CN105041961B - 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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- CN105041961B CN105041961B CN201510395953.7A CN201510395953A CN105041961B CN 105041961 B CN105041961 B CN 105041961B CN 201510395953 A CN201510395953 A CN 201510395953A CN 105041961 B CN105041961 B CN 105041961B
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- isolation system
- ball pivot
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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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- General Engineering & Computer Science (AREA)
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- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
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 is and in particular to a kind of six degree of freedom standard zero based on stewart platform
Rigidity vibrating isolation system.
Background technology
With the progress of space technology, space equipment gradually develops to the direction of precise treatment.Low-frequency vibration in spacecraft,
Micro-vibration not only can damage effect to accurate instrument and equipment, and also can affect instrument and equipment (as optical camera) uses effect
Really.For precision equipments such as precision machine tool, precision measurement systems, the low-frequency vibration in the surroundings such as seismic wave can be serious
Impact equipment service precision.Micro-vibration, low-frequency vibration have become emphasis and the difficult point in vibration control field.Vibration isolation is vibration control
Important means, domestic and international research worker have studied various actives or the vibration isolation way of active and passive mixing.But active vibration isolation is deposited
Energy consumption big, reliability is low, complex structure the shortcomings of.And for simple passive vibration isolation system, vibration isolation frequency band is subject to intrinsic frequency
The restriction of rate, only has preferable vibration isolating effect in high band.Want to improve vibration isolating effect, extension vibration isolation frequency band is it is necessary to pass through fall
The rigidity of low vibrating isolation system is reducing natural frequency.And in order to ensure the quiet bearing capacity of vibration isolator, rigidity can not possibly be accomplished again
Very little.
For solving the contradiction between vibration isolator lower resonant frequency and high bearing capacity, research worker propose quasi- zero stiffness every
Shake the concept of device, this vibration isolator has the characteristics that low dynamic rate, high static rigidity, therefore, it is possible to realize Hyporesonance frequency simultaneously
Rate and high bearing capacity.Design quasi-zero stiffness vibration isolators mainly design negative rigidity mechanism, are offset just firm by negative rigidity mechanism
The degree rigidity in equilbrium position for the flexible member, thus reach the purpose of quasi- zero stiffness so that the resonant frequency of vibration isolator is very low.?
Single-degree-of-freedom vibration isolation aspect, has had various forms of quasi-zero stiffness vibration isolators to be suggested.But should by the principle of quasi- zero stiffness
The research used 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 in engineering
Application demand, therefore design six degree of freedom quasi-zero stiffness vibration isolators there is important using value.
Content of the invention
The invention provides a kind of quasi- zero stiffness vibrating isolation system of the six degree of freedom based on stewart platform, enable six from
By the low frequency vibration isolation spent, to low-frequency vibration, there is good inhibition, there is high bearing capacity, lower resonant frequency,
The equipment such as precision machine tool, precision measurement system in fly wheel system be applied to space industry, optical camera, and civil area
Vibration isolation.
In order to reach object above, the present invention adopts the following technical scheme that
A kind of quasi- zero stiffness vibrating isolation system of the six degree of freedom based on stewart platform, including upper mounting plate 1 and lower platform 4, leads to
Cross six identical supporting legs 3 that hinge block 5 is fixed between upper mounting plate 1 and lower platform 4, described hinge block 5 is three and is in equilateral
The formal distribution of triangle, each hinge block 5 is fixed two supporting legs 3, and adjacent supporting leg 3 is orthogonal, and the length of supporting leg 3 can
Become, upper mounting plate 1 lower platform 4 relatively has six-freedom degree.
Described supporting leg 3 includes the lower flexibility ball pivot 3.1 being fixed in hinge block 5 and upper flexibility ball pivot positioned at its two ends
3.12, lower flexibility ball pivot 3.1 passes through the second screw 3.2 and lower cover 3.3 connects, and the other end of lower cover 3.3 is disposed with lower film
Flat spring 3.17, outer tube 3.5, upper diaphragm spring 3.13 and upper lid 3.8, the 3rd screw 3.4 is by lower cover 3.3, lower diaphragm spring
3.17 and outer tube 3.5 three be fastenedly connected, the 4th screw 3.6 is by upper lid 3.8, upper diaphragm spring 3.13 and outer tube 3.5 company of fastening
Connect；Fixture 3.11 is fixedly connected by the 5th screw 3.10 with upper flexibility ball pivot 3.12, and one end of axle 3.9 is threadedly attached in
On fixture 3.11, the other end penetrates in the cavity covering 3.8, outer tube 3.5 and lower cover 3.3 and sequentially passes through upper diaphragm spring
3.13 and lower diaphragm spring 3.17, the first bolt 3.18 will lower diaphragm spring 3.17 and axle 3.9 fixing, internal magnetic ring 3.15 is fixed on
On axle 9, outer magnetic ring 3.16 is fixed on outer tube 3.5 inwall, and 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 axially fixed by the second bolt 3.7, described lower flexibility ball pivot 3.1, lower cover 3.3, under
Diaphragm spring 3.17, outer tube 3.5, upper diaphragm spring 3.13, axle 3.9 and upper flexibility ball pivot 3.12 must ensure higher centering；
Upper diaphragm spring 3.13 and lower diaphragm spring 3.17 1 aspect can limit the radial motion of axle 3.9, on the other hand can provide
Certain axial support stiffness, due to the deformation of upper diaphragm spring 3.13 and lower diaphragm spring 3.17, axle 3.9 can relatively upper cover
3.8th, the assembly of outer tube 3.5 and lower cover 3.3 composition moves, therefore supporting leg 3 variable-length；When this vibrating isolation system carries
When, must ensure that vibrating isolation system is under static balance state, internal magnetic ring 3.15 and outer magnetic ring 3.16 are just right, now by internal magnetic ring 3.15
With the magnetic spring of outer magnetic ring 3.16 composition produces negative stiffness near equilbrium position, for offset upper diaphragm spring 3.13 and under
The positive rigidity of diaphragm spring 3.17, so that supporting leg 3 reaches quasi- zero stiffness state.
The material of described lower flexibility ball pivot 3.1 and upper flexibility 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 big Ru-Fe-Mn of residual magnetization；Its magnetizing direction has two
Kind of mode: first, internal magnetic ring 3.15 and outer magnetic ring 3.16 are radiation and magnetize, and magnetizing direction is contrary, that is, one radially to
Outward, another must be radially inward；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 flexibility ball pivot 3.1, upper flexibility ball pivot 3.12, upper diaphragm spring 3.13 and
Outside lower diaphragm spring 3.17, other parts of described quasi- 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 platform 4 by the first screw 2.
Compare with existing vibration isolation technique, the invention has the advantages that
1) it is capable of the low frequency vibration isolation of six degree of freedom, there is to low-frequency vibration good vibration isolating effect.
2) vibrating isolation system being proposed is the vibrating isolation system of passive type, need not consume the energy of outside.And for traditional
Vibration isolator, needs to realize effective vibration isolation by way of active control in low frequency interval, needs the energy outside consuming.
3) pass through the supporting leg that design has quasi- zero stiffness characteristic, both made platform have larger support stiffness, and reduced again
Each rank resonant frequency of platform.Thus while ensureing bearing capacity, increasing vibration isolation frequency band, improve vibration isolating effect.
4) compare with other negative rigidity mechanism, provide negative stiffness by two coaxially arranged permanent magnet rings, there is chi
Very little little, lightweight advantage.
5) spherical hinge is replaced using flexible ball pivot, there is no friction, gapless advantage, noise can be reduced.
6) adopt diaphragm spring to provide the axial rigidity of supporting leg, there is easy for installation, high precision, and can limit
The radial motion of axle processed, the part without other limit radial movement is so that overall structure is simpler.
Brief description
Fig. 1 is the overall schematic of the present invention quasi- zero stiffness vibrating isolation system.
Fig. 2 is leg structure sectional view.
Fig. 3 is interior permanent magnet ring and the magnetizing direction of 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 curve of supporting leg.
Specific embodiment
With reference to specific embodiment, the present invention is described in further details.
As shown in figure 1, a kind of quasi- zero stiffness vibrating isolation system based on stewart platform of the present invention, including upper mounting plate 1, under
Platform 4, six identical supporting legs 3, and hinge block 5, the first screw 2.The two ends of supporting leg 3 are fixed in hinge block 5, upper mounting plate
1 and lower platform 4 on respectively have three hinge block 5, three hinge block are in the formal distribution of equilateral triangle.Hinge block 5 passes through first
Screw 2 is fixed on upper mounting plate 1 and lower platform 4.This stewart platform is cube shaped frame, and two adjacent supporting legs hang down mutually
Directly.Because six leg lengths are variable, upper mounting plate has six-freedom degree relative to lower platform.The equipment needing vibration isolation is arranged on
Platform, can isolate the disturbance of lower platform；If the equipment such as Flywheel on upper mounting plate, in upper mounting plate, this system is same for disturbing source
The disturbance of upper mounting plate can be isolated.
As shown in Fig. 2 described supporting leg 3 includes the lower flexibility ball pivot 3.1 and upper being fixed in hinge block 5 positioned at its two ends
Flexible ball pivot 3.12, lower flexibility ball pivot 3.1 passes through the second screw 3.2 and lower cover 3.3 connects, and the other end of lower cover 3.3 sets successively
It is equipped with lower diaphragm spring 3.17, outer tube 3.5, upper diaphragm spring 3.13 and upper lid 3.8, the 3rd screw 3.4 is by lower cover 3.3, lower film
Flat spring 3.17 and outer tube 3.5 three are fastenedly connected, and the 4th screw 3.6 covers 3.8, upper diaphragm spring 3.13 and outer tube 3.5 by upper
It is fastenedly connected；Fixture 3.11 is fixedly connected by the 5th screw 3.10 with upper flexibility ball pivot 3.12, and screw thread is passed through in one end of axle 3.9
It is connected on fixture 3.11, the other end penetrates in the cavity covering 3.8, outer tube 3.5 and lower cover 3.3 and sequentially passes through upper diaphragm
Spring 3.13 and lower diaphragm spring 3.17, the first bolt 3.18 will be fixing to lower diaphragm spring 3.17 and axle 3.9, and internal magnetic ring 3.15 is solid
It is scheduled on axle 9, outer magnetic ring 3.16 is fixed on outer tube 3.5 inwall, and 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 axially fixed by the second bolt 3.7, described lower flexibility ball pivot 3.1, lower cover
3.3rd, lower diaphragm spring 3.17, outer tube 3.5, upper diaphragm spring 3.13, axle 3.9 and upper flexibility ball pivot 3.12 must ensure higher right
Neutral.Flexible ball pivot has very big tension and compression rigidity and shearing rigidity, but bending stiffness and torsional rigidity very little, therefore lower flexibility
The function of ball pivot 3.1 and upper flexibility ball pivot 3.12 is equivalent to common ball pivot.
Upper diaphragm spring 3.13 and lower diaphragm spring 3.17 have very big radial rigidity and less axial rigidity, a side
Face can limit the radial motion of axle 3.9, on the other hand can provide certain axial support stiffness.Due to upper diaphragm spring
3.13 and the deformation of lower diaphragm spring 3.17, axle 3.9 can be transported the assembly of lower cover 3.3, outer tube 3.5 and upper lid 3.8 relatively
Dynamic, therefore supporting leg 3 variable-length, upper mounting plate 1 lower platform 4 relatively can achieve six-freedom motion.
Internal magnetic ring 3.15 is fixed on axle 9, and outer magnetic ring 3.16 is fixed on outer tube 3.5.When axle 9 outer tube 3.5 relatively moves
When, internal magnetic ring 3.15 is with regard to outer magnetic ring 3.16 relatively axially movable.Outer magnetic ring 3.16 has magneticaction to internal magnetic ring 3.15, with
There is relative motion in internal magnetic ring 3.15 outer magnetic ring 3.16 relatively, magnetic force size can change.Internal magnetic ring 3.15 and outer magnetic ring
3.16 are equivalent to and constitute a magnetic spring, and magnetic rigidity is determined by the magnetic force between them.
When this vibrating isolation system carries, must ensure that system is under static balance state, internal magnetic ring 3.15 and outer magnetic ring 3.16
Just right, the magnetic spring being now made up of internal magnetic ring 3.15 and outer magnetic ring 3.16 can produce linear degree relatively near equilbrium position
Negative stiffness good, that numerical value is larger, for offsetting the positive rigidity of upper diaphragm spring 3.13 and lower diaphragm spring 3.17, so that supporting leg
3 reach quasi- zero stiffness state.As shown in figure 5, as seen from the figure, rigidity near equilbrium position for the supporting leg is very for the stiffness characteristics of supporting leg
Little, so the resonant frequency very little of vibrating isolation system, low-frequency vibration can be isolated；During away from equilbrium position, supporting leg rigidity gradually increases
Greatly, so supporting leg has larger enabling capabilities, will not make to occur excessive deformation during system bearing.To sum up analyze, vibration isolation system
System has the dynamic stiffness of very little and very big Static stiffness, resonant frequency can be made very low on the premise of ensureing quiet bearing capacity, from
And increase vibration isolation frequency band, improve vibration isolating effect.
The magnetizing direction of internal magnetic ring 3.15 and outer magnetic ring 3.16 is as shown in figure 3, there are two schemes: such as Fig. 3 a, internal magnetic ring
3.15 and outer magnetic ring 3.16 radiation magnetize, in opposite direction, that is, one radially, another must be radially inward；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 be near equilbrium position
Produce very big negative stiffness.Certainly, because the permanent magnet ring processing of radial magnetizing is more difficult, can be spelled using tile when actually used
It is connected into magnet ring.And the magnet ring handling ease of axial charging, it is preferred version when actually used.
The structure of lower flexibility ball pivot 3.1 and upper flexibility ball pivot 3.12 as described in Figure 4, is compared with common ball pivot, flexible ball pivot
There is no friction, gapless, the advantage of high precision is it is adaptable in precision instrument.The hard-over of flexible ball pivot is subject to surrender strong
The restriction of degree, should ensure that during design that flexible ball pivot has sufficiently large corner, and will not destroy.
The operation 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 lower platform 4 relatively.In supporting leg
In, provide axial support stiffness by diaphragm spring, the magnetic spring being made up of internal magnetic ring 3.15, outer magnetic ring 3.16 is in equilbrium position
Produce negative stiffness, offset the positive rigidity of diaphragm spring, so that each supporting leg has the dynamic stiffness of very little, reach quasi- zero stiffness
State, supporting leg stiffness characteristics are as shown in Figure 5.When six supporting legs of stewart platform all have the dynamic stiffness of very little,
Each rank resonant frequency of stewart platform will very little, therefore this six degree of freedom quasi- zero stiffness vibrating isolation system can isolate low frequency and disturb
Dynamic, there is good vibration isolating effect.
Claims (6)
1. the quasi- zero stiffness vibrating isolation system of a kind of six degree of freedom based on stewart platform, including upper mounting plate (1) and lower platform (4),
Six identical supporting legs (3) between upper mounting plate (1) and lower platform (4) are fixed on by hinge block (5) it is characterised in that: described
Hinge block (5) is three and the formal distribution in equilateral triangle, and 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) lower platform (4) relatively has six-freedom degree；Described supporting leg
(3) include lower flexibility ball pivot (3.1) being fixed in hinge block (5) positioned at its two ends and upper flexible ball pivot (3.12), under soft
Property ball pivot (3.1) pass through the second screw (3.2) and lower cover (3.3) connection, the other end of lower cover (3.3) is disposed with lower diaphragm
Spring (3.17), outer tube (3.5), upper diaphragm spring (3.13) and upper lid (3.8), the 3rd screw (3.4) by lower cover (3.3), under
Diaphragm spring (3.17) and outer tube (3.5) three are fastenedly connected, and the 4th screw (3.6) is by upper lid (3.8), upper diaphragm spring
(3.13) it is fastenedly connected with outer tube (3.5)；5th screw (3.10) will be fixing to fixture (3.11) and upper flexibility ball pivot (3.12)
Connect, one end of axle (3.9) is threadedly attached on fixture (3.11), and the other end penetrates lid (3.8), outer tube (3.5)
With in the cavity of lower cover (3.3) and sequentially pass through upper diaphragm spring (3.13) and lower diaphragm spring (3.17), the first bolt
(3.18) will be fixing to lower diaphragm spring (3.17) and axle (3.9), internal magnetic ring (3.15) is fixed on axle (9), outer magnetic ring (3.16)
It is fixed on outer tube (3.5) inwall, upper diaphragm spring (3.13) and internal magnetic ring (3.15) will arrange sleeve (3.14), the second bolt
(3.7) upper diaphragm spring (3.13) and sleeve (3.14) are axially fixed, described lower flexibility ball pivot (3.1), lower cover (3.3),
Lower diaphragm spring (3.17), outer tube (3.5), upper diaphragm spring (3.13), axle (3.9) and upper flexibility ball pivot (3.12) must ensure relatively
High centering；Upper diaphragm spring (3.13) and lower diaphragm spring (3.17) on the one hand can limit the radial motion of axle (3.9),
On the other hand certain axial support stiffness can be provided, due to the change of upper diaphragm spring (3.13) and lower diaphragm spring (3.17)
Shape, axle (3.9) can the assembly that forms of relatively upper lid (3.8), outer tube (3.5) and lower cover (3.3) move, therefore supporting leg
(3) variable-length；When this vibrating isolation system carries, must ensure that vibrating isolation system is under static balance state, internal magnetic ring (3.15) and
Outer magnetic ring (3.16) is just right, and the magnetic spring being now made up of internal magnetic ring (3.15) and outer magnetic ring (3.16) is near equilbrium position
Produce negative stiffness, for offsetting the positive rigidity of upper diaphragm spring (3.13) and lower diaphragm spring (3.17), so that supporting leg (3) reaches
To quasi- zero stiffness state.
2. the quasi- zero stiffness vibrating isolation system of the six degree of freedom based on stewart platform according to claim 1, its feature exists
In: the material of described lower flexibility ball pivot (3.1) and upper flexibility ball pivot (3.12) adopts beryllium-bronze.
3. the quasi- zero stiffness vibrating isolation system of the six degree of freedom based on stewart platform according to claim 1, its feature exists
In: the material of described upper diaphragm spring (3.13) and lower diaphragm spring (3.17) adopts beryllium-bronze.
4. the quasi- zero stiffness vibrating isolation system of the six degree of freedom based on stewart platform according to claim 1, its feature exists
In: the material of described internal magnetic ring (3.15) and outer magnetic ring (3.16) adopts the big Ru-Fe-Mn of residual magnetization；Its magnetizing direction has two
Kind of mode: first, internal magnetic ring (3.15) and outer magnetic ring (3.16) are radiation and magnetize, and magnetizing direction is on the contrary, and that is, one along footpath
To outside, another must be radially inward；Second, internal magnetic ring (3.15) and outer magnetic ring (3.16) are axial charging, and magnetize
Direction is identical.
5. the quasi- zero stiffness vibrating isolation system of the six degree of freedom based on stewart platform according to claim 1, its feature exists
In: except internal magnetic ring (3.15), outer magnetic ring (3.16), lower flexibility ball pivot (3.1), upper flexibility ball pivot (3.12), upper diaphragm spring
(3.13) and lower diaphragm spring (3.17) outward, other parts of described quasi- zero stiffness vibrating isolation system adopt the material of weak magnetic conductivity.
6. the quasi- zero stiffness vibrating isolation system of the six degree of freedom based on stewart platform according to claim 1, its feature exists
In: described hinge block (5) is fixed on upper mounting plate (1) and lower platform (4) by the first screw (2).
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| CN201510395953.7A CN105041961B (en) | 2015-07-08 | 2015-07-08 | Six-degree-of-freedom quasi-zero-rigidity vibration isolation system based on Stewart platform |
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| CN201510395953.7A CN105041961B (en) | 2015-07-08 | 2015-07-08 | Six-degree-of-freedom quasi-zero-rigidity vibration isolation system based on Stewart platform |
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| CN1587739A (en) * | 2004-10-11 | 2005-03-02 | 北京航空航天大学 | Six freedom super magnetostrictive active vibration control platform |
| CN103438142A (en) * | 2013-08-07 | 2013-12-11 | 华中科技大学 | Six-degree-of-freedom active vibration isolation device |
| CN203497145U (en) * | 2013-08-26 | 2014-03-26 | 北京自动化控制设备研究所 | Anti-shock device based on Stewart structure |
| CN104500646A (en) * | 2014-12-22 | 2015-04-08 | 东莞中国科学院云计算产业技术创新与育成中心 | Intelligent anti-vibration three-dimensional printer for ship |
| CN104613285A (en) * | 2015-01-27 | 2015-05-13 | 北京航空航天大学 | Large dynamic cubic Stewart active vibration control platform |
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