CN110985599B - Under-freedom-degree redundant vibration isolation system - Google Patents
Under-freedom-degree redundant vibration isolation system Download PDFInfo
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- CN110985599B CN110985599B CN201911412415.9A CN201911412415A CN110985599B CN 110985599 B CN110985599 B CN 110985599B CN 201911412415 A CN201911412415 A CN 201911412415A CN 110985599 B CN110985599 B CN 110985599B
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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
- F16F15/067—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 using only wound springs
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Abstract
The invention relates to an under-freedom degree redundant vibration isolation system, which comprises: the vibration isolation mounting surface comprises four supporting rods, four vibration isolation springs, four hooke hinges, four single-degree-of-freedom hinges, four guide grooves and a mounting foundation. The support rod is used for connecting the vibration isolation mounting surface and the vibration isolation spring, the upper end of the support rod is connected with the vibration isolation mounting surface through a Hooke hinge, the lower end of the support rod is connected with the latter through a single-degree-of-freedom hinge, rotating shafts of the hinges are parallel to the vibration isolation mounting surface, the rotating shaft direction of the Hooke hinge at the same position is parallel to or vertical to the rotating shaft direction of the single-degree-of-freedom hinge, and the rotating shaft direction of the single-degree-of-freedom hinge at any position is parallel to a connecting line of the positions of two adjacent single-degree-of-freedom hinges; the vibration isolation spring and the lower end of the guide groove are fixed on the installation foundation, and the vibration isolation spring can realize unidirectional vibration attenuation and vibration isolation; the arrangement of four isolation springs dampens vibrations generated by the mounting base in one translational direction and about two rotational directions. The vibration isolator adopts an under-freedom vibration isolation mode, reduces the design difficulty of the vibration isolator, improves the stability and has the advantage of redundancy.
Description
Technical Field
The invention relates to an under-freedom-degree redundant vibration isolation system which can be used for isolating vibration in a specific direction, keeps higher structural rigidity in other directions and has the advantage of redundancy in the design of the vibration isolation system.
Background
When the system is excited by an external vibration source, the system may generate forced vibration, and for the fields of precision manufacturing industry, aviation, aerospace, weaponry and the like, the vibration exceeding a certain degree may cause the equipment to be incapable of working normally, so certain measures are required to be taken to avoid the equipment from generating overlarge vibration. In some systems, the vibration modes affecting the system operation are often concentrated in one or more directions, for example, the vibration modes affecting the visual axis orientation of the on-board camera are only three: translation along the visual axis and rotation about two orthogonal axes of the visual axis. For such systems, only the influential vibration modes need to be considered when designing the vibration isolator, maintaining a high structural stiffness in the remaining directions, thereby ensuring system stability.
Meanwhile, the commonly adopted Stewart platform has the defect of no redundancy, namely, after a certain vibration isolator is damaged, the whole platform cannot work normally. This effect in the aerospace field is fatal and requires a great deal of effort to be invested in platform design to ensure platform reliability. On the basis, the invention designs an under-freedom-degree redundant vibration isolation system, which can realize the following steps: under the condition that any one vibration isolation spring fails, the system still has a normal vibration isolation function.
At present, no literature report about the vibration isolation system is found at home and abroad.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, the design workload of the vibration isolation system is reduced, the vibration generated by a vibration source is divided into two categories of vibration which needs vibration isolation and vibration which does not need vibration isolation, the vibration isolation design work is carried out on the vibration source, the defect that a commonly used Stewart platform does not have redundancy is overcome, and the reliability of the vibration isolation system is improved.
The technical scheme adopted by the invention to solve the technical problem is as follows: an under-degree-of-freedom redundant vibration isolation system comprising: the vibration isolation mounting surface comprises four supporting rods, four vibration isolation springs, four hooke hinges, four single-degree-of-freedom hinges, four guide grooves and a mounting foundation. The four Hooke joints are respectively positioned at four opposite angles of the vibration isolation mounting surface; the support rod is used for connecting the vibration isolation mounting surface and four vibration isolation springs, the upper end of the support rod is connected with the vibration isolation mounting surface through a Hooke hinge, the lower end of the support rod is connected with the vibration isolation springs through a single-degree-of-freedom hinge, the four Hooke hinges and the four single-degree-of-freedom hinges adopt the design form of flexible hinges, the rotating shafts of the two single-degree-of-freedom hinge connecting rods are parallel to the vibration isolation mounting surface, the rotating shaft direction of a Hooke hinge at the same position is parallel to or perpendicular to the rotating shaft direction of a single-degree-of-freedom hinge, the direction of a single-degree-of-freedom hinge rotating shaft at four positions is related to the positions of the four single-degree-of-freedom hinges, the direction of the single-degree-of-freedom hinge rotating shaft is parallel to a connecting line of the positions of adjacent single-degree-of-freedom rotating shafts, and the direction of the single-degree-of-freedom hinge rotating shaft is parallel to a connecting line of the positions of adjacent single-degree-of freedom rotating shafts; the four vibration isolation springs and the lower ends of the four guide grooves are fixed on the mounting foundation, and each vibration isolation spring can realize vibration damping and vibration isolation on vibration along the direction of the guide groove; the vibration generated by the installation foundation is transmitted to the vibration isolation installation surface through the four vibration isolation springs or the four guide grooves and then through the four support rods, the vibration in one translation direction and two rotation directions generated by the installation foundation can be attenuated by the arrangement mode of the four vibration isolation springs, the translation direction is along the direction of the guide grooves, the rotation direction is in the connecting line direction around the position of the single-freedom-degree rotating shaft and in the connecting line direction around the position of the single-freedom-degree rotating shaft, and the vibration modes in other directions are directly transmitted upwards through the four guide grooves, so that the under-freedom-degree vibration isolation is realized. After the vibration isolation spring at any position fails, the other three vibration isolation springs can still realize the attenuation of the three types of vibration, so that the vibration isolation with the redundancy characteristic is realized;
the vibration isolating spring can attenuate the vibration along the direction of the guide groove, and the vibration vertical to the direction is transmitted to the support rod by the guide groove. The rigidity along the direction of the guide groove is determined by the vibration isolation spring, vibration reduction and isolation are taken as key design indexes, the rigidity vertical to the direction of the guide groove is determined by the guide groove and the support rod together, and the bearing capacity is taken as a key design index.
The four vibration isolation springs and the guide grooves are located below four opposite corners of the vibration isolation mounting surface and are distributed in a rectangular mode, the arrangement mode can enable the four vibration isolation springs to attenuate translational vibration along the direction of the guide grooves and rotational vibration around two opposite diagonal connecting lines of the vibration isolation mounting surface, which are generated by the mounting base, the designed vibration isolation is under-freedom vibration isolation, and the vibration isolation capability is not provided for other directions. In the non-vibration isolation direction, the relative displacement between the vibration isolation mounting surface and the mounting foundation is determined by the rigidity in the direction vertical to the guide groove, and the rigidity in the direction does not need to consider the design of vibration isolation, so that the rigidity value can be designed to be very high, the relative displacement between the vibration isolation mounting surface and the mounting foundation is ensured to be as small as possible, and the bearing capacity in the direction is improved.
The four single-degree-of-freedom hinges and the four Hooke hinges are located below four opposite angles of the vibration isolation mounting surface and are distributed in a rectangular mode. The rectangle has two diagonals, the rotating shaft direction of the single-degree-of-freedom hinge on one diagonal needs to be guaranteed to be parallel to the other diagonal, the rotating shaft direction of the hooke hinge on one diagonal needs to be guaranteed to be respectively parallel to or perpendicular to the other diagonal, and the degree of freedom of motion can be guaranteed to be consistent with the degree of freedom of vibration isolation only by the arrangement mode.
The vibration isolation system is connected by adopting a flexible hinge, the flexible hinge is deformed by adopting materials to generate displacement, provides limited angular displacement around a shaft, and has the advantages of no mechanical friction, no clearance, integrated processing and the like.
The design of the vibration isolation system has the advantage of redundancy, one vibration isolation spring can be allowed to fail, the system still has the vibration isolation capability, and the reliability of the system is enhanced in a design mode, which is not possessed by the traditional designed Stewart platform.
Compared with the prior art, the invention has the advantages that:
(1) the vibration isolation system adopts a design mode of less freedom, and performs vibration isolation design aiming at certain vibration modes which need vibration isolation, so that the design difficulty of the vibration isolation system is reduced;
(2) the invention adopts the flexible hinge connection, has compact structure and can be integrally processed;
(3) the design of the vibration isolation system has the advantage of redundancy, when one of the vibration isolation springs is in a state of incapable of working normally, the whole vibration isolation system can still keep the functional integrity, so that the reliability of the system is enhanced;
(4) the vibration isolation mounting platform has higher stability in the direction without vibration isolation design, the mounting base and the vibration isolation mounting surface have no relative displacement in the direction, the bearing capacity is related to the structural rigidity of each part, and the vibration isolation mounting platform can be used in the field of automobiles, for example, the vibration isolation mounting platform can keep higher stability in the driving direction, can transmit larger load, and can also be used in the field of laser tracking and aiming as the vibration isolation mounting platform of a laser transmitter.
Drawings
FIG. 1 is a schematic structural view of example 1 of the present invention;
FIG. 2 is a schematic view of four single-degree-of-freedom hinge shafts and their directions in embodiment 1 of the present invention;
fig. 3 is an integrated design view of the support rod and the connecting hinge according to embodiment 1 of the present invention.
Wherein: the vibration isolation device comprises a vibration isolation mounting surface 1, four supporting rods 2, four vibration isolation springs 3, four hooke hinges 4, four single-degree-of-freedom hinges 5, four guide grooves 6, a mounting base 7, four single-degree-of-freedom hinge rotating shafts from one to four 5_1 to 5_4 at four positions, an upper mounting surface 8, a two-degree-of-freedom flexible hinge 9, a cylindrical part 10, a single-degree-of-freedom flexible hinge 11 and a lower mounting surface 12.
Detailed Description
As shown in fig. 1, 2, and 3, the less-than-freedom-degree redundant vibration isolation system according to the present invention includes: the vibration isolation device comprises a vibration isolation mounting surface 1, four supporting rods 2, four vibration isolation springs 3, four Hooke hinges 4, four single-degree-of-freedom hinges 5, four guide grooves 6 and a mounting foundation 7. The four Hooke joints 4 are respectively positioned at four opposite angles of the vibration isolation mounting surface 1; the support rod 2 is used for connecting the vibration isolation mounting surface 1 and four vibration isolation springs 3, the upper end of the support rod is connected with the vibration isolation mounting surface 1 through a Hooke hinge 4, the lower end of the support rod is connected with the vibration isolation springs 3 through a single-degree-of-freedom hinge 5, the four Hooke hinges 4 and the four single-degree-of-freedom hinges 5 adopt a flexible hinge design form, rotating shafts of the four Hooke hinges 4 are all parallel to the vibration isolation mounting surface 1, the rotating shaft direction of the Hooke hinge 4 at the same position is parallel to or vertical to the rotating shaft direction of the single-degree-of-freedom hinge 5, the directions of the single-degree-of-freedom hinge rotating shafts from one to four 5_1 to 5_4 at the four positions are related to the positions of the four single-degree-of-freedom hinges 5, the direction of the single-degree-of freedom hinge rotating shaft from one to four 5_1 to 5_4 at the four positions is parallel to the connecting lines, the direction of the single-degree-of-freedom hinge shaft three 5_3 is parallel to a connecting line of the positions of the adjacent single-degree-of-freedom shafts two, four 5_2 and 5_4, and the direction of the single-degree-of-freedom hinge shaft four 5_4 is parallel to a connecting line of the positions of the adjacent single-degree-of-freedom shafts one, three 5_1 and 5_ 3; the lower ends of the four vibration isolation springs 3 and the four guide grooves 6 are fixed on an installation foundation 7, and each vibration isolation spring 3 can realize vibration damping and vibration isolation on vibration along the direction of the guide groove 6; the vibration generated by the installation foundation 7 firstly passes through the four vibration isolation springs 3 or the four guide grooves 6 and then is transmitted to the vibration isolation installation surface 1 through the four support rods 2, the arrangement form of the four vibration isolation springs 3 can attenuate the vibration generated by the installation foundation 7 in one translation direction and two rotation directions, the translation direction is along the direction of the guide grooves 6, the rotation directions are the connecting line direction of the positions where the single-degree-of-freedom rotating shafts I, III 5_1 and III 5_3 are located and the connecting line direction of the positions where the single-degree-of-freedom rotating shafts II, IV _2 and IV _4 are located, and the vibration forms in the other directions are directly transmitted upwards through the four guide grooves 6, so that the under-degree-of-freedom vibration isolation is realized. After the vibration isolation spring 5 at any position fails, the other three vibration isolation springs can still realize the attenuation of the three types of vibration, so that the vibration isolation with the redundancy characteristic is realized.
The vibration isolation mounting surface 1 is used for mounting equipment which needs to work under vibration isolation conditions, and the mounting base 7 represents a vibration source which generates vibration.
Fig. 2 is a schematic diagram of four single-degree-of-freedom hinge rotating shafts and directions, the four single-degree-of-freedom hinges 5 are located below four opposite corners of the vibration isolation mounting surface 1 and are arranged in a rectangular manner, 5_1 to 5_4 respectively represent rotating shaft positions of the four single-degree-of-freedom hinges 5, the rotating shaft is parallel to the vibration isolation mounting surface 1, the direction of the rotating shaft one 5_1 is parallel to the rotating shaft three 5_3 and is parallel to a connecting line of the rotating shaft two 5_2 and the rotating shaft four 5_4, and similarly, the direction of the rotating shaft two 5_2 is parallel to the rotating shaft four 5_4 and is parallel to a connecting line of the rotating shaft one 5_1 and the rotating shaft three 5_ 3. This arrangement is a necessary condition for ensuring that the degree of freedom of movement coincides with the degree of freedom of vibration isolation.
Fig. 3 is an integrated design diagram of a support rod and a connection hinge, which includes an upper mounting surface 8, a two-degree-of-freedom flexible hinge 9, a cylindrical portion 10, a single-degree-of-freedom flexible hinge 11 and a lower mounting surface 12, wherein a vibration isolation mounting surface 1 and four vibration isolation springs 3 in an under-degree-of-freedom redundant vibration isolation system are connected through four support rods 2, four hooke hinges 4 and four single-degree-of-freedom hinges 5, the support rods and the connection hinge portion can be integrally designed in order to simplify the support rods and the connection hinge portion, the upper mounting surface 8 and the two-degree-of-freedom flexible hinge 9 are used for achieving the function of the hooke hinges 4, the single-degree-of-freedom flexible hinge 11 and the lower mounting surface 12 are used for achieving the function of the single-degree-of-freedom hinges 5, and the cylindrical portion 10 plays a role of the support rod 2.
In the embodiment of the invention, the vibration isolation system can be arranged between the satellite camera and the camera mounting base, the coordinate system shown in fig. 1 is referred to, so that the visual axis direction of the camera is parallel to the z direction, and the previous test conclusion shows that the vibration modes influencing the pointing accuracy of the visual axis of the camera are only the following three modes: translation along the z direction, and rotation around the x direction and the y direction. The designed vibration isolation system can just meet the vibration isolation requirement of the camera, and has higher stability in the other non-vibration isolation directions, namely the direction around the z direction, the direction along the x direction and the direction along the y direction. The design of the vibration isolation system reduces the design difficulty of the vibration isolation system on one hand and is beneficial to enhancing the stability of the vibration isolation system in the non-vibration isolation direction; on the other hand, the vibration isolation system has the advantage of redundancy, and the vibration isolation system in the design form can realize that: under the condition that the vibration isolation spring at any position fails, the system still has the function of normal vibration isolation.
Claims (5)
1. An under-degree-of-freedom redundant vibration isolation system comprising: the vibration isolation device comprises a vibration isolation mounting surface (1), four supporting rods (2), four vibration isolation springs (3), four hooke hinges (4), four single-degree-of-freedom hinges (5), four guide grooves (6) and a mounting base (7); the four Hooke hinges (4) are respectively positioned at four opposite angles of the vibration isolation mounting surface (1); the support rod (2) is used for connecting the vibration isolation mounting surface (1) and four vibration isolation springs (3), the upper end of the support rod is connected with the vibration isolation mounting surface (1) through a Hooke hinge (4), the lower end of the support rod is connected with the vibration isolation springs (3) through a single-degree-of-freedom hinge (5), the four Hooke hinges (4) and the four single-degree-of-freedom hinges (5) adopt flexible hinge design forms, rotating shafts of the four Hooke hinges are parallel to the vibration isolation mounting surface (1), the rotating shaft direction of the Hooke hinge (4) at the same position is parallel or vertical to the rotating shaft direction of the single-degree-of-freedom hinge (5), the directions of the single-degree-of-freedom hinge rotating shafts from one to four (5 _ 1-5 _ 4) at the four positions are related to the positions of the four single-degree-of-freedom hinges (5 _ 5), the direction of the single-degree-of freedom hinge rotating shaft from one to four (5 _ 1-5 _ 4) at the four positions is parallel to the connecting line of the positions of the adjacent single-degree-of freedom rotating shafts from two (5 _2, the two (5 _ 2) is parallel to the adjacent single-degree-freedom rotating shafts, The connecting line of the positions of the three (5 _ 1) and the 5_ 3), the direction of the single-degree-of-freedom hinge rotating shaft three (5 _ 3) is parallel to the connecting line of the positions of the adjacent single-degree-of-freedom rotating shafts two and four (5 _2 and 5_ 4), and the direction of the single-degree-of-freedom hinge rotating shaft four (5 _ 4) is parallel to the connecting line of the positions of the adjacent single-degree-of-freedom rotating shafts one and three (5 _1 and 5_ 3); the lower ends of the four vibration isolation springs (3) and the four guide grooves (6) are fixed on the mounting base (7), and each vibration isolation spring (3) can realize vibration attenuation and vibration isolation for vibration along the direction of the guide groove (6); the vibration generated by the mounting base (7) is transmitted to the vibration isolation mounting surface (1) through the four vibration isolation springs (3) or the four guide grooves (6) and then through the four support rods (2), the arrangement form of the four vibration isolation springs (3) attenuates the vibration generated by the mounting base (7) in one translation direction and two rotation directions, the translation direction is along the direction of the guide grooves (6), the rotation direction is the connecting line direction around the positions of the single-degree-of-freedom rotating shafts I, III (5 _1 and 5_ 3) and the connecting line direction around the positions of the single-degree-of-freedom rotating shafts II, IV (5 _2 and 5_ 4), the vibration forms in other directions are directly transmitted upwards through the four guide grooves (6), so that the vibration isolation with the lack of freedom degree is realized, and after the vibration isolation spring (3) at any position fails, the other three vibration isolation springs can still realize the attenuation of the three forms, thereby achieving vibration isolation with redundant characteristics.
2. The under-freedom-degree redundant vibration isolation system according to claim 1, wherein: the vibration isolation spring (3) attenuates vibration along the direction of the guide groove (6), the vibration vertical to the direction is transmitted to the support rod (2) through the guide groove (6), the rigidity along the direction of the guide groove (6) is determined by the vibration isolation spring (3), the vibration attenuation and vibration isolation are used as key design indexes, the rigidity vertical to the direction of the guide groove (6) is determined by the guide groove (6) and the support rod (2) together, and the bearing capacity is used as a key design index.
3. The under-freedom-degree redundant vibration isolation system according to claim 1, wherein: the four vibration isolation springs (3) and the guide groove (6) are positioned below four opposite corners of the vibration isolation mounting surface (1) and distributed in a rectangular mode, so that the four vibration isolation springs (3) attenuate translational vibration generated by the mounting base (7) along the direction of the guide groove (6) and rotational vibration around two groups of opposite diagonal connecting lines of the vibration isolation mounting surface (1), the designed vibration isolation is under-freedom vibration isolation, and the vibration isolation capability is not realized in other directions; in the non-vibration isolation direction, the relative displacement between the vibration isolation mounting surface (1) and the mounting foundation (7) is determined by the rigidity in the direction vertical to the guide groove, and the rigidity in the direction does not need to consider the design of vibration isolation, so that the rigidity value can be designed to be very high, the relative displacement value between the vibration isolation mounting surface (1) and the mounting foundation (7) is ensured to be as small as possible, and the bearing capacity in the direction is improved.
4. The under-freedom-degree redundant vibration isolation system according to claim 1, wherein: the four single-degree-of-freedom hinges (5) and the four hooke hinges (4) are located below four opposite angles of the vibration isolation mounting surface (1) and are distributed in a rectangular mode; the rectangle is provided with two diagonal lines, the rotating shaft direction of the single-degree-of-freedom hinge (5) on one diagonal line needs to be guaranteed to be parallel to the other diagonal line, and the rotating shaft direction of the Hooke hinge (4) on one diagonal line needs to be guaranteed to be respectively parallel to or perpendicular to the other diagonal line.
5. The under-freedom-degree redundant vibration isolation system according to claim 1, wherein: the vibration isolation system is connected by adopting a flexible hinge, and the flexible hinge is formed by adopting material deformation to generate displacement and provide limited angular displacement around a shaft.
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| CN112709780B (en) * | 2020-12-28 | 2023-08-01 | 武汉华中天易星惯科技有限公司 | Novel vibration isolator with hinge type angular displacement-free mechanism |
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