CN104563294A - Multi-shaft vibration isolation support seat system - Google Patents
Multi-shaft vibration isolation support seat system Download PDFInfo
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- CN104563294A CN104563294A CN201410791484.6A CN201410791484A CN104563294A CN 104563294 A CN104563294 A CN 104563294A CN 201410791484 A CN201410791484 A CN 201410791484A CN 104563294 A CN104563294 A CN 104563294A
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- 238000002955 isolation Methods 0.000 title abstract description 6
- 238000013519 translation Methods 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 47
- 239000000725 suspension Substances 0.000 claims description 21
- 229920001971 elastomer Polymers 0.000 claims description 10
- 238000000465 moulding Methods 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000013461 design Methods 0.000 description 15
- 238000006073 displacement reaction Methods 0.000 description 12
- 229920001084 poly(chloroprene) Polymers 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000035939 shock Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- Vibration Prevention Devices (AREA)
Abstract
The invention relates to a multi-shaft vibration isolation support seat system, which comprises an upper layer support seat and a lower layer support seat, wherein the upper layer support seat can realize three-freedom movement including the translation along the X axis direction, translation along the Y axis direction and rotation around the Z axis direction, the lower layer support seat can realize the three-freedom movement including the translation along the Z axis direction, rotation around the X axis direction and rotation around the Y axis direction, the upper layer support seat comprises an upper layer base plate, an X axis direction actuator and a Y axis direction actuator, an upper layer base is arranged in the upper layer base plate, the X axis direction actuator can exert the action force along the X axis direction for controlling the upper layer base plate, the Y axis direction actuator can exert the action force along the Y axis direction for controlling the upper layer base plate, the lower layer support seat plate comprises a layer base plate and a Z axis direction actuator, a lower layer base is arranged in the lower layer base plate, the Z axis direction actuator can exert the action force along the Z axis direction for controlling the lower layer base plate, and the upper layer support seat and the lower layer support seat are connected through a middle layer fixing plate. The hybrid control support seat system has the advantages that the external interference can be effectively controlled in multiple directions, the control precision is high, and obvious economic benefits are realized.
Description
Technical field
The present invention relates to a kind of double-layer vibration isolating support system.
Background technology
Increasingly sophisticated along with engineering structures build, level to, vertically, the multi of the space six degree of freedoms such as torsion, in earthquake or other focus cause in the vibration of structure, engineering structures all can be made to excite multi.These vibrations gently then can affect the comfort level of user, heavy then can cause the destruction of engineering structures, cause casualties, are therefore necessary that designing a kind of support system that can realize multijoint control reduces the impact shaken engineering structures.
But, the lead rubber laminated bearing that tradition shock design method obtains, because the yield load of bearing is less, frequently occurred earthquake and middle shake time shock isolating pedestal enter yielding stage, after surrender, development of deformation is very fast, easily causes the excessive deformation of structure, therefore after occurring after small earthquakes, need to drop into a large amount of man power and materials to the maintenance of circuit, bring unnecessary economic loss, and safety when cannot ensure small earthquakes, engineering structures run.And adopt increase the method for lead core diameter improve the initial stiffness of bearing and yield strength very limited, lead core diameter is excessive, to affect the reset capability of bearing, its control effects is also very limited, adopts Hybrid mode scheme can better improve its control effects.
Summary of the invention
The object of this invention is to provide the multijoint control of a kind of consideration to engineering structures, can under various extraneous natural environment excitation, the vibration reaching control structure makes it reach the requirement of regulation, meets the multiaxis vibration isolating suspension system of the comfort level of user.
For achieving the above object, the technical solution used in the present invention is:
A kind of multiaxis vibration isolating suspension system, have respectively along the degree of freedom of orthogonal X-axis, Y-axis, Z axis translation with respectively around the degree of freedom that X-axis, Y-axis, Z axis rotate, it comprises and can realize along X-direction translation, along Y direction translation with rotate the upper strata bearing of this three degree of freedom around Z axis and can realize along Z-direction translation, rotate and rotate around Y-axis lower floor's bearing of this three degree of freedom around X-axis;
Described upper strata bearing comprise wherein be provided with upper strata pedestal upper strata base plate, active force can be applied along X-direction and control described upper strata pedestal X-direction actuator, active force can be applied along Y direction and control the Y direction actuator of described upper strata pedestal;
Described lower floor's bearing comprise wherein be provided with lower floor's pedestal lower floor's base plate, can active force be applied along Z-direction and control the Z-direction actuator of described lower floor's pedestal;
Be connected by middle level fixed head between described upper strata bearing and described lower floor's bearing.
Preferably, described upper strata pedestal is four and horizontal symmetrical is arranged, described X-direction actuator is two, and the two is distributed in the both sides of Z axis; Described Y direction actuator is one;
Described lower floor's pedestal is four and horizontal symmetrical is arranged, each described lower floor's pedestal is all equipped with the Z-direction actuator described in.
Preferably, described Z-direction actuator is arranged between described middle level fixed head and described lower floor's base plate.
Preferably, sliding connection structure is all adopted to be connected between the take-off lever of described X-direction actuator and described upper strata base plate, between the take-off lever of described Y direction actuator and described upper strata base plate, between the take-off lever of described Z-direction actuator and described lower floor's base plate;
Described sliding connection structure comprises the sliding tray be opened on described upper strata base plate or described lower floor's base plate, to snap in described sliding tray and can the slider disc of movement in described sliding tray, the take-off lever of the take-off lever of described X-direction actuator or the take-off lever of described Y direction actuator or described Z-direction actuator is connected with described slider disc, the axis of take-off lever of the described X-direction actuator that the moving direction of described slider disc is connected with it or the axis of the axis of the take-off lever of described Y direction actuator or the take-off lever of described Z-direction actuator perpendicular.
Preferably, the slider disc described in described X-direction actuator, described Y direction actuator, described Z-direction actuator are connected with it is respectively hinged.
Preferably, described upper strata pedestal and described lower floor's pedestal are rubber earring moulding.
Preferably, stiffened steel plates is respectively arranged with in described upper strata pedestal and described lower floor's pedestal.
Because technique scheme is used, the present invention compared with prior art has following advantages: 1, the support system of Hybrid mode of the present invention, each frequency range that can effectively disturb to external world controls, and the active control ability of active actuator effectively can limit neoprene bearing and enter the excessive distortion of yielding stage simultaneously; What 2, support system scheme of the present invention can be disturbed to external world multi-directionly controls, and the Passive Control precision that the control accuracy of Hybrid mode is also more simple is high; 3, this multiaxis vibration isolating suspension system has significant economic benefit in Seismic Isolation And Dissipation of Civil Structures design.
Accompanying drawing explanation
Accompanying drawing 1 is the analytical model schematic diagram of multiaxis vibration isolating suspension system of the present invention.
Accompanying drawing 2 is the schematic top plan view of the analytical model of multiaxis vibration isolating suspension system of the present invention.
Accompanying drawing 3 is the structural representation of lower floor's bearing of multiaxis vibration isolating suspension system of the present invention.
Accompanying drawing 4 is the structure schematic top plan view of lower floor's bearing of multiaxis vibration isolating suspension system of the present invention.
Accompanying drawing 5 is the structure schematic top plan view of the upper strata bearing of multiaxis vibration isolating suspension system of the present invention.
Accompanying drawing 6 is the schematic diagram of the sliding connection structure of multiaxis vibration isolating suspension system of the present invention.
In above accompanying drawing: 1, upper strata bearing; 2, lower floor's bearing; 3, middle level fixed head; 4, lower floor's base plate; 5, Z-direction actuator; 6, lower floor's pedestal; 7, sliding tray; 8, the take-off lever of Z-direction actuator; 9, upper strata base plate; 10, X-direction actuator; 11, Y direction actuator; 12, upper strata pedestal; 14, slider disc; 15, the take-off lever of X-direction actuator; 16, the take-off lever of Y direction actuator.
Detailed description of the invention
Below in conjunction with embodiment shown in the drawings, the invention will be further described.
Embodiment one: shown in accompanying drawing 1 and accompanying drawing 2.A kind of multiaxis vibration isolating suspension system, it comprises upper strata bearing 1 and lower floor's bearing 2, is connected between upper strata bearing 1 and lower floor's bearing 2 by middle level fixed head 3.This multiaxis vibration isolating suspension system has 6 degree of freedom altogether, is respectively along 3 degree of freedom of orthogonal X-axis, Y-axis, Z axis translation with respectively around 3 degree of freedom that X-axis, Y-axis, Z axis rotate.Here, X-axis, Y-axis are positioned on a horizontal plane also mutually vertical, and Z axis is then along the vertical direction that upper strata bearing 1 and lower floor's bearing 2 distribute.
Shown in accompanying drawing 3 and accompanying drawing 4, lower floor's bearing 2 comprise wherein be provided with lower floor's pedestal 6 lower floor's base plate 4, can active force be applied along Z-direction and control the Z-direction actuator 5 of lower floor's base plate 4.This lower floor's bearing 2 can realize along Z-direction translation, around X-axis rotate and rotate this three degree of freedom around Y-axis.Concrete, lower floor's pedestal 6 that four horizontal symmetrical are arranged is provided with in lower floor's base plate 4, and each lower floor pedestal 6 is all equipped with a Z-direction actuator 5, these Z-direction actuator 5 are all arranged between middle level fixed head 3 and lower floor's base plate 4, and each Z-direction actuator 5 is all positioned at the sidepiece of the lower floor's pedestal 6 corresponding to it.Sliding connection structure is adopted to be connected between the take-off lever 8 of Z-direction actuator with lower floor base plate 4.Shown in accompanying drawing 6, this sliding connection structure comprises the sliding tray 7 be opened on lower floor's base plate 4, to snap in sliding tray 7 and the slider disc 14 can slided arbitrarily in sliding tray 7 and not deviate from, such as sliding tray 7 is rounded and its oral area is little compared with bottom area, take-off lever 8 and the slider disc 14 of Z-direction actuator are hinged, slider disc 14 is then slided arbitrarily on the direction of the take-off lever 8 perpendicular to Z-direction actuator in sliding tray 7, with adapt to lower floor's base plate 4 rotate under the driving of the take-off lever 8 of Z-direction actuator time, the two relative displacement in the horizontal direction.
Shown in accompanying drawing 5 and accompanying drawing 2, upper strata bearing 1 comprise wherein be provided with upper strata pedestal 12 upper strata base plate 9, can active force be applied along X-direction and control the X-direction actuator 10 of upper strata base plate 9, active force can be applied along Y direction and control the Y direction actuator 11 of upper strata base plate 9.This upper strata bearing 1 can realize along X-direction translation, rotate this three degree of freedom along Y direction translation with around Z axis.Concrete, the upper strata pedestal 12 that four horizontal symmetrical are arranged is set in upper strata base plate 9.X-direction actuator 10 is two, and the two is symmetrically distributed in the both sides of Z axis.Y direction actuator 11 is one, and is arranged in same perpendicular with Z axis.Between the take-off lever 15 of X-direction actuator 10 and upper strata base plate 9, the take-off lever 16 of Y direction actuator 11 is also connected by sliding connection structure as shown in Figure 6 with between upper strata base plate 9, concrete, sliding tray 7 is offered respectively in the two sides of upper strata base plate 9, arrange movable in sliding tray 7 and do not deviate from the slider disc 14 of sliding tray 7, again the take-off lever 16 of the take-off lever 15 of X-direction actuator 10 or Y direction actuator 11 is hinged with corresponding slider disc 14 respectively, make X-direction actuator 10 or Y direction actuator 11 controlling party to vertical direction on, X-direction actuator 10, Y direction actuator 11 is realized relatively and the slip of upper strata base plate 9 by slider disc 14.Each upper strata sub-base 12 can also linking springs and damper.
Above-mentioned upper strata pedestal 12 and lower floor's pedestal 6 all adopt rubber earring moulding, further, be respectively arranged with stiffened steel plates in the rubber earring moulding that upper strata pedestal 12 and lower floor's pedestal 6 adopt, namely upper strata pedestal 12 and lower floor's pedestal 6 are the lead-rubber pedestal with stiffened steel plates.Lead-rubber pedestal with stiffened steel plates can realize level to, vertically to and around the rotation of horizontal axis, but be difficult to realize, so design multiple rubber earring moulding cooperative achievement in this programme by single rubber earring moulding around the rotation of vertical axes.
This support system is the plateform system jointly participated in by active control device and passive control device.Wherein, passive control device and pedestal (comprising the upper strata base plate 9 with upper strata pedestal 12 and lower floor's base plate 4 with lower floor's pedestal 6), it is mainly used in dither and controls, and need select according to the scale of structure and displacement size.Active control device then comprises multiple actuator (X-direction actuator 10, Y direction actuator 11 and Z-direction actuator 5), and it is mainly used in low frequency and controls.Six-freedom degree needed for support system belongs to three mutually perpendicular directions, is restriction mutually, controls if they realized in same plane, significantly increases the difficulty controlling to implement, and also therefore designs two and implements plane.From support system generally speaking, the layout distribution of each actuator in two mutually orthogonal directions, namely on horizontal direction and vertical direction, therefore this programme proposes double-deck bearing, upper strata bearing 1 can be realized horizontal direction by level control to the actuator of arranging, namely X is to, Y-direction with rotate around Z axis, and the actuator that lower floor's bearing 2 is arranged by vertical direction can realize vertical direction control and Z-direction, rotate around X-axis and rotate around Y-axis.The control design case of this multiple degrees of freedom hybrid vibration isolation bearing will respectively according to two-layer, and control design case is carried out in every layer of three degree of freedom coupling, realizes overall six degree of freedom and controls, enormously simplify calculating, improve the accuracy of computational efficiency and control.
The theoretical model analyzing this multiaxis vibration isolating suspension system is known, due to vertically Z-direction, rotate around X-axis, the control only needing actuator in the vertical direction to apply active force can to realize this three degree of freedom is rotated around Y-axis, therefore for the multivariant design of lower floor's platform it is considered that to vertical direction Z-direction, rotate around X-axis, rotate the control in these three directions around Y-axis.From the angle of structure design, for the process of rotation direction, when using for reference AMD apparatus design the two way slide lane that adopts realize X to Y-direction while the experience that controls, the tie point position of actuator take-off lever and lower floor's pedestal 4 adopts the sliding connection structure shown in accompanying drawing 6, its sliding scale calculates to rotate the horizontal movement caused by controlling, do not consider the displacement deformation that horizontal vibration causes, this displacement deformation will be limited in lower floor.
Support system for double-decked platform realizes the design of six degree of freedom, vertical direction Z-direction is achieved at lower floor's bearing 2, rotate around X-axis, after Y-axis rotates the design of three degree of freedom, upper strata bearing 1 will realize the design of remaining three degree of freedom, but horizontal direction X has occurred mutual restriction to Y-direction, so all actuator of design con-trol upper strata base plate 9 adopt mode as shown in Figure 5.This mode can solve impact when not moved by the neoprene bearing in perpendicular direction when actuator is a direction motion.First devise in the X-axis direction two X-direction actuator 10 be parallel to each other, being used for the direction that opposing connection Z axis rotates controls, and this direction actuator of arranging is also simultaneously to along X to controlling simultaneously.Arrange that a Y direction actuator 11 pairs of upper strata base plates 9 control in the motion of Y-direction in Y direction in addition.Upper strata base plate 9 being arranged, these three actuator can realize horizontal direction X to, Y-direction and the control of degree of freedom of rotating these three couplings around Z axis.Actuator adopts in its controlling party that (take-off lever of actuator can rotate relative to slider disc to hinged, but there is no relative displacement), the connected mode that vertical direction is slidably connected, by the control to actuator, under making small earthquakes effect, can effectively avoid neoprene bearing to enter yielding stage, avoid surrendering the excessive deformation that rear development of deformation comparatively fast easily causes structure; And under rarely occurred earthquake effect, by the displacement of the Co ntrolled release lead-rubber pedestal to active actuator.In these two stages, the high frequency that neoprene bearing disturbs to external world controls, and the low frequency that actuator is disturbed to external world controls.Bearing plays function of shock insulation, and reduce earthquake and pass to the energy of structure, actuator and neoprene bearing play the effect of vibration isolation simultaneously, effectively reduce small earthquakes, the displacement of engineering structures under rarely occurred earthquake and other external interference effects.
The function of this multiaxis vibration isolating suspension system is as follows:
(1) under multi-direction external disturbance effect, lower floor's bearing 2 pairs of vertical motions control, and utilize lower floor's pedestal 6 and Z-direction actuator 5 vertically to act on lower floor's pedestal 6 the asynchronous of motion, realize the rotation around X-axis and Y-axis.Due to the rotation of lower floor's pedestal 6, the horizontal-shift caused, can be realized by sliding connection structure.The scope of this sliding connection structure only designs by rotating the displacement caused, and does not consider the possible displacement that horizontal vibration causes.
(2) in upper strata bearing 1, passive device upper strata pedestal 12 can produce arbitrary azimuthal displacement in horizontal direction, and the level that can realize controls to X to control and Y-direction.The displacement of different bearing is in the mutual cooperation of different directions simultaneously, can realize rotating around Z axis.Active control device actuator, at X to arranging two, Y-direction arranges one, and this both direction respectively can realize level and control.Two mutually perpendicular directions, when controlling, avoid mutual interference by being slidably connected.Simultaneously when Z axis rotates, utilize X rotating with the phase difference realization of an actuator of Y-direction layout to two actuator of arranging, also can be offset by the mechanism that is slidably connected shown in accompanying drawing 6 owing to rotating the horizontal movement caused.
(3) because lower floor's bearing 2 limits horizontal vibration, simultaneously lower floor's bearing 2 achieves vertical and around X-axis, control around the rotation of Y-axis by passive and active control device, so pass to the vibration of upper strata bearing 1, only remaining level to the control of rotating around Z axis, so each layer can be separate calculating, simultaneously cooperative achievement multijoint control again.And Passive Control mainly realizes high frequency control, ACTIVE CONTROL mainly realizes low frequency and controls, so substantially can meet the control to each frequency range of external drive.Simultaneously ACTIVE CONTROL can avoid the surrender of neoprene bearing again and the over-large displacement that causes.So the design of this bearing, the problem of vibration isolation can be solved more comprehensively.
Above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (7)
1. a multiaxis vibration isolating suspension system, have respectively along the degree of freedom of orthogonal X-axis, Y-axis, Z axis translation with respectively around the degree of freedom that X-axis, Y-axis, Z axis rotate, it is characterized in that: it comprises and can realize along X-direction translation, along Y direction translation with rotate the upper strata bearing of this three degree of freedom around Z axis and can realize along Z-direction translation, rotate and rotate around Y-axis lower floor's bearing of this three degree of freedom around X-axis;
Described upper strata bearing comprise wherein be provided with upper strata pedestal upper strata base plate, active force can be applied along X-direction and control described upper strata base plate X-direction actuator, active force can be applied along Y direction and control the Y direction actuator of described upper strata base plate;
Described lower floor's bearing comprise wherein be provided with lower floor's pedestal lower floor's base plate, can active force be applied along Z-direction and control the Z-direction actuator of described lower floor's base plate;
Be connected by middle level fixed head between described upper strata bearing and described lower floor's bearing.
2. multiaxis vibration isolating suspension system according to claim 1, is characterized in that: described upper strata pedestal is four and horizontal symmetrical is arranged, described X-direction actuator is two, and the two is distributed in the both sides of Z axis; Described Y direction actuator is one;
Described lower floor's pedestal is four and horizontal symmetrical is arranged, each described lower floor's pedestal is all equipped with the Z-direction actuator described in.
3. multiaxis vibration isolating suspension system according to claim 1 and 2, is characterized in that: described Z-direction actuator is arranged between described middle level fixed head and described lower floor's base plate.
4. multiaxis vibration isolating suspension system according to claim 1 and 2, is characterized in that: all adopt sliding connection structure to be connected between the take-off lever of described X-direction actuator and described upper strata base plate, between the take-off lever of described Y direction actuator and described upper strata base plate, between the take-off lever of described Z-direction actuator and described lower floor's base plate;
Described sliding connection structure comprises the sliding tray be opened on described upper strata base plate or described lower floor's base plate, to snap in described sliding tray and can the slider disc of movement in described sliding tray, the take-off lever of the take-off lever of described X-direction actuator or the take-off lever of described Y direction actuator or described Z-direction actuator is connected with described slider disc, the axis of take-off lever of the described X-direction actuator that the moving direction of described slider disc is connected with it or the axis of the axis of the take-off lever of described Y direction actuator or the take-off lever of described Z-direction actuator perpendicular.
5. multiaxis vibration isolating suspension system according to claim 4, is characterized in that: the slider disc described in described X-direction actuator, described Y direction actuator, described Z-direction actuator are connected with it is respectively hinged.
6. multiaxis vibration isolating suspension system according to claim 1 and 2, is characterized in that: described upper strata pedestal and described lower floor's pedestal are rubber earring moulding.
7. multiaxis vibration isolating suspension system according to claim 6, is characterized in that: be respectively arranged with stiffened steel plates in described upper strata pedestal and described lower floor's pedestal.
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| CN201410791484.6A CN104563294B (en) | 2014-12-19 | 2014-12-19 | Multiaxis vibration isolating suspension system |
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| WO2019154100A1 (en) * | 2018-02-12 | 2019-08-15 | 孙韬 | Vibration isolating bearing assembly and building |
| WO2020155634A1 (en) * | 2019-02-01 | 2020-08-06 | 青岛理工大学 | Combined translational and rotational vibration control system for building |
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| US10889982B2 (en) | 2019-02-01 | 2021-01-12 | Qingdao university of technology | Translation-rotation hybrid vibration control system for buildings |
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| CN104563294B (en) | 2017-03-29 |
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