CN114877012B

CN114877012B - Self-balancing active and passive vibration damper

Info

Publication number: CN114877012B
Application number: CN202210552671.3A
Authority: CN
Inventors: 王敏; 熊婧; 蒲华燕; 郑伟森; 孙翊; 罗均; 丁基恒; 彭艳; 谢少荣
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2022-05-19
Filing date: 2022-05-19
Publication date: 2023-03-31
Anticipated expiration: 2042-05-19
Also published as: CN114877012A

Abstract

The invention discloses a self-balancing active and passive vibration damping device, which relates to the technical field of instrument vibration damping and comprises a self-balancing bracket and an active and passive vibration damper, wherein the self-balancing bracket comprises a support frame, an outer ring and an inner ring, two ends of the outer ring are rotatably arranged on the support frame, two ends of the inner ring are rotatably arranged on the inner wall of the outer ring, and the rotating axis of the outer ring is vertical to the rotating axis of the inner ring; the active and passive vibration absorber comprises a load platform, a basic shell, an active vibration absorbing mechanism, a passive vibration absorbing mechanism, a feedback acquisition sensor and a controller, wherein the active vibration absorbing mechanism comprises a voice coil motor, a diaphragm spring and a flexible hinge, the passive vibration absorbing mechanism comprises a spring assembly and a connecting assembly, the feedback acquisition sensor is arranged on the load platform, and the feedback acquisition sensor and the voice coil motor are both connected with the controller. The self-balancing active and passive vibration damping device solves the problems of vibration influence and tilt balance compensation caused by multi-degree-of-freedom motion of ship-borne equipment during ship navigation, and is moderate in actuation stroke and high in control precision.

Description

Self-balancing active and passive vibration damper

Technical Field

The invention relates to the technical field of instrument vibration reduction, in particular to a self-balancing active and passive vibration reduction device.

Background

At present, ships are widely applied to scientific investigation besides freight transportation purposes, and the working environment of some carried instruments and equipment has vibration interference, so that the working state of the instruments is poor easily, and the research on the vibration control technology is not slow, and the vibration damping device generally consists of a passive vibration damping element and an active actuator in terms of structure. The traditional mainstream passive vibration damping elements comprise a spiral spring, an air spring, a bent leaf spring, a diaphragm spring and the like, and the corresponding passive vibration damping technology has the characteristics of simple structure, but the contradiction exists between the resonance peak value at the low frequency of the system and the high-frequency vibration attenuation. The active actuator comprises a linear motor, a piezoelectric actuator, a voice coil motor and the like, the parallel connection of the active actuator and the passive vibration attenuation element corresponds to an active vibration attenuation technology, the contradiction between a resonance peak value at a low frequency and high-frequency vibration attenuation is solved, but the vibration isolation bandwidth of the vibration absorber can be changed by adjusting the parameters of a control system for controlling the actuator in the active vibration attenuation technology. The common parallel mechanism of the metal spring and the linear motor has a simple structure and poor precision. The piezoelectric ceramic and bending sheet spring parallel mechanism has high control precision, but the actuating stroke of the piezoelectric ceramic is small. And aiming at the problems of unsmooth and inclined caused by rolling, pitching and the like of the ship during navigation, the vibration damping device is realized by lacking a necessary compensation mechanism, so that the using effect of active and passive vibration damping of the vibration damping device is reduced.

Disclosure of Invention

In order to solve the technical problems, the invention provides a self-balancing active and passive vibration damping device, which solves the problems of vibration influence and tilt balance compensation caused by multi-degree-of-freedom movement of shipborne equipment during navigation of a ship, is moderate in actuation stroke and gives consideration to control precision.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides a self-balancing active and passive vibration damper, which comprises a self-balancing support and an active and passive vibration damper, wherein the self-balancing support comprises a support frame, an outer ring and an inner ring, two ends of the outer ring are rotatably arranged on the support frame, two ends of the inner ring are rotatably arranged on the inner wall of the outer ring, and the rotating axis of the outer ring is vertical to that of the inner ring; the active and passive vibration absorber comprises a load platform, a basic shell, an active vibration absorbing mechanism, a passive vibration absorbing mechanism, a feedback acquisition sensor and a controller, wherein the basic shell is arranged on the inner ring and comprises an upper shell, a middle cylinder and a lower shell, the upper shell is of a structure with an open lower end, the middle cylinder and the lower shell are of structures with open upper ends, the middle cylinder is arranged in the lower shell, the upper shell is arranged above the middle cylinder, and the upper shell, the middle cylinder and the lower shell are sequentially connected; the active vibration damping mechanism comprises a voice coil motor, a diaphragm spring and a flexible hinge, the passive vibration damping mechanism comprises a spring assembly and a connecting assembly, the voice coil motor is fixed inside the middle cylinder, the top end of an output shaft of the voice coil motor is connected with the flexible hinge, the diaphragm spring is sleeved on the output shaft and positioned between the flexible hinge and the output shaft, the edge of the diaphragm spring is positioned between the upper shell and the middle cylinder, the upper end of the flexible hinge penetrates through the upper shell and is fixedly connected with the load platform, the spring assembly is sleeved outside the voice coil motor and is positioned below the diaphragm spring, one end of the connecting assembly is connected with the top end of the spring assembly, and the other end of the connecting assembly penetrates through the diaphragm spring and the upper shell and is connected with the load platform; the feedback acquisition sensor is arranged on the load platform, and the feedback acquisition sensor and the voice coil motor are connected with the controller.

Preferably, a positioning block is arranged on the bottom surface inside the middle cylinder, a positioning column is arranged in the middle of the upper surface of the positioning block, and the lower portion of the voice coil motor is sleeved on the positioning column and fixed on the positioning block.

Preferably, the voice coil motor comprises a voice coil motor stator and a voice coil motor rotor, the lower portion of the voice coil motor stator is sleeved on the positioning column and fixed on the positioning block, an annular groove is formed in the upper portion of the voice coil motor stator, the voice coil motor rotor is inserted into the annular groove, the output shaft is fixed on the upper portion of the voice coil motor rotor, and the voice coil motor rotor is connected with the controller.

Preferably, the upper portion of the output shaft is provided with a threaded connection column, the lower portion of the flexible hinge is provided with a threaded connection hole, the diaphragm spring is sleeved on the threaded connection column and contacts with the top surface of the output shaft, and the flexible hinge is mounted on the threaded connection column through the threaded connection hole.

Preferably, the spring assembly comprises a coil spring, a bottom annular pad and a top annular pad, a first annular groove is formed in the upper portion of the bottom annular pad, a second annular groove is formed in the lower portion of the top annular pad, the bottom annular pad is arranged at the bottom inside the middle cylinder and sleeved outside the positioning block, the coil spring is sleeved outside the positioning block and the voice coil motor, the lower portion of the coil spring is arranged in the first annular groove, and the upper portion of the coil spring is arranged in the second annular groove; the connecting assembly comprises a plurality of connecting rods, the lower end of each connecting rod is installed on the top annular pad, and the upper end of each connecting rod penetrates through the diaphragm spring and the upper shell and is connected with the load platform.

Preferably, a viewing window is provided at a side of the base housing, and the viewing window corresponds to the diaphragm spring in position.

Preferably, a damping material is filled between the lower shell and the middle cylinder.

Preferably, the base shell further comprises a fixing assembly, the upper shell comprises a top plate, a first cylinder, a second cylinder and a first annular side plate which are sequentially connected from top to bottom, and the inner diameter of the first cylinder is smaller than that of the second cylinder; the middle cylinder comprises a third cylinder, a second annular side plate, a fourth cylinder and a first bottom plate which are sequentially connected from top to bottom, and the positioning block is arranged in the middle of the upper surface of the first bottom plate; the lower shell comprises a third annular side plate, a fifth cylinder and a second bottom plate which are sequentially connected from top to bottom; the first annular side plate, the second annular side plate and the third annular side plate are sequentially arranged from top to bottom and are connected through the fixing assembly, and the edge of the diaphragm spring is positioned between the bottom surface of the first cylinder and the top surface of the third cylinder; the two sides of the upper portion of the first annular side plate are respectively provided with a connecting block, the inner wall of the inner ring is provided with two mounting rods, and one connecting block is used for being mounted on one mounting rod.

Preferably, the self-balancing bracket further comprises two first limiting parts and two second limiting parts, the two first limiting parts are respectively arranged on two sides inside the supporting frame, the two first limiting parts are respectively arranged on two sides of the lower portion of the outer ring, and the first limiting parts are used for limiting the rotation angle of the outer ring; the two second limiting parts are respectively arranged on two sides of the inner part of the support frame, the two second limiting parts are respectively arranged on two sides of the lower part of the inner ring, each second limiting part is positioned below one first limiting part, and the second limiting parts are used for limiting the rotation angle of the inner ring.

Preferably, the support frame includes two support columns parallel to each other, the self-balancing support further includes two first rotating shafts, two first bearings, two second rotating shafts and two second bearings, two sides of the outer wall of the outer ring are respectively provided with one first rotating shaft, each first rotating shaft is rotatably mounted on one support column through one first bearing, two sides of the outer wall of the inner ring are respectively provided with one second rotating shaft, each second rotating shaft is rotatably mounted on the inner wall of the outer ring through one second bearing, and the axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft; each install one on the support column first spacing part and one the second spacing part, first spacing part includes two first gag lever posts, two first gag lever posts all are fixed in the inboard of support column, and two first gag lever posts set up respectively in the both sides of first pivot lower part, second spacing part is the second gag lever post, the second gag lever post is fixed in the inboard of support column.

Compared with the prior art, the invention has the following technical effects:

the invention provides a self-balancing active and passive vibration damper, which comprises a self-balancing support and an active and passive vibration damper, wherein the active and passive vibration damper comprises a load platform, a base shell, an active vibration damping mechanism, a passive vibration damping mechanism, a feedback acquisition sensor and a controller, the active vibration damping mechanism comprises a voice coil motor, a diaphragm spring and a flexible hinge, and the passive vibration damping mechanism comprises a spring assembly and a connecting assembly. The support frame is installed on the installation plane, the installation plane and the reference plane can have an angle due to rolling and pitching during ship navigation, the self-balancing support can enable the pose of the active and passive vibration absorbers to be perpendicular to the reference plane all the time, the inherent characteristics and vibration isolation performance of the active and passive vibration absorbers in the Z-axis direction are guaranteed, the active and passive vibration absorbers are guaranteed not to influence vibration attenuation performance due to shaking of the installation plane, meanwhile, the self-balancing support can compensate errors caused by eccentric installation, and the problems of vibration influence and tilt balance compensation caused by multi-degree-of-freedom movement of ship-borne equipment during ship navigation are solved. The active and passive vibration absorbers have the function of combining the two functions, can be used as a counterweight object of the self-balancing support, ensure that the central shaft of the shipborne equipment is always vertical to the reference plane, ensure the normal work of the self-balancing support, and can also be used as a vibration absorber to effectively and actively suppress the horizontal and vertical vibration. The active and passive vibration absorber is provided with an active vibration absorbing mechanism and a passive vibration absorbing mechanism, and the vibration absorbing frequency band and the resonance peak value can be changed by changing the rigidity of the spring assembly and the exciting force of the voice coil motor so as to be suitable for shipborne equipment with different frequency bands. The mechanism that the voice coil motor and the diaphragm spring are connected in series and the spring assembly is connected in parallel is moderate in actuating stroke, control precision is also considered, axial exciting force generated by the voice coil motor is guaranteed to be fully transmitted through the diaphragm spring and the flexible hinge in series, and then vibration damping effect in the Z-axis direction is improved. Compared with other vibration absorbers, the vibration absorber can effectively control vibration in the translational direction of the Z axis, does not influence the vibration in the rotational directions of the X axis and the Y axis, and can be applied to vibration reduction of shipborne equipment sensitive to vibration and limited in installation conditions.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, 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 that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of a self-balancing active and passive vibration damping device provided by the invention;

fig. 2 is a schematic structural diagram of a self-balancing bracket in the self-balancing active and passive vibration damping device provided by the invention;

fig. 3 is a schematic structural diagram of an active and passive damper in a self-balancing active and passive damping device provided by the invention;

FIG. 4 is a sectional view of the active and passive vibration dampers in the self-balancing active and passive vibration damping device provided by the present invention;

fig. 5 is a schematic structural diagram of a base shell in the self-balancing active and passive vibration damping device provided by the invention;

FIG. 6 is a cross-sectional view of a base housing of the self-balancing active and passive vibration damping device provided by the present invention;

fig. 7 is a schematic structural diagram of an active damping mechanism in the self-balancing active and passive damping device provided by the invention;

fig. 8 is a schematic structural view of a diaphragm spring in the self-balancing active and passive vibration damping device provided by the present invention;

fig. 9 is a schematic structural view of a bottom annular pad of a passive vibration damping mechanism in the self-balancing active and passive vibration damping device provided by the present invention, the bottom annular pad having a first height;

fig. 10 is a schematic structural view of a bottom annular pad of a passive vibration-damping mechanism in the self-balancing active and passive vibration-damping device provided by the present invention, which has a second height;

fig. 11 is a schematic view of a damping principle of a self-balancing active and passive damping device provided by the invention;

fig. 12 is a comparison graph of the transmission rate curves of the self-balancing active and passive damping device provided by the invention and the traditional damping device.

Description of reference numerals: 100. a self-balancing active and passive vibration damping device; 1. a self-balancing bracket; 11. a support pillar; 12. an outer ring; 13. an inner ring; 14. a first rotating shaft; 15. mounting a rod; 16. a first limit rod; 17. a second limiting rod; 2. an active and passive damper; 21. a base housing; 211. an upper housing; 2111. a top plate; 2112. a first cylinder; 2113. a second cylinder; 2114. a first annular edge plate; 2115. connecting blocks; 2116. a first through hole; 2117. a second through hole; 2118. a fifth through hole; 212. a middle cylinder; 2121. a third cylinder; 2122. a second annular side plate; 2123. a fourth cylinder; 2124. a first base plate; 2125. positioning a block; 2126. a positioning column; 213. a lower housing; 2131. a third annular side plate; 2132. a fifth cylinder; 2133. a second base plate; 214. an observation window; 22. a load platform; 221. a first countersunk through hole; 222. a second countersunk through hole; 23. a feedback acquisition sensor; 24. a controller; 25. an active vibration reduction mechanism; 251. a voice coil motor; 2511. a voice coil motor stator; 2512. a voice coil motor mover; 2513. an output shaft; 2514. connecting columns by screw threads; 252. a diaphragm spring; 2521. a third through hole; 2522. a fourth via hole; 253. a flexible hinge; 26. a passive vibration reduction mechanism; 261. a coil spring; 262. a bottom annular pad; 263. a top annular pad; 264. a connecting rod; 265. a wire passing groove; 3. a mounting plane; 4. a reference plane.

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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

The invention aims to provide a self-balancing active and passive vibration damping device, which solves the problems of vibration influence and tilt balance compensation caused by multi-degree-of-freedom motion of shipborne equipment during navigation of a ship, is moderate in actuation stroke and gives consideration to control precision.

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.

As shown in fig. 1 to 10, the present embodiment provides a self-balancing active and passive vibration damping device 100, which includes a self-balancing support 1 and an active and passive vibration damper 2, where the self-balancing support 1 includes a support frame, an outer ring 12 and an inner ring 13, two ends of the outer ring 12 are rotatably mounted on the support frame, two ends of the inner ring 13 are rotatably mounted on an inner wall of the outer ring 12, a rotation axis of the outer ring 12 is perpendicular to a rotation axis of the inner ring 13, and the principle that gravity always points to the geocentric is applied, the active and passive vibration damper 2 is a counterweight object, and under the action of gravity of the counterweight object, the positions and postures of the active and passive vibration damper 2 can be adjusted by the rotation of the inner ring 13 and the outer ring 12, so that the active and passive vibration damper 2 is always perpendicular to a reference plane 4, and the active and passive vibration damper 2 is used for suppressing horizontal and vertical vibration of a ship-borne device. The active and passive damper 2 comprises a load platform 22, a base shell 21, an active damping mechanism 25, a passive damping mechanism 26, a feedback acquisition sensor 23 and a controller 24, wherein the base shell 21 is mounted on the inner ring 13, the base shell 21 comprises an upper shell 211, a middle cylinder 212 and a lower shell 213, the upper shell 211 is of a lower end open structure, the middle cylinder 212 and the lower shell 213 are both of an upper end open structure, the middle cylinder 212 is arranged in the lower shell 213, the upper shell 211 is arranged above the middle cylinder 212, the upper shell 211, the middle cylinder 212 and the lower shell 213 are sequentially connected, the upper shell 211, the middle cylinder 212 and the lower shell 213 are mounted in a centering manner, and the upper shell 211 is mounted on the inner ring 13 in the embodiment; the active vibration reduction mechanism 25 comprises a voice coil motor 251, a diaphragm spring 252 and a flexible hinge 253, the passive vibration reduction mechanism 26 comprises a spring assembly and a connecting assembly, the voice coil motor 251 is fixed inside the middle barrel 212, the top end of an output shaft 2513 of the voice coil motor 251 is connected with the flexible hinge 253, the diaphragm spring 252 is sleeved on the output shaft 2513 and is positioned between the flexible hinge 253 and the output shaft 2513, the edge of the diaphragm spring 252 is positioned between the upper shell 211 and the middle barrel 212, the upper end of the flexible hinge 253 penetrates through the upper shell 211 and is fixedly connected with the load platform 22, the spring assembly is sleeved outside the voice coil motor 251, the lower end of the spring assembly is arranged at the bottom inside the middle barrel 212 and is positioned below the diaphragm spring 252, one end of the connecting assembly is connected with the top end of the spring assembly, and the other end of the connecting assembly penetrates through the diaphragm spring 252 and the upper shell 211 and is connected with the load platform 22; feedback acquisition sensor 23 sets up on load platform 22, and feedback acquisition sensor 23 is used for gathering load platform 22's vibration signal, and feedback acquisition sensor 23 and voice coil motor 251 are all connected with controller 24.

The support frame is arranged on an installation plane 3, because the ship has rolling and pitching during navigation, an angle can exist between the installation plane 3 and a reference plane 4, the self-balancing support 1 can enable the pose of an active and passive shock absorber 2 to be always perpendicular to the reference plane 4, the inherent characteristic and the vibration isolation performance of the active and passive shock absorber 2 in the Z-axis direction are guaranteed, the active and passive shock absorber 2 is guaranteed not to influence the vibration isolation performance due to the shaking of the installation plane 3, namely, the problem that the installation plane 3 is not horizontal during the operation of the ship is automatically compensated, the influence of the rolling and pitching of the ship on the vibration inhibition in the vertical direction is reduced, meanwhile, the self-balancing support 1 can also compensate errors caused by eccentric installation, and the problems of vibration influence and tilt balance compensation caused by multi-degree motion of the ship-mounted equipment during navigation are solved. Compared with other vibration absorbers, the vibration control device can effectively control vibration in the translation direction of the Z axis, does not influence vibration in the rotation directions of the X axis and the Y axis, and can be applied to vibration reduction of ship-borne equipment sensitive to vibration and limited in installation conditions.

The active and passive vibration absorbers 2 in the embodiment have the function of combining the two functions, can be used as a counterweight object of the self-balancing support 1, enables a central shaft of the shipborne equipment to be always perpendicular to the reference plane 4, guarantees normal work of the self-balancing support 1, and can also be used as a vibration absorber to effectively and actively suppress horizontal and vertical vibration. The active and passive vibration damper 2 is provided with an active vibration damping mechanism 25 and a passive vibration damping mechanism 26, the contradiction between the vibration attenuation capacities in high and low frequency bands is overcome through active vibration damping, the problem that the passive control structure is difficult to realize resonance peak vibration suppression is solved, the vibration suppression effect in the Z-axis direction is obvious, and the vibration damping frequency band and the resonance peak value can be changed to be suitable for shipborne equipment in different frequency bands by changing the rigidity of the spring assembly and the exciting force of the voice coil motor 251. The mechanism that the voice coil motor 251 and the diaphragm spring 252 are connected in series and connected with the spring assembly in parallel not only ensures that the actuating stroke is moderate, but also gives consideration to the control precision. The diaphragm spring 252 is connected in series with the flexible hinge 253 to ensure that the axial exciting force generated by the voice coil motor 251 is fully transmitted, thereby improving the vibration damping effect in the Z-axis direction. Specifically, the low radial stiffness of flexible hinge 253 and the high radial stiffness of diaphragm spring 252 cooperate to allow the force of output shaft 2513 of voice coil motor 251 to be always centered with load platform 22, compensating for the amount of eccentricity introduced due to eccentricity of load platform 22 without loss of axial motion transfer. The high axial stiffness of the flexible hinge 253 is matched with the low axial stiffness of the diaphragm spring 252, so that the axial excitation force generated by the voice coil motor rotor 2512 is sufficiently transmitted, vibration caused by components in the vertical direction of excitation is effectively inhibited, and meanwhile, displacement in other directions can be compensated.

As shown in fig. 4, a positioning block 2125 is disposed on the bottom surface of the inner portion of the middle tube 212, a positioning post 2126 is disposed at the middle portion of the upper surface of the positioning block 2125, and the lower portion of the voice coil motor 251 is sleeved on the positioning post 2126 and fixed to the positioning block 2125.

As shown in fig. 4 and 7, the voice coil motor 251 includes a voice coil motor stator 2511 and a voice coil motor rotor 2512, a lower portion of the voice coil motor stator 2511 is sleeved on the positioning column 2126 and fixed on the positioning block 2125, an annular groove is formed in an upper portion of the voice coil motor stator 2511, the voice coil motor rotor 2512 is inserted into the annular groove, the output shaft 2513 is fixed on an upper portion of the voice coil motor rotor 2512, and the voice coil motor rotor 2512 is connected with the controller 24. The feedback acquisition sensor 23 acquires a vibration signal of the load platform 22 and transmits the vibration signal to the controller 24, the controller 24 actively controls the voice coil motor rotor 2512 to generate excitation according to a real-time signal, an excitation force generated by the voice coil motor rotor 2512 is transmitted to the diaphragm spring 252 through the output shaft 2513 and then transmitted to the flexible hinge 253, and finally transmitted to the load platform 22, so that an active vibration reduction technology is realized. Specifically, the voice coil motor stator 2511 is fixed to the positioning block 2125 by bolts, and the output shaft 2513 is fixed to the voice coil motor mover 2512 by bolts.

In this embodiment, the voice coil motor stator 2511 is a cylinder with an annular groove cut out, the material of the cylinder is high-conductivity magnetic steel, a magnetic circuit can be formed, and the high-conductivity magnetic steel at the bottom of the annular groove is fixedly arranged in a circular array. The voice coil motor mover 2512 includes a coil wound on a coil holder inserted into the annular groove and a coil holder connected to the controller 24.

The voice coil motor rotor 2512 is inserted into the annular groove and placed in a centering manner with the voice coil motor stator 2511, and a coil on the voice coil motor rotor 2512 is stressed in a magnetic field of the voice coil motor stator 2511 to generate force output, so that the controller 24 is used for controlling the driving current in the coil to control the output force of the voice coil motor 251.

Specifically, the voice coil motor rotor 2512 and the lower portion of the output shaft 2513 are connected through bolts and fastened to be installed in a centering manner, the upper portion of the output shaft 2513 is provided with a threaded connection column 2514, the lower portion of the flexible hinge 253 is provided with a threaded connection hole, the diaphragm spring 252 is sleeved on the threaded connection column 2514, the diaphragm spring 252 is in contact with the top surface of the output shaft 2513, and the flexible hinge 253 is installed on the threaded connection column 2514 through the threaded connection hole.

As shown in fig. 3, a first countersunk through hole 221 is formed in the middle of the load platform 22, a plurality of second countersunk through holes 222 are formed around the first countersunk through hole 221 on the load platform 22, and the internal thread end of the upper portion of the flexible hinge 253 is fixed to the first countersunk through hole 221 of the load platform 22 by a bolt. The load platform 22 in this embodiment is cylindrical.

As shown in fig. 9 and 10, the spring assembly includes a coil spring 261, a bottom annular pad 262 and a top annular pad 263, a first annular groove is provided at an upper portion of the bottom annular pad 262, a second annular groove is provided at a lower portion of the top annular pad 263, the bottom annular pad 262 is disposed at a bottom portion inside the middle cylinder 212 and is sleeved outside the positioning block 2125, the coil spring 261 is sleeved outside the positioning block 2125 and the voice coil motor 251, a lower portion of the coil spring 261 is disposed in the first annular groove, an upper portion of the coil spring 261 is disposed in the second annular groove, specifically, the lower portion of the coil spring 261 is movably mounted in the first annular groove, and the upper portion of the coil spring 261 is movably mounted in the second annular groove; the connecting assembly includes a plurality of connecting rods 264, a lower end of each connecting rod 264 is mounted on the top annular pad 263, the plurality of connecting rods 264 are uniformly distributed along the circumference of the top annular pad 263, and an upper end of each connecting rod 264 passes through the diaphragm spring 252 and the upper housing 211 and is connected with the load platform 22. The elastic force of the coil spring 261 can be transmitted to the plurality of connecting rods 264 through the top ring-shaped pad 263 and finally to the load platform 22, thereby realizing the passive damping technique.

The bottom annular pad 262, the top annular pad 263, the positioning block 2125 and the positioning column 2126 are designed for aligning the center of mass of the components, so that the assembly work of the active and passive vibration absorbers 2 is facilitated, and the suppression effect of the vibration in the Z-axis direction caused by the assembly eccentricity is prevented from being changed. The first and second annular grooves of the bottom annular pad 262 and the top annular pad 263 facilitate the movement of the coil spring 261 along the axial direction all the time, and prevent the radial movement from touching the voice coil motor 251 to cause the movement coupling, thereby having a certain guiding function.

In this embodiment, a first through hole 2116 for the flexible hinge 253 to pass through is disposed in the top surface of the upper housing 211, and a plurality of second through holes 2117 are disposed on the periphery of the first through hole 2116 on the top surface of the upper housing 211, wherein the diameter of the second through holes 2117 is larger than that of the connecting rod 264. The external thread end of the lower portion of the connecting rod 264 extends into the internal thread end of the top annular pad 263 for fixing, and the internal thread end of the upper portion of the connecting rod 264 passes through the second through hole 2117 of the upper housing 211 and is fixed at the second countersunk through hole 222 of the load platform 22 through a bolt.

In this embodiment, three connecting rods 264 are provided, and according to the principle that one plane is determined by three points, three connecting rods 264 are circumferentially distributed at intervals of 120 ° in pairs, so as to ensure that the vibration suppression of the passive vibration reduction link is always transmitted to the load platform 22 along the Z-axis direction.

In this embodiment, the top annular pad 263 is provided with a plurality of wire passing grooves 265, the plurality of wire passing grooves 265 are uniformly distributed along the circumference of the top annular pad 263, and the wire passing grooves 265 can be used for circuit lines of the voice coil motor rotor 2512 to pass through, so as to prevent the circuit lines from being extruded when the active and passive vibration absorbers 2 work. The bottom annular pad 262 and the top annular pad 263 are made of 304 stainless steel, the size of the first annular groove and the second annular groove is slightly larger than the wire diameter of the spiral spring 261, and the first annular groove and the second annular groove are in clearance fit with the spiral spring 261.

In this embodiment, the material of the coil spring 261 is spring steel, the coil spring 261 with different heights is replaced and matched with the bottom annular pad 262, and the system stiffness can be changed without changing the sizes of the other parts such as the base housing 21 and the voice coil motor 251, so that the resonance peak of the vibration transmissibility curve of the active and passive vibration dampers 2 moves forward or backward, the passive vibration damping effect is changed, the ship-borne equipment with different vibration damping requirements is suitable, and the cost is saved.

Specifically, the diaphragm spring 252 is made of spring steel, the middle portion of the diaphragm spring 252 is provided with a third through hole 2521 for sleeving the threaded connection post 2514, the periphery of the diaphragm spring 252 is provided with a plurality of fourth through holes 2522 for the connection rod 264 to pass through, the fourth through hole corresponds to the second through hole 2117 of the upper housing 211, the diameter of the fourth through hole 2522 is larger than that of the connection rod 264, that is, the diaphragm spring 252 is in clearance fit with the connection rod 264, when the active and passive dampers 2 work in the embodiment, the diaphragm spring 252 is prevented from being coupled with the connection rod 264, the active and passive damping effects are affected, and meanwhile, the overall stiffness is reduced by grooving on the diaphragm spring 252.

As shown in fig. 3 and 5, the side of the base housing 21 is provided with an observation window 214, and the observation window 214 corresponds to the position of the diaphragm spring 252. The observation window 214 penetrates through an upper portion of a sidewall of the lower housing 213, an upper portion of a sidewall of the middle cylinder 212, and a lower portion of a sidewall of the upper housing 211. The working state of the diaphragm spring 252 can be observed at any time through the observation window 214, so that the bending deformation of the diaphragm spring 252 is prevented from influencing the change of the axial stiffness of the diaphragm spring, and the active and passive vibration absorbers 2 are ensured to work normally in an effective vibration isolation frequency band. The viewing window 214 in this embodiment is a rectangular viewing window.

Specifically, a damping material is filled between the lower housing 213 and the middle tube 212. The damping material is arranged to ensure the vibration suppression in the horizontal direction, and the impact of the rolling and pitching of the ship on the ship-mounted equipment can be reduced. The lower shell 213 and the middle cylinder 212 are designed in a separated mode, so that damping materials between the lower shell and the middle cylinder can be replaced conveniently, and the effects of vibration reduction and impact reduction are guaranteed. The damping material in this embodiment is a rubber pad or foam.

As shown in fig. 6, the base-housing 21 further includes a fixing component, the upper housing 211 includes a top plate 2111, a first cylinder 2112, a second cylinder 2113 and a first annular side plate 2114, which are sequentially connected from top to bottom, the inner diameter of the first cylinder 2112 is smaller than that of the second cylinder 2113, and both the first through-hole 2116 and the second through-hole 2117 are disposed on the top plate 2111; the middle tube 212 includes a third cylinder 2121, a second annular side plate 2122, a fourth cylinder 2123 and a first bottom plate 2124, which are connected in sequence from top to bottom, and a positioning block 2125 is disposed in the middle of the upper surface of the first bottom plate 2124; the lower housing 213 includes a third annular side plate 2131, a fifth cylinder 2132 and a second bottom plate 2133 which are connected in sequence from top to bottom; the first annular side plate 2114, the second annular side plate 2122 and the third annular side plate 2131 are sequentially arranged from top to bottom and connected through a fixing assembly, and the edge of the diaphragm spring 252 is positioned between the bottom surface of the first cylinder 2112 and the top surface of the third cylinder 2121; two sides of the upper portion of the first annular side plate 2114 are respectively provided with a connecting block 2115, the inner wall of the inner ring 13 is provided with two mounting rods 15, one connecting block 2115 is used for being mounted on one mounting rod 15, and specifically, a circular groove used for being connected with the mounting rods 15 is formed in the connecting block 2115.

In this embodiment, the fixing assembly includes a plurality of connecting bolts and a plurality of connecting nuts, a plurality of fifth through holes 2118 are disposed on the first annular side plate 2114, a plurality of sixth through holes are disposed on the second annular side plate 2122, a plurality of seventh through holes are disposed on the third annular side plate 2131, each connecting bolt sequentially passes through one fifth through hole 2118, one sixth through hole and one seventh through hole and is installed with one connecting nut, so as to fixedly connect the first annular side plate 2114, the second annular side plate 2122 and the third annular side plate 2131, and thus fixedly connect the upper housing 211, the middle barrel 212 and the lower housing 213.

In this embodiment, two observation windows 214 are disposed on two sides of the base housing 21, and the observation windows 214 are disposed at an interval of 90 ° from the connection blocks 2115.

As shown in fig. 2, the self-balancing stand 1 further includes two first limiting members and two second limiting members, the two first limiting members are respectively disposed at two sides of the inside of the supporting frame, and the two first limiting members are respectively disposed at two sides of the lower portion of the outer ring 12, and the first limiting members are used for limiting the rotation angle of the outer ring 12; the two second limiting parts are respectively arranged on two sides of the inner portion of the support frame, the two second limiting parts are respectively arranged on two sides of the lower portion of the inner ring 13, each second limiting part is located below one first limiting part, and the second limiting parts are used for limiting the rotation angle of the inner ring 13. The first limiting component and the second limiting component respectively limit the rotation angles of the outer ring 12 and the inner ring 13 of the self-balancing support 1, the driving and driven shock absorbers 2 are prevented from overturning when the ship violently rolls and pitches, and the adverse effects that the driving and driven shock absorbers 2 are coupled with the support frame in a movement mode, amplified vibration and the like are generated are avoided.

The support frame comprises two support columns 11 which are parallel to each other, the self-balancing support 1 further comprises two first rotating shafts 14, two first bearings, two second rotating shafts and two second bearings, two first rotating shafts 14 are arranged on two sides of the outer wall of the outer ring 12 respectively, each first rotating shaft 14 is rotatably installed on one support column 11 through one first bearing, two second rotating shafts are arranged on two sides of the outer wall of the inner ring 13 respectively, each second rotating shaft is rotatably installed on the inner wall of the outer ring 12 through one second bearing, and the axis of each second rotating shaft is perpendicular to the axis of each first rotating shaft 14; each support column 11 is provided with a first limiting part and a second limiting part, the first limiting part comprises two first limiting rods 16, the two first limiting rods 16 are fixed on the inner sides of the support columns 11, the two first limiting rods 16 are respectively arranged on two sides of the lower portion of the first rotating shaft 14, the second limiting part is a second limiting rod 17, and the second limiting rod 17 is fixed on the inner sides of the support columns 11.

In this embodiment, the active and passive vibration absorbers 2 can move with two degrees of freedom through the second bearing between the inner ring 13 and the outer ring 12 and the first bearing between the outer ring 12 and the support column 11, that is, the rotation angle ranges in the X-axis and Y-axis directions are-180 ° to +180 °, the rotation angle ranges of the inner ring 13 and the outer ring 12 are respectively limited by the arrangement of the second limiting rod 17 and the first limiting rod 16, the parallel of the load platform 22 and the reference surface 4 is ensured, the decoupling of three degrees of freedom is realized, and the inherent characteristics and the vibration isolation performance in the Z-axis direction are maintained. Meanwhile, the rotation angle ranges of the inner ring 13 and the outer ring 12 can be changed by changing the positions of the second limiting rod 17 and the first limiting rod 16, and the positions of the second limiting rod 17 and the first limiting rod 16 can be changed according to specific requirements, so that the method is applied to different scenes.

In this embodiment, the second limiting rod 17 is disposed at a position such that the rotation angle of the inner ring 13 ranges from-30 ° to +30 °, and the first limiting rod 16 is disposed at a position such that the rotation angle of the outer ring 12 ranges from-45 ° to +45 °.

In this embodiment, the first bearing and the second bearing are both deep groove ball bearings, and this embodiment has requirements on the first bearing and the second bearing for bearing radial load, and the deep groove ball bearings are simple in structure and convenient to use, and are mainly used for bearing radial load and axial load.

As shown in fig. 11, is a self-balancing master in the present inventionThe schematic diagram of the vibration damping principle of the passive vibration damping device 100, where M is the mass of the load platform 22, M is the mass of the base housing 21, K is the equivalent stiffness of the self-balancing active and passive vibration damping device 100 in this embodiment, C is the equivalent damping of the self-balancing active and passive vibration damping device 100 in this embodiment, and x ₀ Is the amount of vibration displacement, x, of the base housing 21 ₁ The amount of vibration displacement of the load platform 22. The traditional passive vibration isolation system is composed of a mass-spring-damping unit, and compared with a passive vibration isolation technology, a feedback active control loop is added in the embodiment, and active control vibration isolation in the embodiment means that after a series of algorithms built in a controller 24 are used for processing vibration signals acquired by a feedback acquisition sensor 23, a new signal is generated to drive a voice coil motor 251 to generate a force to counteract vibration, so that active control is performed to improve vibration isolation performance. The feedback control loop comprises a feedback acquisition sensor 23, a controller 24 and a voice coil motor 251, wherein the feedback acquisition sensor 23 acquires vibration signals of the load platform 22, filters redundant noise signals, transmits the vibration signals to the controller 24 for feedback active control algorithm calculation, calculates output signals, filters out useless noise signals, generates new signals to be acted on the voice coil motor 251, specifically acts on a coil of the voice coil motor 251, and completes a complete feedback active control loop. Specifically, the feedback active control algorithm may adopt a PIF proportional integral force algorithm, an RBF neural network algorithm, a PI proportional integral control algorithm, a PID proportional integral derivative control algorithm, skyhook damping, etc., and performs gain adjustment on the entire feedback loop to change the feedback characteristic, and the PIF proportional integral force algorithm is adopted in this embodiment.

As shown in fig. 12, which is a comparison graph of the transmission rate curves of the conventional damping device, the passive damping device of the present invention, and the active and passive PIF composite control of the present invention, the solid line in fig. 12 represents the transmission rate curve of the conventional damping device, and it can be seen that the peak value at the resonance position is high, the natural frequency is relatively backward, and the attenuation at the high frequency position is relatively poor; the dotted line in fig. 12 represents the transmission rate curve of passive vibration damping of the present invention, and it can be seen that the natural frequency of the present invention moves forward compared with the conventional vibration damping device, the peak value of the resonance peak is reduced, the vibration isolation bandwidth is widened, and a good vibration isolation effect can be achieved; the dotted line in fig. 12 represents the transmittance curve under active and passive composite control of PIF of the present invention, from which it can be seen that the peak value of the resonance peak is relatively lower than that of passive control by the PIF algorithm, and the isolation band is widened again.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present 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

1. A self-balancing active and passive vibration damper is characterized by comprising a self-balancing support and an active and passive vibration damper, wherein the self-balancing support comprises a support frame, an outer ring and an inner ring, two ends of the outer ring are rotatably arranged on the support frame, two ends of the inner ring are rotatably arranged on the inner wall of the outer ring, and the rotating axis of the outer ring is perpendicular to that of the inner ring; the active and passive vibration absorber comprises a load platform, a basic shell, an active vibration absorbing mechanism, a passive vibration absorbing mechanism, a feedback acquisition sensor and a controller, wherein the basic shell is arranged on the inner ring and comprises an upper shell, a middle cylinder and a lower shell, the upper shell is of a structure with an open lower end, the middle cylinder and the lower shell are of structures with open upper ends, the middle cylinder is arranged in the lower shell, the upper shell is arranged above the middle cylinder, and the upper shell, the middle cylinder and the lower shell are sequentially connected; the active vibration reduction mechanism comprises a voice coil motor, a diaphragm spring and a flexible hinge, the passive vibration reduction mechanism comprises a spring assembly and a connecting assembly, the voice coil motor is fixed inside the middle cylinder, the top end of an output shaft of the voice coil motor is connected with the flexible hinge, the diaphragm spring is sleeved on the output shaft and positioned between the flexible hinge and the output shaft, the edge of the diaphragm spring is positioned between the upper shell and the middle cylinder, the upper end of the flexible hinge penetrates through the upper shell and is fixedly connected with the load platform, the spring assembly is sleeved outside the voice coil motor and is positioned below the diaphragm spring, one end of the connecting assembly is connected with the top end of the spring assembly, and the other end of the connecting assembly penetrates through the diaphragm spring and the upper shell and is connected with the load platform; the feedback acquisition sensor is arranged on the load platform, and the feedback acquisition sensor and the voice coil motor are both connected with the controller; the self-balancing bracket also comprises two first limiting parts and two second limiting parts, the two first limiting parts are respectively arranged at two sides in the supporting frame, the two first limiting parts are respectively arranged at two sides of the lower part of the outer ring, and the first limiting parts are used for limiting the rotation angle of the outer ring; the two second limiting parts are respectively arranged on two sides inside the supporting frame, the two second limiting parts are respectively arranged on two sides of the lower portion of the inner ring, each second limiting part is located below one first limiting part, and the second limiting parts are used for limiting the rotation angle of the inner ring.

2. The self-balancing active and passive vibration damping device according to claim 1, wherein a positioning block is disposed on a bottom surface inside the middle cylinder, a positioning column is disposed in a middle of an upper surface of the positioning block, and a lower portion of the voice coil motor is sleeved on the positioning column and fixed to the positioning block.

3. The self-balancing active and passive vibration damping device according to claim 2, wherein the voice coil motor comprises a voice coil motor stator and a voice coil motor rotor, a lower portion of the voice coil motor stator is sleeved on the positioning column and fixed on the positioning block, an annular groove is formed in an upper portion of the voice coil motor stator, the voice coil motor rotor is inserted into the annular groove, the output shaft is fixed to an upper portion of the voice coil motor rotor, and the voice coil motor rotor is connected with the controller.

4. The self-balancing active and passive vibration damping device according to claim 1, wherein a threaded connection post is provided on an upper portion of the output shaft, a threaded connection hole is provided on a lower portion of the flexible hinge, the diaphragm spring is sleeved on the threaded connection post, and the diaphragm spring is in contact with a top surface of the output shaft, and the flexible hinge is mounted on the threaded connection post through the threaded connection hole.

5. The self-balancing active and passive vibration damping device according to claim 2, wherein the spring assembly comprises a coil spring, a bottom annular pad and a top annular pad, a first annular groove is formed in an upper portion of the bottom annular pad, a second annular groove is formed in a lower portion of the top annular pad, the bottom annular pad is disposed at a bottom portion inside the middle cylinder and sleeved outside the positioning block, the coil spring is sleeved outside the positioning block and the voice coil motor, a lower portion of the coil spring is disposed in the first annular groove, and an upper portion of the coil spring is disposed in the second annular groove; the connecting assembly comprises a plurality of connecting rods, the lower end of each connecting rod is installed on the top annular pad, and the upper end of each connecting rod penetrates through the diaphragm spring and the upper shell and is connected with the load platform.

6. The self-balancing active and passive vibration damping device according to claim 1, wherein a viewing window is provided at a side of the base housing, the viewing window corresponding to the position of the diaphragm spring.

7. The self-balancing active and passive vibration damping device according to claim 1, wherein a damping material is filled between the lower housing and the middle cylinder.

8. The self-balancing active and passive vibration damping device according to claim 2, wherein the base housing further comprises a fixing assembly, the upper housing comprises a top plate, a first cylinder, a second cylinder and a first annular side plate which are sequentially connected from top to bottom, and the inner diameter of the first cylinder is smaller than that of the second cylinder; the middle cylinder comprises a third cylinder, a second annular side plate, a fourth cylinder and a first bottom plate which are sequentially connected from top to bottom, and the positioning block is arranged in the middle of the upper surface of the first bottom plate; the lower shell comprises a third annular side plate, a fifth cylinder and a second bottom plate which are sequentially connected from top to bottom; the first annular side plate, the second annular side plate and the third annular side plate are sequentially arranged from top to bottom and are connected through the fixing assembly, and the edge of the diaphragm spring is positioned between the bottom surface of the first cylinder and the top surface of the third cylinder; the two sides of the upper portion of the first annular side plate are respectively provided with a connecting block, the inner wall of the inner ring is provided with two mounting rods, and one connecting block is used for being mounted on one mounting rod.

9. The self-balancing active and passive vibration damping device according to claim 1, wherein the supporting frame comprises two supporting columns which are parallel to each other, the self-balancing bracket further comprises two first rotating shafts, two first bearings, two second rotating shafts and two second bearings, one first rotating shaft is arranged on each of two sides of the outer wall of the outer ring, each first rotating shaft is rotatably mounted on one supporting column through one first bearing, one second rotating shaft is arranged on each of two sides of the outer wall of the inner ring, each second rotating shaft is rotatably mounted on the inner wall of the outer ring through one second bearing, and the axis of each second rotating shaft is perpendicular to the axis of the first rotating shaft; each install one on the support column first spacing part and one the second spacing part, first spacing part includes two first gag lever posts, two first gag lever posts all are fixed in the inboard of support column, and two first gag lever posts set up respectively in the both sides of first pivot lower part, second spacing part is the second gag lever post, the second gag lever post is fixed in the inboard of support column.