁之間之低摩擦密封阻止空氣在上腔室及下腔室中混合。活塞軸件延伸經過氣缸外殼並用一球形接頭附接至一吊籃。該支桿之頂部亦用安裝在該氣缸外殼之頂部上之一球形接頭附接至該框架。 A plurality of pneumatic struts can withstand the weight of the payload (the payload is a motion-isolated device or instrument) and provide the necessary damping and spring force to move the payload and the motion of the carrier above a selected cutoff frequency isolation. Provide sufficient damping to mitigate harmful behavior near system resonance. Each rod can be composed of a cylinder that houses a pneumatic piston. The piston may have a shaft that divides the cylinder into an upper chamber and a head of the lower chamber and extends through the lower chamber through a sealing aperture at the bottom of the housing to exit the housing. A low friction seal between the piston head and the cylinder wall prevents air from mixing in the upper and lower chambers. The piston shaft extends through the cylinder housing and is attached to a gondola with a ball joint. The top of the strut is also attached to the frame by a ball joint mounted on the top of the cylinder housing.

根據各種態樣，活塞可平行於氣缸之軸移動且關於其軸方向旋轉，容許相對於吊籃之框架位移。熟習此項技術者可瞭解「上」及「下」係描述性術語且並未將本發明之範疇限於一特定定向，且本發明允許之位移振幅受限於活塞在氣缸內之位移。 According to various aspects, the piston can move parallel to the axis of the cylinder and rotate about its axial direction, allowing displacement relative to the frame of the gondola. Those skilled in the art will understand that "upper" and "lower" are descriptive terms and do not limit the scope of the invention to a particular orientation, and that the displacement amplitude allowed by the present invention is limited by the displacement of the piston within the cylinder.

透過支桿及球形接頭之系統，本發明之態樣提供六個自由度的運動隔離：平行於笛卡兒軸(Cartesian axe)之各者之三個平移自由度及諸如可用尤拉角(Euler angle)表達之三個旋轉自由度。相同的支桿系統亦支撐有效負載之重量。根據各種態樣，該有效負載之平均軌道可遵循載具之平均軌道，其中該有效負載與其平衡位置之最大偏差受限於載具中可用之空間。因此，可透過活塞在氣缸中之運動 因應此等偏差振幅。 Through the system of struts and ball joints, the aspect of the invention provides six degrees of freedom of motion isolation: three translational degrees of freedom parallel to the Cartesian axis (Cartesian axe) and such as the available Euler angles (Euler) Angle) The three rotational degrees of freedom expressed. The same strut system also supports the weight of the payload. According to various aspects, the average orbit of the payload can follow the average orbit of the carrier, wherein the maximum deviation of the payload from its equilibrium position is limited by the space available in the carrier. Therefore, the movement of the piston through the cylinder can be In response to these deviation amplitudes.

圖2係根據本發明之各種態樣之一阻尼機構之一圖解說明。在圖2中，每一支桿可包含一空氣氣缸13(其為具有各自端帽上之一上空氣供應通口及一下空氣供應通口之雙通口)以及由一活塞頭14a、一活塞軸件14b及一活塞軸件密封26組成之一活塞。根據各種態樣，上球形接頭17可將氣缸連接至框架，且下球形接頭16可將活塞軸件之末端連接至吊籃。例示性器件之額外組件可包含一上壓力調節器6u及一下壓力調節器6l、上歧管10u及下歧管10l、入口閥小孔12u及12l、一排氣孔19及一排氣小孔20、一摩擦離合器15及複數個積儲器22u及22l。 Figure 2 is an illustration of one of the various damping mechanisms in accordance with various aspects of the present invention. In FIG. 2, each of the rods may include an air cylinder 13 (which is a double port having an air supply port and a lower air supply port on one of the end caps) and a piston head 14a and a piston. The shaft member 14b and a piston shaft seal 26 constitute one of the pistons. According to various aspects, the upper ball joint 17 can connect the cylinder to the frame, and the lower ball joint 16 can connect the end of the piston shaft member to the gondola. Additional components of the exemplary device may include an upper pressure regulator 6u and a lower pressure regulator 61, an upper manifold 10u and a lower manifold 101, inlet valve orifices 12u and 12l, a venting opening 19, and an exhaust orifice 20. A friction clutch 15 and a plurality of reservoirs 22u and 22l.

根據各種態樣，可提供一電腦控制器50及一回饋系統60以藉由連續量測該活塞14及此外藉由控制由該上壓力調節器6u及下壓力調節器6l提供之空氣壓力來調整該活塞14之一平均位置，且接收關於該等支桿之空氣壓力、該等支桿之一延伸長度及吊籃及拖曳框架之一運動之回饋。根據各種態樣，該電腦控制回饋系統60可藉由連續量測該活塞14及此外藉由控制連接至該等支桿之壓力調節器6u及6l中之空氣壓力來調整每一支桿之一氣缸之活塞14之一平均位置。而且，該電腦控制回饋系統60亦可藉由憑藉對該等空氣壓力調節器6u及6l之即時調整控制供應給該等支桿之空氣壓力及此外用壓電致動閥控制來自每一支桿之空氣輸入速率及排氣速率來調整裝置之動態性質，其中使用來自連接至每一支桿之一氣缸內之活塞14之活塞軸件14a上之位 移感測器之輸入來控制回饋以推斷軸件位移、速度及加速度，以修改每一支桿之一有效彈簧常數、阻尼及質量。 According to various aspects, a computer controller 50 and a feedback system 60 can be provided to continuously adjust the piston 14 and further adjust the air pressure provided by the upper pressure regulator 6u and the lower pressure regulator 61. One of the pistons 14 has an average position and receives feedback about the air pressure of the struts, the extension of one of the struts, and the movement of one of the basket and the towing frame. According to various aspects, the computer controlled feedback system 60 can adjust one of each of the poles by continuously measuring the piston 14 and further by controlling the air pressure in the pressure regulators 6u and 61 connected to the poles. The average position of one of the pistons 14 of the cylinder. Moreover, the computer controlled feedback system 60 can also control the air pressure supplied to the poles by means of the immediate adjustment of the air pressure regulators 6u and 61, and further control the rods from each pole by means of a piezoelectric actuation valve. The air input rate and the exhaust rate are used to adjust the dynamic nature of the device, wherein the position on the piston shaft member 14a from the piston 14 connected to one of the cylinders of each of the rods is used. The input of the sensor is controlled to control the feedback to infer the shaft displacement, velocity and acceleration to modify the effective spring constant, damping and mass of each of the rods.

根據各種態樣，雖然圖2圖解說明該回饋系統60及該電腦控制器50並未直接耦合至阻尼機構，但是該回饋系統60及該電腦控制器50可經由佈線或無線地或經由任何其他適當方法直接耦合至阻尼系統。 According to various aspects, although FIG. 2 illustrates that the feedback system 60 and the computer controller 50 are not directly coupled to the damping mechanism, the feedback system 60 and the computer controller 50 can be routed or wirelessly or via any other suitable The method is directly coupled to the damping system.

根據各種態樣，該等積儲器22u及22l可為能夠保持加壓空氣之密封容器，其個別地銜接至每一氣缸之上腔室及下腔室。該等積儲器22u及22l之一目的可為藉由增加可用於每一腔室之加壓空氣之體積來增加該等氣缸之有效長度(降低硬度)。氣缸端帽上之空氣供應通口使加壓空氣取決於該活塞14之運動進入或離開該氣缸之每一腔室。該等通口可具有雙重目的：以一低速率自加壓供應器供應空氣以維持一平均壓力，且亦容許空氣在足夠自由動態加載下流至該等積儲器以在所要頻率範圍內提供運動隔離。圓柱形外殼之內表面光滑且允許活塞在平行於氣缸之軸之一方向上進行低摩擦橫跨。活塞軸件上在氣缸外殼之出口小孔下方之一摩擦離合器可用以抑止或鎖定吊籃之運動。 According to various aspects, the reservoirs 22u and 22l can be sealed containers capable of holding pressurized air that individually engage the upper and lower chambers of each cylinder. One purpose of the reservoirs 22u and 22l may be to increase the effective length (reduce the hardness) of the cylinders by increasing the volume of pressurized air available to each chamber. The air supply port on the cylinder end cap causes pressurized air to enter or exit each chamber of the cylinder depending on the movement of the piston 14. The ports may serve the dual purpose of supplying air from a pressurized supply at a low rate to maintain an average pressure and also allowing air to flow to the reservoirs under sufficient free dynamic loading to provide motion over a desired frequency range. isolation. The inner surface of the cylindrical outer casing is smooth and allows the piston to perform a low friction span in one of the directions parallel to the axis of the cylinder. A friction clutch on the piston shaft member below the outlet orifice of the cylinder housing can be used to inhibit or lock the movement of the basket.

根據各種態樣，可藉由透過一供應管2饋送空氣1至一主輸入歧管3之一壓縮機對活塞提供空氣供應。如圖4中圖解說明，當該器件之態樣安裝在飛行載具內部(其中由直升機401拖曳飛行載具407)時，該壓縮機404可安裝在拖纜402上，其中一空氣供應管405順著該拖纜402通往該飛行載具407。該壓縮機404之動力可藉由連接至該直升機電源 供應器且附接至該拖纜402之一電力線403供應。 According to various aspects, the air supply to the piston can be provided by a compressor that feeds air 1 through a supply pipe 2 to a main input manifold 3. As illustrated in FIG. 4, when the aspect of the device is mounted inside the flight carrier (where the flying vehicle 407 is towed by the helicopter 401), the compressor 404 can be mounted on the streamer 402, with an air supply tube 405 The streamer 402 is routed along the streamer 402. The power of the compressor 404 can be connected to the helicopter power supply A supply and a power line 403 attached to one of the streamers 402 is supplied.

根據各種態樣，返回參考圖2，加壓空氣可自該主輸入歧管3饋送至獨立的壓力調節歧管，接著該等歧管將該加壓空氣饋送在每一氣缸中之上腔室13u及下腔室13l。每進行一次空氣壓力設定可需要一壓力調節歧管像例如壓力歧管6u及6l，且在其中採用兩組支桿之情況中(垂直支桿承受大部分負載且傾斜(或水平)支桿抑止扭轉運動及橫向運動)可需要四個此等壓力調節歧管：每種類型的支桿需要相異上腔室及下腔室壓力。根據各種態樣，壓力調節器之目的係以一時間平均按支撐負載需要維持該兩個腔室中之壓力(藉由上壓力與下壓力之差判定)，同時亦提供所需彈簧常數以使吊籃與載具之運動隔離(藉由頂部壓力與底部壓力之平均而判定)。空氣供應入口閥11u及11l可***自該等壓力調節歧管10u及10l通往氣缸腔室之每一空氣供應管中以用作對該等壓力調節歧管10u及10l與該等腔室13u及13l之間之空氣壓力之一高截濾波器。該入口閥11u及/或11l限制進出每一氣缸之氣流速率，且因此亦限制腔室中之空氣可透過該入口閥歧管及該調節器排氣之速率。結果係：每一腔室中之時間平均空氣壓力維持在一恆定位準。然而，該等腔室中之瞬變壓力變動能夠對該等活塞之運動作出反應。 According to various aspects, referring back to FIG. 2, pressurized air may be fed from the main input manifold 3 to a separate pressure regulating manifold, which then feeds the pressurized air into the upper chamber of each cylinder 13u and lower chamber 13l. Each time the air pressure setting is performed, a pressure regulating manifold such as pressure manifolds 6u and 6l may be required, and in the case where two sets of struts are used (vertical struts are subjected to most loads and tilted (or horizontal) struts are suppressed Four such pressure regulating manifolds are required for torsional motion and lateral motion: each type of struts requires distinct upper and lower chamber pressures. According to various aspects, the purpose of the pressure regulator is to maintain the pressure in the two chambers (determined by the difference between the upper and lower pressures) at a time average of the support load, while also providing the required spring constant to The basket is isolated from the motion of the vehicle (determined by the average of the top and bottom pressures). Air supply inlet valves 11u and 11l can be inserted into each of the air supply tubes of the pressure regulating manifolds 10u and 10l to the cylinder chamber for use as the pressure regulating manifolds 10u and 10l and the chambers 13u and One of the air pressures between 13l is a high cut filter. The inlet valves 11u and/or 11l limit the rate of gas flow into and out of each cylinder, and thus also the rate at which air in the chamber can pass through the inlet valve manifold and the regulator. The result is that the time averaged air pressure in each chamber is maintained at a constant level. However, transient pressure variations in the chambers can react to the motion of the pistons.

根據各種態樣，可藉由每一支桿支撐之質量取決於該活塞頭14a上之差壓。彈簧常數取決於氣缸中之絕對壓力。因此，支桿設計允許獨立於有效負載質量設定運動隔離之 彈簧常數，此係因為每一腔室中之壓力可獨立設定。因此，本揭示內容中之發明具有優於將空氣自活塞頭直接排出至大氣之習知氣動系統之優點，此係因為在此等系統中，氣缸腔室之一者係處於大氣壓力下。在該等習知系統中，支撐質量之壓力亦判定彈簧常數，此係因為跨活塞頭之平均壓力及差壓兩者皆同時藉由該一腔室壓力判定。在此等習知系統中，可採用諸如回饋之額外量測以修改支配該系統之運動隔離之彈簧常數-質量關係。 According to various aspects, the mass that can be supported by each of the rods depends on the differential pressure on the piston head 14a. The spring constant depends on the absolute pressure in the cylinder. Therefore, the strut design allows motion isolation to be set independently of the payload mass The spring constant is because the pressure in each chamber can be set independently. Thus, the invention in this disclosure has the advantage over conventional pneumatic systems that discharge air directly from the piston head to the atmosphere, since in such systems one of the cylinder chambers is at atmospheric pressure. In such conventional systems, the pressure of the support mass also determines the spring constant because both the average pressure across the piston head and the differential pressure are simultaneously determined by the chamber pressure. In such conventional systems, additional measurements, such as feedback, may be employed to modify the spring constant-mass relationship governing the motion isolation of the system.

為更定量地理解如何調適根據本發明之態樣之支桿元件以適合懸吊系統之需求，可考慮圖2之單一支桿，其中氣缸13在中心平衡位置處包含一活塞14(圖2展示活塞稍微在該平衡位置上方)。可藉由壓力調節器在該等腔室13u及13l中強加上壓力及下壓力以支撐一靜負載L且提供一有效彈簧常數K的dF/dx。對於絕熱壓縮，其中熱量並未轉移進出該系統：PV-γ=C (4)其中C係一常數，且其中γ係該等腔室13u及13l中之氣體在恆定壓力下與恆定體積下之特定熱量之間之比，且其中對於乾氣體γ為約1.4。上述方程式(4)假設質量守恆，且因此係本發明之態樣中使用之系統之一簡化，其中氣體可准許進入氣缸且自氣缸排出，然而方程式(4)亦解說可如何設計氣動系統。自該絕熱氣體方程式可導出k及L的兩個方程式：K=γ(Pl+Pu)A2/V (5) L=(Pl-Pu)A (6)其中Pl係下腔室之壓力，Pu係上腔室中之壓力，A係活塞之面積，L係靜負載，且V係腔室與積儲器之體積總和且假設在頂部及底部相同。可作出一進一步簡化，其中活塞頭之頂部及底部表面之活塞面積相同，且因此可忽略活塞軸件之橫截面面積。下列方程式容許對任何組設計參數A、V、F判定壓力：Pl=(KV+γL A)/(2 γA2) (7) Pu=(KV-γL A)/(2 γA2) (8)上腔室中之壓力(和下壓力)必須高於大氣壓力Pa之事實限制可因應之K及L之範圍，此係因為：(KV-γLA)/(2γA2)>Pa (9) To more quantitatively understand how to adapt the strut elements according to the present invention to the needs of a suspension system, consider the single lance of Figure 2, wherein the cylinder 13 includes a piston 14 at a central equilibrium position (Figure 2 shows The piston is slightly above the equilibrium position). Pressure and downforce may be applied to the chambers 13u and 13l by a pressure regulator to support a static load L and provide an effective spring constant K of dF/dx. For adiabatic compression, where heat is not transferred into and out of the system: PV - γ = C (4) where C is a constant, and wherein γ is the gas in the chambers 13u and 13l at a constant pressure and a constant volume The ratio between specific heats, and where it is about 1.4 for dry gas γ. Equation (4) above assumes mass conservation and is therefore a simplification of the system used in the aspect of the invention in which gas can be admitted into the cylinder and discharged from the cylinder, whereas equation (4) also illustrates how the pneumatic system can be designed. From the adiabatic gas equation, two equations for k and L can be derived: K = γ(Pl + Pu) A 2 /V (5) L = (Pl - Pu) A (6) where Pl is the pressure in the lower chamber, Pu is the pressure in the upper chamber, the area of the A-series piston, the L-series static load, and the sum of the volume of the V-series chamber and the accumulator is assumed to be the same at the top and bottom. A further simplification can be made in which the pistons of the top and bottom surfaces of the piston head have the same area and thus the cross-sectional area of the piston shaft member can be ignored. The following equation allows for the determination of pressure for any set of design parameters A, V, F: Pl = (KV + γL A) / (2 γA 2 ) (7) Pu = (KV - γL A) / (2 γA 2 ) (8) The fact that the pressure (and downforce) in the upper chamber must be higher than the atmospheric pressure Pa limits the range of K and L that can be used because: (KV-γLA)/(2γA 2 )>Pa (9)

當負載L太大或所要彈簧常數K太小時，違背該不等式。因此，此情形可藉由增加積儲器體積V或降低氣缸面積A而予以解決。 When the load L is too large or the desired spring constant K is too small, the inequality is violated. Therefore, this situation can be solved by increasing the reservoir volume V or lowering the cylinder area A.

任何氣動懸吊系統之一態樣要求平均活塞位置保持在氣缸中心，因此其可提供因應於震動隔離之最大衝程。重新居中功能對一行動載具特別重要，其中位態之小變化可導致支撐支桿上之負載移位，因而改變該負載相對於該載具之靜止位置。負載位置之後續變化可回饋至載具動態中，尤其係一拖曳載具之情況，其中質量中心可相對於升力中心移位。此一移位可進一步變更載具位態，其中可在該載具位態與該載具內之負載位置之間建立一振盪耦合，或迫使該負載及該載具位態到達藉由該等支桿之機械限制支配 的極度，實際上取消本發明之運動隔離功能性。陷入該系統極度限制之此等振盪及趨勢可藉由在氣缸中包含朝向其中心之一排氣孔19而減輕。在其中活塞向上位移曝露該排氣孔之情況中，可排出下腔室中之空氣且該下腔室中之壓力可下降藉由該排氣孔及饋送小孔之氣動阻力之比判定之一比例。藉由洩放設定之所得差壓可使活塞緩慢地恢復至其平衡位置。類似地，活塞頭在氣缸中之向下位移可藉由使空氣自上腔室排出而在活塞頭上產生一向上平緩的恢復力。在其中活塞頭隨著本發明因應載具震動而快速地橫跨氣缸之動態(振盪)情形中，此恢復效應施加於活塞頭之平均位置，此係因為該恢復效應使行程極值之平均位置朝支桿中心偏移。 One aspect of any pneumatic suspension system requires that the average piston position be maintained at the center of the cylinder so that it provides the maximum stroke for shock isolation. The recentering function is particularly important for a mobile vehicle where small changes in position can cause load displacement on the support strut, thereby changing the rest position of the load relative to the carrier. Subsequent changes in the load position can be fed back into the vehicle dynamics, particularly in the case of a tow vehicle, where the center of mass can be displaced relative to the center of lift. The shift can further change the carrier position, wherein an oscillating coupling can be established between the carrier position and the load position within the carrier, or the load and the carrier position are forced to arrive by Mechanical limit of the pole Extremely, the motion isolation functionality of the present invention is virtually eliminated. Such oscillations and trends that are trapped in the extreme limits of the system can be mitigated by including a venting opening 19 in the cylinder toward one of its centers. In the case where the piston is displaced upward to expose the vent hole, the air in the lower chamber can be discharged and the pressure in the lower chamber can be lowered by one of the ratios of the aerodynamic drag of the vent hole and the feed hole proportion. The piston is slowly returned to its equilibrium position by venting the set differential pressure. Similarly, the downward displacement of the piston head in the cylinder creates an upwardly restoring force on the piston head by expelling air from the upper chamber. In the dynamic (oscillation) situation in which the piston head rapidly crosses the cylinder in response to the present invention, the recovery effect is applied to the average position of the piston head because the recovery effect causes the average position of the stroke extremes. Offset towards the center of the strut.

根據各種態樣，排氣孔可由在氣缸外殼中點處穿孔該氣缸外殼之一小的小孔組成，其中該小孔中分接一排氣管。該排氣管中之一小孔可控制排氣流速，繼而控制在該側上排出之壓力變化速率。因此在靜負載變化之後將平均活塞頭位置驅動回至中心之速度可受控於排氣小孔之大小及藉由壓力調節器供應之平均壓力。因此，藉由調整輸入管及排氣孔之小孔大小，可進一步調適本發明之態樣以在一特定頻率頻帶下將有效負載與載具運動隔離。實務上，允許空氣以快於透過任一輸入管供應空氣之一速率離開排氣歧管，因此容許活塞自然地返回至其等在該等支桿中之平衡位置。根據各種態樣，此動作之恢復時間常數可取決於控制每一腔室之氣流之空氣壓力調節器、控制輸入管中之氣 流之小孔之各者之大小及通過該排氣歧管之流速。 According to various aspects, the venting opening may be formed by perforating a small hole in the cylinder housing at a point in the cylinder housing, wherein an exhaust pipe is tapped in the small hole. An orifice in the exhaust pipe controls the flow rate of the exhaust gas, which in turn controls the rate of pressure change across the discharge. Thus the speed at which the average head position is driven back to the center after a static load change can be controlled by the size of the vent orifice and the average pressure supplied by the pressure regulator. Thus, by adjusting the aperture size of the input tube and vent, the aspect of the invention can be further adapted to isolate the payload from the motion of the carrier in a particular frequency band. In practice, the air is allowed to exit the exhaust manifold at a rate that is faster than the supply air through either of the input tubes, thus allowing the piston to naturally return to its equilibrium position in the struts. According to various aspects, the recovery time constant of this action may depend on the air pressure regulator that controls the air flow of each chamber, and the gas in the control input tube. The size of each of the orifices of the flow and the flow rate through the exhaust manifold.

因此，在短時間週期內，在本發明之態樣中對應於高於1 Hz之運動，氣缸中之瞬時壓力可為活塞頭自其平衡中心位置之位移之一函數，其中支桿用作一空氣彈簧。在長時間週期內，活塞頭上方之平均壓力變動受控於壓力調節器、小孔或空氣入口閥及排氣孔，其中此等元件將活塞返回至其平衡位置。實務上，因此使氣缸恢復至其等平衡位置之時間常數長於運動隔離需要的時間常數。因此，壓力調節空氣透過上空氣供應通口及下空氣供應通口饋送至每一氣缸，使得在該上腔室與該下腔室之間跨活塞頭產生一空氣壓力差。 Thus, in a short period of time, in the aspect of the invention corresponding to a motion above 1 Hz, the instantaneous pressure in the cylinder can be a function of the displacement of the piston head from its equilibrium center position, wherein the strut is used as a Air spring. During a long period of time, the average pressure variation above the piston head is controlled by a pressure regulator, orifice or air inlet valve and venting port where the components return the piston to its equilibrium position. In practice, therefore, the time constant for restoring the cylinder to its equilibrium position is longer than the time constant required for motion isolation. Therefore, the pressure regulating air is fed to each of the cylinders through the upper air supply port and the lower air supply port such that an air pressure difference is generated across the piston head between the upper chamber and the lower chamber.

根據本發明之各種態樣，對於短於恢復時間常數之時間，一活塞自其平衡位置之位移可使上腔室或下腔室之一者之體積產生一降低。此體積變化可使較小腔室中之壓力隨著剩餘體積反向地增加，其中活塞上之恢復力由於跨活塞頭之壓力差而按比例增加。若所位移之空氣體積限於氣缸之體積，則壓力對體積之反向關係可導致支桿之有效彈簧常數發生改變，且可隨著位移變大而增加活塞之硬度。為因應活塞之較大運動並同時提供低均勻硬度，可對每一氣缸增加空氣積儲器22l及22u，有效地增加其等體積。在其中限制空間且氣缸必須短之應用中特別需要使用積儲器以增大腔室之體積。 According to various aspects of the invention, for a time shorter than the recovery time constant, the displacement of a piston from its equilibrium position can result in a decrease in the volume of one of the upper or lower chambers. This volume change causes the pressure in the smaller chamber to increase inversely with the remaining volume, with the restoring force on the piston proportionally increasing due to the pressure differential across the piston head. If the volume of displaced air is limited to the volume of the cylinder, the inverse relationship of the pressure to the volume may result in a change in the effective spring constant of the strut and may increase the stiffness of the piston as the displacement becomes larger. In order to cope with the large movement of the piston and at the same time provide a low uniform hardness, the air accumulators 22l and 22u can be added to each cylinder to effectively increase its volume. In applications where space is limited and cylinders must be short, it is particularly desirable to use a reservoir to increase the volume of the chamber.

根據各種態樣，使用一積儲器以增加支桿之有效體積藉由增加氣缸之有效長度降低支桿硬度隨活塞位置之變動。 實務上，積儲器之體積與支桿之體積相比可能較大，導致恢復力隨位移而線性地增加(一充分逼近)。空氣壓力之恢復力因此可根據虎克定律(Hooke's Law)處理。 According to various aspects, the use of a reservoir to increase the effective volume of the strut reduces the stiffness of the strut as a function of piston position by increasing the effective length of the cylinder. In practice, the volume of the accumulator may be larger than the volume of the strut, resulting in a linear increase in the restoring force with displacement (a full approximation). The resilience of air pressure can therefore be handled according to Hooke's Law.

使用一氣動阻尼系統而非一彈性阻尼系統(例如，使用鬆緊繩及/或橡膠支撐件之一者)之一優點係：氣動系統之有效彈簧常數與A2/V成比例，且因此可藉由增加積儲器體積及/或減小氣缸面積而降低。在一彈性系統中，藉由增加彈性體之長度完成此相同功能性，且此相同功能性並非係其中限制空間之一實際選項。在一拖曳載具或其中空間極為珍貴之其他載具中，可將積儲器建置於任何可用備用體積中，而未顯著地影響載具之分配及總質量。在一彈性阻尼系統中，僅可藉由加長支撐彈簧達成相同效果。因此，在其中載具體積較小之情況中，需要較長組件之基於彈性體之震動阻尼解決方法可能難以實施，且可能需要使用滑輪或類似器件以滿足體積約束。然而，使用具有彈性複合物之滑輪由於彈性體在該滑輪周圍變形而產生非所要摩擦阻尼，產生在低頻下具有不良運動隔離性質之一過阻尼懸吊。 One advantage of using a pneumatic damping system rather than an elastic damping system (for example, using one of a bungee cord and/or a rubber support) is that the effective spring constant of the pneumatic system is proportional to A 2 /V and can therefore be borrowed It is reduced by increasing the reservoir volume and/or reducing the cylinder area. In an elastic system, this same functionality is accomplished by increasing the length of the elastomer, and this same functionality is not one of the practical options in which space is limited. In a towing vehicle or other vehicle in which space is of utmost importance, the accumulator can be built into any available spare volume without significantly affecting the distribution and total mass of the vehicle. In an elastic damping system, the same effect can only be achieved by lengthening the support spring. Thus, in situations where the specific load is small, elastomer-based vibration damping solutions that require longer components may be difficult to implement and may require the use of pulleys or similar devices to meet volume constraints. However, the use of a pulley having an elastic composite produces undesired frictional damping due to deformation of the elastomer around the pulley, resulting in an overdamped suspension having poor motion isolation properties at low frequencies.

根據本發明之各種態樣，藉由活塞14在其等氣缸中移動時之摩擦提供阻尼，且可藉由改變活塞密封25及26之類型及緊度來調整阻尼，其中藉由將一摩擦離合器15接合在活塞軸件上施加動態變化。除抑止活塞之運動之外，如當本發明未運行時或當未接合空氣供應器時所需要，亦可使用該等摩擦離合器以將支桿鎖定至適當位置中。 According to various aspects of the invention, the damping is provided by the friction of the piston 14 as it moves in its equal cylinders, and the damping can be adjusted by varying the type and tightness of the piston seals 25 and 26, wherein a friction clutch is utilized The 15 engagement exerts a dynamic change on the piston shaft member. In addition to inhibiting the movement of the pistons, such friction clutches may be used to lock the struts into position as needed when the invention is not in operation or when the air supply is not engaged.

根據各種態樣，阻尼之作用可為自系統移除震動能量(尤其係在系統諧振時)，其中震動隔離系統可放大傳輸震動而非減小傳輸震動。當增加阻尼減小在諧振頻率附近對震動之非所要放大時，其亦可減小系統在隔離頻帶內之隔離效果，該隔離頻帶係諧振頻率之兩倍及以上。理想阻尼因此可為取決於由外部強加之諧振頻率附近之激發量之一折衷，故控制阻尼之構件因此係一寶貴的系統屬性。 According to various aspects, the effect of damping can be to remove the vibration energy from the system (especially when the system is resonant), wherein the vibration isolation system can amplify the transmission vibration instead of reducing the transmission vibration. When the damping is increased to reduce the undesired amplification of the vibration near the resonant frequency, it also reduces the isolation effect of the system in the isolated frequency band, which is twice or more the resonant frequency. The ideal damping can therefore be a compromise depending on the amount of excitation near the resonant frequency imposed by the outside, so the component that controls the damping is therefore a valuable system property.

習知地經由使用消除與活塞相對於氣缸之速度成比例之能量之摩擦元件達成阻尼。在其中導出一簡單的質量彈簧阻尼器系統之轉移函數之上述方程式中，此係處置阻尼之常見方式。在本發明之態樣中，亦可藉由透過空氣供應小孔排出空氣來釋放低頻能量。無論空氣何時自排氣孔排出(即，當一活塞脫離其平衡位置時)皆損失能量。無論腔室空氣壓力何時超過調節器對其輸入供應管之限制，皆亦排出空氣。兩種排氣機構均可抑止吊籃相對於載具之長期(子諧振)運動，導致該吊籃與在一簡單的質量彈簧阻尼器系統中之情況一樣更迅速地返回至其平衡位置。 Damping is conventionally achieved by the use of friction elements that eliminate energy proportional to the speed of the piston relative to the cylinder. In the above equation in which the transfer function of a simple mass spring damper system is derived, this is a common way of handling damping. In the aspect of the invention, the low frequency energy can also be released by discharging air through the air supply aperture. Energy is lost whenever air is expelled from the vent (ie, when a piston is out of its equilibrium position). Air is also vented whenever the chamber air pressure exceeds the regulator's limit on its input supply tube. Both venting mechanisms inhibit long-term (sub-resonant) motion of the gondola relative to the carrier, causing the gondola to return to its equilibrium position more quickly as is the case in a simple mass spring damper system.

本發明之震動隔離性質可經調整以因應不同載具經歷之位移振譜。此之一實例在下列模擬之結果中予以解說。圖5(A)圖解說明依據基線垂直支桿之頻率之傳遞率，考量相對於藉由氣動小孔引入之震動振幅(A)之非線性效應。不同的曲線係用於不一樣的激發振幅。注意由於該等曲線皆不同，所以該系統係非線性的。對應於16公分及18公分之振幅之最大擺幅導致懸吊機構在約0.7 Hz之諧振頻率附近 降低至最低點。當該等曲線歸因於非線性而展示一些區別時，其等顯示大於2 Hz之頻率之傳遞率低於0.1，效能在較高振幅處稍微惡化。最重要的係以下事實：發生在諧振附近之過衝充分保持在低於2倍的增強。 The vibration isolation properties of the present invention can be adjusted to accommodate the displacement spectra experienced by different vehicles. An example of this is illustrated in the results of the simulations below. Figure 5 (A) illustrates the nonlinear effect of the amplitude (A) of the shock introduced by the pneumatic aperture, based on the frequency of the vertical struts of the baseline. Different curves are used for different excitation amplitudes. Note that because these curves are different, the system is non-linear. The maximum swing corresponding to the amplitude of 16 cm and 18 cm results in the suspension mechanism near the resonance frequency of about 0.7 Hz Reduce to the lowest point. When the curves exhibit some differences due to non-linearity, they show that the transmission rate of frequencies greater than 2 Hz is less than 0.1, and the performance is slightly worse at higher amplitudes. The most important is the fact that the overshoot occurring near the resonance is sufficiently maintained at less than 2 times the enhancement.

圖5B中展示阻尼透過摩擦離合器在軸件上摩擦所起的作用。增加摩擦會降低諧振附近之增強峰值之高度，但其在較高頻率下降低效能。毫無疑問，摩擦位準之選擇係一折衷且可取決於載具經歷之強加力之振譜本質。因此重要的是，此係一高度可調參數。 The effect of damping through the friction clutch on the shaft member is shown in Figure 5B. Increasing friction reduces the height of the enhanced peak near the resonance, but it reduces efficiency at higher frequencies. There is no doubt that the choice of friction level is a compromise and can depend on the spectral nature of the strong force experienced by the vehicle. It is therefore important that this is a height adjustable parameter.

本發明之態樣可應用於安裝在一拖曳空載勘測載具中之隔離感測器，諸如在地球物理勘探、測繪及遠程感測中常見的感測器，但是熟習此項技術者可瞭解本發明之用處並不僅僅限於此等應用。例如，本發明之態樣可配置在除所引用之載具(包含例如行動空載載具、陸上載具及水載載具、拖曳載具或浮動載具)之外之多種載具中，且配置在靜止設備中。在靜止設備(其等與行動設備之情況相異)之情況中，本發明之態樣可用以使一儀器或其他有效負載與建築物震動隔離。本發明係可伸縮的，其中本發明之任何實施例之大小藉由施加本發明之特定運動隔離應用之特性(包含有效負載之質量及其中隔離運動之頻率頻帶)判定。本發明之態樣並不限於一特定大小，且該大小可取決於位移之振幅及必須阻尼之頻率而改變。例如，可增加本發明中使用之拖曳框架及懸吊裝置之大小，以將有效低頻自1 Hz減小至0.1 Hz及以下。 Aspects of the present invention are applicable to isolated sensors mounted in a towed unloaded survey vehicle, such as those commonly found in geophysical surveying, mapping, and remote sensing, but those skilled in the art will appreciate The usefulness of the present invention is not limited to such applications. For example, aspects of the present invention may be configured in a variety of vehicles other than the recited vehicles, including, for example, mobile airborne vehicles, landborne vehicles and waterborne vehicles, towing vehicles or floating vehicles. And configured in a stationary device. In the case of stationary equipment (which is different from the case of mobile equipment), aspects of the invention may be used to isolate an instrument or other payload from building vibrations. The present invention is scalable, wherein the size of any embodiment of the present invention is determined by applying the characteristics of the particular motion isolation application of the present invention, including the quality of the payload and the frequency band of the isolated motion therein. Aspects of the invention are not limited to a particular size, and the magnitude may vary depending on the amplitude of the displacement and the frequency of the damping. For example, the size of the towing frame and suspension device used in the present invention can be increased to reduce the effective low frequency from 1 Hz to 0.1 Hz and below.

本揭示內容中之發明態樣之優點包含完全可藉由分接至自中型空運直升機可用之電源供應器中操作之能力，因此運行氣動系統可不需要額外動力產生能力。當許多系統為被動且不需要動力時，特定運動隔離系統依賴於大量的空氣及馬達控制3軸機架，且因此可需要大量的動力。其他態樣係關於一種可組裝且可拆卸以促進勘測裝置在不同地點之運輸之懸吊裝置。其他優點包含大部分由電阻複合材料及非磁性複合材料構造之能力，使其較輕且抵抗其零件內的渦流感應及感應磁化，此係作出其中需要低噪音位準及對周圍場之最小干擾之一電磁量測時之一特定優點。 Advantages of the inventive aspects of the present disclosure include the ability to operate by tapping into a power supply available from a medium-sized airlift helicopter, so that operating the pneumatic system may not require additional power generation capability. While many systems are passive and do not require power, certain motion isolation systems rely on a large number of air and motor controlled 3-axis racks and can therefore require a significant amount of power. Other aspects relate to a suspension that can be assembled and detached to facilitate transportation of the surveying device at different locations. Other advantages include the ability to be constructed mostly from resistive composites and non-magnetic composites, making them lighter and resistant to eddy current induction and induced magnetization in their parts, which requires low noise levels and minimal interference to surrounding fields. One of the specific advantages of one of the electromagnetic measurements.

各種應用及優點可為至少以下各者：i)與以一類似運動隔離頻率頻帶操作之其他運動隔離發明(諸如基於鬆緊繩之系統)相比，大小較為緊湊；ii)由可用直升機動力操作之能力；iii)與一些其他運動隔離發明相比，重量相對較輕；iv)可對彈簧常數及靜承載力進行獨立調整；v)能夠大部分由電阻材料及低電磁噪音組件建置，以使周圍電磁場變形最小；vi)便攜性：能夠裝配在一行動載具上；vii)在一外部環境中能夠在一大的熱範圍內使用且隔離特性變化最小；viii)能夠組裝且拆卸以運輸至不同場所；ix)能夠隔離1 Hz以上約略40 cm之運動振幅，諸如在空載地球物理勘探操作中拖曳在一直升機下方之一載具所常見的；及x)可鎖定及可解除鎖定的吊籃運動。 Various applications and advantages may be at least for: i) being more compact than other motion isolation inventions operating in a similar motion isolation frequency band (such as a cord based system); ii) operated by available helicopter power Ability; iii) relatively light weight compared to some other motion isolation inventions; iv) independent adjustment of spring constant and static load capacity; v) can be constructed mostly from resistive materials and low electromagnetic noise components, so that The surrounding electromagnetic field is minimally deformed; vi) portability: can be assembled on a mobile vehicle; vii) can be used in a large thermal range in an external environment with minimal change in isolation characteristics; viii) can be assembled and disassembled for transport to Different locations; ix) capable of isolating motion amplitudes of approximately 40 cm above 1 Hz, such as those commonly found in one of the carriers below a helicopter in an unloaded geophysical exploration operation; and x) lockable and unlockable cranes Basket sports.

本發明之態樣包含一阻尼器件，其足夠輕且小型以配置在藉由一中型空運直升機拖曳之一載具中以進行持續若干 小時之一飛行。熟習此項技術者可意識到，此一載具亦可自尤其係一垂直起飛的飛機、飛船或固定翼飛機拖曳。本發明之態樣之優點包含支撐一有效負載，該有效負載包含自一飛機拖曳之一載具內之高精度、低頻磁力計。因此，本發明之態樣中可存在下列特性：˙有效負載之軌道可遵循載具之軌道，使得載具軌道(高於1 Hz)中之高頻偏差(震動)由有效負載軌道阻尼，其中隔離運動之振幅可擴展至40 cm及，˙本發明為電磁平靜，使得有效負載可由高度靈敏的電磁感測器(諸如在1 Hz下在1 Pt/root-Hz噪音範圍中操作之磁力計)組成，及˙併有本發明及有效負載之整個載具重量在800磅以下且因此可用一中型空運直升機配置以進行持續2小時至4小時之飛行，使其實用於空載地球物理勘測，及˙本發明可由可用直升機動力操作。 Aspects of the invention include a damping device that is sufficiently light and small to be configured to be towed by a medium airlift helicopter for a number of vehicles to continue for a number of One hour of flight. Those skilled in the art will recognize that the carrier can also be towed by an aircraft, spacecraft or fixed-wing aircraft that is particularly capable of taking off vertically. An advantage of aspects of the invention includes supporting an effective load comprising a high precision, low frequency magnetometer within one of the vehicles being towed from an aircraft. Therefore, the following characteristics can exist in the aspect of the present invention: The track of the payload can follow the orbit of the carrier, so that the high frequency deviation (vibration) in the carrier track (above 1 Hz) is damped by the payload track, wherein The amplitude of the isolated motion can be extended to 40 cm and the present invention is electromagnetically calm, so that the payload can be made by a highly sensitive electromagnetic sensor (such as a magnetometer operating at 1 Hz in a 1 Pt/root-Hz noise range) The entire vehicle having the composition and payload of the present invention and payload is less than 800 pounds and can therefore be configured with a medium-sized airlift helicopter for a duration of 2 hours to 4 hours for use in an unloaded geophysical survey, and The present invention can be operated by available helicopter power.

根據各種態樣，用於在1 Hz以上使一SP或其他有效負載與一拖曳勘測載具的高頻運動隔離之一運動隔離裝置包括：界定一支撐結構101、102及103之一環形拖曳框架，自該支撐結構吊掛運動隔離裝置；上面安裝該SP有效負載及額外可選運動隔離裝置之一吊籃301、302及303；複數個垂直氣動控制活塞支桿202，其等隔離並抑止該吊籃之垂直運動且支撐其重量；複數個成對角線傾斜或水平氣動控制活塞支桿201，其等隔離並抑止該SP之橫向及扭轉運動；低摩擦之球形接頭16及17，其將每一支桿之頂部連接 至拖曳框架及藉由一活塞14將每一支桿之底部連接至該吊籃；一空氣壓縮機、空氣過濾器、乾燥機及供應管，以對從中傳遞清淨、乾燥之空氣至該等支桿之供應歧管3加壓；一組電控制壓力調節器6及視需要電控制閥，其等分接該等歧管10且因此根據每一支桿之壓力及流速要求透過空氣供應小孔11提供空氣；複數個空氣積儲器22，其等附接至每一支桿以容許改變該支桿中空氣之有效體積以匹配每一支桿之所要彈簧常數；一排氣孔19及排氣小孔20，其等位於活塞頭在每一氣缸中之平衡位置處；每一支桿中之一組可選空氣壓力感測器，其等監控至每一支桿之空氣供應；每一支桿上之一可選位移感測器，其等監控每一活塞之位移；拖曳框架及吊籃上之運動感測器，其等監控該吊籃及該拖曳框架之運動；及一電腦，其控制該等調節器及閥，且因此基於來自該等壓力、位移及運動感測器之輸入調整至每一支桿之氣流。 According to various aspects, a motion isolation device for isolating an SP or other payload from a high frequency motion of a towed survey vehicle above 1 Hz includes: defining a ring tow frame of one of the support structures 101, 102, and 103 Lifting the motion isolation device from the support structure; mounting the SP payload and additional optional motion isolation device baskets 301, 302 and 303; a plurality of vertical pneumatic control piston rods 202, which are isolated and inhibited The basket moves vertically and supports its weight; a plurality of diagonally inclined or horizontal pneumatically controlled piston struts 201 that isolate and suppress lateral and torsional movement of the SP; low friction ball joints 16 and 17, which will Top connection of each pole To the towing frame and to connect the bottom of each pole to the gondola by a piston 14; an air compressor, an air filter, a dryer and a supply pipe to transfer clean, dry air therefrom to the branches The supply manifold 3 of the rod is pressurized; a set of electrically controlled pressure regulators 6 and optionally electrical control valves are equally tapped to the manifolds 10 and thus are required to pass through the air supply orifices in accordance with the pressure and flow rate requirements of each of the rods 11 providing air; a plurality of air accumulators 22, etc. attached to each of the rods to allow for varying the effective volume of air in the strut to match the desired spring constant of each strut; a venting opening 19 and row Gas orifices 20, which are located at equilibrium positions of the piston head in each cylinder; one of each set of optional air pressure sensors, which monitors the air supply to each of the rods; An optional displacement sensor on the pole, which monitors the displacement of each piston; a motion sensor on the towing frame and the basket, which monitors the movement of the basket and the towing frame; and a computer, It controls the regulators and valves and is therefore based on the pressure from , Displacement sensors and an input of the motion of each strut is adjusted to the airflow.

本發明之態樣包含9個支桿，其中3個支桿係垂直定向且剩餘的6個自水平面傾斜相同角度。本發明之較佳實施例需要兩個個別的上歧管及兩個個別的下歧管以服務於全部支桿，此係因為該6個水平支桿及該3個垂直支桿在個別的壓力設定下操作。該排氣孔可由主氣缸之壁中之一單一0.4 mm直徑的孔組成，該孔連接至其中***一小孔以控制排氣氣流之低通過濾特性之一管線。該拖曳框架可為剛性且安全地附接至一拖曳載具。根據各種態樣，該等積儲器量測大約7.5 cm直徑×50 cm長度，提供10公升體積，且由 碳複合材料構造，但是熟習此項技術者可瞭解其他尺寸、壓力及構造係可能的。每一積儲器之側上之一通口允許接達至內部。藉由將固體物體放置在該積儲器內部，可減小該積儲器之體積以匹配有效負載及載具對所需要的震動隔離特性。在本發明之較佳實施例中，積儲器安裝在拖曳框架上。 Aspects of the invention include nine struts, three of which are oriented vertically and the remaining six are inclined at the same angle from the horizontal plane. The preferred embodiment of the present invention requires two separate upper manifolds and two individual lower manifolds to serve all of the struts because the six horizontal struts and the three vertical struts are at individual pressures Set the operation. The venting opening may be formed by a single 0.4 mm diameter bore in the wall of the master cylinder that is connected to a line in which a small bore is inserted to control the low pass filter characteristics of the exhaust gas stream. The towing frame can be rigidly and securely attached to a towing vehicle. According to various aspects, the reservoirs measure approximately 7.5 cm in diameter by 50 cm in length, providing a volume of 10 liters, and Carbon composite construction, but those skilled in the art will be aware of other dimensions, pressures and construction possibilities. One of the ports on the side of each reservoir allows access to the interior. By placing a solid object inside the accumulator, the volume of the accumulator can be reduced to match the payload and the required vibration isolation characteristics of the carrier pair. In a preferred embodiment of the invention, the accumulator is mounted on the towing frame.

例如，本揭示內容中之一例示性垂直支桿之一組態可如下： For example, one of the exemplary vertical struts in the present disclosure can be configured as follows:

˙氣缸直徑：4.4 cm ̇Cylinder diameter: 4.4 cm

˙氣缸長度：50 cm ̇Cylinder length: 50 cm

˙積儲器體積：10 l Hoarding reservoir volume: 10 l

˙上腔室壓力：282 kPa Upper chamber pressure: 282 kPa

˙下腔室壓力：578 kPa Underarm pressure: 578 kPa

˙懸吊質量：40 Kg ̇ Suspended mass: 40 Kg

˙摩擦力：50 N-s/m ̇ Friction: 50 N-s/m

˙行程：40 cm峰對峰 ̇ ̇: 40 cm peak to peak

因此，在本揭示內容之發明之較佳實施例中，負載係大約40 kg，彈簧常數150 N/m，體積0.01 m3且氣缸面積0.0013 m2。此產生578000 Pa之一上壓力及282000 Pa之一下壓力或每平方英寸產生英制單位為71磅及27磅計示壓力。該負載可藉由自拖曳框架垂直懸吊之3個垂直活塞支桿支撐，該等垂直活塞支桿主要目的係支撐吊籃之重量並控制垂直運動。該負載可藉由自水平面傾斜一角度懸吊之6個對角線活塞支桿支撐，其等主要目的係控制橫向及扭 轉運動。如優先權為本申請案所主張之美國專利申請案第12/688,565號中描述，該有效負載可為安裝在一空氣軸承上之一感測器平台，且該等感測器係在1 Hz下一噪音底限為1 pT/root Hz之磁力計，該等磁力計安裝在該感測器平台上。可最小化在本發明之機械組件中產生之電磁噪音來源。透過使用電阻複合材料最小化較佳實施例之機械組件中之渦流感應。若需要金屬零件，則使用非導磁金屬。使用低噪音壓電致動器以控制閥。 Thus, in a preferred embodiment of the invention of the present disclosure, the load is about 40 kg, the spring constant is 150 N/m, the volume is 0.01 m 3 and the cylinder area is 0.0013 m 2 . This produces an upper pressure of 578,000 Pa and a down pressure of 282000 Pa or an imperial unit of 71 pounds and 27 pounds of gauge pressure per square inch. The load can be supported by three vertical piston struts that are suspended vertically from the towing frame. The primary purpose of the vertical piston struts is to support the weight of the basket and control vertical movement. The load can be supported by six diagonal piston struts suspended at an angle from the horizontal plane, the primary purpose of which is to control lateral and torsional motion. The payload can be one of the sensor platforms mounted on an air bearing, and the sensors are at 1 Hz, as described in U.S. Patent Application Serial No. 12/688,565, which is incorporated herein by reference. The next noise floor is a 1 pT/root Hz magnetometer that is mounted on the sensor platform. The source of electromagnetic noise generated in the mechanical assembly of the present invention can be minimized. The eddy current sensing in the mechanical assembly of the preferred embodiment is minimized by the use of a resistive composite. If a metal part is required, a non-magnetic metal is used. A low noise piezoelectric actuator is used to control the valve.

熟習此項技術者應瞭解，一複合物或塑膠對具有適當機械性質之任何其他材料之替代實質上無法改變本揭示內容之發明之功能性，且複合材料之使用主要對在該吊籃上運輸之一感測器平台作出低噪音電磁量測。熟習此項技術者亦應瞭解，一閥或另一致動器對具有適當機械性質及電性質之任何壓電致動器之替代實質上無法改變本揭示內容之發明之功能性，且壓電致動器材料之使用主要對安裝在該吊籃上之一感測器平台作出低噪音電磁量測。 Those skilled in the art will appreciate that the substitution of a composite or plastic for any other material having suitable mechanical properties does not substantially alter the functionality of the invention of the present disclosure, and that the use of the composite is primarily for transport on the basket. One of the sensor platforms makes low noise electromagnetic measurements. It will also be appreciated by those skilled in the art that the replacement of any piezoelectric actuator having a suitable mechanical and electrical property by one or the other actuator substantially does not alter the functionality of the invention of the present disclosure and is piezoelectric. The use of the actuator material primarily provides a low noise electromagnetic measurement of one of the sensor platforms mounted on the gondola.

根據各種態樣，界定支撐結構之拖曳框架係由一電阻複合材料製造；氣動氣缸係由複合物製造以最小化渦流；球形接頭由一低摩擦、高強度塑膠製造以最小化重量及渦流，該等球形接頭由一自潤滑塑膠製造以最小化摩擦及由摩擦引起的相關聯機械噪音及由摩擦引起的脈衝運動；該有效負載安裝在由一複合物製造之一吊籃中且自該等支桿懸吊；該等控制閥由於減小噪音以最小化電磁噪音所需要而經壓電致動；所有配件及耦合件由於抑制渦流以最小化 電磁噪音所需要而由複合物製造；准許空氣進入活塞支桿之小孔在該活塞支桿之內表面上斜切以允許活塞頭未受阻地經過空氣供應小孔；空氣壓力及因此來自該空氣供應器之流速經電腦控制以調整該吊籃上之負載、飛行之運動學性質及有效負載之運動隔離要求；該等積儲器之體積可經調整以匹配懸吊機構之硬度、系統之負載及動態要求。 According to various aspects, the towing frame defining the support structure is made of a resistive composite; the pneumatic cylinder is made of a composite to minimize eddy current; the ball joint is made of a low friction, high strength plastic to minimize weight and eddy current. The ball joint is made of a self-lubricating plastic to minimize friction and associated mechanical noise caused by friction and pulse motion caused by friction; the payload is mounted in a basket made of a composite and from such a branch Rod suspension; these control valves are piezoelectrically actuated as needed to reduce noise to minimize electromagnetic noise; all fittings and couplings are minimized by eddy current suppression Electromagnetic noise is required to be made of the composite; the aperture that allows air to enter the piston strut is beveled on the inner surface of the piston strut to allow the piston head to pass unobstructed through the air supply aperture; air pressure and hence air from the air The flow rate of the supply is controlled by the computer to adjust the load on the basket, the kinematics of the flight and the motion isolation requirements of the payload; the volume of the reservoir can be adjusted to match the hardness of the suspension mechanism, the load of the system And dynamic requirements.

根據各種態樣，該拖曳框架可由藉由剛性樑103連結在一起形成一環形三角格子之兩個同心圓環101及102組成，使得內環在外環上且支撐該等垂直活塞支桿，且該外環用以對用以此外約束該吊籃之扭轉及橫向運動之對角線支桿提供附接點，該拖曳框架及懸吊裝置容置在藉由一80公尺拖纜402自一直升機401懸吊之一拖曳載具407或探測器內，該等支桿之壓縮空氣藉由安裝在附加至該直升機15公尺以下的拖纜之一外殼內之一空氣壓縮機404供應，該壓縮機可藉由自該直升機401取得之一70-Amp電源供電。壓縮空氣藉由將該壓縮空氣分配至氣缸之各者之一50公尺軟管405饋送至位於該拖曳框架中之一歧管。離該吊籃50公尺安裝該空氣壓縮機之目的可能係為限制藉由該感測器平台處之壓縮機產生之任何電磁噪音。 According to various aspects, the towing frame may be composed of two concentric rings 101 and 102 joined together by a rigid beam 103 to form an annular triangular lattice such that the inner ring is on the outer ring and supports the vertical piston struts, and The outer ring is used to provide an attachment point for a diagonal strut for restraining the torsion and lateral movement of the gondola, the towing frame and the suspension device being housed by a 80-meter streamer 402 One of the helicopters 401 is suspended from the carrier 407 or the detector, and the compressed air of the struts is supplied by an air compressor 404 installed in one of the casings of the streamer attached to the helicopter 15 meters or less. The compressor can be powered by one of the 70-Amp power supplies taken from the helicopter 401. Compressed air is fed to a manifold located in the towing frame by a 50 meter hose 405 that distributes the compressed air to each of the cylinders. The purpose of installing the air compressor 50 meters from the basket may be to limit any electromagnetic noise generated by the compressor at the sensor platform.

根據各種態樣，若歸因於有效負載之本質使得抑制電磁噪音並不重要，則本發明可由複合物或塑膠構造之零件反而可由金屬構造，且可在其構造中使用導磁及磁極化金屬。在其他態樣中，空氣控制閥可使用非壓電致動器。按照隔離系統之規格所需，本發明之其他態樣可採用在一單 一或複數個壓力設定下操作之各種氣缸或氣缸組合。根據各種態樣，本發明之一個別實施例可用作該有效負載，空氣在活塞中之動作可藉由彈簧或類似機械構件輔助，該載具可不同於一載具，每一氣缸可需要一對個別的壓力致動器及一電位分析線性傳感器。回饋係基於每一氣缸之量測平均位置，且上壓力及下壓力經調變以使平均活塞位置保持在該氣缸中心。此等實施例之空氣供應需求類似於較佳實施例之需求。 According to various aspects, if it is not important to suppress electromagnetic noise due to the nature of the payload, the present invention may be constructed of metal from composite or plastic construction parts, and magnetically and magnetically polarized metal may be used in its construction. . In other aspects, the air control valve can use a non-piezoelectric actuator. According to the specifications of the isolation system, other aspects of the invention may be used in a single Various cylinder or cylinder combinations operating at one or more pressure settings. According to various aspects, an individual embodiment of the present invention can be used as the payload, and the action of air in the piston can be assisted by a spring or similar mechanical member, which can be different from a carrier, each cylinder can be required A pair of individual pressure actuators and a potential analysis linear sensor. The feedback is based on the measured average position of each cylinder, and the upper and lower pressures are modulated to maintain the average piston position at the center of the cylinder. The air supply requirements of these embodiments are similar to those of the preferred embodiment.

根據各種態樣，每一氣缸可需要一對個別的壓力調節器及一電位分析線性傳感器。回饋係由每一活塞上之位移感測器及輸入管上之壓力感測器計算以實現對附接至該兩個通口之空氣壓力調節器之電腦控制調整。壓力及位移感測器將每一支桿之狀態及該吊籃之位置饋送至運動控制電腦。該電腦接著調整至該等氣缸之空氣供應及摩擦離合器在每一活塞軸件上之動作以修改最佳化有效負載相對於載具之運動所需要的有效質量、阻尼及彈簧常數。此等實施例之空氣供應需求遠大於該較佳實施例之需求。該等支桿可藉由安裝至位於吊籃下方自下方支撐該吊籃之負載，該等支桿亦可藉由安裝至包圍該吊籃之一框架自上方及下方支撐該負載，且該拖曳框架可採取一非環形外觀或可含有內部阻尼構件，或二者兼具。圖2中針對一系統具有一單一氣缸之情況示意地圖解說明該氣動系統之組件。准許輸入壓縮空氣1在點4處藉由一壓力感測器監控之輸入壓力下經一輸入供應管2進入一供應歧管3。引自該供應歧管3的 供應管5分別透過供應管5u及5l饋送分別在每一氣缸13中的該上腔室13u及該下腔室13l。需要共同的空氣壓力之每一組氣缸需要若干對上供應管及下供應管。根據各種態樣，個別供應管將饋送空氣至若干組垂直及傾斜氣缸之上腔室及下腔室，總共4個供應管，僅圖解說明其中的兩個。該等供應管在各自供應管上通往該等壓力調節器6、上調節器6u及下調節器6l。透過該等排氣管7u及7l自該等調節器排除歸因於該氣缸13之上腔室13u及下腔室13l中的過壓而產生的多餘空氣8u及8l。接著將經壓力調節之空氣饋送至上壓力調節供應管9u及下壓力調節供應管9l中，且分別饋送至經壓力調節之上分配歧管10u及下分配歧管10l中。每一經壓力調節之分配歧管供應空氣給需要相同的經壓力調節之空氣來源之上氣缸及下氣缸。例如，在本揭示內容之較佳實施例中，3個上壓力調節管及3個下壓力調節管分別將空氣以一共同調節壓力饋送垂直氣缸中之3個上腔室及下腔室之各者，同時額外6個上壓力調節管及6個下壓力調節管分別將空氣以一共同調節壓力饋送傾斜氣缸中之6個上腔室及下腔室之各者。在圖2中，僅圖解說明兩個此等供應管。接著分別將經壓力調節之空氣饋送至自該等經壓力調節之分配歧管通往該氣缸13之上腔室及下腔室之上供應管12u及下供應管12l中。小孔11u及11l***上供應管及下供應管中以調節氣流且因此在該氣缸之腔室與各自調節分配歧管中之空氣壓力差之間用作一低通濾波器。應注意雖然上文描述指代空氣自該等壓力調節歧管流至各自 腔室中，但空氣亦可自該等腔室流動且流至各自歧管中以透過各自壓力調節器排氣。 Depending on the aspect, each cylinder may require a pair of individual pressure regulators and a potential analysis linear sensor. The feedback is calculated by the displacement sensor on each piston and the pressure sensor on the input tube to effect a computer controlled adjustment of the air pressure regulator attached to the two ports. A pressure and displacement sensor feeds the state of each pole and the position of the basket to the motion control computer. The computer then adjusts the air supply to the cylinders and the action of the friction clutch on each of the piston shaft members to modify the effective mass, damping, and spring constant required to optimize the effective load relative to the motion of the carrier. The air supply requirements of these embodiments are much greater than the needs of the preferred embodiment. The struts can be supported by loads attached to the basket from below under the basket, and the struts can also support the load from above and below by being mounted to a frame surrounding the basket, and the towing The frame may take on a non-annular appearance or may contain internal damping members, or both. The components of the pneumatic system are schematically illustrated in Figure 2 for a system having a single cylinder. The input compressed air 1 is permitted to enter a supply manifold 3 via an input supply line 2 at an input pressure monitored by a pressure sensor at point 4. Quoted from the supply manifold 3 The supply pipe 5 feeds the upper chamber 13u and the lower chamber 13l in each of the cylinders 13 through the supply pipes 5u and 5l, respectively. Each set of cylinders that require a common air pressure requires several pairs of upper and lower supply tubes. Depending on the aspect, the individual supply tubes will feed air to several sets of vertical and tilting cylinder upper and lower chambers for a total of four supply tubes, only two of which are illustrated. The supply pipes lead to the pressure regulator 6, the upper regulator 6u and the lower regulator 61 on respective supply pipes. The excess air 8u and 8l due to the overpressure in the upper chamber 13u and the lower chamber 13l of the cylinder 13 are excluded from the regulators through the exhaust pipes 7u and 7l. The pressure-regulated air is then fed into the upper pressure regulating supply pipe 9u and the lower pressure regulating supply pipe 91, and fed into the pressure-regulated upper distribution manifold 10u and the lower distribution manifold 101, respectively. Each pressure regulated distribution manifold supplies air to the upper and lower cylinders that require the same pressure regulated air source. For example, in a preferred embodiment of the present disclosure, the three upper pressure regulating tubes and the three lower pressure regulating tubes respectively feed air to the three upper chambers and the lower chamber of the vertical cylinder with a common adjustment pressure. At the same time, an additional six upper pressure regulating tubes and six lower pressure regulating tubes respectively feed air to each of the six upper chambers and the lower chambers of the tilting cylinders with a common adjusting pressure. In Figure 2, only two such supply tubes are illustrated. The pressure-regulated air is then fed separately from the pressure-regulated distribution manifolds into the upper and lower chamber supply tubes 12u and lower supply tubes 121 of the cylinders 13. The orifices 11u and 11l are inserted into the upper and lower supply tubes to regulate the gas flow and thus serve as a low pass filter between the chambers of the cylinders and the air pressure differentials in the respective regulated distribution manifolds. It should be noted that although the above description refers to the flow of air from the pressure regulating manifolds to the respective In the chamber, but air can also flow from the chambers and into the respective manifolds to vent through the respective pressure regulators.

每一支桿由一上腔室13u及一下腔室13l藉由由一頭部14a及一軸件14b組成之一活塞14a、14b分離之一氣缸13組成，其中該頭部將該氣缸內部分為該上腔室及該下腔室。一可調阻尼元件15可隨著該活塞在該氣缸中移動而作用在該活塞軸件上以按需要施加摩擦阻尼，且亦可用以將該活塞鎖定在適當位置。基於所要摩擦選擇該活塞頭與該內部氣缸壁之間之密封25，同樣亦選擇該活塞軸件與該氣缸中之出口小孔之間之密封26。上球形接頭17將該支桿連接至該框架，同時下球形接頭16將該支桿連接至該吊籃。位移感測器18提供輸入給該運動控制電腦。空氣透過其中放置一小孔2以控制排氣速率之排氣管1自該支桿排出。上積儲器22u及下積儲器22l分別藉由管道21u及21l連接至該氣缸之上腔室及下腔室以增加每一腔室之有效體積。該等積儲器中之可移除開口23容許***固體物體24以調整該有效積儲器體積。 Each of the rods is composed of an upper chamber 13u and a lower chamber 13l separated by a cylinder 13 composed of a head 14a and a shaft member 14b, wherein the head divides the cylinder interior into The upper chamber and the lower chamber. An adjustable damping element 15 can act on the piston shaft member as the piston moves within the cylinder to apply frictional damping as desired, and can also be used to lock the piston in place. A seal 25 between the piston head and the inner cylinder wall is selected based on the desired friction, and a seal 26 between the piston shaft member and the outlet orifice in the cylinder is also selected. The upper ball joint 17 connects the strut to the frame while the lower ball joint 16 connects the strut to the gondola. Displacement sensor 18 provides input to the motion control computer. The exhaust pipe 1 through which air is placed through a small hole 2 to control the exhaust rate is discharged from the struts. The upper reservoir 22u and the lower reservoir 22l are connected to the upper chamber and the lower chamber of the cylinder by pipes 21u and 21l, respectively, to increase the effective volume of each chamber. The removable opening 23 in the reservoir allows insertion of the solid object 24 to adjust the effective reservoir volume.

對於其中該氣動系統由在相同壓力下作用之多個氣缸組成之情況，額外供應管12u及12l可由其等各自歧管10u及10l通往額外氣缸及其等各自組件。在其中該氣動系統由在不同壓力設定下作用之多個氣缸組成之情況中，額外供應管(5u及5l)可由該供應歧管(3)通往各自壓力調節器、壓力調節歧管、氣缸及各自組件。 For the case where the pneumatic system consists of a plurality of cylinders acting at the same pressure, the additional supply tubes 12u and 12l can be routed to their respective manifolds 10u and 10l to the additional cylinders and their respective components. In the case where the pneumatic system consists of a plurality of cylinders acting at different pressure settings, additional supply tubes (5u and 5l) can be routed from the supply manifold (3) to respective pressure regulators, pressure regulating manifolds, cylinders And their respective components.

圖3A至圖3D根據本發明之各種態樣圖解說明積儲器22 在拖曳框架上之佈局。該拖曳框架由憑藉上面安裝該等積儲器之桁架部件103連接之一內環101及一下外環102組成。圖3B自一俯視角度圖解說明本發明之較佳實施例中之積儲器及拖曳框架。亦展示傾斜支桿201及垂直支桿202以及用以將該等支桿連接至該吊籃之剛性安裝結構203及204。圖3C自一透視角度圖解說明本發明之較佳實施例中之積儲器及拖曳框架。圖3D圖解說明該等支桿201、202、將該等支桿連接至該吊籃之安裝結構203、204之配置以及本發明之較佳實施例中之吊籃之構造。該吊籃由上面附加該等安裝結構203、204之一上環301組成。該吊籃係一凸緣302及面板303構造，其中該等凸緣之上端附加至該上環301且該等凸緣之下端終止於一底板(304)。 3A-3D illustrate the reservoir 22 in accordance with various aspects of the present invention. The layout on the drag frame. The towing frame is composed of an inner ring 101 and a lower outer ring 102 connected by a truss member 103 on which the accumulators are mounted. Figure 3B illustrates the accumulator and tow frame in a preferred embodiment of the present invention from a top view. Tilting strut 201 and vertical strut 202 are also shown and rigid mounting structures 203 and 204 for connecting the strut to the gondola. Figure 3C illustrates the accumulator and tow frame in a preferred embodiment of the present invention from a perspective perspective. Figure 3D illustrates the configuration of the struts 201, 202, the mounting structures 203, 204 that connect the struts to the gondola, and the configuration of the gondola in the preferred embodiment of the present invention. The gondola consists of a ring 301 attached to one of the mounting structures 203, 204. The gondola is constructed as a flange 302 and a panel 303, wherein the upper ends of the flanges are attached to the upper ring 301 and the lower ends of the flanges terminate in a bottom plate (304).

圖4圖解說明本發明實際配置之一態樣。直升機401透過附接至拖纜402之一電力線403供電，該拖纜402上面懸吊一外殼中藉由來自該直升機之電流提供動力之一空氣壓縮機404。所得壓縮空氣透過亦附接至該拖纜之一供應管405通往其中安裝本發明之載具407。該載具在空中藉由一拖軛406拖曳，該拖軛406附接至用元件101、102及103支撐該拖曳框架之一輸軸。 Figure 4 illustrates one aspect of the actual configuration of the present invention. The helicopter 401 is powered by a power line 403 attached to a streamer 402 that suspends an air compressor 404 in an enclosure that is powered by current from the helicopter. The resulting compressed air is also attached to one of the streamers supply tubes 405 to the carrier 407 in which the present invention is installed. The carrier is towed in the air by a drag yoke 406 attached to support one of the transport frames of the towing frame with elements 101, 102 and 103.

因此，總而言之，本裝置及方法包含以下態樣之一或多者。 Thus, in summary, the apparatus and method comprise one or more of the following aspects.

1.一般而言：一種用於使一有效負載與其載具運動隔離之氣動懸吊方法及裝置，其包括：1.1一拖曳框架，其由同心結構部件組成且內部部件位 於外部部件之上，其中該等部件皆經連接以形成呈一傾斜環狀三角格子之形狀之一支撐桁架，1.2一吊籃，其懸吊在上面可安裝由一感測器平台組成之一有效負載或額外第二懸吊系統之拖曳框架之下，且在一特定頻寬下與該拖曳框架之運動隔離，1.3一組3個垂直氣動低摩擦活塞支桿，其等具有雙通口，將該吊籃連接至該拖曳框架之上內環，該等支桿承受該吊籃之大部分靜負載且使該吊籃與該拖曳框架之垂直運動隔離，1.4一組6個對角線(或傾斜)氣動低摩擦活塞支桿，其等具有雙通口，將該吊籃連接至該拖曳框架之外環，該等支桿主要使該吊籃與該拖曳框架之平移及旋轉運動隔離，1.5一空氣供應泵，其提供一壓縮空氣來源，對於拖曳在一直升機下方之設備而言，該空氣供應泵可安裝在一拖纜上且與該拖曳框架及感測器平台分離大約50公尺之一距離，以使該有效負載與該泵之電及機械噪音隔離，1.6一空氣供應泵，其能夠由一標準直升機動力系統提供動力，1.7一空氣供應系統，其清淨並乾燥來自該泵之加壓空氣，且經由一軟管將該空氣饋送至一供應歧管以隨後分配給該等氣動支桿，使得對於經拖曳在一直升機下方之設備而言，該軟管安裝在該拖纜上，1.8一組4個空氣供應管，其等各自通往一電腦控制壓力調節器，且接著自該調節器通往一空氣分配歧管，其中每 一分配歧管中之空氣壓力係在藉由相關聯之壓力調節器上之電腦控制判定之一壓力，1.9一組供應管，其等自每一空氣分配歧管通往該等對角線或垂直支桿之上腔室或下腔室，其中每一供應管含有一小孔及一可選電腦控制壓電閥，使得：˙一組此等供應管自一分配歧管通往該等垂直支桿之上腔室˙一第二組此等供應管自一第二分配歧管通往該等垂直支桿之下腔室˙一第三組此等供應管自一第三分配歧管通往該等水平/傾斜支桿之上腔室˙一第四組此等供應管自一第四分配歧管通往該等水平/傾斜支桿之下腔室1.10排氣孔，其等在該等氣缸之各者之中點處以容許在該活塞自其平衡位置位移時自上腔室或下腔室之較大的腔室排出空氣，使得在藉由一出口小孔及視需要一壓電閥判定之一速率下排氣，其中以該靜負載中發生輕微變化時使該支桿恢復至其平衡位置之方式來排出該空氣，1.11每一分配歧管組中之電腦控制空氣壓力，以獨立地控制每一支桿之硬度及靜承載，1.12自該等分配歧管至該等活塞之空氣速率，其等藉由小孔及視需要藉由壓電閥調節以回應於該靜負載之階梯式變化控制將該活塞重新居中所需要的時間，1.13感測器，其等量測該等支桿中之空氣壓力、該等支 桿之延伸長度及該吊籃及該框架之運動以提供回饋給電腦，1.14電腦中之資料處理軟體，其採用感測器輸入以透過壓力調節器及視需要該等壓電閥管理該等支桿之空氣供應，以控制該吊籃之運動，1.15低摩擦自潤滑塑膠球形接頭，其等將該等支桿之上端連接至該拖曳框架且將該等支桿之下端連接至該吊籃，1.16一懸吊系統，其具有可藉由允許改變跨支桿中之活塞頭之差動空氣壓力來調整以承受不同的有效負載質量之支桿，1.17一懸吊系統，其具有可藉由以下各者調整為不同的彈簧常數之支桿：˙使用連接至每一氣缸之上腔室及下腔室的可變體積積儲器，且改變空氣在該等腔室內之有效體積，及˙藉由允許調整跨該活塞頭之平均空氣壓力，1.18一懸吊系統，其中該等支桿上之活塞軸件可藉由一活塞離合器接合以調整該支桿上之動態阻尼力並將該支桿鎖定在一固定位置，1.19一電腦控制回饋系統，其藉由連續量測該活塞及此外藉由控制連接至該兩個通口之調節器中之空氣壓力來調整該活塞之平均位置，1.20一電腦控制回饋系統，其藉由憑藉對該等空氣壓力調節器之即時調整控制該供應器中至該等支桿之空氣壓力及此外藉由用取代如1.9中描述之小孔之一壓電致動閥控 制來自該支桿之空氣輸入及排氣速率來調整本發明之動態性質，其中使用來自該等活塞軸件之各者上之位移感測器之輸入控制回饋以推斷軸件位移、速度及加速度以修改該支桿之有效彈簧常數、阻尼及質量。 1. In general: a pneumatic suspension method and apparatus for isolating a payload from motion of its carrier, comprising: 1.1 a towing frame consisting of concentric structural components and internal component locations Above the external component, wherein the components are connected to form a support truss in the shape of a slanted annular triangular lattice, 1.2 a hanging basket suspended thereon for mounting by one of the sensor platforms Under the towing frame of the payload or the additional second suspension system, and isolated from the movement of the towing frame at a particular bandwidth, 1.3 a set of 3 vertical pneumatic low friction piston struts having double ports, Attaching the gondola to the inner ring above the towing frame, the rods receiving a majority of the static load of the basket and isolating the basket from the vertical movement of the towing frame, 1.4 a set of 6 diagonal lines ( Or a tilting) pneumatic low friction piston strut having a double port connecting the basket to the outer ring of the towing frame, the bars mainly separating the basket from the translational and rotational movement of the towing frame, 1.5 An air supply pump that provides a source of compressed air that can be mounted on a streamer and separated from the towing frame and sensor platform by about 50 meters for equipment towed under a helicopter. One of the distances to make this The payload is isolated from the electrical and mechanical noise of the pump. 1.6 an air supply pump capable of being powered by a standard helicopter power system, 1.7 an air supply system that cleans and dries pressurized air from the pump and passes through a The hose feeds the air to a supply manifold for subsequent distribution to the pneumatic struts such that for equipment towed under a helicopter, the hose is mounted on the streamer, 1.8 a set of 4 air a supply tube, each of which leads to a computer controlled pressure regulator, and then from the regulator to an air distribution manifold, wherein each The air pressure in a distribution manifold is determined by a computer control on the associated pressure regulator, 1.9 a set of supply tubes that are routed from each air distribution manifold to the diagonal or a vertical upper or lower chamber, wherein each supply tube contains a small aperture and an optional computer controlled piezoelectric valve such that: a set of such supply tubes leads from a distribution manifold to the vertical a struts upper chamber ̇ a second set of such supply tubes from a second distribution manifold to the lower struts lower chambers ̇ a third group of such supply tubes from a third distribution manifold To the upper/tilted strut upper chamber, a fourth set of such supply pipes from a fourth distribution manifold to the horizontal/tilted strut lower chamber 1.10 venting holes, etc. The midpoint of each of the cylinders is such as to allow air to escape from the larger chamber of the upper or lower chamber when the piston is displaced from its equilibrium position, such that a small aperture and optionally a piezoelectric The valve determines the exhaust at a rate at which the strut is restored to its equilibrium position when a slight change occurs in the static load To discharge the air, 1.11 computer controlled air pressure in each distribution manifold to independently control the stiffness and static load of each pole, 1.12 the air rate from the distribution manifold to the pistons, Waiting for the time required to re-center the piston by a small hole and, if necessary, by a piezoelectric valve in response to a stepwise change in the static load, a 1.13 sensor that is equally measured in the struts Air pressure, these branches The extension of the rod and the movement of the basket and the frame to provide feedback to the computer, the data processing software in the 1.14 computer, which uses sensor inputs to manage the branches through the pressure regulator and, if necessary, the piezoelectric valves Air supply to the rod to control the movement of the basket, 1.15 low friction self-lubricating plastic ball joints, which connect the upper ends of the poles to the towing frame and connect the lower ends of the poles to the basket 1.16 a suspension system having a strut that can be adjusted to withstand different payload masses by allowing differential air pressure across the piston head in the strut to be varied, a 1.17 suspension system having the following Each is adjusted to a different spring constant of the struts: ̇ a variable volume accumulator connected to the upper and lower chambers of each cylinder is used, and the effective volume of air in the chambers is varied, and By allowing an adjustment of the average air pressure across the piston head, a 1.18 suspension system in which the piston shaft member on the strut is engageable by a piston clutch to adjust the dynamic damping force on the strut and to Locked in one Positioned, 1.19 a computer controlled feedback system that adjusts the average position of the piston by continuously measuring the piston and further controlling the air pressure in the regulator connected to the two ports, 1.20 a computer controlled feedback a system for controlling the air pressure in the supply to the struts by virtue of the immediate adjustment of the air pressure regulators and additionally by piezoelectrically actuating the valve control by replacing one of the small holes as described in 1.9 The air input and exhaust rates from the strut are adjusted to adjust the dynamic nature of the present invention, wherein input control feedback from displacement sensors on each of the piston shaft members is used to infer shaft displacement, velocity and acceleration To modify the effective spring constant, damping and mass of the strut.

2.行動：一種用於使一有效負載與一行動載具運動隔離之氣動懸吊方法及裝置，其包括第1.1至1.20項，且可裝配在一行動載具內部且經組裝、拆卸及以標準空運集裝箱運輸於各地之間。 2. Action: A pneumatic suspension method and apparatus for isolating a payload from a mobile vehicle, including items 1.1 through 1.20, and being mountable within a mobile vehicle and assembled, disassembled, and Standard air freight containers are transported between locations.

3.行動、拖曳：如2中描述之用於運動隔離一有效負載之氣動懸吊方法及裝置，該有效負載設置在與一空氣壓縮機分離之一拖曳空載行動載具中，該空氣壓縮機自該拖纜懸吊與該有效負載相距一距離以最小化該吊籃處之電磁噪音。 3. Action, towing: a pneumatic suspension method and apparatus for motion isolation of a payload as described in 2, the payload being disposed in a towed no-load mobile vehicle separated from an air compressor, the air compression The aircraft is suspended from the streamer by a distance from the payload to minimize electromagnetic noise at the basket.

4.複合物：一種用於使一有效負載與一載具運動隔離之氣動懸吊方法及裝置，其包括第1.1至1.20項，其中組件積儲器、拖曳框架、吊籃由複合物構造，該等空氣壓力閥受控於壓電致動器或其他構件以產生一小的電磁信號，管線及管路由非金屬配件構造且必要的金屬零件為非磁性以最小化電磁干擾，且其中搬移該空氣供應泵於相距該吊籃之一距離處以最小化該吊籃處之電磁噪音。 4. Composite: A pneumatic suspension method and apparatus for isolating a payload from movement of a vehicle, comprising items 1.1 to 1.20, wherein the component accumulator, the towing frame, and the gondola are constructed of a composite, The air pressure valves are controlled by piezoelectric actuators or other components to generate a small electromagnetic signal, the pipelines and tubes are routed to a non-metallic fitting construction and the necessary metal parts are non-magnetic to minimize electromagnetic interference, and wherein the The air supply pump is located at a distance from the basket to minimize electromagnetic noise at the basket.

5.行動、拖曳、複合物：如3中描述之用於運動隔離一有效負載之氣動懸吊方法及裝置，其中該等組件由如4中描述之複合物構造。 5. Action, Tow, Composite: A pneumatic suspension method and apparatus for motion isolation of a payload as described in 3, wherein the components are constructed from a composite as described in 4.

6.電磁、複合物：如4中描述之用於運動隔離一有效負 載之氣動懸吊方法及裝置，其中該有效負載包括需要無分散渦流及電噪音及機械噪音之一低噪音電磁環境之高精度電磁感測器。 6. Electromagnetic, composite: as described in 4 for motion isolation, an effective negative A pneumatic suspension method and apparatus, wherein the payload comprises a high precision electromagnetic sensor requiring a low noise electromagnetic environment without dispersing eddy currents and electrical noise and mechanical noise.

7.行動電磁、複合物：如2中描述之用於使一有效負載與一行動載具運動隔離之氣動懸吊方法及裝置，其中該有效負載及構造係如6中描述。 7. Action Electromagnetic, Composite: A pneumatic suspension method and apparatus for isolating a payload from a mobile vehicle as described in 2, wherein the payload and configuration are as described in FIG.

8.拖曳、行動電磁、複合物：如3中描述之用於使一有效負載與一拖曳行動載具運動隔離之氣動懸吊方法及裝置，其中該有效負載及構造係如6中描述。 8. Tow, Action Electromagnetic, Composite: A pneumatic suspension method and apparatus for isolating a payload from a towed motion vehicle as described in 3, wherein the payload and configuration are as described in FIG.

9.拖曳、行動電磁、複合物、低、頻帶：如8中描述之用於使一有效負載與一拖曳行動載具運動隔離之氣動懸吊方法及裝置，其中該等感測器在1 Hz至10,000 Hz之頻率頻帶中量測電磁場，且其中本揭示內容中之發明提供主要在1 Hz至50 Hz頻帶中之運動隔離。 9. Tow, action electromagnetic, composite, low, frequency band: a pneumatic suspension method and apparatus for isolating a payload from a towed motion vehicle as described in 8, wherein the sensors are at 1 Hz The electromagnetic field is measured in a frequency band of up to 10,000 Hz, and wherein the invention in the present disclosure provides motion isolation primarily in the 1 Hz to 50 Hz band.

10.全部-更多支桿：如1至9中描述之用於運動隔離一有效負載之氣動懸吊方法及裝置，其中可使用複數個垂直及水平支桿作為一阻尼及懸吊構件。 10. All-More Pole: A pneumatic suspension method and apparatus for motion isolation of a payload as described in Figures 1 to 9, wherein a plurality of vertical and horizontal struts are used as a damping and suspension member.

11.全部-更多積儲器：如1至9中描述之用於運動隔離一有效負載之氣動懸吊方法及裝置，其中不使用積儲器或使用複數個積儲器以增大氣缸之體積。 11. All-more accumulators: Pneumatic suspension methods and apparatus for motion isolation of a payload as described in 1 to 9, wherein no accumulators are used or a plurality of accumulators are used to increase the cylinder volume.

12.全部-更多支桿以及積儲器：如1至9中描述之用於運動隔離一有效負載之氣動懸吊方法及裝置，其中不使用積儲器或使用複數個積儲器以增大氣缸之體積，且其中可使用複數個垂直及水平支桿作為一阻尼及懸吊構件。 12. All-more struts and accumulators: pneumatic suspension methods and apparatus for motion isolation of a payload as described in 1 to 9, wherein no accumulators are used or multiple accumulators are used to increase The volume of a large cylinder, and a plurality of vertical and horizontal struts can be used as a damping and suspension member.

13.全部-底部支桿：如1至12中描述之用於運動隔離一有效負載之氣動懸吊方法及裝置，其中該等支桿由位於吊籃下方之一框架支撐該吊籃及其有效負載。 13. All-bottom strut: a pneumatic suspension method and apparatus for motion isolation of a payload as described in 1 to 12, wherein the strut is supported by a frame located below a basket and is effective load.

14.全部-頂部及底部支桿：如1至12中描述之用於運動隔離一有效負載之氣動懸吊方法及裝置，其中該等支桿由來自吊籃上方及下方二者之一框架支撐該吊籃及其有效負載。 14. All-top and bottom struts: pneumatic suspension methods and apparatus for motion isolation of a payload as described in Figures 1 to 12, wherein the struts are supported by a frame from either above and below the basket The basket and its payload.

15.拖曳、行動電磁、複合物、頻帶、專利：如9中描述之用於使一有效負載與一拖曳行動載具運動隔離之氣動懸吊方法及裝置，且其進一步如Polzer等人在2010年1月15日申請之專利USPTO第12/688,565號中所述。 15. Tow, Action Electromagnetic, Composite, Frequency Band, Patent: A pneumatic suspension method and apparatus for isolating a payload from a towed motion vehicle as described in 9, and further as in Pollzer et al. Patent USPTO No. 12/688,565, filed on Jan. 15, the same.

16.回饋：如1至15中描述之氣動懸吊系統，其中採用力回饋傳感器來取代空氣供應器及排氣管中之固定小孔。 16. Feedback: A pneumatic suspension system as described in 1 to 15 in which a force feedback sensor is used in place of the fixed apertures in the air supply and exhaust.

雖然已結合上文概述之例示性態樣描述本發明，但是一般技術者可明白各種替代、修改、變動、改良及/或實質等效物，無論其等是否已知或目前尚未或可能尚未預知。因此，如上文陳述，本發明之例示性態樣旨在闡釋性且非限制性。在不脫離本發明之精神及範疇之情況下可作出各種改變。因此，本發明旨在包含全部已知或隨後開發之替代、修改、變動、改良及/或實質等效物。 Although the present invention has been described in connection with the exemplary embodiments described above, various alternatives, modifications, variations, improvements and/or substantial equivalents may be apparent to those skilled in the art, whether or not they are known or not yet . Accordingly, the illustrative aspects of the invention are intended to be illustrative and not limiting. Various changes may be made without departing from the spirit and scope of the invention. Accordingly, the present invention is intended to embrace all alternatives, modifications, variations, modifications and/

1‧‧‧饋送空氣/排氣管 1‧‧‧Feed air/exhaust pipe

2‧‧‧供應管/小孔 2‧‧‧Supply tube/small hole

3‧‧‧主輸入歧管 3‧‧‧Main input manifold

4‧‧‧點 4 o'clock

5l‧‧‧供應管 5l‧‧‧Supply tube

5u‧‧‧供應管 5u‧‧‧Supply tube

6‧‧‧壓力調節器 6‧‧‧ Pressure Regulator

6l‧‧‧下壓力調節器 6l‧‧‧lower pressure regulator

6u‧‧‧上壓力調節器 6u‧‧‧Upper pressure regulator

7l‧‧‧排氣管 7l‧‧‧Exhaust pipe

7u‧‧‧排氣管 7u‧‧‧Exhaust pipe

8l‧‧‧過多空氣 8l‧‧‧Excessive air

8u‧‧‧過多空氣 8u‧‧‧Excessive air

9l‧‧‧上壓力調節供應管 9l‧‧‧Upper pressure regulating supply tube

9u‧‧‧上壓力調節供應管 9u‧‧‧Upper pressure regulating supply tube

10l‧‧‧下歧管/下分配歧管/壓力調節歧管 10l‧‧‧ Lower Manifold / Lower Distribution Manifold / Pressure Regulating Manifold

10u‧‧‧上歧管/上分配歧管/壓力調節歧管 10u‧‧‧Upper Manifold/Upper Distribution Manifold / Pressure Regulating Manifold

11l‧‧‧入口閥小孔/空氣供應入口閥 11l‧‧‧Inlet valve orifice/air supply inlet valve

11u‧‧‧入口閥小孔/空氣供應入口閥 11u‧‧‧Inlet valve orifice/air supply inlet valve

12l‧‧‧下供應管 12l‧‧‧ supply tube

12u‧‧‧上供應管 12u‧‧‧ on the supply pipe

13‧‧‧空氣氣缸 13‧‧‧Air cylinder

13l‧‧‧下腔室 13l‧‧‧ lower chamber

13u‧‧‧上腔室 13u‧‧‧Upper chamber

14‧‧‧活塞 14‧‧‧Piston

14a‧‧‧活塞頭 14a‧‧‧ piston head

14b‧‧‧活塞軸件 14b‧‧‧Piston shaft parts

15‧‧‧摩擦離合器/可調阻尼元件 15‧‧‧ Friction Clutch / Adjustable Damping Element

16‧‧‧下球形接頭 16‧‧‧Bottom ball joint

17‧‧‧上球形接頭 17‧‧‧Up ball joint

18‧‧‧位移感測器 18‧‧‧ Displacement Sensor

19‧‧‧排氣孔 19‧‧‧ venting holes

20‧‧‧排氣小孔 20‧‧‧Exhaust hole

21l‧‧‧管道 21l‧‧‧ pipeline

21u‧‧‧管道 21u‧‧‧ pipeline

22‧‧‧積儲器 22‧‧‧ accumulator

22l‧‧‧積儲器 22l‧‧‧ accumulation

22u‧‧‧積儲器 22u‧‧‧ accumulator

23‧‧‧可移除開口 23‧‧‧Removable opening

24‧‧‧固體物體 24‧‧‧ Solid objects

25‧‧‧活塞密封 25‧‧‧ piston seal

26‧‧‧活塞軸件密封/活塞密封 26‧‧‧Piston shaft seal / piston seal

50‧‧‧電腦控制器 50‧‧‧Computer controller

60‧‧‧回饋系統 60‧‧‧Feedback system

101‧‧‧同心圓環/支撐結構/內環 101‧‧‧Concentric ring/support structure/inner ring

102‧‧‧同心圓環/支撐結構/下外環 102‧‧‧Concentric ring/support structure/lower outer ring

103‧‧‧支撐結構/剛性樑/桁架部件 103‧‧‧Support structure/rigid beam/truss parts

201‧‧‧傾斜支桿 201‧‧‧ tilting pole

202‧‧‧垂直支桿 202‧‧‧Vertical pole

203‧‧‧剛性安裝結構 203‧‧‧Rigid mounting structure

204‧‧‧剛性安裝結構 204‧‧‧Rigid mounting structure

301‧‧‧吊籃/上環 301‧‧‧ hanging basket / ring

302‧‧‧吊籃/凸緣 302‧‧‧ hanging basket/flange

303‧‧‧吊籃/面板 303‧‧‧ hanging basket/panel

304‧‧‧底板 304‧‧‧floor

401‧‧‧直升機 401‧‧‧ helicopter

402‧‧‧拖纜 402‧‧‧ streamer

403‧‧‧電力線 403‧‧‧Power line

404‧‧‧壓縮機 404‧‧‧Compressor

405‧‧‧供應管 405‧‧‧Supply tube

406‧‧‧拖軛 406‧‧‧ drag yoke

407‧‧‧載具 407‧‧‧ Vehicles

d‧‧‧實際阻尼 D‧‧‧ actual damping

fm‧‧‧力 f m ‧‧‧力

fp‧‧‧力 f p ‧ ‧ force

k‧‧‧彈簧常數 K‧‧·spring constant

m‧‧‧質量 m‧‧‧Quality

xm‧‧‧位移 x m ‧‧‧displacement

圖1係一阻尼機構之一圖解說明；圖2係根據本發明之各種態樣之一阻尼機構之一圖解說明； 圖3A至圖3D根據本發明之各種態樣圖解說明拖曳框架上積儲器22之佈局；圖4圖解說明本發明實際配置之一態樣；圖5A根據本發明之各種態樣圖解說明依據基線垂直支桿之頻率之傳遞率；圖5B根據本發明之各種態樣圖解說明透過摩擦離合器在軸件上摩擦之阻尼作用；及圖5C根據本發明之各種態樣圖解說明依據阻尼之傳遞率。 Figure 1 is a diagram illustrating one of the damper mechanisms; Figure 2 is an illustration of one of the damper mechanisms in accordance with various aspects of the present invention; 3A-3D illustrate the layout of the accumulator 22 on the towing frame in accordance with various aspects of the present invention; FIG. 4 illustrates one aspect of the actual configuration of the present invention; FIG. 5A illustrates the baseline according to various aspects of the present invention. The transmission rate of the frequency of the vertical strut; Figure 5B illustrates the damping effect of friction on the shaft member through the friction clutch in accordance with various aspects of the present invention; and Figure 5C illustrates the transmission rate in accordance with the damping in accordance with various aspects of the present invention.

1‧‧‧饋送空氣/排氣管 1‧‧‧Feed air/exhaust pipe

2‧‧‧供應管/小孔 2‧‧‧Supply tube/small hole

3‧‧‧主輸入歧管 3‧‧‧Main input manifold

4‧‧‧點 4 o'clock

5u‧‧‧供應管 5u‧‧‧Supply tube

5l‧‧‧供應管 5l‧‧‧Supply tube

6u‧‧‧上壓力調節器 6u‧‧‧Upper pressure regulator

6l‧‧‧下壓力調節器 6l‧‧‧lower pressure regulator

7u‧‧‧排氣管 7u‧‧‧Exhaust pipe

7l‧‧‧排氣管 7l‧‧‧Exhaust pipe

8u‧‧‧過多空氣 8u‧‧‧Excessive air

8l‧‧‧過多空氣 8l‧‧‧Excessive air

9u‧‧‧上壓力調節供應管 9u‧‧‧Upper pressure regulating supply tube

9l‧‧‧上壓力調節供應管 9l‧‧‧Upper pressure regulating supply tube

10l‧‧‧下歧管/下分配歧管/壓力調節歧管 10l‧‧‧ Lower Manifold / Lower Distribution Manifold / Pressure Regulating Manifold

10u‧‧‧上歧管/上分配歧管/壓力調節歧管 10u‧‧‧Upper Manifold/Upper Distribution Manifold / Pressure Regulating Manifold

11l‧‧‧入口閥小孔/空氣供應入口閥 11l‧‧‧Inlet valve orifice/air supply inlet valve

11u‧‧‧入口閥小孔/空氣供應入口閥 11u‧‧‧Inlet valve orifice/air supply inlet valve

12l‧‧‧下供應管 12l‧‧‧ supply tube

12u‧‧‧上供應管 12u‧‧‧ on the supply pipe

13‧‧‧空氣氣缸 13‧‧‧Air cylinder

13l‧‧‧下腔室 13l‧‧‧ lower chamber

13u‧‧‧上腔室 13u‧‧‧Upper chamber

14‧‧‧活塞 14‧‧‧Piston

14a‧‧‧活塞頭 14a‧‧‧ piston head

14b‧‧‧活塞軸件 14b‧‧‧Piston shaft parts

15‧‧‧摩擦離合器 15‧‧‧ Friction clutch

16‧‧‧下球形接頭 16‧‧‧Bottom ball joint

17‧‧‧上球形接頭 17‧‧‧Up ball joint

18‧‧‧位移感測器 18‧‧‧ Displacement Sensor

19‧‧‧排氣孔 19‧‧‧ venting holes

20‧‧‧排氣小孔 20‧‧‧Exhaust hole

21l‧‧‧管道 21l‧‧‧ pipeline

21u‧‧‧管道 21u‧‧‧ pipeline

22l‧‧‧積儲器 22l‧‧‧ accumulation

22u‧‧‧積儲器 22u‧‧‧ accumulator

23‧‧‧可移除開口 23‧‧‧Removable opening

24‧‧‧固體物體 24‧‧‧ Solid objects

25‧‧‧活塞密封 25‧‧‧ piston seal

26‧‧‧活塞軸件密封/活塞密封 26‧‧‧Piston shaft seal / piston seal

50‧‧‧電腦控制器 50‧‧‧Computer controller

60‧‧‧回饋系統 60‧‧‧Feedback system

Claims (46)

一種震動阻尼系統，其包括：一氣缸，其具有一第一耦合接頭、一第二耦合接頭及使一上腔室與一下腔室分離之一活塞；一第一壓力調節器，其與一空氣供應器及該上腔室連通以維持該上腔室中之一第一壓力；一第二壓力調節器，其與一空氣供應器及該下腔室連通以維持該下腔室中之一第二壓力；一上積儲器，其能夠保持加壓空氣並與該上腔室連通；一下積儲器，其能夠保持加壓空氣並與該下腔室連通；其中該第一耦合接頭將該氣缸耦合至一框架，且該第二耦合接頭將該氣缸耦合至可連接至一有效負載之一吊籃；及其中該活塞與該上腔室中之該第一壓力及該下腔室中之該第二壓力之一相互作用使該框架之震動與該吊籃隔離。 A vibration damping system includes: a cylinder having a first coupling joint, a second coupling joint, and a piston separating an upper chamber from a lower chamber; a first pressure regulator, and an air The supply and the upper chamber are in communication to maintain a first pressure in the upper chamber; a second pressure regulator is in communication with an air supply and the lower chamber to maintain one of the lower chambers a pressure accumulator capable of holding pressurized air and communicating with the upper chamber; a reservoir accumulating pressurized air and communicating with the lower chamber; wherein the first coupling joint a cylinder coupled to a frame, and the second coupling joint couples the cylinder to a basket connectable to a payload; and wherein the piston and the first pressure in the upper chamber and the lower chamber One of the second pressures interacts to isolate the vibration of the frame from the basket. 如請求項1之系統，其中該等震動係在1 Hz至50 Hz之一頻率範圍中。 The system of claim 1, wherein the vibrations are in a frequency range of 1 Hz to 50 Hz. 如請求項1之系統，其中該等震動係在1 Hz至25 Hz之一頻率範圍中。 The system of claim 1, wherein the vibrations are in a frequency range of 1 Hz to 25 Hz. 如請求項1之系統，其中該氣缸進一步包括經定位朝向該氣缸之一縱軸之一中心之一排氣孔以在該活塞自一平 衡位置位移時容許自該上腔室或該下腔室中之一較大腔室排出空氣。 The system of claim 1 wherein the cylinder further comprises a venting opening positioned toward a center of one of the longitudinal axes of the cylinder to self-level at the piston The displacement of the positional displacement allows for the evacuation of air from one of the upper chamber or one of the larger chambers of the lower chamber. 如請求項4之系統，其中該排氣孔進一步包括一出口小孔或一可控閥，其中該出口小孔經定大小或該可控閥經控制使得該空氣以一判定速率排出。 The system of claim 4, wherein the venting opening further comprises an outlet orifice or a controllable valve, wherein the outlet orifice is sized or the controllable valve is controlled such that the air is discharged at a determined rate. 如請求項1之系統，其中該第一壓力調節器及該第二壓力調節器可經控制以提供該第一壓力及該第二壓力以支撐一判定靜負載並提供一判定有效彈簧常數。 The system of claim 1, wherein the first pressure regulator and the second pressure regulator are controllable to provide the first pressure and the second pressure to support a determined static load and provide a determined effective spring constant. 如請求項6之系統，其進一步包括：一上歧管，其與該上壓力調節器連通；一上空氣供應入口閥，其控制該上歧管與該上腔室之間之連通；一下歧管，其與該下壓力調節器連通；一下空氣供應入口閥，其控制該下歧管與該下腔室之間之連通；及其中該上歧管及該上空氣供應入口閥以及該下歧管及該下空氣供應入口閥經組態以進一步提供該第一壓力及該第二壓力以支撐該判定靜負載並提供該判定有效彈簧常數。 The system of claim 6 further comprising: an upper manifold in communication with the upper pressure regulator; an upper air supply inlet valve that controls communication between the upper manifold and the upper chamber; a tube in communication with the lower pressure regulator; a lower air supply inlet valve that controls communication between the lower manifold and the lower chamber; and wherein the upper manifold and the upper air supply inlet valve and the lower differential The tube and the lower air supply inlet valve are configured to further provide the first pressure and the second pressure to support the determined static load and provide the determined effective spring constant. 如請求項1之系統，其進一步包括：一活塞軸件，其連接至該活塞頭且自該氣缸延伸；一離合器，其連接至該活塞軸件並經組態以抑止或鎖定該軸件之移動。 The system of claim 1 further comprising: a piston shaft member coupled to the piston head and extending from the cylinder; a clutch coupled to the piston shaft member and configured to inhibit or lock the shaft member mobile. 如請求項1之系統，其中該上積儲器及該下積儲器包括 分別銜接至分別與該上壓力調節器及該下壓力調節器分離之上腔室及下腔室之密封容器。 The system of claim 1, wherein the upper accumulator and the lower accumulator comprise Separately connected to the sealed containers respectively separating the upper chamber and the lower chamber from the upper pressure regulator and the lower pressure regulator. 如請求項1之系統，其中該上積儲器及該下積儲器具有一可調有效體積。 The system of claim 1, wherein the upper reservoir and the lower reservoir have an adjustable effective volume. 如請求項1之系統，其中該氣缸經組態以藉由允許改變跨該活塞頭之一差動空氣壓力承受該有效負載之不同質量。 The system of claim 1, wherein the cylinder is configured to withstand different masses of the payload by allowing a differential air pressure across the piston head to be varied. 如請求項1之系統，其進一步包括一回饋系統，該回饋系統藉由連續量測該活塞及此外藉由控制藉由該上壓力調節器及該下壓力調節器提供之空氣壓力來調整該活塞之一平均位置。 The system of claim 1, further comprising a feedback system that adjusts the piston by continuously measuring the piston and further by controlling air pressure provided by the upper pressure regulator and the lower pressure regulator One of the average locations. 如請求項1之系統，其中該上積儲器、該下積儲器、該框架及該吊籃由一非磁性複合材料構造，且其中該上壓力調節器及該下壓力調節器受控於壓電致動器或具有一相對較小的電磁信號之其他構件。 The system of claim 1, wherein the upper accumulator, the lower accumulator, the frame, and the gondola are constructed of a non-magnetic composite material, and wherein the upper pressure regulator and the lower pressure regulator are controlled by Piezoelectric actuators or other components having a relatively small electromagnetic signal. 如請求項1之系統，其中該氣缸、該上壓力調節器、該下壓力調節器、該上積儲器及該下積儲器包括經組態以使該框架之震動與該吊籃隔離之複數個氣缸、上壓力調節器、下壓力調節器、上積儲器及下積儲器之一者。 The system of claim 1, wherein the cylinder, the upper pressure regulator, the lower pressure regulator, the upper reservoir, and the lower reservoir comprise a configuration configured to isolate vibration of the frame from the basket One of a plurality of cylinders, an upper pressure regulator, a lower pressure regulator, an upper accumulator, and a lower accumulator. 一種使一有效負載與一載具運動隔離之氣動懸吊裝置，其包括：一拖曳框架，其包含一內部部件位於一外部部件上之同心結構部件，其中該兩個部件連接以形成呈一傾斜環形三角格子之一支撐桁架； 一吊籃，其懸吊在該拖曳框架下方，其經組態以安裝包含一感測器平台之一有效負載或一額外第二懸吊系統，其中該吊籃在一特定頻寬下與該拖曳框架之運動隔離；一組垂直氣動活塞支桿，其具有雙通口，將該吊籃連接至該拖曳框架之上方內部部件，其中該等支桿經組態以承受該吊籃之一靜負載之大部分且使該吊籃與該拖曳框架之垂直運動隔離；一組傾斜氣動活塞支桿，其具有雙通口，將該吊籃連接至該拖曳框架之外部部件且經組態以使該吊籃與該拖曳框架之平移及旋轉運動隔離；及一組空氣供應管，其等各自將一各自組的一電腦控制壓力調節器及一空氣分配歧管連接至該組垂直支桿及該組傾斜支桿之各者之一上腔室或一下腔室，其中每一分配歧管中之空氣壓力維持在藉由相關聯之壓力調節器判定之一壓力。 A pneumatic suspension device for isolating a payload from movement of a carrier, comprising: a towing frame comprising a concentric structural member having an inner component on an outer component, wherein the two components are joined to form a slope One of the circular triangular lattices supports the truss; a gondola suspended below the towing frame configured to mount a payload comprising a sensor platform or an additional second suspension system, wherein the gondola is at a particular bandwidth Motion isolation of the towing frame; a set of vertical pneumatic piston struts having dual ports connecting the basket to internal components above the towing frame, wherein the struts are configured to withstand one of the baskets a majority of the load and isolates the basket from vertical movement of the towing frame; a set of tilting pneumatic piston struts having dual ports connecting the basket to external components of the towing frame and configured to The gondola is isolated from the translational and rotational movement of the towing frame; and a set of air supply tubes, each of which connects a respective set of computer controlled pressure regulators and an air distribution manifold to the set of vertical struts and One of the sets of tilting struts is either an upper chamber or a lower chamber, wherein the air pressure in each of the distribution manifolds is maintained at a pressure determined by an associated pressure regulator. 如請求項15之裝置，其中該組供應管之各者包含定位於該相關聯之歧管與該組垂直支桿及該組傾斜支桿之各者之上腔室或下腔室之間之一小孔及一電腦控制壓電閥之至少一者。 The apparatus of claim 15 wherein each of the set of supply tubes comprises a position between the associated manifold and the upper or lower chamber of each of the set of vertical struts and the set of slanted struts At least one of a small hole and a computer controlled piezoelectric valve. 如請求項15之裝置，其進一步包括：一空氣供應泵，其提供一壓縮空氣源；一空氣供應泵；及一空氣供應系統，其清淨並乾燥來自該泵之壓縮空 氣，且經由一軟管將該空氣饋送至每一歧管以供隨後分配給該等氣動支桿，使得對於在一直升機下方拖曳之設備而言，該軟管安裝在該拖纜上。 The apparatus of claim 15, further comprising: an air supply pump that provides a source of compressed air; an air supply pump; and an air supply system that cleans and dries the compressed air from the pump The air is fed to each manifold via a hose for subsequent distribution to the pneumatic struts such that the hose is mounted on the streamer for equipment towed under a helicopter. 如請求項17之裝置，其中：該空氣供應泵安裝在一拖纜上且與該拖曳框架及感測器平台分離大約50公尺之一距離以使該有效負載與該泵之電噪音及機械噪音隔離；該空氣供應泵經組態以由一標準直升機動力系統提供動力；及該空氣供應系統之軟管安裝在該拖纜上。 The device of claim 17, wherein: the air supply pump is mounted on a streamer and separated from the towing frame and the sensor platform by a distance of about 50 meters to electrically isolate the payload from the pump and mechanical Noise isolation; the air supply pump is configured to be powered by a standard helicopter power system; and the hose of the air supply system is mounted to the streamer. 如請求項15之裝置，其進一步包括該組垂直支桿及該組傾斜支桿之各者之每一氣缸之一中點處之排氣孔以容許在該氣缸中之一活塞自一平衡位置位移時自該上腔室或該下腔室之較大的腔室排出空氣。 The device of claim 15 further comprising a venting opening at a midpoint of each of the set of vertical struts and each of the set of inclined struts to permit one of the pistons to be in an equilibrium position At the time of displacement, air is discharged from the upper chamber or the larger chamber of the lower chamber. 如請求項19之裝置，其中以藉由一出口小孔大小或一壓電閥判定之一速率自每一排氣孔進行一排氣，其中每一排氣孔經組態成以在一靜負載發生變化時使各自支桿恢復至該平衡位置之方式來排出空氣。 The apparatus of claim 19, wherein an exhaust is performed from each of the vents at a rate determined by an exit orifice size or a piezoelectric valve, wherein each vent is configured to be static The air is discharged in such a manner that the respective struts return to the equilibrium position when the load changes. 如請求項15之裝置，其中每一壓力調節器控制每一分配歧管中之空氣壓力以獨立地控制每一支桿之一硬度及一靜承載。 The apparatus of claim 15 wherein each pressure regulator controls air pressure in each of the distribution manifolds to independently control one of the stiffness and one static load of each of the struts. 如請求項15之裝置，其進一步包括一小孔或一壓電閥之至少一者以控制自每一歧管至每一支桿之空氣速率。 The device of claim 15 further comprising at least one of a small aperture or a piezoelectric valve to control the air velocity from each manifold to each of the struts. 如請求項22之裝置，其中該小孔或該壓電閥之該至少一 者之各者經組態以回應於一靜負載之階梯式變化控制使每一支桿之一氣缸中之一活塞重新居中所需要的一時間。 The device of claim 22, wherein the aperture or the at least one of the piezoelectric valves Each of them is configured to respond to a step change control of a static load for a time required to re-center one of the pistons of one of the rods. 如請求項15之裝置，其進一步包括量測該等支桿中之空氣壓力、該等支桿之一延伸長度及該吊籃及該拖曳框架之一運動之感測器以提供回饋給一電腦。 The device of claim 15 further comprising: a sensor for measuring air pressure in the struts, an extension of one of the struts, and a movement of the basket and the drag frame to provide feedback to a computer . 如請求項24之裝置，其進一步包括該電腦中之資料處理軟體，該資料處理軟體採用來自該等感測器之輸入以透過該等壓力調節器及各自壓電閥之至少一者管理至該等支桿之空氣供應以控制該吊籃之一運動。 The device of claim 24, further comprising data processing software in the computer, wherein the data processing software uses inputs from the sensors to manage to the at least one of the pressure regulators and the respective piezoelectric valves The air supply of the struts controls the movement of one of the baskets. 如請求項15之裝置，其進一步包括將該等支桿之一上端連接至該拖曳框架及將該等支桿之一下端連接至該吊籃之低摩擦、自潤滑塑膠球形接頭。 The device of claim 15 further comprising a low friction, self-lubricating plastic ball joint that connects the upper end of one of the struts to the drag frame and the lower end of one of the struts to the gondola. 如請求項15之裝置，其中可藉由允許改變跨每一支桿之一氣缸中之一活塞之一差動空氣壓力調整該等支桿以承受不同的有效負載質量。 The apparatus of claim 15 wherein the struts are adjustable to withstand different payload qualities by allowing a change in differential air pressure across one of the pistons of one of the cylinders of each of the struts. 如請求項15之裝置，其中可藉由以下各者將每一支桿調整為一不同彈簧常數：使用連接至每一支桿之一氣缸之一上腔室及一下腔室之可變體積積儲器以改變該等腔室內空氣之一有效體積；及允許調整跨每一支桿之該氣缸內之一活塞之一平均空氣壓力。 The apparatus of claim 15 wherein each of the rods is adjustable to a different spring constant by using a variable volume product connected to the upper chamber and the lower chamber of one of the cylinders of each of the rods. The reservoir is adapted to vary an effective volume of the chamber air; and an average air pressure of one of the pistons within the cylinder is allowed to be adjusted across each of the rods. 如請求項15之裝置，其中每一支桿包括一活塞附接至一 活塞軸件之一氣缸，且進一步包括接合每一活塞軸件之一活塞離合器，其中每一活塞離合器經組態以調整該支桿上之一動態阻尼力或將該支桿鎖定在一固定位置中。 The device of claim 15 wherein each of the rods includes a piston attached to the a cylinder of a piston shaft member, and further comprising a piston clutch engaging one of the piston shaft members, wherein each piston clutch is configured to adjust a dynamic damping force on the strut or to lock the strut in a fixed position in. 如請求項15之裝置，其進一步包括：一電腦控制回饋系統，其藉由連續量測每一支桿之一氣缸之一活塞及此外藉由控制連接至該等支桿之該等調節器中之空氣壓力來調整該活塞之一平均位置。 The apparatus of claim 15 further comprising: a computer controlled feedback system for continuously measuring one of the cylinders of one of the cylinders of each of the rods and further controlling the ones connected to the rods by means of control The air pressure adjusts the average position of one of the pistons. 如請求項15之裝置，其進一步包括：一電腦控制回饋系統，其藉由憑藉對該等空氣壓力調節器之即時調整控制供應給該等支桿之空氣壓力及此外藉由用一壓電致動閥控制來自每一支桿之空氣輸入及排氣速率來調整該裝置之動態性質，其中使用來自連接至每一支桿之一氣缸內之一活塞之一活塞軸件上之位移感測器之輸入控制回饋以推斷軸件位移、速度及加速度以修改每一支桿之一有效彈簧常數、阻尼及質量。 The device of claim 15 further comprising: a computer controlled feedback system that controls the air pressure supplied to the struts by means of an immediate adjustment of the air pressure regulators and additionally by using a piezoelectric The dynamic valve controls the air input and exhaust rate from each of the rods to adjust the dynamic nature of the device, using displacement sensors from one of the piston shafts connected to one of the cylinders of each of the rods. The input controls the feedback to infer the shaft displacement, velocity and acceleration to modify the effective spring constant, damping and mass of each of the rods. 如請求項15之裝置，其中該裝置經定大小以裝配在一行動載具內部，且經組裝、拆卸及以標準空運集裝箱運輸於各地之間。 The device of claim 15 wherein the device is sized to fit within a mobile vehicle and assembled, disassembled, and transported by standard air freight containers between locations. 如請求項15之裝置，其中該裝置安裝在一拖曳空載行動載具中，且進一步包括自一拖纜吊掛與該有效負載相距一距離之一空氣壓縮機以最小化該吊籃處之電磁噪音。 The device of claim 15 wherein the device is mounted in a towed mobile vehicle and further comprising an air compressor suspended from the payload at a distance from the payload to minimize the basket Electromagnetic noise. 如請求項33之裝置，其中該裝置由非磁性複合材料構造。 The device of claim 33, wherein the device is constructed of a non-magnetic composite material. 如請求項15之裝置，其中該等積儲器、該拖曳框架及該 吊籃由非磁性複合材料構造，該等壓力調節器包括受控於壓電致動器或具有相對較小的電磁信號之其他致動器之閥，且進一步包括由非金屬配件構造之管線及管路且其中金屬部分為非磁性以最小化電磁干擾，且進一步包括搬移於相距該吊籃之一距離處之一空氣供應泵以最小化該吊籃處之電磁噪音。 The device of claim 15 wherein the accumulator, the towing frame, and the The gondola is constructed of a non-magnetic composite that includes a valve that is controlled by a piezoelectric actuator or other actuator having a relatively small electromagnetic signal, and further includes a conduit constructed from a non-metallic fitting and The tubing and wherein the metal portion is non-magnetic to minimize electromagnetic interference, and further includes moving the air supply pump at one of the distances from the gondola to minimize electromagnetic noise at the gondola. 如請求項35之裝置，其中該有效負載包括需要無分散渦流及電噪音及機械噪音之一相對較低噪音電磁環境之高精度電磁感測器。 The apparatus of claim 35, wherein the payload comprises a high precision electromagnetic sensor requiring a relatively low noise electromagnetic environment that is free of distorted eddy currents and electrical noise and mechanical noise. 如請求項36之裝置，其中該裝置經定大小以裝配在一行動載具內部，且經組裝、拆卸及以標準空運集裝箱運輸於各地之間。 The device of claim 36, wherein the device is sized to fit within a mobile vehicle and assembled, disassembled, and transported by standard air freight containers between locations. 如請求項36之裝置，其中該行動載具包括一拖曳空載行動載具，且進一步包括自一拖纜吊掛與該有效負載相距一距離之一空氣壓縮機以最小化該吊籃處之電磁噪音。 The apparatus of claim 36, wherein the mobile vehicle includes a towed mobile vehicle, and further comprising an air compressor that is suspended from the payload by a distance from the payload to minimize the basket Electromagnetic noise. 如請求項38之裝置，其進一步包括經組態以在1 Hz至10,000 Hz之一頻率頻帶中量測一電磁場之感測器，且其中該裝置提供主要在一1 Hz至50 Hz頻帶中之運動隔離。 The device of claim 38, further comprising a sensor configured to measure an electromagnetic field in a frequency band from 1 Hz to 10,000 Hz, and wherein the device is provided primarily in a frequency band of 1 Hz to 50 Hz Sports isolation. 如請求項15之裝置，其中該組垂直支桿及該組傾斜支桿之各者包括一阻尼及懸吊構件。 The device of claim 15 wherein each of the set of vertical struts and the set of slanted struts comprises a damping and suspension member. 如請求項15之裝置，其中不使用積儲器或使用複數個積儲器以增大該組垂直支桿及該組傾斜支桿之各者中之每一支桿之一氣缸之一體積。 The apparatus of claim 15 wherein the accumulator is not used or a plurality of accumulators are used to increase the volume of one of the cylinders of each of the set of vertical strut and the set of tilting strut. 如請求項41之裝置，其中該組垂直支桿及該組傾斜支桿 之各者包括一阻尼及懸吊構件。 The device of claim 41, wherein the set of vertical strut and the set of tilting strut Each includes a damping and suspension member. 如請求項15之裝置，其中該等支桿由位於該吊籃下方之拖曳框架支撐該吊籃及該有效負載。 The device of claim 15 wherein the struts support the cradle and the payload by a towing frame located below the cradle. 如請求項15之裝置，其中該等支桿由位於該吊籃上方及下方二者之拖曳框架支撐該吊籃及該有效負載。 The apparatus of claim 15 wherein the struts support the cradle and the payload by a towing frame located above and below the cradle. 如請求項15之裝置，其中該有效負載包括安裝至吊籃之至少一現場感測器，以收集現場資料並同時藉由該組垂直支桿及該組傾斜支桿之各者抵銷包含來自該拖曳框架之震動、樞轉及旋轉之運動噪音。 The apparatus of claim 15 wherein the payload comprises at least one field sensor mounted to the gondola to collect field data and simultaneously offset by each of the set of vertical struts and the set of tilt struts comprising The motion noise of the vibration, pivoting and rotation of the towing frame. 如請求項15之裝置，其進一步包括該等空氣供應管中之一力回饋傳感器。 The device of claim 15 further comprising a force feedback sensor of the air supply tubes.
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