CN106402267A - Extension type quasi-zero stiffness vibration isolator and implementation method thereof - Google Patents
Extension type quasi-zero stiffness vibration isolator and implementation method thereof Download PDFInfo
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- CN106402267A CN106402267A CN201610338012.4A CN201610338012A CN106402267A CN 106402267 A CN106402267 A CN 106402267A CN 201610338012 A CN201610338012 A CN 201610338012A CN 106402267 A CN106402267 A CN 106402267A
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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
- F16F15/06—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 with metal springs
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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
- F16F7/00—Vibration-dampers; Shock-absorbers
- F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
- F16F7/104—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted
- F16F7/116—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted on metal springs
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Abstract
The invention relates to an extension type quasi-zero stiffness vibration isolator and an implementation method thereof. The vibration isolator is formed by a negative stiffness mechanism in parallel connection with a positive stiffness main spring, wherein the negative stiffness mechanism is composed of extension springs, connecting rods, slide blocks and guide rails; negative stiffness can be generated in the vertical direction, and in addition, the defect that compression springs lose stability can be avoided; and it can be guaranteed that the structure is in bilateral symmetry when fine adjustment is conducted in the horizontal direction. On the basis of the principle that positive stiffness and negative stiffness counteract each other, after the negative stiffness mechanism is in parallel connection with the positive stiffness spring, stiffness, at the equilibrium position, of the vibration isolator is close to zero, and inherent frequency is also close to zero, so that starting vibration isolation frequency is greatly reduced; the vibration isolation section is increased; and capability of isolating low frequency or ultralow frequency vibration is achieved. The vibration isolator is simple and compact in structure and convenient to assemble and debug and has certain engineering application value in the fields such as automobiles, precise instruments, sensitive equipment, precision machining and aerospace engineering.
Description
Technical Field
The invention relates to the field of vibration isolation devices, in particular to a stretching type quasi-zero stiffness vibration isolator and an implementation method thereof.
Background
Vibration is the most common phenomenon in nature and is seen everywhere in daily life and production, such as leaves swinging with wind, beating of heart, jolting of automobile along road surface, etc. From simple pendulum to complex body, from microscopic object to macroscopic object, the vibration phenomenon is ubiquitous. Wherein, a lot of vibrations can seriously influence people's life and industrial production, cause a large amount of losses. Therefore, vibration isolation is a constant research topic for humans.
The continuous development of high-precision technology makes the application field of vibration isolation technology, especially low-frequency vibration isolation technology, wider, and therefore more and more people explore and research low-frequency vibration isolation. As the linear vibration isolation technology is mature, the isolation for medium-high frequency vibration can be well realized, but the isolation for low-frequency or ultra-low frequency vibration is still oneA technical problem. According to the theory of vibration, when the frequency of the external excitation is greater than the natural frequency of the systemThe linear system can only start to isolate vibration, i.e. the transmissibility is less than 1. The premise for isolating low frequency vibrations is that the natural frequency of the vibration isolation system must be very low, which cannot be achieved because the conventional linear vibration isolation system cannot overcome the tradeoff between stiffness and bearing mass. The nonlinear vibration isolation system formed by connecting positive and negative stiffness in parallel can solve the problem. The positive and negative rigidity cancellation principle is utilized, so that the rigidity of the system is close to zero, namely a quasi-zero rigidity vibration isolation system. The system has the advantages that the bearing capacity of the system is guaranteed, meanwhile, the rigidity of the system is effectively reduced, so that the natural frequency of the whole system is greatly reduced, the vibration isolation frequency is reduced, the vibration isolation interval is increased, the vibration isolation capacity is improved, and low-frequency vibration isolation is realized. Therefore, the quasi-zero stiffness vibration isolator has wide application prospect.
Disclosure of Invention
In view of this, the present invention provides a tensile quasi-zero stiffness vibration isolator and an implementation method thereof, which can ensure both the bearing quality and the extremely low stiffness, reduce the vibration isolation starting frequency, increase the vibration isolation interval, and implement low-frequency or ultra-low-frequency vibration isolation.
The invention is realized by adopting the following scheme: a stretching type quasi-zero stiffness vibration isolator comprises a base, a main spring, an adjusting nut, a bolt seat, a sleeve cover, an objective table, a stretching spring, a connecting rod, a sliding block, a guide rail, a cross rod, an upper hinge seat, a side hinge seat and a supporting seat; the middle part of the base is provided with the bolt seat and the adjusting nut for adjusting the main spring to move up and down; the main spring is a positive stiffness spring, and the upper end and the lower end of the main spring are respectively positioned and supported by the sleeve cover and the adjusting nut; the sleeve cover is arranged at the center of the bottom of the objective table for placing the object to be vibration-isolated; the extension spring, the connecting rod, the sliding block and the guide rail form a negative stiffness mechanism, one end of the connecting rod is connected with the objective table through a side hinge seat, the other end of the connecting rod is connected with the sliding block through an upper hinge seat, and the sliding block is arranged on the guide rail and used for sliding left and right on the track; the cross rod is fixed on the two sliding blocks and used for enabling the two sliding blocks to move simultaneously.
Furthermore, one end of an extension spring in the negative stiffness mechanism is connected with the cross rod through a fixed seat, the other end of the extension spring is provided with a differential head fine adjustment device used for adjusting the deformation of the extension spring, the differential head fine adjustment device comprises a differential head, the other end of the extension spring is connected with the differential head through a connecting block, and the differential head is fixed on the cross rod.
Further, the guide rail is installed on the supporting seat, and the supporting seat is fixed on the base.
Specifically, the vibration isolator is mainly composed of a negative stiffness mechanism having a negative stiffness characteristic and a positive stiffness spring for supporting a weight. When the negative stiffness mechanism and the positive stiffness spring are connected in parallel, the stiffness of the system can be close to zero, and the quasi-zero stiffness characteristic is achieved.
The invention is also realized by adopting the following method: a method for realizing a stretching type quasi-zero stiffness vibration isolator comprises the following steps:
step S1: placing an object to be vibration-isolated with the weight of mg on the object stage, wherein the object stage moves downwards, the main spring is compressed, the sliding block moves outwards under the action of the connecting rod, and the extension spring is lengthened;
step S2: the adjusting nut supported at the bottom end of the main spring is adjusted to move up and down, and the upper position and the lower position of the main spring are adjusted, so that the connecting rod is kept at a horizontal position, and the system is ensured to be at a balance position. (ii) a
Step S3: the differential head is rotated to finely adjust the stretching amount of the stretching spring, so that the fine adjustment effect is achieved, the debugging is facilitated, and the quasi-zero stiffness characteristic of the system is ensured; the weight of the object to be isolated is borne by the main spring, the extension spring does not play a supporting role, and the isolator is in a balance position.
Further, the stiffness of the main spring is kvThe stiffness of the tension spring is khThe force is as follows:
carrying out dimensionless transformation on the displacement data to obtain the relation between dimensionless force and dimensionless displacement:
wherein:
and (3) deriving the dimensionless force to obtain the relation between the dimensionless rigidity and the dimensionless displacement:
when the vibration isolator is in the equilibrium position,substituting the above equation to obtain the stiffness at the equilibrium position:
when the vibration isolator is at the equilibrium position, rigidity is zero, and the above formula is made to be equal to zero, namely:
further, theThe vibration isolator can realize low-frequency or ultralow-frequency vibration isolation if the parameter conditions required to be met for ensuring the quasi-zero stiffness characteristic of the vibration isolator are met.
Compared with the prior art, the invention has the following beneficial effects: compared with the traditional linear vibration isolator, the stretching type quasi-zero stiffness vibration isolator can effectively reduce the stiffness of the system while ensuring the bearing capacity of the system, so that the natural frequency of the whole system is close to zero, the vibration isolation frequency is reduced, the vibration isolation interval is enlarged, the vibration isolation capacity is improved, and low-frequency or ultralow-frequency vibration isolation is realized. Compared with other similar vibration isolators, the negative stiffness mechanism provided by the invention consists of the extension spring, the connecting rod and the sliding block, can avoid the defect of instability of the compression spring, is simple in structure, compact in space and convenient to assemble, and can ensure bilateral symmetry of the structure when fine adjustment is carried out in the horizontal direction. And the vibration isolator is provided with adjusting mechanisms in the vertical and horizontal directions, so that the vibration isolator is convenient to debug after assembly and is suitable for the vibration-isolated objects with different qualities.
Drawings
Fig. 1 is a structural diagram of the stretching quasi-zero stiffness vibration isolator in an initial state.
FIG. 2 is a force-displacement characteristic curve for a tensile quasi-zero stiffness system.
FIG. 3 is a stiffness-displacement characteristic curve for a tensile quasi-zero stiffness system.
FIG. 4 is a graph comparing displacement transfer rate curves for a stretched quasi-zero stiffness system and a linear system.
Fig. 5 is a schematic perspective view of the initial state of the tensile quasi-zero stiffness vibration isolator.
Fig. 6 is a structural schematic diagram of the stretching quasi-zero stiffness vibration isolator in an initial state.
Fig. 7 is a schematic structural diagram of the tensile quasi-zero stiffness vibration isolator after a weight is placed on the tensile quasi-zero stiffness vibration isolator.
In the figure: 1-a base; 2-a support seat; 3-a guide rail; 4-a slide block; 5-a cross bar; 6-fixing the base; 7-upper hinge seat; 8-connecting rod; 9-extension spring; 10-side hinge mount; 11-an object stage; 12-covering; 13-connecting block; 14-a mounting seat; 15-differential head; 16-a main spring; 17-an adjusting nut; 18-bolt seats; 19-objects to be vibration isolated.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
The embodiment provides a stretching quasi-zero stiffness vibration isolator, as shown in fig. 5 to 7, comprising a base 1, a main spring 16, an adjusting nut 17, a bolt seat 18, a sleeve cover 12, an object stage 11, a stretching spring 9, a connecting rod 8, a sliding block 4, a guide rail 3, a cross rod 5, an upper hinge seat 7, a side hinge seat 10 and a supporting seat 2; the middle part of the base 1 is provided with the bolt seat 18 and the adjusting nut 17 for adjusting the main spring 16 to move up and down; the main spring 16 is a positive stiffness spring, and the upper end and the lower end of the main spring 16 are respectively positioned and supported by the sleeve cover 12 and the adjusting nut 17; the cover 12 is mounted on the center of the bottom of the object stage 11 for placing the object 19 to be vibration-isolated; the extension spring 9, the connecting rod 8, the sliding block 4 and the guide rail 3 form a negative stiffness mechanism, one end of the connecting rod 8 is connected with the objective table 11 through a side hinge seat 10, the other end of the connecting rod is connected with the sliding block 4 through an upper hinge seat 7, and the sliding block 4 is arranged on the guide rail 3 and used for sliding left and right on the track 3; the cross bar 5 is fixed to the two sliders 4 for moving the two sliders simultaneously.
In this embodiment, one end of an extension spring 9 in the negative stiffness mechanism is connected with the cross rod 5 through a fixed seat 6, the other end of the extension spring 9 is provided with a differential head fine adjustment device for adjusting the deformation of the extension spring, the differential head fine adjustment device comprises a differential head 15, the other end of the extension spring 9 is connected with the differential head 15 through a connecting block 13, and the differential head 15 is fixed on the cross rod 5.
In this embodiment, the guide rail 3 is mounted on the support base 2, and the support base 2 is fixed on the base 1.
In the embodiment, the vibration isolator mainly comprises a negative stiffness mechanism with negative stiffness characteristic and a positive stiffness spring for supporting a heavy object. When the negative stiffness mechanism and the positive stiffness spring are connected in parallel, the stiffness of the system can be close to zero, and the quasi-zero stiffness characteristic is achieved.
In this embodiment, a method for implementing a tensile quasi-zero stiffness vibration isolator includes the following steps:
step S1: a weight is as followsmgThe object to be vibration-isolated is placed on the object stage, the object stage moves downwards, the main spring is compressed, the sliding block moves outwards under the action of the connecting rod, and the extension spring is lengthened;
step S2: an adjusting nut supported at the bottom end of the main spring is adjusted to move up and down, and the upper position and the lower position of the main spring are adjusted, so that the connecting rod is kept at a horizontal position, and a system is ensured to be at a balance position;
step S3: the micro head is rotated to finely adjust the stretching amount of the stretching spring, so that the fine adjustment effect is achieved, the debugging is convenient, the quasi-zero stiffness characteristic of the system is guaranteed, the weight of the object to be subjected to vibration isolation is borne by the main spring, the stretching spring does not play a supporting role, and the vibration isolator is located at a balance position.
In the present embodiment, the adjusting means are provided in the vertical direction and the horizontal direction in consideration of manufacturing and assembling errors, and in adaptation to objects of different masses. The adjusting nut 17 supported at the bottom end of the main spring 16 can move up and down to adjust the up-and-down position of the main spring 16, so that objects with different masses can be in a balance position after being placed. One end of the extension spring 9 is connected with a differential head 15 in the horizontal direction, and the extension amount of the extension spring 9 can be finely adjusted by rotating the differential head 15. The adjusting mechanisms in the vertical direction and the horizontal direction are convenient for debugging the vibration isolator after assembly, and the quasi-zero rigidity characteristic of the system can be ensured.
In the embodiment, the vibration isolator is subjected to static analysis, and the structural diagram and the system parameters are shown in figure 1; the stiffness of the main spring is kvOriginal length is Lv0The stiffness of the tension spring is khOriginal length is Lh0Length at any time is LhLink length a, link to horizontal angle β, displacement of point A from equilibrium position u.C point from equilibrium position d, distance from point A to equilibrium position h in initial state0. It is stressed as follows:
carrying out dimensionless transformation on the displacement data to obtain the relation between dimensionless force and dimensionless displacement:
wherein:
and (3) deriving the dimensionless force to obtain the relation between the dimensionless rigidity and the dimensionless displacement:
when the vibration isolator is in the equilibrium position,substituting the above equation to obtain the stiffness at the equilibrium position:
in order to ensure that the rigidity of the vibration isolator at the balance position is zero, the above formula is equal to zero, and the following steps are carried out:
the above formula is a prerequisite for achieving zero stiffness, only when α,Andwhen the parameters meet the conditions, the vibration isolator can realize quasi-zero rigidity at a balance position, and the inherent frequency of the system is ensured to be extremely low.
According to the conditionsObtaining a set of parameters，The vibration isolator has the quasi-zero stiffness characteristic at the balance position and has low-frequency vibration isolation performance.
By parameters，A force-displacement characteristic curve and a stiffness-displacement characteristic curve are obtained, as shown in fig. 2 and 3. From the figure it can be seen that the system is in equilibrium position () In a small range nearby, the system stiffness is close to zero. When the system is near the balance position, the natural frequency is very low, and the system is suitable for isolating low-frequency small-amplitude vibration. In the balance position, the weight of the vibration-isolated object is supported by the main spring, and the negative stiffness mechanism does not play a bearing role. In order to ensure that the vibration-isolated objects with different masses can be in a balance position, the lower end of the main spring is provided with an adjusting mechanism which is adjusted according to the weight of the vibration-isolated objects, so that the system is in the balance position.
In this embodiment, a dynamics analysis is performed on the vibration isolator, when the foundation is subjected to displacement simple harmonic excitation Y ═ Y sin ω t, the object to be isolated moves up and down at the equilibrium position, the displacement of the object is assumed to be x, and a kinematic equation is established as follows:
let u be x-y,substituting the formula to obtain:
dimensionless the above formula, we get:
wherein,
the harmonic balance method is adopted to solve the above formula, and the period solution of the system is set asSubstituting the equation into the motion equation to obtain an amplitude-frequency characteristic equation and a phase-frequency characteristic equation of the system, wherein the equation comprises the following steps:
thus, the displacement transfer rate of the system is as follows:
after each parameter of the system is selected, the selected parameter is substituted into the transmission rate formula to obtain a transmission rate curve of the system, as shown in fig. 4. As can be seen from the figure, under the excitation of different amplitudes, compared with a linear system, the stretching type quasi-zero stiffness system has the advantages of lower vibration isolation frequency, larger vibration isolation interval and better low-frequency vibration isolation effect.
In the present embodiment, the working principle of the vibration isolator obtained according to the above analysis is as follows: as shown in fig. 7, after the mass of the object to be vibration-isolated is determined, certain system parameters are selected, and the object to be vibration-isolated is placed on the object stage to ensure that the system is in a balanced position. The main spring with positive stiffness supports the weight of an object, the negative stiffness mechanism generates negative stiffness in the vertical direction, the system is in a zero stiffness state at the balance position according to the positive and negative stiffness cancellation principle, and the system stiffness near the balance position is also low and close to zero. Therefore, the natural frequency of the system is extremely low in a certain range near the equilibrium position. When the basic vibration is transmitted to the vibration-isolated object, the natural frequency of the system is extremely low, so that the vibration isolation is started at a very low frequency, and the low-frequency or ultra-low-frequency vibration can be isolated.
In summary, the stretching quasi-zero stiffness vibration isolator in the embodiment has a good effect in low frequency or ultra-low frequency vibration isolation, which is incomparable with the traditional linear vibration isolation system (i.e. the negative stiffness mechanism is removed). The device has the advantages of simple and compact structure, convenient assembly and debugging, and certain engineering application value in the fields of automobiles, precision instruments, sensitive equipment, precision machining, aerospace engineering and the like.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.
Claims (6)
1. The utility model provides a tensile accurate zero rigidity isolator which characterized in that: the device comprises a base, a main spring, an adjusting nut, a bolt seat, a sleeve cover, an objective table, an extension spring, a connecting rod, a sliding block, a guide rail, a cross rod, an upper hinge seat, a side hinge seat and a supporting seat; the middle part of the base is provided with the bolt seat and the adjusting nut for adjusting the main spring to move up and down; the main spring is a positive stiffness spring, and the upper end and the lower end of the main spring are respectively positioned and supported by the sleeve cover and the adjusting nut; the sleeve cover is arranged at the center of the bottom of the objective table for placing the object to be vibration-isolated; the extension spring, the connecting rod, the sliding block and the guide rail form a negative stiffness mechanism, one end of the connecting rod is connected with the objective table through a side hinge seat, the other end of the connecting rod is connected with the sliding block through an upper hinge seat, and the sliding block is arranged on the guide rail and used for sliding left and right on the track; the cross rod is fixed on the two sliding blocks and used for enabling the two sliding blocks to move simultaneously.
2. The tension type quasi-zero stiffness vibration isolator according to claim 1, wherein: one end of an extension spring in the negative stiffness mechanism is connected with the cross rod through a fixing seat, the other end of the extension spring is provided with a differential head fine adjustment device used for adjusting the deformation of the extension spring, the differential head fine adjustment device comprises a differential head, the other end of the extension spring is connected with the differential head through a connecting block, and the differential head is fixed on the cross rod.
3. The tension type quasi-zero stiffness vibration isolator according to claim 1, wherein: the guide rail is installed on the supporting seat, and the supporting seat is fixed on the base.
4. The realization method of the stretching type quasi-zero stiffness vibration isolator based on the claim 1 is characterized in that: the method comprises the following steps:
step S1: placing an object to be vibration-isolated with the weight of mg on the object stage, wherein the object stage moves downwards, the main spring is compressed, the sliding block moves outwards under the action of the connecting rod, and the extension spring is lengthened;
step S2: an adjusting nut supported at the bottom end of the main spring is adjusted to move up and down, and the upper position and the lower position of the main spring are adjusted, so that the connecting rod is kept at a horizontal position, and a system is ensured to be at a balance position;
step S3: the differential head is rotated to finely adjust the stretching amount of the stretching spring, so that the fine adjustment effect is achieved, and the quasi-zero stiffness characteristic of the system is ensured; the weight of the object to be isolated is borne by the main spring, the extension spring does not play a supporting role, and the isolator is in a balance position.
5. The method for realizing the stretching type quasi-zero stiffness vibration isolator according to claim 4, wherein the method comprises the following steps:
the stiffness of the main spring is kvThe stiffness of the tension spring is khThe force is as follows:
carrying out dimensionless transformation on the displacement data to obtain the relation between dimensionless force and dimensionless displacement:
wherein:
and (3) deriving the dimensionless force to obtain the relation between the dimensionless rigidity and the dimensionless displacement:
when the vibration isolator is in the equilibrium position,substituting the above equation to obtain the stiffness at the equilibrium position:
when the vibration isolator is at the equilibrium position, rigidity is zero, and the above formula is made to be equal to zero, namely:
6. the method for realizing the stretching type quasi-zero stiffness vibration isolator according to claim 4, wherein the method comprises the following steps:
the above-mentionedThe vibration isolator can realize low-frequency or ultralow-frequency vibration isolation if the parameter conditions required to be met for ensuring the quasi-zero stiffness characteristic of the vibration isolator are met.
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