CN112963497B - Adjustable quasi-zero stiffness vibration isolator - Google Patents
Adjustable quasi-zero stiffness vibration isolator Download PDFInfo
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- CN112963497B CN112963497B CN202110195967.XA CN202110195967A CN112963497B CN 112963497 B CN112963497 B CN 112963497B CN 202110195967 A CN202110195967 A CN 202110195967A CN 112963497 B CN112963497 B CN 112963497B
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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
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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
- F16F15/023—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 fluid means
- F16F15/0232—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 fluid means with at least one gas spring
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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
- F16F15/023—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 fluid means
- F16F15/027—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 fluid means comprising control arrangements
- F16F15/0275—Control of stiffness
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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
- F16F2228/00—Functional characteristics, e.g. variability, frequency-dependence
- F16F2228/06—Stiffness
- F16F2228/063—Negative stiffness
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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
- F16F2230/00—Purpose; Design features
- F16F2230/0005—Attachment, e.g. to facilitate mounting onto confer adjustability
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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
- F16F2230/00—Purpose; Design features
- F16F2230/06—Fluid filling or discharging
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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
- F16F2230/00—Purpose; Design features
- F16F2230/08—Sensor arrangement
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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
- F16F2238/00—Type of springs or dampers
- F16F2238/02—Springs
- F16F2238/026—Springs wound- or coil-like
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention provides an adjustable quasi-zero stiffness vibration isolator, and belongs to the technical field of mechanical vibration isolation. The vibration isolator comprises a negative stiffness mechanism, an air spring and a gear rack mechanism, wherein the negative stiffness mechanism comprises cylindrical cams, a horizontal telescopic mechanism and push rods, the negative stiffness mechanism is symmetrically distributed along the central axis of the air spring, the negative stiffness mechanism is connected with the air spring through the gear rack mechanism, the negative stiffness mechanism provides thrust for the push rods through the horizontal telescopic mechanism to push the cylindrical cams to rotate, and then the gear rotates to drive the racks to move up and down to provide negative stiffness. The negative stiffness mechanism can be adjusted according to actual conditions, and has high bearing capacity and excellent medium-low frequency vibration isolation performance; the vibration isolator can reduce the overall rigidity, reduce the inherent frequency and better realize the vibration isolation effect within a certain bounce range.
Description
Technical Field
The invention belongs to the technical field of mechanical vibration isolation, and particularly relates to an adjustable quasi-zero stiffness vibration isolator.
Background
In engineering application, whether high-frequency vibration or low-frequency vibration has corresponding influence on normal use of equipment. In recent years, the research design aiming at the zero-stiffness vibration isolator has been greatly developed. The quasi-zero stiffness vibration isolator enables the stiffness near the balance position of a system to be close to zero by connecting the positive stiffness and the negative stiffness in parallel, so that the effect of reducing the vibration frequency is achieved. Most of the positive stiffness mechanisms and negative stiffness mechanisms of the quasi-zero stiffness vibration isolators at present are helical springs, and the negative stiffness required by the quasi-zero stiffness effect is achieved through the pretightening force of the springs. However, the negative stiffness mechanism vibrates along with the objective table, and cannot stably provide the negative stiffness required by the system due to uncertainty of vibration; moreover, due to the structural integrity, the middle symmetrical cam is fixed, and the negative rigidity provided by the middle symmetrical cam is single and cannot be adjusted according to actual conditions.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an adjustable quasi-zero stiffness vibration isolator, the negative stiffness of the vibration isolator is provided by a horizontal telescopic mechanism and finally acts in the vertical direction through a transmission mechanism, the positive stiffness is provided by an air spring, the vibration isolator has high bearing capacity and excellent medium-low frequency vibration isolation performance, and the negative stiffness mechanism can be adjusted according to actual conditions.
The present invention achieves the above-described object by the following technical means.
The utility model provides a quasi-zero rigidity isolator with adjustable, includes air spring, and the whole central axis symmetry about air spring of isolator, air spring fix between objective table and rack, and the objective table lower extreme is equipped with rack and pinion mechanism, and gear and cylindrical cam one end key-type connection, cylindrical cam pass through slide bearing to be fixed on the rack, place push rod one end in cylindrical cam's the cam groove, and the push rod other end is connected with horizontal telescopic machanism.
In the technical scheme, the horizontal telescopic mechanism is a spring fixed on the rack, and the spring is connected with the other end of the push rod.
In the technical scheme, the horizontal telescopic mechanism is a cylinder fixed on the rack, and a piston of the cylinder is connected with the other end of the push rod.
Among the above-mentioned technical scheme, horizontal telescopic machanism includes the pneumatic cylinder, and the pneumatic cylinder links to each other with the oil storage tank, and oil storage tank and oil pump connection, and be equipped with the solenoid valve on pneumatic cylinder and the oil storage tank connecting pipeline, the oil pump also is connected with the solenoid valve.
In the technical scheme, the starting and stopping of the oil pump are controlled by the ECU, and the ECU is further in signal connection with the height sensor installed below the objective table.
In the technical scheme, the hydraulic cylinder, the oil storage tank and the oil pump are connected with an energy accumulator on a passage.
In the technical scheme, the surface of the cylindrical cam is provided with a spiral line, and the rising degree of the spiral angle of the spiral line is variable.
Among the above-mentioned technical scheme, rack and pinion mechanism includes rack and straight-tooth spur gear, and the rack is fixed in the objective table bottom, and rack and straight-tooth spur gear meshing, straight-tooth spur gear still and the one end key-type connection of cylindrical cam.
The invention has the beneficial effects that:
(1) The positive rigidity of the vibration isolator is provided by the air spring, and the vibration isolator has high bearing performance and excellent medium-low frequency vibration isolation performance;
(2) The cylindrical cam in the negative stiffness mechanism of the vibration isolator can be freely adjusted and replaced according to needs, and the negative stiffness is changed by changing the rising degree of the spiral angle of the spiral line of the cylindrical cam surface, so that the negative stiffness mechanism of the vibration isolator is suitable for various load and vibration conditions; the shape of the cam groove of the cylindrical cam surface can also be designed according to requirements;
(3) The vibration isolator transmits acting force through the gear rack mechanism, so that the transmission is stable and the reliability is high; the negative stiffness mechanism only has translation and cannot vibrate along with the whole body;
(4) The positive stiffness mechanism is an air spring which has excellent nonlinear hard characteristics and can effectively limit the amplitude; under different loads, the natural frequency of the vibration isolation system is almost unchanged, and the vibration isolation effect is also almost unchanged.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment 1 of the adjustable quasi-zero stiffness vibration isolator according to the invention;
fig. 2 is a schematic structural diagram of an embodiment 2 of the adjustable quasi-zero stiffness vibration isolator according to the invention;
fig. 3 is a schematic structural view of an embodiment 3 of the adjustable quasi-zero stiffness vibration isolator according to the invention;
FIG. 4 is a three-dimensional schematic view of a cylindrical cam according to the present invention;
in the figure, 1, a stage; 2. a spring; 3. a push rod; 4. a cylindrical cam; 5. a spur gear; 6. an air spring; 7. A rack; 8. a sliding bearing; 9. an electromagnetic valve; 10. an oil storage tank; 11. an oil pump; 12. an accumulator; 13. a height sensor; 14. An ECU; 15. a cylinder; 16. and a hydraulic cylinder.
Detailed Description
The invention will be further described with reference to the drawings, in which examples of the described embodiments are shown, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functionality throughout. The embodiments described with reference to the figures are exemplary intended to illustrate the invention, but the scope of protection of the invention is not limited thereto.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the figures, which are based on the orientation or positional relationship shown in the figures, and are used for convenience in describing the present invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present invention.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
As shown in fig. 1, the adjustable quasi-zero stiffness vibration isolator comprises an object stage 1, an air spring 6, a rack 7, a straight spur gear 5, a cylindrical cam 4, a push rod 3 and a spring 2, wherein the whole vibration isolator is symmetrical about the central axis of the air spring 6; one end of an air spring 6 is connected with the objective table 1, and the other end of the air spring is fixed on the rack; the rack 7 is fixed at the bottom end of the objective table 1, symmetrically distributed at two sides of the air spring 6 and moves along with the objective table 1; the rack 7 is meshed with the straight toothed spur gear 5 and rotates along with the up-and-down movement of the rack 7; the straight-tooth cylindrical gear 5 is connected with one end of the cylindrical cam 4 through a key, two ends of the cylindrical cam 4 are fixed on the rack through a sliding bearing 8, and the cylindrical cam 4 is in interference fit with the sliding bearing 8; one end of the push rod 3 is arranged in the cam groove of the cylindrical cam 4, the other end of the push rod is connected with the spring 2, and the push rod 3 makes telescopic motion along with the rotation of the cylindrical cam 4; the spring 2 is fixed on the rack, and the spring 2 is in a pre-tightening state in the initial position.
The working principle of the adjustable quasi-zero stiffness vibration isolator is as follows: in an initial state, the spring 2 is in a pre-tightening state and stores energy, the air spring 6 is in a normal state, the push rod 3 is in a fixed state, and the whole vibration isolator is in a balanced static state; a load is applied to the objective table 1, and the air spring 6 is compressed under the pressure, so that positive rigidity in one direction in the vertical direction is generated; the objective table 1 drives the rack 7 to move downwards, the rack 7 translates downwards to drive the straight-tooth cylindrical gear 5 to rotate, the straight-tooth cylindrical gear 5 rotates to drive the cylindrical cam 4 to rotate, the push rods 3 rotate along with the cylindrical cam 4, the push rods 3 on two sides leave the initial fixed position and begin to translate towards the inner side of the vibration isolator, at the moment, the other end of each push rod 3 is connected with the spring 2 in a pre-tightening state, the spring 2 provides thrust for the push rods 3 to enable the push rods 3 to translate towards the inner side continuously, the cylindrical cam 4 has a trend of reverse rotation due to the transverse thrust of the push rods 3, the straight-tooth cylindrical gear 5 also has a trend of reverse rotation, interaction between the straight-tooth cylindrical gear 5 and the rack 7 gives a downward force to the rack 7, the downward force is also applied to the objective table 1, and accordingly negative stiffness and positive stiffness of the air spring 6 are mutually offset, and further the quasi-zero-stiffness effect is achieved.
Example 2
As shown in fig. 2, unlike embodiment 1, the spring 2 in the negative stiffness mechanism is replaced with a cylinder 15; at an initial position, air in the air cylinder 15 is in a high-compression state, a piston of the air cylinder 15 is connected with the push rod 3, the push rod 3 is located at an initial fixed position, the air spring 6 is in a normal state, and the whole vibration isolator is in a balanced static state; after the load is increased, the air spring 6 starts to be compressed downwards, the rack 7 translates downwards along with the air spring, meanwhile, the straight-tooth cylindrical gear 5 starts to rotate inwards, the cylindrical cam 4 rotates inwards along with the straight-tooth cylindrical gear 5, the push rod 3 leaves the initial fixed position, compressed air in the air cylinder 15 starts to generate thrust on a piston of the air cylinder, the piston acts on the push rod 3 to push the push rod 3 towards the inner side of the vibration isolator, the push rod 3 continues to translate inwards, the cylindrical cam 4 has a trend of reverse rotation due to the transverse thrust of the push rod 3, the straight-tooth cylindrical gear 5 also has a trend of reverse rotation, interaction between the straight-tooth cylindrical gear 5 and the rack 7 gives a downward force to the rack 7, the downward force is also acted on the objective table 1, and accordingly, negative rigidity and positive rigidity of the air spring 6 are mutually offset, and further the quasi-zero rigidity effect is achieved. Because of the hysteresis characteristic of air, the air spring 6 and the air cylinder 2 in the negative stiffness structure in the figure 2 ensure the smooth force transmission of the whole mechanism and have high reliability.
Example 3
As shown in fig. 3, unlike embodiment 1, the spring 2 in the negative stiffness mechanism is replaced with a hydraulic structure including a hydraulic cylinder 16, and an air-fuel mixture state is in the hydraulic cylinder 16; a height sensor 13 is arranged below the objective table 1 and used for judging the compression state of the air spring 6; in the initial state, hydraulic cylinder 16 is in a compressed state and connected to solenoid valve 9, and solenoid valve 9 is in the first position (shown in fig. 3); at the moment, the oil way is a hydraulic cylinder 16, an electromagnetic valve 9, an oil pump 11 and an oil storage tank 10, and an energy accumulator 12 is added into the oil way to ensure the normal pressure of the whole system; when the load is added to the vibration isolator, the cylindrical cam 4 rotates, so that the push rod 3 leaves the initial fixed position; at this time, the height sensor 13 acquires data and transmits the data to the ECU14, and the ECU14 controls the oil pump 11 to start according to the decrease change of the acquired height, starts pumping oil to the hydraulic cylinder 16, gives a thrust to the inner side of the vibration isolator to the push rod 3 through the oil pressure, and drives the cylindrical cam 4 to rotate in the reverse direction to form negative stiffness which is mostly offset with the positive stiffness of the air spring 6, so as to achieve the quasi-zero stiffness effect. When the data input by the height sensor 13 is not changed any more, the ECU14 controls the oil pump 11 to be closed, and simultaneously controls the electromagnetic valve 9 to be switched to a second position, namely closing the communication of the oil way; when the load is unloaded, the height of the air spring 6 begins to return, the objective table 1 is driven to move upwards at the same time, the rack 7 and the objective table 1 move upwards together, and the straight-tooth cylindrical gear 5 is driven to rotate, so that the cylindrical cam 4 is driven to rotate, and the push rod 3 translates towards the outer side of the vibration isolator; the height data transmitted by the height sensor 13 to the ECU14 begins to increase, the ECU14 controls the electromagnetic valve 9 to switch to a third position, at the moment, the hydraulic cylinder 16 is directly connected with the oil storage tank 10 through the electromagnetic valve 9, and oil in the hydraulic cylinder 16 begins to flow back into the oil storage tank 10 until the push rod 3 returns to the initial fixed position; at this time, the height of the air spring 6 is restored to the initial state, the height is not changed any more, and the ECU14 controls the solenoid valve 9 to be switched to the first position (shown in fig. 3).
Fig. 4 is a schematic structural diagram of the cylindrical cam 4, and the shape of the cam groove on the cylindrical cam 4 can be designed as required as long as one end of the push rod 3 is placed; the surface of the cylindrical cam 4 is provided with a spiral line, and the rising degree of the spiral angle of the spiral line is variable, so that the negative rigidity is changed, and the cylindrical cam is suitable for different working conditions and different load conditions.
The examples are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any obvious modifications, substitutions or variations can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (2)
1. The adjustable quasi-zero stiffness vibration isolator is characterized by comprising an air spring (6), the vibration isolator is symmetrical about the central axis of the air spring (6) integrally, the air spring (6) is fixed between an objective table (1) and a table frame, a gear rack mechanism is arranged at the lower end of the objective table (1), a gear is in key connection with one end of a cylindrical cam (4), the cylindrical cam (4) is fixed on the table frame through a sliding bearing (8), one end of a push rod (3) is placed in a cam groove of the cylindrical cam (4), and the other end of the push rod (3) is connected with a horizontal telescopic mechanism;
the shape of the cam groove is designed according to requirements, so that the rising degree of the spiral angle of the surface spiral line of the cylindrical cam (4) is variable;
the horizontal telescopic mechanism comprises a hydraulic cylinder (16), the hydraulic cylinder (16) is connected with an oil storage tank (10), the oil storage tank (10) is connected with an oil pump (11), a connecting pipeline of the hydraulic cylinder (16) and the oil storage tank (10) is provided with an electromagnetic valve (9), and the oil pump (11) is also connected with the electromagnetic valve (9);
the starting and stopping of the oil pump (11) are controlled by an ECU (14), and the ECU (14) is further in signal connection with a height sensor (13) arranged below the objective table (1);
and the hydraulic cylinder (16), the oil storage tank (10) and the oil pump (11) are connected with an energy accumulator (12) on the passage.
2. The adjustable quasi-zero stiffness vibration isolator according to claim 1, characterized in that the rack-and-pinion mechanism comprises a rack (7) and a spur gear (5), the rack (7) is fixed at the bottom end of the objective table (1), the rack (7) is meshed with the spur gear (5), and the spur gear (5) is further connected with one end of a cylindrical cam (4) in a key manner.
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| CN202110195967.XA CN112963497B (en) | 2021-02-22 | 2021-02-22 | Adjustable quasi-zero stiffness vibration isolator |
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| CN202110195967.XA CN112963497B (en) | 2021-02-22 | 2021-02-22 | Adjustable quasi-zero stiffness vibration isolator |
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| CN117128276B (en) * | 2023-09-18 | 2024-07-19 | 大连地拓精密科技股份有限公司 | Novel three-degree-of-freedom quasi-zero stiffness vibration isolator |
| CN118462745B (en) * | 2024-07-09 | 2024-10-08 | 中南大学 | Load self-adaptive continuous multistage quasi-zero stiffness vibration isolator |
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| CN205802638U (en) * | 2016-06-26 | 2016-12-14 | 桐乡市正辉针织有限公司 | A kind of receipts yarn guider |
| CN107472405B (en) * | 2017-07-24 | 2018-08-07 | 刘姜蕊 | Electric vehicle fixed frame |
| CN107433991B (en) * | 2017-07-24 | 2018-06-29 | 张芙菻 | Lock the electric vehicle fixed frame of electric vehicle |
| CN109973571A (en) * | 2017-12-28 | 2019-07-05 | 北京市劳动保护科学研究所 | A kind of quasi-zero stiffness vibration isolators with horizontal damping |
| CN108608821B (en) * | 2018-03-30 | 2021-02-12 | 江苏大学 | Vehicle suspension system comprising negative stiffness device and control method thereof |
| CN109606055B (en) * | 2018-11-29 | 2021-06-18 | 江苏大学 | Air suspension system and method and vehicle provided with system |
| CN110067828B (en) * | 2019-03-25 | 2021-08-03 | 江苏大学 | Quasi-zero rigidity vibration isolation system and vehicle |
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