CN115095624B - Elastic device, control method, vibration absorber, vibration isolator and vibration energy collector - Google Patents
Elastic device, control method, vibration absorber, vibration isolator and vibration energy collector Download PDFInfo
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- CN115095624B CN115095624B CN202210686612.5A CN202210686612A CN115095624B CN 115095624 B CN115095624 B CN 115095624B CN 202210686612 A CN202210686612 A CN 202210686612A CN 115095624 B CN115095624 B CN 115095624B
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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
- F16F7/00—Vibration-dampers; Shock-absorbers
- F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
- F16F7/104—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted
- F16F7/116—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted on metal springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/08—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for recovering energy derived from swinging, rolling, pitching or like movements, e.g. from the vibrations of a machine
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2230/00—Purpose; Design features
- F16F2230/18—Control arrangements
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- Chemical & Material Sciences (AREA)
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Abstract
The invention provides an elastic device, a control method, a vibration absorber, a vibration isolator and a vibration energy collector. The elastic device comprises a vertical elastic unit and a plurality of transverse elastic units; the first end of the transverse elastic unit is connected with the vertical elastic unit, and the transverse elastic units are radially distributed along the transverse direction by taking the vertical elastic unit as the center; the device also comprises a sliding block and a sliding block guide rail, wherein the track of the sliding block guide rail comprises an Archimedean spiral; the sliding block is arranged on the sliding block guide rail; the second end of the transverse elastic unit is connected with the sliding block unit; the sliding block guide rail unit comprises a rotary table, the sliding block guide rail is arranged on the rotary table, and the rotation center of the rotary table coincides with the center point of the Archimedes spiral. The technical scheme of the invention can be widely applied to the vibration control field of high-power mechanical equipment with complex operation conditions and high precision.
Description
Technical Field
The invention relates to the technical field of vibration control, in particular to the technical field of marine vibration control.
Background
The mechanical device inevitably generates vibrations during operation. Prolonged, large amplitude vibrations can adversely affect the operation and life of the mechanical device. For example, the mechanical equipment emits large noise during operation, and cracks are generated in the parts after the mechanical equipment is operated for a certain period of time. These adverse effects seriously jeopardize the safety of the whole device and even the life safety of the operators. For this reason, measures are required to solve the adverse effects of vibration of the mechanical equipment.
Means for eliminating the adverse effect of vibration of mechanical equipment mainly comprises modes such as a vibration absorber and a vibration isolator. The small-amplitude vibration generated by mechanical equipment is usually analyzed by adopting a linear vibration theory, and the vibration reduction equipment correspondingly designed is a vibration absorber and a vibration isolator (also called as a linear vibration absorber and a linear vibration isolator) with linear rigidity. The linear vibration absorber and the linear vibration isolator can solve the vibration problem of most equipment to a certain extent. But the linear vibration absorber and the linear vibration isolator can effectively solve the vibration problem only in a narrow frequency band near an anti-resonance point, and the application of the linear vibration absorber and the linear vibration isolator in engineering is greatly limited by the characteristic of narrow frequency band. For high-power mechanical equipment with complex operation conditions and high precision, such as marine power equipment, the linear vibration absorber and the linear vibration isolator cannot meet the vibration reduction requirement.
With the continuous development of vibration theory, nonlinear factors are introduced into the traditional vibration absorbers and vibration isolators to improve vibration damping performance. When the nonlinear factor exists, the corresponding vibration absorber and vibration isolator are called nonlinear vibration absorber and nonlinear vibration isolator. The nonlinear vibration absorber and the nonlinear vibration isolator have wider working frequency bands and are suitable for mechanical equipment under various working conditions. However, the nonlinear vibration absorbers and nonlinear vibration isolators still have certain problems at present: although the theory of the nonlinear vibration absorber and the nonlinear vibration isolator is mature, the existing nonlinear vibration absorber and nonlinear vibration isolator are difficult to reach the theoretical design target due to the existence of a plurality of practical problems in the process of realizing a theoretical mechanism. For example, the mechanical model of the nonlinear vibration absorber and the nonlinear vibration isolator shown in fig. 1 can be theoretically analyzed to realize the functions of the nonlinear vibration absorber and the nonlinear vibration isolator by adjusting the parameters of the transverse springs, but when the parameters of the transverse springs are adjusted, the parameters of different transverse springs are difficult to be adjusted to be consistent, so that the theoretical design objective is difficult to achieve in practice.
Disclosure of Invention
In order to solve the problem that the theoretical design target is difficult to achieve in the existing nonlinear vibration absorber and nonlinear vibration isolator, the invention provides an elastic device, a control method, the vibration absorber, the vibration isolator and a vibration energy collector.
The technical scheme of the invention is as follows:
the elastic device comprises a vertical elastic unit and a plurality of transverse elastic units, wherein each transverse elastic unit comprises a transverse spring, each vertical elastic unit comprises a vertical spring, and the axis of each transverse spring is intersected with the axis of each vertical spring; the first end of the transverse elastic unit is connected with the vertical elastic unit, and the transverse elastic units are radially distributed along the transverse direction by taking the vertical elastic unit as the center; the vertical elastic unit is arranged on the upper surface of the lower frame; the sliding block unit comprises a sliding block, the sliding block guide rail unit comprises a sliding block guide rail, and the track of the sliding block guide rail comprises an Archimedean spiral; the sliding block is arranged on the sliding block guide rail; the second end of the transverse elastic unit is connected with the sliding block unit; the sliding block guide rail unit comprises a rotary table, the sliding block guide rail is arranged on the rotary table, and the rotation center of the rotary table coincides with the center point of the Archimedes spiral.
Optionally, the rotary table also comprises a transmission mechanism and a power source, wherein the transmission mechanism can drive the rotary table to rotate; the transmission mechanism is respectively connected with the turntable and the power source.
Optionally, the power source comprises a stepper motor.
Optionally, the slider rail unit includes a centripetal restraint rail; the centripetal constraint guide rail comprises a linear guide rail, and the axis of the linear guide rail is intersected with the axis of the vertical spring; the sliding block is arranged on the centripetal constraint guide rail.
Optionally, the lateral elastic unit includes a first lateral spring base and a second lateral spring base disposed at both ends of the lateral spring; the first transverse spring base is hinged with the vertical elastic unit; the second transverse spring base is hinged with the slider unit.
Optionally, the vertical elastic unit includes a central bracket; one end of the vertical spring is connected with the central bracket; the first transverse spring base is hinged with the central support.
Optionally, the elastic device further comprises a guide rod sliding through the central bracket; the axis of the guide rod is parallel or coincident with the axis of the vertical spring.
Optionally, the transverse spring units are symmetrically distributed with the axis of the vertical spring as a center.
Optionally, the number of transverse spring units comprises 4.
The control method for the elastic device is characterized in that: the method comprises the following steps:
A. obtaining acceleration, velocity or displacement signals x of the vibration source during a measurement period T 1 (t)；
B. Acquiring acceleration, velocity or displacement signals x within a measurement period T of the elastic device 2 (t)；
C. The dot product value is calculated according to the following formula:
D. stretching the transverse spring when the dot product value is greater than a zero value or a threshold interval in which the zero value is located; the transverse spring is compressed when the dot product value is less than a zero value or a threshold interval in which the zero value is located.
Optionally, stretching the transverse spring or compressing the transverse spring is achieved by rotating the turntable.
A shock absorber comprising the resilient means as described above.
Vibration isolator comprising elastic means as described above.
A vibration energy harvester comprising the elastic device as described above.
The invention has the following technical effects:
the elastic device comprises a nonlinear mechanism with adjustable rigidity, and fig. 1 is a mechanical model of the nonlinear mechanism. Let the translational stiffness of the transverse spring 101 be k H The translational stiffness of the vertical spring 103 is k V The method comprises the steps of carrying out a first treatment on the surface of the The initial length of the transverse spring 101 (i.e., the current length of the transverse spring) is L H The initial length of the vertical spring 103 (i.e., the current length of the vertical spring) is L V The method comprises the steps of carrying out a first treatment on the surface of the The original length of the transverse spring 101 (i.e., the length of the spring when not compressed or stretched) is L H0 The original length of the vertical spring 103 (i.e., the length of the spring when not compressed or stretched) is L V0 The method comprises the steps of carrying out a first treatment on the surface of the Mass of mass 102 is m N The displacement of the mass 102 is u N The method comprises the steps of carrying out a first treatment on the surface of the The number of transverse springs 101 is n. Restoring force F in the vertical direction of the nonlinear mechanism V The method comprises the following steps:
when u is N ≤0.2L H In this case, the above formula can be simplified as:
F V ＝k V (L V -L V0 )+k L u N +k N u N 3
wherein k is L Is the equivalent linear rigidity of the nonlinear mechanism, k N For the equivalent nonlinear stiffness of the nonlinear mechanism, the following formula is deduced according to the mechanical relation:
from the analysis of the above mechanical model, it is known that by changing the stiffness of the vertical spring 103 and the initial length of the lateral spring 101, the equivalent linear stiffness of the nonlinear mechanism can be adjusted. The equivalent nonlinear stiffness of the nonlinear mechanism is related only to the transverse spring 101. By adjusting the structural parameters of the transverse springs 101 and the number of transverse springs 101, the equivalent nonlinear stiffness of the nonlinear mechanism can be controlled. In practice, once the nonlinear mechanism has been attached to the control structure, the stiffness adjustment of the transverse spring is extremely difficult. Furthermore, while the number of transverse springs may be used to adjust the equivalent nonlinear stiffness of the nonlinear mechanism, such a control method is difficult to implement in engineering practice. It is therefore possible to adjust the stiffness of the nonlinear stiffness mechanism by adjusting the length of the transverse spring.
The sliding block unit of the elastic device is connected with the transverse spring and can slide on the sliding block guide rail unit, so that the function of stretching or compressing the transverse spring is realized. The slider guide rail unit includes a slider guide rail having an archimedes spiral locus, the slider guide rail being provided on the turntable. Because the Archimedes spiral is a track generated by a point which uniformly leaves a fixed point and rotates around the fixed point at a fixed angular speed, the sliding block guide rail can ensure that the moving distance of different sliding blocks relative to the center of the turntable is the same when the turntable rotates, namely the expansion and contraction amounts of transverse springs correspondingly connected with the different sliding blocks are consistent. Therefore, the elastic device can accurately realize the theoretical design of the mechanical model shown in fig. 1, and the purpose of the invention is realized.
Further effects of the above alternatives will be described below in connection with the embodiments.
Drawings
Fig. 1 is a schematic diagram of a mechanical model of a nonlinear mechanism.
Fig. 2 is a structural perspective view of an embodiment of the present invention.
Fig. 3 is a top view of the nonlinear mechanism section of the embodiment shown in fig. 2.
Fig. 4 is a perspective view of the portion shown in fig. 3.
Fig. 5 is a top view of the slider rail unit of the embodiment shown in fig. 2.
Fig. 6 is an assembly view of the slider and slider rail unit of the embodiment shown in fig. 2.
Fig. 7 is a perspective view of the slider of the embodiment of fig. 2.
FIG. 8 is a flow chart of an embodiment of the control method of the present invention.
Fig. 9 is a graph of the first experimental result of the embodiment shown in fig. 2.
Fig. 10 is a graph of the second experimental result of the embodiment shown in fig. 2.
101. A transverse spring; 102. a mass block; 103. a vertical spring;
201. a stepping motor; 202. a gearbox; 203. a nonlinear mechanism;
301. a slider unit; 302. a transverse elastic unit; 303. a vertical elastic unit;
401. a center support; 402. a first lateral spring base; 403. a transverse spring; 404. a second lateral spring base; 405. a slide block; 406. centripetal constraint guide rail; 407. a housing; 408. a guide rod; 409. a vertical spring;
501. a slider guide rail; 502. a turntable;
701. a slider guide rail groove; 702. restraining the guide rail groove.
Detailed Description
The technical scheme of the present invention will be described in detail with reference to the embodiments shown in the drawings.
Fig. 2 shows the structure of one embodiment of the elastic device of the present invention. The elastic means comprise a non-linear mechanism 203, a gearbox 202 and a stepper motor 201. Wherein the gearbox 202 is connected to a stepper motor 201 and a non-linear mechanism 203, respectively. The stepping motor 201 drives the nonlinear mechanism 203 as a power source through the transmission case 202 as a transmission mechanism.
Fig. 3 and 4 show the specific structure of the nonlinear mechanism 203 in the example shown in fig. 2. As seen from the top view shown in fig. 3, the nonlinear mechanism 203 includes a slider unit 301, a lateral elastic unit 302, and a vertical elastic unit 303. One end of the lateral elastic unit 302 is connected to the slider unit 301, and the other end of the lateral elastic unit 302 is connected to the vertical elastic unit 303. One slider unit 301 is provided for each lateral elastic unit 302. Since the slider unit 301 is disposed corresponding to the lateral elastic unit 302, the slider unit 301 is also disposed around the vertical elastic unit 303.
Fig. 4 further shows a specific structure of the nonlinear mechanism 203. Wherein the vertical elastic unit 303 comprises a central bracket 401, a vertical spring 409 and a guide rod 408. One end of the vertical spring 409 is connected to the center bracket 401, and the center bracket 401 can move with the expansion and contraction of the vertical spring 409. A guide rod 408 is provided at the center of the vertical spring 409. The axis of the guide rod 408 coincides with the axis of the vertical spring 409. The axial direction of the vertical spring 409 is the expansion and contraction direction of the vertical spring 409. The guide rod 408 penetrates the center support 401 and is slidably connected to the center support 401. When the center bracket 401 moves in the up-and-down direction in fig. 4 as the vertical spring 409 expands and contracts, the center bracket 401 can slide along the guide rod 408 so that the moving direction of the center bracket 401 does not deviate from the direction of the axis of the guide rod 408.
The lateral elastic unit 302 includes a lateral spring 403. The axis of the transverse spring 403 intersects the axis of the vertical spring 409. The axial direction of the lateral spring 403, that is, the expansion and contraction direction of the lateral spring 403. A first lateral spring base 402 is provided at one end of the lateral spring 403 in the expansion and contraction direction, and a second lateral spring base 404 is provided at the other end of the lateral spring 403 in the expansion and contraction direction. The lateral springs 403 are connected to the first lateral spring base 402 and the second lateral spring base 404 by a metal adhesive. A first lateral spring base 402 is hinged to the central support 401 and a second lateral spring base 404 is hinged to the slider unit 301. The number of the lateral elastic units 302 is 4, and is radially distributed in the lateral direction centering on the vertical elastic unit 303 (specifically, centering on the axis of the vertical spring 409). Further, the lateral elastic units 302 are symmetrically distributed with the axis of the vertical spring 409 as the center, and are crossed. It should be noted that the terms transverse and vertical are not limited to the two directions being in a 90 ° vertical relationship, but the angle between the two directions is not 90 °.
The slider unit 301 in fig. 3 includes a slider 405. The nonlinear mechanism 203 further includes a slider rail unit not shown in fig. 3. Referring to fig. 5, 6 and 7, the slider rail unit includes a slider rail 501 and a turntable 502. The track of the slider rail 501 has an archimedes spiral shape. The slider guide 501 is disposed on one disk surface of the turntable 502; a bevel gear is provided on the other disk surface of the turntable 502. A slider rail groove 701 is provided on the surface of the slider 405 in contact with the slider rail 501. The shape and size of the slider rail groove 701 partially matches the corresponding slider rail 501 so that the slider 405 can slide along the slider rail 501. The track of the slider rail 501 is an archimedes spiral, the center of which coincides with the center of rotation of the turntable 502. The center of an archimedes spiral refers to the origin of the coordinate system in which the archimedes spiral expression is located.
As can be seen in fig. 4, a centripetal restraint rail 406 is provided on the housing of the covering carousel 502, and a slider 405 is provided on the centripetal restraint rail 406. Specifically, the constraining rail groove 702 on the slider 405 matches the centripetal constraining rail 406, and the slider 405 contacts and slides with the constraining rail groove 702 and the centripetal constraining rail 406. As can be seen in fig. 4, the centripetal restraint rail 406 is a linear rail, the axis of the centripetal restraint rail 406 intersecting the axis of the vertical spring 409. The 4 centripetal restraint rails 406 are radially distributed about the axis of the vertical spring 409.
The working process of the elastic device of the present invention is described below with reference to fig. 2, 4 and 6, so as to further explain the technical solution of the present invention.
The gearbox 202 is driven by the stepper motor 201 to rotate a shaft, and a bevel gear (not shown) at the end of the shaft engages with a bevel gear below the turntable 502 to drive the turntable 502 to rotate. The stepping motor 201 can precisely rotate by a corresponding angle according to the control command, and therefore, the turntable 502 can also rotate by a corresponding precise angle, improving the accuracy of the nonlinear mechanism 203. The gearbox 202 has a locking function, and after the rotating force is output, the rotating shaft of the gearbox can be locked, so that the turntable 502 is fixed, and the stability of the nonlinear mechanism 203 is improved. Clockwise or counterclockwise rotation of the turntable 502 causes the slider 405 to slide along the slider rail 501. Since the archimedes spiral is a locus generated by a point moving away from a fixed point at a constant speed and rotating around the fixed point at a fixed angular velocity, 4 sliders 405 approach or move away from the center of rotation of the turntable 502 at the same speed and distance as the turntable 502 rotates while sliding along the slider guide 501. In addition, since the slider 405 is simultaneously provided on the centripetal restraint rail 406, the slider 405 eventually moves along a trajectory approaching or moving away from the vertical spring 409 in a straight line (axis of the centripetal restraint rail 406) direction as the turntable 502 rotates. The slider unit 301 and the vertical elastic unit 303 are hinged to the lateral elastic unit 302, respectively, so that the simultaneous sliding of the 4 sliders 405 along the centripetal constraint guide 406 causes an equal amount of compression or extension of the 4 lateral springs 403. From an analysis of the mechanical model shown in fig. 1, it is known that the restoring force of the nonlinear mechanism in the vertical direction can be precisely controlled only when the expansion and contraction amounts of the transverse springs are identical.
Since the slider unit 301 and the vertical elastic unit 303 are hinged to the lateral elastic unit 302, respectively, the lateral spring 403 can always maintain a compressed and stretched state (i.e. no complex deformation such as torsion and bending) during the working process. The transverse spring 403 is not subjected to complex deformation such as torsion and bending, and the nonlinear mechanism is a basis for realizing nonlinear characteristics.
Fig. 8 shows a procedure of a control method when the elastic device of the present invention is applied to a shock absorber. The process of this control method is described in detail below.
Obtaining vibration signals of a vibration source
Acquiring an acceleration signal, a velocity signal or a displacement signal x of the vibration source within one measurement period T by an acceleration sensor, a velocity sensor or a displacement sensor provided on the vibration source 1 (t)。
Obtaining vibration signal of elastic device
The acceleration signal, the speed signal or the displacement signal x in one measuring period T of the elastic device is obtained through an acceleration sensor, a speed sensor or a displacement sensor arranged on the elastic device 2 (t). An example of the acceleration sensor, the speed sensor, or the displacement sensor setting position is the vertical elastic unit 303.
Calculating dot product value
The dot product value is calculated according to the following formula:
difference between dot product value and zero
The dot product value obtained above is compared with a zero value. If the dot product value is greater than zero, which indicates that the equivalent stiffness of the nonlinear mechanism 203 is higher than the optimal stiffness, the rotation angle and rotation time of the stepper motor 201 are controlled by outputting a square wave signal to the stepper motor 201, and then the transverse spring 403 is stretched by driving the turntable 502 to rotate; if the dot product value is smaller than zero, which indicates that the equivalent stiffness of the nonlinear mechanism 203 is lower than the optimal stiffness, the rotation angle and rotation time of the stepper motor 201 are controlled by outputting square wave signals to the stepper motor 201, and then the transverse spring 403 is compressed by driving the turntable 502 to rotate; if the dot product value is equal to zero, it indicates that the vibration phase of the vibration source is 90 degrees out of phase with the vibration phase of the non-linear mechanism 203, i.e. the vibration source is orthogonal to the movement of the non-linear mechanism 203. At this time, the vibration control effect of the nonlinear mechanism 203 is optimized, and at this time, it is in an ideal state, and it is unnecessary to drive the stepping motor 201 to stretch or compress the lateral spring 403. In other embodiments, the dot product value may be compared to a predetermined threshold interval around a zero value. I.e. if the dot product value is within said threshold interval, the stepper motor 201 need not be driven to extend or compress the transverse spring 403; if the dot product value is greater than the upper limit of the threshold interval, the stepping motor 201 is driven to stretch the transverse spring 403; if the dot product value is less than the lower limit of the threshold interval, the stepping motor 201 is driven to compress the transverse spring 403.
So far, the control process of the current period is completed, the next period is entered, and the control process is repeated.
The elastic device of the invention can be applied to vibration absorbers, vibration isolators and vibration energy collectors. A vibration absorber refers to a device that absorbs vibration energy of an object using a resonance system to reduce vibration of a vibration source. The principle is that a mass spring resonance system is added on the vibration source, and the reaction force generated by the resonance system when resonating reduces the vibration level of the vibration source. The vibration isolator is an elastic element that connects between the vibration source and other components to reduce and eliminate the vibrational forces transmitted by the vibration source to the other components. The vibration isolator has the working mechanism that the vibration of a vibration source is transmitted to the vibration isolator, and the vibration isolator has certain elasticity and damping and can absorb and dissipate a part of vibration energy. The vibration absorber type vibration energy collector can realize energy collection by arranging a plurality of vibration energy conversion units, such as an electromagnet-coil structure, a piezoelectric sheet and the like, in a spring mass system. The vibration isolator type vibration energy collector is characterized in that a plurality of vibration energy conversion units, such as an electromagnet-coil structure, a piezoelectric sheet and the like, are arranged at the vibration isolator type vibration energy collector, so that energy collection can be realized.
When the connection between the vertical elastic unit 303 and the vibration source is elastic connection, the elastic device forms the vibration absorber of the present invention; when the connection of the vertical elastic unit 303 to the vibration source is a rigid connection, then the elastic means constitute the vibration isolator of the present invention.
Fig. 9 shows the test results of the elastic device of the present invention. Wherein the "concentrated mass displacement" on the abscissa is the displacement u of the mass 102 in the mechanical model analysis N The ordinate "mechanism restoring force" is the restoring force F in the vertical direction of the nonlinear mechanism in the mechanical model analysis V . The solid line curve in fig. 9 represents the actual test result of the nonlinear mechanism restoring force, and the broken line curve represents the theoretical value of the nonlinear mechanism restoring force calculated by the formula in the foregoing mechanical model analysis. The test conditions corresponding to the test results of fig. 9 are: the initial length of the transverse spring was 30.1mm, the transverse spring rate was 1228.5N/m, and the vertical spring rate was 631.7N/m. From fig. 9, it can be verified that the two sets of curves are well matched, the maximum error between theory and test is not more than 5%, and the actual running result of the elastic device of the invention is highly matched with the theoretical value.
Fig. 10 shows the results of the restoring force of the nonlinear mechanism obtained by the test at different initial lengths of the transverse springs. Curves 1, 2, 3, 4, 5 represent the restoring forces of the nonlinear mechanism at initial lengths of the transverse springs of 28.0mm,27.8mm,27.5mm,27.2mm,26.7mm, respectively. The test conditions corresponding to the test results of fig. 10 are: the initial length of the transverse spring was 30.1mm, the transverse spring rate was 1228.5N/m, and the vertical spring rate was 631.7N/m. The different initial lengths of the transverse springs can be obtained by: the stepping motor is controlled to drive the turntable to rotate, so that the sliding block is driven to slide along the centripetal constraint guide rail to stretch or compress the transverse spring. As can be seen from fig. 10, the nonlinear effect of the nonlinear mechanism restoring force gradually increases when the initial length of the transverse spring gradually decreases from 28.0mm to 26.7 mm. The restoring force curve of the nonlinear mechanism has the characteristic of quasi-zero stiffness when the restoring force curve of the nonlinear mechanism is 26.7 mm; the restoring force of the nonlinear mechanism has the characteristic of positive cubic rigidity at 26.7 mm-27.8 mm; the restoring force of the nonlinear mechanism at 28.0mm mainly represents a linear characteristic. The result of fig. 10 shows that the elastic device of the present invention can have a wide adjustment range, so as to meet the operation requirements of high-power, complex-operation-condition and high-precision mechanical equipment.
It should be noted that the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the present invention can be replaced by equivalent technology. It is intended that all equivalent variations in the description and illustrations of the invention, or the direct or indirect application to other relevant art, be included within the scope of the invention.
Claims (14)
1. Elastic device, its characterized in that: the vertical elastic unit comprises a vertical spring, and the axis of the vertical spring is intersected with the axis of the vertical spring; the first end of the transverse elastic unit is connected with the vertical elastic unit, and the transverse elastic units are radially distributed along the transverse direction by taking the vertical elastic unit as the center; the vertical elastic unit is arranged on the upper surface of the lower frame; the sliding block unit comprises a sliding block, the sliding block guide rail unit comprises a sliding block guide rail, and the track of the sliding block guide rail comprises an Archimedean spiral; the sliding block is arranged on the sliding block guide rail; the second end of the transverse elastic unit is connected with the sliding block unit; the sliding block guide rail unit comprises a rotary table, the sliding block guide rail is arranged on the rotary table, and the rotation center of the rotary table coincides with the center point of the Archimedes spiral.
2. The spring device of claim 1, wherein: the rotary table also comprises a transmission mechanism and a power source, wherein the transmission mechanism can drive the rotary table to rotate; the transmission mechanism is respectively connected with the turntable and the power source.
3. The spring device of claim 2, wherein: the power source includes a stepper motor.
4. The spring device of claim 1, wherein: the slide block guide rail unit comprises a centripetal constraint guide rail; the centripetal constraint guide rail comprises a linear guide rail, and the axis of the linear guide rail is intersected with the axis of the vertical spring; the sliding block is arranged on the centripetal constraint guide rail.
5. The spring device of claim 1, wherein: the transverse elastic unit comprises a first transverse spring base and a second transverse spring base which are arranged at two ends of the transverse spring; the first transverse spring base is hinged with the vertical elastic unit; the second transverse spring base is hinged with the slider unit.
6. The spring device of claim 5, wherein: the vertical elastic unit comprises a central bracket; one end of the vertical spring is connected with the central bracket; the first transverse spring base is hinged with the central support.
7. The spring device of claim 6, wherein: the guide rod penetrates through the center support in a sliding manner; the axis of the guide rod is parallel or coincident with the axis of the vertical spring.
8. The spring device of claim 1, wherein: the transverse spring units are symmetrically distributed by taking the axis of the vertical spring as the center.
9. The spring device of claim 1, wherein: the number of transverse spring units comprises 4.
10. Method for controlling an elastic device according to one of claims 1 to 9, characterized in that: the method comprises the following steps:
A. obtaining acceleration, velocity or displacement signals x of the vibration source during a measurement period T 1 (t)；
B. Acquiring acceleration, velocity or displacement signals x within a measurement period T of the elastic device 2 (t)；
C. The dot product value is calculated according to the following formula:
D. stretching the transverse spring when the dot product value is greater than a zero value or a threshold interval in which the zero value is located; the transverse spring is compressed when the dot product value is less than a zero value or a threshold interval in which the zero value is located.
11. The control method according to claim 10, characterized in that: stretching the transverse spring or compressing the transverse spring is achieved by rotating the turntable.
12. Shock absorber, its characterized in that: comprising an elastic device according to one of claims 1 to 9.
13. Vibration isolator, its characterized in that: comprising an elastic device according to one of claims 1 to 9.
14. Vibration energy harvester, its characterized in that: comprising an elastic device according to one of claims 1 to 9.
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