CN114412954A - Vibration isolation system for precision instrument with movable carrier - Google Patents
Vibration isolation system for precision instrument with movable carrier Download PDFInfo
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- CN114412954A CN114412954A CN202210033189.9A CN202210033189A CN114412954A CN 114412954 A CN114412954 A CN 114412954A CN 202210033189 A CN202210033189 A CN 202210033189A CN 114412954 A CN114412954 A CN 114412954A
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- plate
- electric cylinder
- negative stiffness
- precision instrument
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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
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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
- F16F15/03—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
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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
- F16F15/046—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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- 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
- F16F15/08—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 rubber springs ; with springs made of rubber and metal
- F16F15/085—Use of both rubber and metal springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
- F16M11/32—Undercarriages for supports with three or more telescoping legs
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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
- F16F2222/00—Special physical effects, e.g. nature of damping effects
- F16F2222/06—Magnetic or electromagnetic
Abstract
The invention relates to the field of precise vibration isolation, in particular to a vibration isolation system of a precise instrument of a moving carrier, which comprises a posture stabilizing component, a vibration isolation component and a sensor, wherein the posture stabilizing component is connected with the vibration isolation component; the posture stabilizing assembly comprises an electric cylinder, an electric cylinder fixing plate, a frame beam, a universal ball adapter flange, a universal ball, a sensor and a supporting plate; the shock insulation assembly comprises a main spring, a flexible rope, a negative stiffness mechanism mounting plate, a fixing plate and a spring mounting plate; the upper part of the fixing plate is used for being connected and fixed with a precision instrument; the sensor is arranged on the corresponding part of the precision instrument and used for acquiring the horizontal state and the vibration information of the precision instrument. The flexible active and passive vibration isolation is realized by the expansion of a plurality of electric cylinders and the parallel connection of positive and negative rigidity mechanisms, and the vibration isolation bandwidth is improved; and a large-range vibration displacement stroke is reserved between the vibration isolation system and the base; meanwhile, the vibration isolation system can adjust the bearing capacity, is suitable for various mobile carriers, and enlarges the application range.
Description
Technical Field
The invention belongs to the field of precise vibration isolation, and particularly relates to a vibration isolation system for a precise instrument of a moving carrier.
Background
Vibration always exists in the fields of industrial production, precision measurement and the like generally, and the requirement for vibration isolation is more and more strict along with the improvement of the requirements of equipment on processing and measuring precision. Because many measuring equipment need realize normally working under the moving object motion state, but the vibration that removes the carrier self motion and base to removing the carrier leads to removing the carrier can transmit precision instrument, causes precision instrument unable normal work or precision greatly reduced, consequently needs to add a set of vibration isolation system for precision instrument.
The traditional passive vibration isolation device can effectively overcome the influence of high-frequency vibration, has poor isolation effect on low-frequency vibration, and cannot act as a time-varying vibration source. Passive vibration isolation devices have therefore not been able to meet the vibration isolation requirements of precision instruments.
The difficulty of vibration isolation of a precision instrument on a movable carrier is greatly increased, and a pendulum type gyroscope stable composite vibration damping vehicle-mounted precision instrument working platform is disclosed in Chinese patent specification CN 106763453A. Its vibration isolation system includes structures such as pneumatic shock absorber and spring combination shock pad, and pneumatic shock absorber can realize the damping by a wide margin to the instrument, and spring combination shock pad accomplishes the fine setting through the spring of different intensity to the instrument, but this vibration isolation system is pure passive vibration isolation, when meetting different operating modes, then need change spring and pneumatic shock absorber in addition, and application scope is little.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a vibration isolation system for a precision instrument of a moving carrier, which aims to solve the problem of flexible active and passive vibration isolation of the precision instrument on the moving carrier at low cost and simultaneously provide a larger vibration isolation stroke range and a wider application range.
In order to solve the above problems, according to an aspect of the present invention, there is provided a vibration isolation system for a precision instrument of a moving carrier, comprising a posture stabilizing component, a vibration isolation component and a sensor;
the posture stabilizing assembly is used for ensuring that the whole vibration isolation system is relatively stable in the horizontal direction;
the vibration isolation assembly is used for fixedly mounting a precision instrument and realizing low-frequency vibration isolation of a system, and the system rigidity and the natural frequency are reduced and the low-frequency vibration isolation is realized by connecting the remote negative rigidity mechanism and the positive rigidity in parallel.
The posture stabilizing assembly comprises an electric cylinder, an electric cylinder fixing plate, a frame beam, a universal ball adapter flange, a universal ball, a sensor and a supporting plate;
the even number of frame beams are divided into two groups, the end parts of the frame beams are fixedly connected in pairs to form two polygonal frames, the corners of the two polygonal frames are fixedly connected with the end parts of the corresponding electric cylinder fixing plates to form polygonal column frames, and the sensors are mounted on the polygonal column frames and used for acquiring the horizontal state and vibration information of the system;
an electric cylinder is fixedly arranged on the plate surface of each electric cylinder fixing plate, the extension direction of a telescopic rod of each electric cylinder is downward, a universal ball adapter flange is arranged at the lower end part of the telescopic rod, and a universal ball is sleeved in the universal ball adapter flange;
the top corners of the top surface of the polygonal column frame are fixedly provided with a corresponding number of supporting plates, the plate surfaces of the supporting plates face downwards, and the supporting plates are used for reinforcing the frame and connecting vibration isolation components;
the shock insulation assembly comprises a main spring, a flexible rope, a negative stiffness mechanism mounting plate, a fixing plate and a spring mounting plate;
the number of the fixed plates is consistent with that of the support plates, the fixed plates are correspondingly placed below the support plates, the bottom of the front surface of each fixed plate is fixedly connected with the side surface of the spring mounting plate, the top surface of the spring mounting plate is fixedly connected with one end of a main spring, and the other end of the main spring is fixedly connected with the bottom surface of the support plate of the posture stabilizing assembly;
the bottom of the back of the fixed plate is fixedly connected with the side face of the negative stiffness mechanism mounting plate, the top plate of the negative stiffness mechanism mounting plate is fixedly connected with the negative stiffness mechanism, a rotor of the negative stiffness mechanism is fixedly connected with one end of a flexible rope, the other end of the flexible rope is fixedly connected with the bottom face of a supporting plate of the attitude stabilizing assembly, the negative stiffness mechanism is used for being connected with a main spring in parallel to enable the stiffness of the whole system to be nearly zero, and the upper portion of the fixed plate is used for being connected and fixed with a precision instrument.
Preferably, the frame roof beam is constituteed the square, and electronic jar mounting panel and frame roof beam are constituteed the cube, and the quantity of backup pad and fixed plate is four.
Preferably, the main spring is a cylindrical helical extension spring with the rigidity less than 3N/mm.
Preferably, the negative stiffness mechanism is one of a magnetic negative stiffness mechanism, a pressure bar type negative stiffness, a pre-compression type spring negative stiffness mechanism and a motor negative stiffness mechanism.
Furthermore, the magnetic negative stiffness mechanism is preferentially adopted as the negative stiffness mechanism, because the magnetic negative stiffness mechanism is non-contact, non-friction and good in linearity, other interference factors do not exist, internal vibration interference is avoided, and because the horizontal stiffness of the flexible rope is very small, the horizontal stiffness is prevented from being increased.
Preferably, the fixed mounting mode of the electric cylinder on the electric cylinder fixing plate is bolt connection, and an electric cylinder fixing gasket is arranged at the joint of the electric cylinder and the electric cylinder fixing plate.
Preferably, the sensor is a gyroscope.
Preferably, the side surfaces of each fixing plate and the negative stiffness mechanism mounting plate in the seismic isolation assembly are fixedly connected with the two inclined rib plates in a matched mode.
Furthermore, the negative stiffness mechanism adopts a remote connection mode, and is provided with a light flexible rope along the negative stiffness direction, so that the light flexible rope only transmits the tensile force in the negative stiffness direction and is used for responding to larger displacement generated between the precision instrument and the vibration carrier.
Preferably, the flexible rope is a rubber elastic rope, the flexible rope is a rope which can generate large deformation and is not easy to generate plastic deformation, in order to avoid the influence of the flexible rope on the horizontal rigidity, the rigidity of the selected flexible rope is as low as possible in the cross section direction, and the preset rigidity requirement and strength requirement are met in the vertical direction.
Preferably, the flexible cords are replaced by lightweight rigid rods, which are chosen to have as low a horizontal stiffness as possible, or by rigid cords, which are chosen to provide a pre-tension before use, ensuring that they are always under tension during use.
Preferably, the lightweight rigid rod is preferably a carbon fiber tube, and the rigid rope is a steel wire rope.
In general, compared with the prior art, the technical scheme of the invention is used for obtaining the following beneficial effects:
(1) the invention realizes the relative stability of the precision instrument in the horizontal direction through the telescopic action of the electric cylinder, and realizes the near zero rigidity in the horizontal direction and the vertical direction through the parallel connection of the positive stiffness mechanism and the negative stiffness mechanism, namely the parallel connection of the flexible rope series small negative stiffness and the main spring positive stiffness, thereby realizing the flexible active and passive vibration isolation of the precision instrument on the moving carrier;
(2) the invention can realize large bearing capacity and low rigidity, greatly reduces the rigidity of the system under the condition of meeting the bearing capacity of the system, and improves the low-frequency-band vibration isolation bandwidth and the vibration isolation performance;
(3) the remote negative stiffness structure used in the invention allows a larger vibration displacement to exist between the vibration isolation system and the base, so that the vibration isolation system can be applied to most mobile carriers, including vehicle-mounted, airborne, ship-based and other mobile carriers, the vibration isolation application range is enlarged, and the system applicability is improved.
Drawings
FIG. 1 is a three-dimensional structural diagram of a vibration isolation system for a moving carrier carrying a gravity gradiometer according to an embodiment of the present invention;
FIG. 2 is a three-dimensional block diagram of a pose stabilizing assembly provided by an embodiment of the present invention;
FIG. 3 is a three-dimensional block diagram of a vibration isolation assembly provided in accordance with an embodiment of the present invention;
FIG. 4 is a three-dimensional block diagram of a magnetic negative stiffness mechanism provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of a parallel connection of remote negative stiffness and positive stiffness provided by an embodiment of the present invention;
FIG. 6 is a schematic view of a negative stiffness mechanical structure of a motor according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a negative stiffness control method of a motor according to an embodiment of the present invention.
In the drawings are labeled: posture stabilizing component 1, vibration isolation component 2, precision equipment gravity gradiometer 3, electric cylinder 11, electric cylinder fixing plate 12, electric cylinder fixing cushion block 13, crossbeam 14, crossbeam long rod 15, universal ball adapter flange 16, universal ball 17, sensor 18, upper support plate 19, main spring 21, flexible rope 22, negative stiffness mechanism 23, negative stiffness mechanism mounting plate 24, fixing plate 25, spring mounting plate 26, inclined rib plate 27, spring fixing support 28, magnet stator upper and lower mounting plate 231, magnet stator left and right mounting plate 232, magnet rotor mounting seat 233, strong magnet 234, magnet rotor adapter plate 235, flexible rope pressing block 236, reed 237, magnet rotor limiting mounting plate 238, reed locking block 239, reed pressing block 2310, negative stiffness mechanism 42, remote negative stiffness system 43, flexible rope 44, positive stiffness spring 46, negative stiffness bottom plate 51, rotating shaft support 52 and rotating shaft pressing plate 53, the motor rotor comprises a rotating plate 54, a motor rotor adapter plate 55, a motor stator 56, a motor rotor 57 and a motor stator fixing seat 58.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows:
fig. 1 is a three-dimensional structure diagram of a mobile carrier vibration isolation system carrying a gravity gradiometer, and as shown in the figure, the mobile carrier precision instrument vibration isolation system is composed of an attitude stabilizing component 1, a vibration isolation component 2 and a gravity gradiometer 3. The posture stabilizing component 1 is used for connecting a main spring 21 and a flexible rope 22 on the vibration isolation component 2 and ensuring that the whole gravity gradiometer 3 is basically stable in the horizontal direction; the vibration isolation assembly 2 is used for installing and fixing the gravity gradiometer 3 so as to reduce the rigidity and natural frequency of the system and realize low-frequency vibration isolation; the gravity gradiometer 3 is a precision instrument for measuring changes in gravity gradient.
The whole posture stabilizing component 1 is approximately of a cubic structure, the vibration isolation component 2 is positioned inside the posture stabilizing component 1, is connected with an upper supporting plate 19 of the posture stabilizing component 1 through a main spring 21 and a flexible rope 22, and is fixedly arranged on a supporting plate 23 of the vibration isolation component 2 through a side bolt together with the gravity gradiometer 3.
Fig. 2 is a three-dimensional structure diagram of the posture stabilizing assembly 1, and as shown in the figure, the posture stabilizing assembly 1 is composed of an electric cylinder 11, an electric cylinder fixing plate 12, an electric cylinder fixing cushion block 13, a cross beam 14, a cross beam long rod 15, a universal ball adapter flange 16, a universal ball 17 and an upper supporting plate 19.
The model of the electric cylinder 11 is LOE50-200-C-L5-D-LA-750W, the electric cylinder 11 is installed on an electric cylinder fixing plate 12 through 4M 8 screws, and in order to prevent interference, an electric cylinder cushion block 13 is arranged at the joint of the electric cylinder 11 and the electric cylinder fixing plate 12; the 4 cross beams 14 and the 4 cross beam long rods 15 are fixed on the electric cylinder fixing plate 12 through M8 screws, the universal ball 17 is fixed with the electric cylinder 11 through a universal ball adapter flange 16, at least 3M 6 connecting holes are formed below the universal ball adapter flange 16 and used for being fixed with the universal ball 17, and an M20 threaded hole is formed in the center of the upper portion and used for being fixed with an expansion rod of the electric cylinder 11; four upper supporting plates are fixed with the cross beam 14 and the long cross beam rod 15 through M8 screws, a sensor 18 is arranged on the upper supporting plates, and at least four electric cylinder fixing plates, the cross beam 14 and the long cross beam rod 15 form the whole posture stabilizing assembly 1 integral frame.
Fig. 3 is a three-dimensional structure diagram of the vibration isolation assembly 2, and as shown in the figure, the vibration isolation assembly 2 is composed of a main spring 21, a flexible rope 22, a negative stiffness mechanism 23, a negative stiffness mechanism mounting plate 24, a fixing plate 25, a spring mounting plate 26, an inclined rib plate 27 and a spring fixing support 28.
The main spring 21 is a cylindrical spiral extension spring with the wire diameter of 5mm, the middle diameter of 35mm, the effective number of turns of 60.5 turns and the rigidity of only 2.36N/mm, the lower part of the main spring 21 is fixed on the spring mounting plate 26 through a spring fixing support 28, the upper part of the main spring is fixed on the upper support plate 19 through the spring fixing support 28, a hanging ring on the main spring 21 is matched with the cylindrical surface of the spring fixing support 28, and the spring fixing support 28 is respectively connected with the upper support plate 19 and the spring mounting plate 26 through a spiral pair; the vertical support 25 is matched with the mounting surface of the precision instrument and is fixed above the precision instrument through a screw; the negative stiffness mounting plate 24 and the spring mounting plate 26 are fixed on the fixing plate 25 and are respectively used for mounting the negative stiffness mechanism 23 and the main spring 21; the inclined rib plate 27 is fixed on the fixing plate 25 and the negative stiffness mechanism mounting plate 24, and is used for improving the strength and the supporting stiffness of the negative stiffness mounting plate 24.
Fig. 4 is a three-dimensional structure diagram of the negative stiffness mechanism 23, and as shown in the figure, the negative stiffness mechanism 23 is a magnetic negative stiffness mechanism, and is composed of a magnet stator upper and lower mounting plate 231, a magnet stator left and right mounting plate 232, a magnet mover mounting seat 233, a strong magnet 234, a magnet mover adapter plate 235, a flexible rope pressing block 236, a reed 237, a magnet mover limiting mounting plate 238, a reed locking block 239, and a reed pressing block 2310.
The two magnet stator left and right mounting plates 231 are mounted on the left and right sides of the magnet stator upper and lower mounting plates 232 through screws, and the magnet stator left and right mounting plates 231 and the magnet stator upper and lower mounting plates 233 are both limited and used for fixing the strong magnets 234; one end of the reed locking block 239 is fixed on the magnet rotor 233, the other end of the reed locking block 239 is fixed on the reed locking pressing block 2310, the magnet rotor mounting seat 233 is cuboid, the middle part of the magnet rotor mounting seat is used for placing the strong magnet rotor, and grooves with rectangular cross sections are formed in four corners of the magnet rotor mounting seat and used for fixing square nuts to achieve adjustment and limiting of the length of the reed 237; the strong magnet rotor limiting mounting plate 238 is fixed on the magnet stator left and right mounting plate 232 and used for fixing the reeds 237 on the upper side and the lower side; the reed 237 is a cuboid, and at least two fan-shaped sections are cut off, so that low positive stiffness in the vertical direction and high positive stiffness in the horizontal direction are provided, and left and right limiting of the magnet rotor mounting seat 233 is realized; the magnet rotor adapter plate 235 is fixed on the magnet rotor mounting seat 233, and is used together with the flexible rope press block 236 to fix the flexible rope 412.
Fig. 5 is a schematic diagram of the parallel connection of the remote negative stiffness and the positive stiffness, and as shown in the figure, the system is composed of a remote negative stiffness system 41 and a positive stiffness spring 42, and the remote negative stiffness is composed of a negative stiffness mechanism 411 and a flexible rope 412.
The remote negative stiffness system 41 is to arrange the light flexible rope 412 in the negative stiffness direction between the base and the vibration isolation system, and keep the flexible rope 412 in a reasonable tension, so that the flexible rope 412 is always kept in a tight state, and the flexible rope 412 cannot be loosened due to the movement of the base, so that the flexible rope 412 only transmits the tension in the negative stiffness direction, the transmitted force in other directions is almost zero, and large displacement between the damped equipment and the vibration carrier is allowed. Through the flexible rope 412 of long-range negative stiffness system, make the vibration isolation system can adapt to the great amplitude of base, solve the negative stiffness mechanism stroke less, can't use on the removal carrier that has great displacement impact. The difference of the vibration isolation device with the nearly zero rigidity realized by the parallel connection of the positive rigidity and the negative rigidity in the prior art is that the device decouples the acting force of the magnetic negative rigidity mechanism, and only the magnetic negative rigidity force participates in vibration reduction and the interference force in other directions is nearly zero.
Example two:
the negative stiffness mechanism is a motor negative stiffness mechanism, and a specific embodiment of the negative stiffness mechanism is shown in fig. 6, and the motor negative stiffness mechanism is composed of a negative stiffness base plate 51, a rotating shaft support 52, a rotating shaft pressure plate 53, a rotating plate 54, a motor rotor adapter plate 55, a motor stator 56, a motor rotor 57 and a motor stator fixing seat 58.
The rotating plate 54 can rotate around a certain point of the rotating shaft support 52, so as to drive the motor rotor 57 to rotate, and one end of the motor rotor 57 is connected with the flexible rope 412. The negative stiffness provided by the motor needs to be smaller than the positive stiffness of the metal spring, so that the comprehensive stiffness of the system is ensured to be positive, and the instability condition cannot occur.
FIG. 7 is a schematic diagram of the control of the negative stiffness of the motor, as shown, by ampereThe sensor arranged on the load detects the relative displacement signal of the load and the posture stabilizing component 1, the signal is fed back to the controller, the output force and the current value required by the motor are calculated in the controller, and the driver finishes outputting the current to the motor. The output force of the control motor has a displacement relation of F ═ k2x, negative stiffness provided by the motor is k2Wherein k is2＝αk1(0<α<1) And alpha tends to 1. Because the positive stiffness spring and the negative stiffness of the motor frame are connected in parallel, the comprehensive stiffness k of the system is k1+(-k2)＝(1-α)k1Therefore, the overall system rigidity tends to 0.
The other parts are the same as in the first embodiment.
It will be readily understood by those skilled in the art that the foregoing is merely a preferred embodiment of this invention and is not intended to limit the invention to the particular forms disclosed herein, as any modification within the spirit and principle of the invention: equivalents, modifications and the like are intended to be included within the scope of the present invention.
Claims (10)
1. A vibration isolation system for a precision instrument of a moving carrier is characterized by comprising a posture stabilizing component and a vibration isolation component;
the posture stabilizing assembly comprises an electric cylinder, an electric cylinder fixing plate, a frame beam, a universal ball adapter flange, a universal ball, a sensor and a supporting plate;
the even number of frame beams are divided into two groups, the end parts of the frame beams are fixedly connected in pairs to form two polygonal frames, the corners of the two polygonal frames are fixedly connected with the end parts of the corresponding electric cylinder fixing plates to form polygonal column frames, and the sensors are mounted on the polygonal column frames and used for acquiring the horizontal state and vibration information of the system;
an electric cylinder is fixedly arranged on the plate surface of each electric cylinder fixing plate, the extension direction of a telescopic rod of each electric cylinder is downward, a universal ball adapter flange is arranged at the lower end part of the telescopic rod, and a universal ball is sleeved in the universal ball adapter flange;
the top corners of the top surface of the polygonal column frame are fixedly provided with a corresponding number of supporting plates, the plate surfaces of the supporting plates face downwards, and the supporting plates are used for reinforcing the frame and connecting vibration isolation components;
the shock insulation assembly comprises a main spring, a flexible rope, a negative stiffness mechanism mounting plate, a fixing plate and a spring mounting plate;
the number of the fixed plates is consistent with that of the support plates, the fixed plates are correspondingly placed below the support plates, the bottom of the front surface of each fixed plate is fixedly connected with the side surface of the spring mounting plate, the top surface of the spring mounting plate is fixedly connected with one end of a main spring, and the other end of the main spring is fixedly connected with the bottom surface of the support plate of the posture stabilizing assembly;
the bottom of the back of the fixed plate is fixedly connected with the side face of the negative stiffness mechanism mounting plate, the top plate of the negative stiffness mechanism mounting plate is fixedly connected with the negative stiffness mechanism, a rotor of the negative stiffness mechanism is fixedly connected with one end of a flexible rope, the other end of the flexible rope is fixedly connected with the bottom face of a supporting plate of the attitude stabilizing assembly, the negative stiffness mechanism is used for being connected with a main spring in parallel to enable the stiffness of the whole system to be nearly zero, and the upper portion of the fixed plate is used for being connected and fixed with a precision instrument.
2. The vibration isolation system for a precision instrument with a movable carrier according to claim 1, wherein the frame beam is formed in a square shape, the electric cylinder mounting plate and the frame beam are formed in a cubic shape, and the number of the supporting plates and the number of the fixing plates are four.
3. The moving carrier precision instrument vibration isolation system of claim 1 wherein said main spring is a cylindrical helical extension spring having a stiffness of less than 3N/mm.
4. The moving carrier precision instrument vibration isolation system of claim 1 wherein said negative stiffness mechanism is one of a magnetic negative stiffness mechanism, a pressure bar negative stiffness, a pre-compressed spring negative stiffness mechanism, and a motor negative stiffness mechanism.
5. The vibration isolation system for a precision instrument with a movable carrier as claimed in claim 1, wherein the fixed installation manner of the electric cylinder on the fixing plate of the electric cylinder is a bolt connection, and a fixing gasket of the electric cylinder is arranged at the joint of the electric cylinder and the fixing plate of the electric cylinder.
6. The moving carrier precision instrument vibration isolation system of claim 1 wherein said sensor is a gyroscope.
7. The vibration isolation system for precision instruments for moving carriers of claim 1, wherein the side surfaces of each of the fixed plate and the negative stiffness mechanism mounting plate in the vibration isolation assembly are fixedly connected with two inclined rib plates in a matching way.
8. The moving carrier precision instrument vibration isolation system of claim 1, wherein said flexible string is a rubber elastic string.
9. The moving carrier precision instrument vibration isolation system of claim 1, wherein the flexible string can be replaced with a lightweight rigid rod or a rigid string.
10. The vibration isolation system for a precision instrument with a moving carrier as claimed in claim 9, wherein the lightweight rigid rod is preferably a carbon fiber tube and the rigid rope is a steel wire rope.
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