CN105041961A - Six-degree-of-freedom quasi-zero-rigidity vibration isolation system based on Stewart platform - Google Patents
Six-degree-of-freedom quasi-zero-rigidity vibration isolation system based on Stewart platform Download PDFInfo
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- CN105041961A CN105041961A CN201510395953.7A CN201510395953A CN105041961A CN 105041961 A CN105041961 A CN 105041961A CN 201510395953 A CN201510395953 A CN 201510395953A CN 105041961 A CN105041961 A CN 105041961A
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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
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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Abstract
The invention provides a six-degree-of-freedom quasi-zero-rigidity vibration isolation system based on a Stewart platform. The system comprises an upper platform, a lower platform and six same landing legs fixed between the upper platform and the lower platform through hinge blocks. The three hinge blocks are distributed in an equilateral triangle mode, two corresponding landing legs are fixed to each hinge block, the adjacent landing legs are perpendicular, and the upper platform has six degrees of freedom relative to the lower platform. The six landing legs have the quasi-zero-rigidity characteristic, so that the vibration isolation system has the quasi-zero-rigidity characteristic on the six degrees of freedom, the all-order resonant frequency of the vibration isolation system is small, and the wide vibration isolation frequency range is achieved. The system has the advantages of being high in bearing capacity and low in resonant frequency, has the good restraint effect on low-frequency vibration, and is suitable for vibration isolation of flywheel systems and optical cameras in the spaceflight field and vibration isolation of equipment such as precision machine tools and precision measuring systems in the civil field.
Description
Technical field
The invention belongs to passive vibration isolation technical field, be specifically related to the accurate zero stiffness vibrating isolation system of a kind of six-degree-of-freedom based on Stewart platform.
Background technique
Along with the progress of space technology, space equipment is gradually to the future development of precise treatment.Low-frequency vibration in astrovehicle, micro-vibration not only can damage effect to the instrument and equipment of precision, also can affect the using effect of instrument and equipment (as optical camera).For the precision equipment such as precision machine tool, precision measurement system, equipment use precision can be had a strong impact on from the low-frequency vibration in the surrounding environment such as seismic waves.Micro-vibration, low-frequency vibration have become the Focal point and difficult point in vibration control field.Vibration isolation is the important means of vibration control, and domestic and international researcher have studied the vibration isolation way of various active or active and passive mixing.But the shortcomings such as energy consumption is large, reliability is low, complex structure that active vibration isolation exists.And for simple passive vibration isolation system, vibration isolation frequency band is subject to the restriction of natural frequency, only there is good vibration isolating effect at high band.Want to improve vibration isolating effect, expansion vibration isolation frequency band, natural frequency must be reduced by the rigidity reducing vibrating isolation system.And in order to ensure the quiet bearing capacity of vibration isolator, rigidity can not be accomplished again very little.
For solving the contradiction between vibration isolator lower resonant frequency and high bearing capacity, researcher proposes the concept of quasi-zero stiffness vibration isolators, this vibration isolator has the feature of low dynamic rate, high static stiffness, therefore, it is possible to realize lower resonant frequency and high bearing capacity simultaneously.Design quasi-zero stiffness vibration isolators mainly designs negative rigidity mechanism, offsets the rigidity of positive rigidity elastic element in equilibrium position, thus reaches the object of accurate zero stiffness, make the resonant frequency of vibration isolator very low by negative rigidity mechanism.In single-degree-of-freedom vibration isolation, various forms of quasi-zero stiffness vibration isolators has been had to be suggested.But the research principle of accurate zero stiffness be applied on multi-degree-of-freedom vibration isolation is also little.Multi-degree-of-freedom vibration isolation, particularly six-degree-of-freedom vibration isolation, have important application demand in engineering, and the quasi-zero stiffness vibration isolators therefore designing six-degree-of-freedom has important using value.
Summary of the invention
The invention provides the accurate zero stiffness vibrating isolation system of a kind of six-degree-of-freedom based on Stewart platform, the low frequency vibration isolation of six-degree-of-freedom can be realized, to low-frequency vibration, there is good inhibition, there is the feature of high bearing capacity, lower resonant frequency, be applicable to the fly wheel system in space industry, optical camera, and the vibration isolation of the equipment such as precision machine tool, precision measurement system in civil area.
In order to reach above object, the present invention adopts following technological scheme:
The accurate zero stiffness vibrating isolation system of a kind of six-degree-of-freedom based on Stewart platform, comprise upper mounting plate 1 and lower bolster 4, the identical supporting leg 3 of between upper mounting plate 1 with lower bolster 4 six is fixed on by hinge block 5, described hinge block 5 is three and in the formal distribution of equilateral triangle, each hinge block 5 is fixed two supporting legs 3, adjacent supporting leg 3 is orthogonal, the variable-length of supporting leg 3, and upper mounting plate 1 relatively lower bolster 4 has six-freedom degree.
Described supporting leg 3 comprise be positioned at its two ends be fixed on lower flexible ball pivot 3.1 in hinge block 5 and upper flexible ball pivot 3.12, lower flexible ball pivot 3.1 is connected with lower cover 3.3 by the second screw 3.2, the other end of lower cover 3.3 is disposed with lower diaphragm spring 3.17, urceolus 3.5, upper diaphragm spring 3.13 and upper cover 3.8, lower cover 3.3, lower diaphragm spring 3.17 and urceolus 3.5 three are fastenedly connected by the 3rd screw 3.4, and upper cover 3.8, upper diaphragm spring 3.13 and urceolus 3.5 are fastenedly connected by the 4th screw 3.6, fixed block 3.11 is fixedly connected with upper flexible ball pivot 3.12 by the 5th screw 3.10, one end of axle 3.9 is threaded connection on fixed block 3.11, the other end penetrates upper cover 3.8, also successively through upper diaphragm spring 3.13 and lower diaphragm spring 3.17 in the cavity of urceolus 3.5 and lower cover 3.3, lower diaphragm spring 3.17 and axle 3.9 are fixed by the first bolt 3.18, internal magnetic ring 3.15 is fixed on axle 9, outer magnetic ring 3.16 is fixed on urceolus 3.5 inwall, upper diaphragm spring 3.13 and internal magnetic ring 3.15 will arrange sleeve 3.14, upper diaphragm spring 3.13 and sleeve 3.14 are fixed by the second bolt 3.7 vertically, described lower flexible ball pivot 3.1, lower cover 3.3, lower diaphragm spring 3.17, urceolus 3.5, upper diaphragm spring 3.13, axle 3.9 and upper flexible ball pivot 3.12 must ensure higher centering, upper diaphragm spring 3.13 and lower diaphragm spring 3.17 one aspect can the radial motions of restrictive axes 3.9, certain axially support rigidity can be provided on the other hand, due to the distortion of upper diaphragm spring 3.13 and lower diaphragm spring 3.17, axle 3.9 can relatively upper cover 3.8, urceolus 3.5 and lower cover 3.3 composition assemblying body move, therefore supporting leg 3 variable-length, when this vibrating isolation system carries, under must ensureing that vibrating isolation system is in static balancing state, internal magnetic ring 3.15 and outer magnetic ring 3.16 just right, the magnetic spring be now made up of internal magnetic ring 3.15 and outer magnetic ring 3.16 produces negative stiffness near equilibrium position, be used for offsetting the positive rigidity of upper diaphragm spring 3.13 and lower diaphragm spring 3.17, thus make supporting leg 3 reach accurate zero stiffness state.
The material of described lower flexible ball pivot 3.1 and upper flexible ball pivot 3.12 adopts beryllium bronze.
The material of described upper diaphragm spring 3.13 and lower diaphragm spring 3.17 adopts beryllium bronze.
The material of described internal magnetic ring 3.15 and outer magnetic ring 3.16 adopts the Ru-Fe-Mn that residual magnetization is large; Its magnetizing direction has two kinds of modes: the first, and internal magnetic ring 3.15 and outer magnetic ring 3.16 are radiation and magnetize, and magnetizing direction is contrary, namely one radially, another must be radially inside; The second, internal magnetic ring 3.15 and outer magnetic ring 3.16 are axial charging, and magnetizing direction is identical.
Except internal magnetic ring 3.15, outer magnetic ring 3.16, lower flexible ball pivot 3.1, upper flexible ball pivot 3.12, upper diaphragm spring 3.13 and lower diaphragm spring 3.17, other parts of described accurate zero stiffness vibrating isolation system adopt the material of weak magnetic conductivity.
Described hinge block 5 is fixed on upper mounting plate 1 and lower bolster 4 by the first screw 2.
Compare with existing vibration isolation technique, the present invention has the following advantages:
1) low frequency vibration isolation of six-degree-of-freedom can be realized, to low-frequency vibration, there is good vibration isolating effect.
2) vibrating isolation system proposed is the vibrating isolation system of passive type, without the need to consuming outside energy.And for traditional vibration isolator, need to realize effective vibration isolation by the mode of ACTIVE CONTROL between low frequency range, need to consume outside energy.
3) be there is by design the supporting leg of accurate zero stiffness characteristic, both made platform have larger support stiffness, and again reduced each rank resonant frequency of platform.Thus while guarantee bearing capacity, increase vibration isolation frequency band, improve vibration isolating effect.
4) compare with other negative rigidity mechanism, provide negative stiffness by coaxially arranged two permanent magnet rings, there is little, the lightweight advantage of size.
5) adopt flexible ball pivot to replace spherical hinge, have without friction, gapless advantage, can noise decrease.
6) adopt diaphragm spring to provide the axial rigidity of supporting leg, there is easy for installation, precision advantages of higher, and can the radial motion of restrictive axes, without the need to the part of other limit radial movement, make overall structure simpler.
Accompanying drawing explanation
Fig. 1 is the overall schematic of the accurate zero stiffness vibrating isolation system of the present invention.
Fig. 2 is leg structure sectional view.
Fig. 3 is the magnetizing direction of interior permanent magnet ring and outer permanent magnet ring, wherein: Fig. 3 (a) magnetizes for radiation; Fig. 3 (b) is axial charging.
Fig. 4 is flexible ball pivot 3-D view.
Fig. 5 is the rigidity-displacement diagram of supporting leg.
Embodiment
Below in conjunction with embodiment, the present invention is described in further details.
As shown in Figure 1, a kind of accurate zero stiffness vibrating isolation system based on Stewart platform of the present invention, comprises upper mounting plate 1, lower bolster 4, six identical supporting legs 3, and hinge block 5, first screw 2.The two ends of supporting leg 3 are fixed in hinge block 5, upper mounting plate 1 and lower bolster 4 respectively have three hinge block, 5, three hinge block be the formal distribution of equilateral triangle.Hinge block 5 is fixed on upper mounting plate 1 and lower bolster 4 by the first screw 2.This Stewart platform is cube shaped frame, and two adjacent supporting legs are orthogonal.Due to six supporting leg variable-lengths, the relative lower bolster of upper mounting plate has six-freedom degree.Needing the equipment of vibration isolation to be arranged on upper mounting plate, the disturbance of lower bolster can be isolated; If the equipment such as Flywheel on upper mounting plate, disturbing source is at upper mounting plate, and this system can isolate the disturbance of upper mounting plate equally.
As shown in Figure 2, described supporting leg 3 comprise be positioned at its two ends be fixed on lower flexible ball pivot 3.1 in hinge block 5 and upper flexible ball pivot 3.12, lower flexible ball pivot 3.1 is connected with lower cover 3.3 by the second screw 3.2, the other end of lower cover 3.3 is disposed with lower diaphragm spring 3.17, urceolus 3.5, upper diaphragm spring 3.13 and upper cover 3.8, lower cover 3.3, lower diaphragm spring 3.17 and urceolus 3.5 three are fastenedly connected by the 3rd screw 3.4, and upper cover 3.8, upper diaphragm spring 3.13 and urceolus 3.5 are fastenedly connected by the 4th screw 3.6, fixed block 3.11 is fixedly connected with upper flexible ball pivot 3.12 by the 5th screw 3.10, one end of axle 3.9 is threaded connection on fixed block 3.11, the other end penetrates upper cover 3.8, also successively through upper diaphragm spring 3.13 and lower diaphragm spring 3.17 in the cavity of urceolus 3.5 and lower cover 3.3, lower diaphragm spring 3.17 and axle 3.9 are fixed by the first bolt 3.18, internal magnetic ring 3.15 is fixed on axle 9, outer magnetic ring 3.16 is fixed on urceolus 3.5 inwall, upper diaphragm spring 3.13 and internal magnetic ring 3.15 will arrange sleeve 3.14, upper diaphragm spring 3.13 and sleeve 3.14 are fixed by the second bolt 3.7 vertically, described lower flexible ball pivot 3.1, lower cover 3.3, lower diaphragm spring 3.17, urceolus 3.5, upper diaphragm spring 3.13, axle 3.9 and upper flexible ball pivot 3.12 must ensure higher centering.Flexible ball pivot has very large tension and compression rigidity and shearing rigidity, but flexural rigidity and torsional stiffness are very little, therefore the function of lower flexible ball pivot 3.1 and upper flexible ball pivot 3.12 is equivalent to common ball pivot.
Upper diaphragm spring 3.13 and lower diaphragm spring 3.17 have very large radial rigidity and less axial rigidity, on the one hand can the radial motion of restrictive axes 3.9, can provide certain axially support rigidity on the other hand.Due to the distortion of upper diaphragm spring 3.13 and lower diaphragm spring 3.17, axle 3.9 can the assemblying body of lower cover 3.3, urceolus 3.5 and upper cover 3.8 relatively move, and therefore supporting leg 3 variable-length, upper mounting plate 1 relatively lower bolster 4 can realize six-freedom motion.
Internal magnetic ring 3.15 is fixed on axle 9, and outer magnetic ring 3.16 is fixed on urceolus 3.5.When urceolus 3.5 moves axle 9 relatively, internal magnetic ring 3.15 just relative outer magnetic ring 3.16 moves vertically.Outer magnetic ring 3.16 pairs of internal magnetic rings 3.15 have magnetic force, and along with relative movement occurs internal magnetic ring 3.15 relative outer magnetic ring 3.16, magnetic force size can change.Internal magnetic ring 3.15 and outer magnetic ring 3.16 are equivalent to constitute a magnetic spring, and magnetic rigidity is determined by the magnetic force between them.
When this vibrating isolation system carries, under the system that must ensure is in static balancing state, internal magnetic ring 3.15 and outer magnetic ring 3.16 just right, the magnetic spring be now made up of internal magnetic ring 3.15 and outer magnetic ring 3.16 can produce the negative stiffness that linear degree is better, numerical value is larger near equilibrium position, be used for offsetting the positive rigidity of upper diaphragm spring 3.13 and lower diaphragm spring 3.17, thus make supporting leg 3 reach accurate zero stiffness state.As shown in Figure 5, as seen from the figure, the rigidity of supporting leg near equilibrium position is very little, so the resonant frequency of vibrating isolation system is very little, can isolate low-frequency vibration for the stiffness characteristics of supporting leg; During away from equilibrium location, supporting leg rigidity increases gradually, so supporting leg has larger enabling capabilities, can not make, during system bearing, excessive distortion occurs.To sum up analyze, vibrating isolation system has very little dynamic stiffness and very large Static stiffness, can resonant frequency be made very low under the prerequisite ensureing quiet bearing capacity, thus increases vibration isolation frequency band, raising vibration isolating effect.
The magnetizing direction of internal magnetic ring 3.15 and outer magnetic ring 3.16 as shown in Figure 3, has two schemes: as Fig. 3 a, and internal magnetic ring 3.15 and outer magnetic ring 3.16 radiation are magnetized, and direction is contrary, namely one radially, another must be radially inside; As Fig. 3 b, internal magnetic ring 3.15 and outer magnetic ring 3.16 magnetize vertically, and magnetizing direction is identical.Two schemes can produce very large negative stiffness near equilibrium position.Certainly, because the permanent magnet ring processing of radial magnetizing is more difficult, during actual use, tile can be adopted to be spliced into magnet ring.And the magnet ring easy processing of axial charging, be preferred version during actual use.
The structure of lower flexible ball pivot 3.1 and upper flexible ball pivot 3.12 as described in Figure 4, is compared with common ball pivot, and flexible ball pivot has without friction, gapless, and the advantage that precision is high, is applicable in precision type instrument.The hard-over of flexible ball pivot is subject to the restriction of yield strength, should ensure that flexible ball pivot has enough large corner, and can not destroy during design.
Working principle of the present invention is as follows: Stewart platform as shown in Figure 1, and each supporting leg is a passive vibration isolation unit.Because the length of six supporting legs is all variable, there is the motion of six-freedom degree in upper mounting plate 1 relatively lower bolster 4.In supporting leg, axially support rigidity is provided by diaphragm spring, the magnetic spring be made up of internal magnetic ring 3.15, outer magnetic ring 3.16 produces negative stiffness in equilibrium position, offset the positive rigidity of diaphragm spring, thus make each supporting leg have very little dynamic stiffness, reach accurate zero stiffness state, supporting leg stiffness characteristics as shown in Figure 5.When six supporting legs of Stewart platform all have very little dynamic stiffness, each rank resonant frequency of Stewart platform will be very little, and therefore the accurate zero stiffness vibrating isolation system of this six-degree-of-freedom can isolate low-frequency excitation, has good vibration isolating effect.
Claims (7)
1. the accurate zero stiffness of the six-degree-of-freedom based on a Stewart platform vibrating isolation system, comprise upper mounting plate (1) and lower bolster (4), the identical supporting leg (3) of between upper mounting plate (1) with lower bolster (4) six is fixed on by hinge block (5), it is characterized in that: described hinge block (5) is three and in the formal distribution of equilateral triangle, each hinge block (5) is fixed two supporting legs (3), adjacent supporting leg (3) is orthogonal, the variable-length of supporting leg (3), upper mounting plate (1) relatively lower bolster (4) has six-freedom degree.
2. the accurate zero stiffness vibrating isolation system of the six-degree-of-freedom based on Stewart platform according to claim 1, it is characterized in that: described supporting leg (3) comprise be positioned at its two ends be fixed on lower flexible ball pivot (3.1) in hinge block (5) and upper flexible ball pivot (3.12), lower flexible ball pivot (3.1) is connected with lower cover (3.3) by the second screw (3.2), the other end of lower cover (3.3) is disposed with lower diaphragm spring (3.17), urceolus (3.5), upper diaphragm spring (3.13) and upper cover (3.8), 3rd screw (3.4) is by lower cover (3.3), lower diaphragm spring (3.17) and urceolus (3.5) three are fastenedly connected, 4th screw (3.6) is by upper cover (3.8), upper diaphragm spring (3.13) and urceolus (3.5) are fastenedly connected, fixed block (3.11) is fixedly connected with upper flexible ball pivot (3.12) by the 5th screw (3.10), one end of axle (3.9) is threaded connection on fixed block (3.11), the other end penetrates upper cover (3.8), also successively through upper diaphragm spring (3.13) and lower diaphragm spring (3.17) in the cavity of urceolus (3.5) and lower cover (3.3), lower diaphragm spring (3.17) and axle (3.9) are fixed by the first bolt (3.18), internal magnetic ring (3.15) is fixed on axle (9), outer magnetic ring (3.16) is fixed on urceolus (3.5) inwall, upper diaphragm spring (3.13) and internal magnetic ring (3.15) will arrange sleeve (3.14), upper diaphragm spring (3.13) and sleeve (3.14) are fixed by the second bolt (3.7) vertically, described lower flexible ball pivot (3.1), lower cover (3.3), lower diaphragm spring (3.17), urceolus (3.5), upper diaphragm spring (3.13), axle (3.9) and upper flexible ball pivot (3.12) must ensure higher centering, upper diaphragm spring (3.13) and lower diaphragm spring (3.17) on the one hand can the radial motions of restrictive axes (3.9), certain axially support rigidity can be provided on the other hand, due to the distortion of upper diaphragm spring (3.13) and lower diaphragm spring (3.17), axle (3.9) can upper cover (3.8), urceolus (3.5) and lower cover (3.3) form relatively assemblying body move, therefore supporting leg (3) variable-length, when this vibrating isolation system carries, under must ensureing that vibrating isolation system is in static balancing state, internal magnetic ring (3.15) and outer magnetic ring (3.16) just right, the magnetic spring be now made up of internal magnetic ring (3.15) and outer magnetic ring (3.16) produces negative stiffness near equilibrium position, be used for offsetting upper diaphragm spring (3.13) and the positive rigidity of lower diaphragm spring (3.17), thus make supporting leg (3) reach accurate zero stiffness state.
3. the accurate zero stiffness vibrating isolation system of the six-degree-of-freedom based on Stewart platform according to claim 1, is characterized in that: the material of described lower flexible ball pivot (3.1) and upper flexible ball pivot (3.12) adopts beryllium bronze.
4. the accurate zero stiffness vibrating isolation system of the six-degree-of-freedom based on Stewart platform according to claim 1, is characterized in that: the material of described upper diaphragm spring (3.13) and lower diaphragm spring (3.17) adopts beryllium bronze.
5. the accurate zero stiffness vibrating isolation system of the six-degree-of-freedom based on Stewart platform according to claim 1, is characterized in that: the material of described internal magnetic ring (3.15) and outer magnetic ring (3.16) adopts the Ru-Fe-Mn that residual magnetization is large; Its magnetizing direction has two kinds of modes: the first, and internal magnetic ring (3.15) and outer magnetic ring (3.16) are radiation and magnetize, and magnetizing direction is contrary, namely one radially, another must be radially inside; The second, internal magnetic ring (3.15) and outer magnetic ring (3.16) are axial charging, and magnetizing direction is identical.
6. the accurate zero stiffness vibrating isolation system of the six-degree-of-freedom based on Stewart platform according to claim 1, it is characterized in that: except internal magnetic ring (3.15), outer magnetic ring (3.16), lower flexible ball pivot (3.1), upper flexible ball pivot (3.12), upper diaphragm spring (3.13) and lower diaphragm spring (3.17), other parts of described accurate zero stiffness vibrating isolation system adopt the material of weak magnetic conductivity.
7. the accurate zero stiffness vibrating isolation system of the six-degree-of-freedom based on Stewart platform according to claim 1, is characterized in that: described hinge block (5) is fixed on upper mounting plate (1) and lower bolster (4) by the first screw (2).
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