CN111779790B - Vibration damper - Google Patents

Vibration damper Download PDF

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Publication number
CN111779790B
CN111779790B CN202010721065.0A CN202010721065A CN111779790B CN 111779790 B CN111779790 B CN 111779790B CN 202010721065 A CN202010721065 A CN 202010721065A CN 111779790 B CN111779790 B CN 111779790B
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electromagnetic
component
push rod
damping
sealing cylinder
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CN111779790A (en
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李忠杰
席天舒
王敏
孙翊
丁基恒
蒲华燕
彭艳
罗均
谢少荣
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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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
    • F16F15/022—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 dampers and springs in combination
    • 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
    • F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
    • 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
    • F16F15/005—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion using electro- or magnetostrictive actuation means
    • 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
    • F16F15/03—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 magnetic or electromagnetic means
    • 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
    • F16F15/046—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 using combinations of springs of different kinds
    • 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
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
    • F16F9/532—Electrorheological [ER] fluid dampers
    • 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
    • F16F2222/00—Special physical effects, e.g. nature of damping effects
    • F16F2222/04—Friction
    • 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
    • F16F2224/00—Materials; Material properties
    • F16F2224/04—Fluids
    • F16F2224/043—Fluids electrorheological
    • 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
    • F16F2228/00—Functional characteristics, e.g. variability, frequency-dependence
    • F16F2228/06—Stiffness
    • F16F2228/066—Variable stiffness
    • 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
    • F16F2230/00—Purpose; Design features
    • F16F2230/18—Control arrangements
    • 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
    • F16F2238/00—Type of springs or dampers
    • F16F2238/02—Springs
    • F16F2238/026—Springs wound- or coil-like

Abstract

The invention discloses a vibration damping device, which relates to the technical field of vibration suppression and comprises a base, a load platform, a rigidity active adjustable component and a damping active adjustable component, wherein the base is provided with a base seat; the rigidity active adjustable component comprises a first electromagnetic negative rigidity component and a second electromagnetic negative rigidity component, the bottom of the first electromagnetic negative rigidity component is arranged on the base, and the top of the first electromagnetic negative rigidity component is connected with the load platform through the damping active adjustable component; the bottom of the second electromagnetic negative stiffness component is arranged on the base, and the top of the second electromagnetic negative stiffness component is connected with the load platform through a flange seat; the damping active adjustable component, the first electromagnetic negative stiffness component and the second electromagnetic negative stiffness component are all powered by the outside. The vibration damping device provided by the invention adopts the electromagnetic negative stiffness device as the stiffness active adjustable component, and is combined with the damping active adjustable component to realize the reduction of the resonance frequency, thereby improving the working frequency band range of the vibration isolation device.

Description

Vibration damper
Technical Field
The invention relates to the technical field of vibration suppression, in particular to a vibration damping device.
Background
With the continuous development of precision engineering technology, increasingly strict requirements are put forward on isolating the vibration of an external broadband environment in the research fields of precision machining, precision measurement, space microgravity and the like. The traditional vibration isolation system mainly adopts a spring and damper structure with fixed parameters to complete vibration reduction of a controlled object, and has the characteristics of simple structure, reliable work, independence on a power supply and the like. The method can meet the production requirements in common industrial occasions, but is not ideal for isolating low-frequency and ultralow-frequency vibration. Particularly, with the continuous improvement of processing and measuring precision in modern industry, the vibration isolation object has the characteristics of large load, complex structure and the like, and the development of a novel vibration absorber with large bearing capacity and high vibration isolation bandwidth is urgent.
The conventional vibration isolation device can effectively suppress vibration only when the frequency of disturbance is more than a multiple of the resonance frequency of the vibration isolation device. Therefore, in order to improve the vibration isolation performance of the vibration isolator and expand the operating frequency band range of the vibration isolator, the resonance frequency of the vibration isolator must be lowered. The reduction in resonant frequency is generally achieved by reducing the system stiffness or increasing the system mass of the vibration isolation device. However, decreasing the stiffness of the system increases the static deformation of the system, and increasing the mass of the system is subject to space constraints.
Disclosure of Invention
The invention aims to provide a vibration damping device to solve the problems in the prior art, and an electromagnetic negative stiffness device is used as a stiffness active adjustable component and combined with a damping active adjustable component to reduce the resonance frequency, so that the working frequency band range of the vibration isolation device is enlarged.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a vibration damping device which comprises a base, a load platform, a rigidity active adjustable component and a damping active adjustable component, wherein the load platform is arranged on the base; the rigidity active adjustable component comprises a first electromagnetic negative rigidity component and a second electromagnetic negative rigidity component, the bottom of the first electromagnetic negative rigidity component is arranged on the base, and the top of the first electromagnetic negative rigidity component is connected with the load platform through the damping active adjustable component; the bottom of the second electromagnetic negative stiffness component is arranged on the base, and the top of the second electromagnetic negative stiffness component is connected with the load platform through a flange seat; the damping active adjustable component, the first electromagnetic negative stiffness component and the second electromagnetic negative stiffness component are all powered by the outside.
Optionally, the first electromagnetic negative stiffness assembly includes a first push rod, a shaft shoulder is integrally formed on the first push rod, a first fastening ring is sleeved on the first push rod above the shaft shoulder, a first electromagnetic negative stiffness component is arranged between the first fastening ring and the shaft shoulder, the bottom of the first push rod is connected with the base through a first linear bearing, and a first spring is sleeved on the first push rod between the first linear bearing and the shaft shoulder; a first lower sealing cylinder is fixedly arranged on the base, the top of the first lower sealing cylinder is connected with a first upper sealing cylinder in a sealing manner, and a first insulating gasket is arranged between the first lower sealing cylinder and the first upper sealing cylinder; the first push rod and the first electromagnetic negative stiffness component are positioned in the first upper sealing cylinder and the first lower sealing cylinder; the top of the first push rod penetrates through the first upper sealing cylinder and then is connected with the damping active adjustable assembly.
Optionally, the second electromagnetic negative stiffness assembly includes a second push rod, a shaft shoulder is integrally formed on the second push rod, a second fastening ring is sleeved on the second push rod above the shaft shoulder, a second electromagnetic negative stiffness component is arranged between the second fastening ring and the shaft shoulder, the bottom of the second push rod is connected with the base through a second linear bearing, and a second spring is sleeved on the second push rod between the second linear bearing and the shaft shoulder; a second lower sealing cylinder is fixedly arranged on the base, the top of the second lower sealing cylinder is connected with a second upper sealing cylinder in a sealing manner, and a second insulating gasket is arranged between the second lower sealing cylinder and the second upper sealing cylinder; the second push rod and the second electromagnetic negative stiffness component are positioned in the second upper sealing cylinder and the second lower sealing cylinder; the top of the second push rod penetrates through the second upper sealing barrel and then is connected with the bottom of the load platform through a flange seat.
Optionally, the first electromagnetic negative stiffness component includes a first electromagnetic coil, a second electromagnetic coil, a first permanent magnet and a second permanent magnet; the first electromagnetic coil is positioned between the first insulating gasket and the first upper sealing barrel and is limited by the annular groove of the first upper sealing barrel and the upper surface of the first insulating gasket; the second electromagnetic coil is positioned between the first insulating gasket and the first lower sealing cylinder and is limited by the annular groove of the first lower sealing cylinder and the lower surface of the first insulating gasket; the first permanent magnet and the second permanent magnet are connected in series and limited by a shaft shoulder of the first push rod and the first fastening ring; the current directions of the first electromagnetic coil and the second electromagnetic coil are opposite, the first electromagnetic coil and the first permanent magnet are arranged in parallel, and the second electromagnetic coil and the second permanent magnet are arranged in parallel.
Optionally, the second electromagnetic negative stiffness component includes a third electromagnetic coil, a fourth electromagnetic coil, a third permanent magnet, and a fourth permanent magnet; the third electromagnetic coil is positioned between the second insulating gasket and the second upper sealing cylinder and is limited by the annular groove of the second upper sealing cylinder and the upper surface of the second insulating gasket; the fourth electromagnetic coil is positioned between the second insulating gasket and the second lower sealing cylinder and is limited by the annular groove of the second lower sealing cylinder and the lower surface of the second insulating gasket; the third permanent magnet and the fourth permanent magnet are connected in series and limited by a shaft shoulder of the second push rod and a second fastening ring; the current directions of the third electromagnetic coil and the fourth electromagnetic coil are opposite, the third electromagnetic coil and the third permanent magnet are arranged in parallel, and the fourth electromagnetic coil and the fourth permanent magnet are arranged in parallel.
Optionally, the damping active adjustable component is a piezoelectric damping device; the piezoelectric damping device comprises a piezoelectric damping device, and the piezoelectric damping device comprises a baffle ring and a piezoelectric block; the top of the retaining ring is fixedly connected with the bottom of the load platform, the piezoelectric block is positioned in the retaining ring, and the bottom of the piezoelectric block is connected with the top of the first push rod through a joint.
Optionally, the damping active adjustable component is a giant electrorheological fluid damping device; the giant electrorheological fluid damping device comprises a giant electrorheological fluid damping outer cylinder, a giant electrorheological fluid damping inner cylinder is arranged in the giant electrorheological fluid damping outer cylinder, a connecting rod penetrates through the giant electrorheological fluid damping inner cylinder and the giant electrorheological fluid damping outer cylinder, and the lower part of the connecting rod penetrates through the giant electrorheological fluid damping inner cylinder and the giant electrorheological fluid damping outer cylinder and then is connected with the top of the first push rod; the upper part of the connecting rod penetrates through the giant electrorheological fluid damping inner cylinder and the giant electrorheological fluid damping outer cylinder and then is connected with the bottom of the load platform.
Compared with the prior art, the invention has the following technical effects:
the invention belongs to an active control mode, and compared with the traditional passive and semi-active control vibration damper, the invention has controllable performance, stronger vibration suppression effect and strong self-adaptability. The multi-degree-of-freedom fusion can be carried out in a multi-degree-of-freedom expansion mode, and the multi-degree-of-freedom fusion platform is used for a multi-degree-of-freedom platform and achieves multi-degree-of-freedom vibration suppression. The device is connected with the negative stiffness spring in parallel, so that the natural frequency of the vibration isolation system is obviously reduced, the damping characteristic of the system is improved, and the frequency of the vibration isolation system for generating high-frequency internal resonance is improved. The device adopts piezoelectric damping or giant electrorheological fluid damping as an active control damping element, has compact structure and large adjustable damping range, and is suitable for vibration reduction of a precision instrument platform.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is an overall cross-sectional view of a first embodiment of the present invention;
FIG. 2 is a cross-sectional view of a piezoelectric damping device according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a first electromagnetic negative stiffness component provided by the present invention;
FIG. 4 is a cross-sectional view of a second electromagnetic negative stiffness component provided by the present invention;
FIG. 5 is a schematic view of a passive vibration isolation mechanism;
FIG. 6 is a schematic diagram of the combined vibration isolation device of the active adjustable component of electromagnetic negative stiffness and damping provided by the invention;
FIG. 7 is a graph comparing the transmittance curves of the passive vibration isolation mechanism and the vibration isolation device of the present invention in the first embodiment;
FIG. 8 is an overall sectional view of a second embodiment of the present invention;
FIG. 9 is a cross-sectional view of a giant electrorheological fluid damping device according to a second embodiment of the present invention;
FIG. 10 is a graph comparing the transmission rate curves of the passive vibration isolating mechanism and the vibration isolating device of the present invention in the second embodiment;
description of reference numerals: 1. a load platform; 2. a piezoelectric damping device; 2-1, a baffle ring; 2-2, piezoelectric blocks; 3. a joint; 4. a first push rod; 5. a first upper sealing cylinder; 6. a first fastening ring; 7. a first insulating pad; 8. a first electromagnetic negative stiffness component; 8-1, a first electromagnetic coil; 8-2, a second electromagnetic coil; 8-3, a first permanent magnet; 8-4, a second permanent magnet; 9. a first spring; 10. a first linear bearing; 11. a first lower sealing cylinder; 12. a base; 13. a second linear bearing; 14. a second lower sealing cylinder; 15. a second spring; 16. a second push rod; 17. a second insulating spacer; 18. a second upper sealing cylinder; 19. a second electromagnetic negative stiffness component; 19-1, a third electromagnetic coil; 19-2, a fourth electromagnetic coil; 19-3, a third permanent magnet; 19-4, a fourth permanent magnet; 20. a second fastening ring; 21. a flange seat; 22. giant electrorheological fluid damping device; 22-1, giant electrorheological fluid damping outer cylinder; 22-2, giant electrorheological fluid damping inner cylinder; 22-3, giant electrorheological fluid.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a vibration damping device to solve the problems in the prior art, and an electromagnetic negative stiffness device is used as a stiffness active adjustable component and combined with a damping active adjustable component to reduce the resonance frequency, so that the working frequency band range of the vibration isolation device is enlarged.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides a vibration damping device which can effectively reduce the natural frequency of a system, has a good vibration damping effect on high-frequency vibration interference and can effectively isolate the low-frequency vibration of a foundation and the environment.
Example one
As shown in fig. 1, in the present embodiment, an electromagnetic negative stiffness device is used as the active stiffness adjustable component, the electromagnetic negative stiffness is controlled by controlling electromagnetic force according to current to generate controllable negative stiffness, and the component has a variable stiffness characteristic and has a certain self-adaptability. The piezoelectric damping device is used as a damping active adjustable component, and the piezoelectric damping adjusts the friction force between the inner cylinder and the outer cylinder of the piezoelectric material by utilizing the elasticity of the piezoelectric material, so that the damping of the piezoelectric damping can be actively adjusted; as shown in fig. 1, the present embodiment provides a vibration damping device using piezoelectric damping and electromagnetic negative stiffness. The device comprises a load platform 1, a piezoelectric damping device 2, a joint 3, a first electromagnetic negative stiffness component, a second electromagnetic negative stiffness component, a base 12 and a flange seat 21.
The load platform 1 is located at the upper end of the flange base 21 and the piezoelectric damping device 2. The vibration isolation of the system is realized by two parts. The vibration isolation is realized on the right side of the device by connecting the piezoelectric damping device 2 and the first electromagnetic negative stiffness component in series, and the vibration isolation is realized on the left side of the device by the second electromagnetic negative stiffness component. The piezoelectric damping device 2 and the first electromagnetic negative stiffness component form rigid connection through the joint 3, and the second electromagnetic negative stiffness component is connected with the load platform 1 through the flange seat 21.
As shown in FIG. 2, the piezoelectric damping device 2 is composed of a baffle ring 2-1 and a piezoelectric block 2-2. When the load platform 1 is excited externally, an external power supply supplies power to the piezoelectric damping device 2, and the piezoelectric block 2-2 extends in the horizontal direction due to the inverse piezoelectric effect and extrudes the inner side of the baffle ring 2-1, so that damping force is provided to achieve the damping and buffering effects.
The first electromagnetic negative stiffness assembly comprises a first push rod 4, a first upper sealing barrel 5, a first fastening ring 6, a first insulating gasket 7, a first electromagnetic negative stiffness component 8, a first spring 9, a first linear bearing 10 and a first lower sealing barrel 11. The first push rod 4 is guided by the first linear bearing 10 through the first upper sealing barrel 5, the first fastening ring 6 and the first electromagnetic negative stiffness component 8 to generate vertical displacement. The first insulating gasket 7 is located between the first upper sealing cylinder 5 and the first lower sealing cylinder 11. The first lower sealing cylinder 11 is located above the base 12. The first spring 9 is located between the lower end shoulder of the first push rod 4 and the first linear bearing 10. The first spring 9 provides positive stiffness, ensuring a greater static stiffness at rest of the system. When vibration occurs, the first electromagnetic negative stiffness component 8 generates negative stiffness, and the whole system has low dynamic stiffness characteristic, so that the nonlinear vibration isolation system with high static stiffness and low dynamic stiffness is provided, and the technical requirements of high bearing capacity and low natural frequency can be met at the same time.
As shown in FIG. 3, the first electromagnetic negative stiffness component 8 is comprised of a first electromagnetic coil 8-1, a second electromagnetic coil 8-2, a first permanent magnet 8-3 and a second permanent magnet 8-4. The first electromagnetic coil 8-1 is located between the first insulating gasket 7 and the first upper sealing cylinder 5, and is limited by the annular groove of the first upper sealing cylinder 5 and the upper surface of the first insulating gasket 7. The second electromagnetic coil 8-2 is positioned between the first insulating gasket 7 and the first lower sealing cylinder 11, and is limited by the annular groove of the first lower sealing cylinder 11 and the lower surface of the first insulating gasket 7. The first permanent magnet 8-3 and the second permanent magnet 8-4 are connected in series and limited by an upper end shaft shoulder of the first push rod 4 and the first fastening ring 6. The current directions of the two electromagnetic coils are opposite. The electromagnetic coils and the permanent magnets are arranged in parallel, the current passing directions of the two groups of electromagnetic coils are opposite, and the magnetic field generated by each group of electromagnetic coils is opposite to the magnetic field direction of the corresponding permanent magnet. When the external circuit respectively leads current to the two groups of electromagnetic coils, the generated magnetic field acts with the permanent magnet according to the law of electromagnetic induction to generate negative rigidity behavior, and the configuration method of the electromagnetic coils and the permanent magnet generates larger negative rigidity value and smaller displacement range. The negative stiffness of the electromagnetic negative stiffness component is determined by the input current of the electromagnetic coil and is used for matching the stiffness of the positive stiffness spring connected with the electromagnetic coil in parallel, so that the stiffness of the vibration isolation system is adjusted.
The second electromagnetic negative stiffness component comprises a second linear bearing 13, a second lower sealing barrel 14, a second spring 15, a second push rod 16, a second insulating gasket 17, a second upper sealing barrel 18, a second electromagnetic negative stiffness component 19 and a second fastening ring 20. The second push rod 16 is guided by the second upper sealing cylinder 18, the second fastening ring 20 and the second electromagnetic negative stiffness member 19 through the second linear bearing 13 to generate vertical displacement. A second insulating gasket 17 is located between the second upper sealing cylinder 18 and the second lower sealing cylinder 14. A second lower sealing cylinder 14 is located above the base 12. The second spring 15 is located between the lower shoulder of the second push rod 16 and the second linear bearing 13. The second spring 15 provides positive stiffness, ensuring a greater static stiffness at rest of the system.
As shown in FIG. 4, the second electromagnetic negative stiffness element 19 is comprised of a third electromagnetic coil 19-1, a fourth electromagnetic coil 19-2, a third permanent magnet 19-3 and a fourth permanent magnet 19-4. The third electromagnetic coil 19-1 is positioned between the second insulating gasket 17 and the second upper sealing cylinder 18, and is limited by the annular groove of the second upper sealing cylinder 18 and the upper surface of the second insulating gasket 17. The fourth electromagnetic coil 19-2 is positioned between the second insulating gasket 17 and the second lower sealing cylinder 14 and is limited by the annular groove of the second lower sealing cylinder 14 and the lower surface of the second insulating gasket 17. The third permanent magnet 19-3 and the fourth permanent magnet 19-4 are connected in series and limited by the upper end shaft shoulder of the second push rod 16 and the second fastening ring 20. The second electromagnetic negative stiffness component 19 operates on the same principle as the first electromagnetic negative stiffness component 8.
The vibration isolation principle of the vibration isolation mechanism and the passive vibration isolation mechanism in the invention is compared as follows:
as shown in fig. 5, the original mechanism is formed by a conventional spring-mass-damping unit, and realizes simple passive vibration isolation, and the transfer rate curve function G:
Figure BDA0002600031340000071
in the formula, x1Is the amount of vibration displacement, x, of the load platform2Is the vibration displacement of the base platform, c is the equivalent damping of the system, k is the equivalent stiffness of the system, m is the mass of the load platform, and s-j ω is the Rad's variationThe complex variable of the transform, ω, is the frequency domain coefficient.
As shown in fig. 6, the present invention is composed of an electromagnetic negative stiffness component connected in series with a piezoelectric damping component and then connected in parallel with an electromagnetic negative stiffness, and a transfer rate curve function G:
Figure BDA0002600031340000072
in the formula, x0Is the amount of vibration displacement, x, of the load platform1Is the amount of vibration displacement of the base platform, c is the equivalent damping of the system, k1Is the stiffness, k, of the electromagnetic spring with negative stiffness characteristic on the left side in the system2The stiffness of the electromagnetic spring with negative stiffness characteristic on the right side in the system is shown, m is the mass of the load platform, s-j omega is a complex variable of Laplace transform, and omega is a frequency domain coefficient.
Fig. 7 is a graph of the transmission rates of fig. 5 and 6, and it can be seen that the transmission rates have higher peak values at the resonance peak and higher natural frequencies of the system when the original mechanism is used for vibration isolation. After the passive vibration isolation mechanism is adopted, the rigidity of the system is reduced and the damping is improved due to the series connection of the piezoelectric damping and the negative stiffness electromagnetic spring and the parallel connection of the piezoelectric damping and the negative stiffness electromagnetic spring with the same stiffness, and the transmission rate curve of the system can show that the inherent frequency is further reduced, the resonance peak value of the system is obviously improved, and the vibration suppression capability of the system is further improved.
Example two
The embodiment is a deformation structure made on the basis of the first embodiment, and on the basis of the first embodiment, a piezoelectric damping device is replaced by a giant electrorheological fluid damping device; as shown in fig. 8, the vibration damping device provided in this embodiment includes a load platform 1, a first electromagnetic negative stiffness component, a second electromagnetic negative stiffness component, a base 12, a flange seat 21, a giant electrorheological fluid damping outer cylinder, and a giant electrorheological fluid inner cylinder.
The load platform 1 is positioned at the upper ends of the flange seat and the giant electrorheological fluid outer cylinder. The vibration isolation of the system is realized by two parts. The vibration isolation is realized on the right side of the device by serially connecting the giant electrorheological fluid damper and the first electromagnetic negative stiffness component, and the vibration isolation is realized on the left side of the device by the second electromagnetic negative stiffness component. The giant electrorheological fluid damping inner cylinder and the first electromagnetic negative stiffness component form rigid connection through the first push rod, and the second electromagnetic negative stiffness component is connected with the load platform through the flange seat.
As shown in fig. 9, the giant electrorheological fluid damper is composed of a giant electrorheological fluid damping outer cylinder, a giant electrorheological fluid damping inner cylinder and giant electrorheological fluid. When the load platform is excited by the outside, the outside power supply supplies power to the giant electrorheological fluid damper, and the giant electrorheological fluid can be converted into high-viscosity fluid or even solid between the giant electrorheological fluid damping outer cylinder and the giant electrorheological fluid damping inner cylinder due to the electrorheological effect, so that the damping force is provided to achieve the damping and buffering effects.
Fig. 10 is a graph of the transmission rates of fig. 5 and 6, and it can be seen from the dotted line that the transmission rates have higher peak values at the resonance peak and higher natural frequencies of the system when the original mechanism is used for vibration isolation. As can be seen from the dotted line in the figure, when the conventional inventive structure is adopted, the transmission rate still has a peak value, and the vibration is not completely eliminated. As can be seen from the solid line in the figure, after the passive vibration isolation mechanism is adopted, as the giant electrorheological fluid damping and the negative stiffness electromagnetic spring are connected in series and then are connected in parallel with the electromagnetic spring with the same stiffness, the stiffness of the system is reduced, the damping is improved, the transmission rate curve of the system can be seen, the inherent frequency is further reduced, the resonance peak value of the system is obviously improved, and the vibration suppression capability of the system is further improved.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (5)

1. A vibration damping device characterized by: the damping active adjustable device comprises a base, a load platform, a rigidity active adjustable component and a damping active adjustable component; the rigidity active adjustable component comprises a first electromagnetic negative rigidity component and a second electromagnetic negative rigidity component, the bottom of the first electromagnetic negative rigidity component is arranged on the base, and the top of the first electromagnetic negative rigidity component is connected with the load platform through the damping active adjustable component; the bottom of the second electromagnetic negative stiffness component is arranged on the base, and the top of the second electromagnetic negative stiffness component is connected with the load platform through a flange seat; the damping active adjustable component, the first electromagnetic negative stiffness component and the second electromagnetic negative stiffness component are all externally powered; the first electromagnetic negative stiffness component comprises a first push rod, a shaft shoulder is integrally formed on the first push rod, a first fastening ring is sleeved on the first push rod above the shaft shoulder, a first electromagnetic negative stiffness component is arranged between the first fastening ring and the shaft shoulder, the bottom of the first push rod is connected with the base through a first linear bearing, and a first spring is sleeved on the first push rod between the first linear bearing and the shaft shoulder; a first lower sealing cylinder is fixedly arranged on the base, the top of the first lower sealing cylinder is connected with a first upper sealing cylinder in a sealing manner, and a first insulating gasket is arranged between the first lower sealing cylinder and the first upper sealing cylinder; the first push rod and the first electromagnetic negative stiffness component are positioned in the first upper sealing cylinder and the first lower sealing cylinder; the top of the first push rod penetrates through the first upper sealing cylinder and then is connected with the damping active adjustable assembly; the first electromagnetic negative stiffness component comprises a first electromagnetic coil, a second electromagnetic coil, a first permanent magnet and a second permanent magnet; the first electromagnetic coil is positioned between the first insulating gasket and the first upper sealing barrel and is limited by the annular groove of the first upper sealing barrel and the upper surface of the first insulating gasket; the second electromagnetic coil is positioned between the first insulating gasket and the first lower sealing cylinder and is limited by the annular groove of the first lower sealing cylinder and the lower surface of the first insulating gasket; the first permanent magnet and the second permanent magnet are connected in series and limited by a shaft shoulder of the first push rod and the first fastening ring; the current directions of the first electromagnetic coil and the second electromagnetic coil are opposite, the first electromagnetic coil and the first permanent magnet are arranged in parallel, and the second electromagnetic coil and the second permanent magnet are arranged in parallel.
2. The vibration damping device according to claim 1, wherein: the second electromagnetic negative stiffness component comprises a second push rod, a shaft shoulder is integrally formed on the second push rod, a second fastening ring is sleeved on the second push rod above the shaft shoulder, a second electromagnetic negative stiffness component is arranged between the second fastening ring and the shaft shoulder, the bottom of the second push rod is connected with the base through a second linear bearing, and a second spring is sleeved on the second push rod between the second linear bearing and the shaft shoulder; a second lower sealing cylinder is fixedly arranged on the base, the top of the second lower sealing cylinder is connected with a second upper sealing cylinder in a sealing manner, and a second insulating gasket is arranged between the second lower sealing cylinder and the second upper sealing cylinder; the second push rod and the second electromagnetic negative stiffness component are positioned in the second upper sealing cylinder and the second lower sealing cylinder; the top of the second push rod penetrates through the second upper sealing barrel and then is connected with the bottom of the load platform through a flange seat.
3. The vibration damping device according to claim 2, wherein: the second electromagnetic negative stiffness component comprises a third electromagnetic coil, a fourth electromagnetic coil, a third permanent magnet and a fourth permanent magnet; the third electromagnetic coil is positioned between the second insulating gasket and the second upper sealing cylinder and is limited by the annular groove of the second upper sealing cylinder and the upper surface of the second insulating gasket; the fourth electromagnetic coil is positioned between the second insulating gasket and the second lower sealing cylinder and is limited by the annular groove of the second lower sealing cylinder and the lower surface of the second insulating gasket; the third permanent magnet and the fourth permanent magnet are connected in series and limited by a shaft shoulder of the second push rod and a second fastening ring; the current directions of the third electromagnetic coil and the fourth electromagnetic coil are opposite, the third electromagnetic coil and the third permanent magnet are arranged in parallel, and the fourth electromagnetic coil and the fourth permanent magnet are arranged in parallel.
4. The vibration damping device according to claim 1, wherein: the damping active adjustable component is a piezoelectric damping device; the piezoelectric damping device comprises a piezoelectric damping device, and the piezoelectric damping device comprises a baffle ring and a piezoelectric block; the top of the retaining ring is fixedly connected with the bottom of the load platform, the piezoelectric block is positioned in the retaining ring, and the bottom of the piezoelectric block is connected with the top of the first push rod through a joint.
5. The vibration damping device according to claim 1, wherein: the damping active adjustable component is a giant electrorheological fluid damping device; the giant electrorheological fluid damping device comprises a giant electrorheological fluid damping outer cylinder, a giant electrorheological fluid damping inner cylinder is arranged in the giant electrorheological fluid damping outer cylinder, a connecting rod penetrates through the giant electrorheological fluid damping inner cylinder and the giant electrorheological fluid damping outer cylinder, and the lower part of the connecting rod penetrates through the giant electrorheological fluid damping inner cylinder and the giant electrorheological fluid damping outer cylinder and then is connected with the top of the first push rod; the upper part of the connecting rod penetrates through the giant electrorheological fluid damping inner cylinder and the giant electrorheological fluid damping outer cylinder and then is connected with the bottom of the load platform.
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