CN117703998A - Quasi-static support unit, design method thereof and six-degree-of-freedom quasi-static platform - Google Patents
Quasi-static support unit, design method thereof and six-degree-of-freedom quasi-static platform Download PDFInfo
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Abstract
The invention belongs to the field of equipment vibration reduction and buffer control, and relates to a quasi-static support unit, a design method thereof and a six-degree-of-freedom quasi-static platform, wherein the quasi-static support unit comprises: the device comprises a shell, two electromagnetic spring snap springs, a middle shaft, a movable iron core, two electromagnetic springs, two linear bearings, two spiral springs and two spherical hinging mechanisms, wherein one side of the electromagnetic springs close to the movable iron core is fixed through a step in the shell, and one side of the electromagnetic springs far away from the movable iron core is fixed through the electromagnetic spring snap springs; the coil spring is in a compressed state when being installed, one end of the coil spring is attached to the movable iron core, and the other end of the coil spring is tightly pressed with the linear bearing. The spherical hinge seat at one end of each quasi-static support unit of the six-degree-of-freedom quasi-static platform is connected with the lower end of the top platform, and the spherical hinge seat at the other end is connected with the upper end of the bottom platform. The invention is used for solving the problems of equipment vibration amplification, high impact transmissibility, difficult realization of multiple degrees of freedom of a quasi-static platform and the like in an unsteady state environment, and meets the vibration reduction and impact resistance requirements of precision equipment.
Description
Technical Field
The invention belongs to the field of equipment vibration reduction and buffer control, and relates to a quasi-static support unit, a design method thereof and a six-degree-of-freedom quasi-static platform.
Background
The precise reinforcement equipment is in a severe environment with high vibration and strong impact, and the vibration reduction and buffer design of the equipment is a particularly important technical link in the product design stage. Along with the development of equipment to precision and integration and the increasing demands on localization of components, the problem that the vibration resistance level of the low-frequency band of the equipment is not high is amplified in the field of precision reinforcement. The main measures of vibration reduction and buffering of the equipment at the present stage are that a vibration absorber is applied and an impact-resistant seat is used, and certain effects are achieved, and certain defects exist in the measures: when the frequency ratio is greater thanWhen the frequency ratio is smaller than the value, the vibration isolator can amplify the vibration source energy; the use of an impact socket is effective in dissipating impact energy, but is extremely unstable under vibration conditions, and typically severe vibration amplification will occur over the 50Hz frequency band.
The Chinese patent CN106402267A discloses a stretching type quasi-zero stiffness vibration isolator and a realization method thereof, wherein the vibration isolator is formed by connecting a negative stiffness mechanism in parallel with a positive stiffness main spring, wherein the negative stiffness mechanism consists of a stretching spring, a connecting rod, a sliding block and a guide rail, can generate negative stiffness in the vertical direction, can avoid the defect that a compression spring is unstable, and can ensure the bilateral symmetry of the structure during fine adjustment in the horizontal direction. The patent is characterized in that the negative rigidity is generated through structural parts, and the method has complex structure and difficult control of the negative rigidity.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, generate negative stiffness force through electromagnetic force, realize six-degree-of-freedom characteristics of a platform through a plurality of quasi-static supporting units (the six degrees of freedom are all quasi-static effects), and provide a quasi-static supporting unit which can provide a quasi-static installation environment for precision equipment and ensure that the equipment is in a static state under any vibration, impact and other environments, a design method thereof and a six-degree-of-freedom quasi-static platform.
The technical scheme adopted for solving the technical problems is as follows:
a first aspect of the present invention provides a quasi-static support unit comprising: the device comprises a shell, two electromagnetic spring clamp springs, a middle shaft, a movable iron core, two electromagnetic springs, two linear bearings, two spiral springs and two spherical hinging mechanisms.
The middle of the inside of the shell is provided with an inward raised step, and two sides of the inside of the shell are provided with annular grooves; the electromagnetic spring clamp springs are arranged in annular grooves on two sides of the inner part of the shell; the intermediate shaft is positioned on the central axis of the quasi-static support unit and extends out from one end of the shell; the movable iron core is positioned in the middle of the quasi-static supporting unit and is combined with the intermediate shaft into a whole; the electromagnetic spring is integrally formed by an electromagnetic coil and a magnetic core, the electromagnetic spring is positioned at two sides of the movable iron core, one side, close to the movable iron core, of the electromagnetic spring is fixed through a step in the shell, and one side, far away from the movable iron core, of the electromagnetic spring is fixed through an electromagnetic spring clamp spring; the linear bearing is sleeved on the intermediate shaft in a clearance fit mode, is respectively arranged on the top end cover and the bottom end cover through countersunk screws, and is respectively fixed at two ends of the shell through countersunk screws; the coil spring is in a compressed state when being installed, one end of the coil spring is attached to the movable iron core, and the other end of the coil spring is tightly pressed with the linear bearing; the ball joint mechanism is arranged at two ends of the quasi-static supporting unit, and the ball head of the ball joint mechanism is arranged between the ball joint upper cover and the ball joint seat.
A second aspect of the present invention provides a design method of a quasi-static support unit, including:
s1, determining the diameter of a quasi-static supporting unit, namely the area A of a movable iron core, the distance L of an electromagnetic spring, the number of turns N of a coil, the movement range h of the movable iron core and the basic structural parameters of the rigidity of a spiral spring according to the actual use environment;
s2, after basic structural parameters of the quasi-static supporting unit are determined, the two spiral springs are in series connection, thereby meeting the requirements ofThe stiffness k of the elastic system is obtained under the condition that the stiffness k of the two spiral springs is respectively 1 、k 2 The method comprises the steps of carrying out a first treatment on the surface of the The electromagnetic resultant force of the two electromagnetic springs, namely the difference value of the electromagnetic attraction force of the two electromagnetic springs is obtained by a Max Wei Cili calculation method, so that the electromagnetic resultant force and the elastic resultant force of the spiral springs are the same in size and opposite in direction, and the electromagnetic force and the elastic force can be mutually counteracted, namelyWherein k is the rigidity of the elastic system, N is the number of turns of the coil, A is the area of the movable iron core, L is the distance between electromagnetic springs, h is the movement range of the movable iron core, mu 0 When the resultant force of the system is zero, solving a theoretical current value i required by the system;
s3, creating a quasi-static supporting unit calculation model in electromagnetic force numerical calculation software ANSYS Maxwell, simplifying a three-dimensional structure into a 2D model, namely 1/2 radial sections, inputting electromagnetic spring parameters, structural parameters, material parameters and current values i calculated in S2, outputting electromagnetic force values of the quasi-static supporting unit, checking whether the calculated current values in S2 are correct or not, wherein the electromagnetic force values output in calculation cannot be larger than elastic force values, and if the difference value between the electromagnetic force and the elastic force exceeds 5% of the elastic force, adjusting the current values until the difference value reaches a standard range, and obtaining final design current values;
s4, an application software MATLAB creates a single-degree-of-freedom quasi-static supporting unit model, and electromagnetic force values and elastic force values are input to obtain the rigidity parameters of the quasi-static supporting unit.
The third aspect of the invention provides a six-degree-of-freedom quasi-static platform, which consists of a top platform, a plurality of quasi-static supporting units and a bottom platform, wherein a spherical hinge seat at one end of each quasi-static supporting unit is connected with the lower end of the top platform, and a spherical hinge seat at the other end is connected with the upper end of the bottom platform.
Further, the center of the spherical hinge seat at the upper end of the quasi-static support unit is distributed on the circle center of one circumference, the center of the spherical hinge seat at the lower end of the quasi-static support unit is distributed on the circle center of the other circumference, the connecting line of the two circle centers is along the vertical direction, and the diameter of the top platform is smaller than that of the bottom platform.
The invention has the advantages and positive effects that:
1. the core device of the invention is a coil spring and an electromagnetic spring, has no additional active control system, has high response speed and simple structure, and is suitable for any unstable state environment; the length size of the electromagnetic spring is increased by adopting a mode of combining the symmetrical electromagnetic spring and the spiral spring, and the effects of increasing the stroke and bearing of the supporting unit are realized;
2. the two end parts of the quasi-static support unit are in a spherical hinge mode, and multiple-degree-of-freedom motion can be realized when the platform is designed; the linear bearings at the two ends of the quasi-static support unit can ensure that the intermediate shaft smoothly reciprocates with small friction force, and the accuracy of current calculation can be improved;
3. the six-degree-of-freedom quasi-static platform is combined by the plurality of supporting units, and the overturning force can be effectively counteracted by adopting a tower type supporting mode; the weight of the upper panel of the platform is adjusted to adapt to equipment with different weights, so that the total weight of the equipment and the upper panel is kept unchanged, and the application range of the platform to equipment with different weights is widened; in addition, a ball hinging and tower type supporting mode is adopted, so that a quasi-static effect can be realized on six degrees of freedom, and the device is suitable for an unsteady state environment;
4. according to the six-degree-of-freedom quasi-static platform obtained by the invention, low-frequency vibration has no amplification phenomenon, the vibration reduction effect can reach 5dB at 5Hz, and the vibration reduction effect can reach 80dB at 60 Hz; in addition, the six-degree-of-freedom quasi-static platform has no special requirements on equipment, has strong adaptability, and can be applied to vibration damping and buffering designs of precise instruments with high requirements on environment, such as navigation, optics, and the like.
Drawings
FIG. 1 is an exploded view of a quasi-static support unit according to an embodiment of the present application;
FIG. 2 is a top view of a quasi-static support unit according to an embodiment of the present application;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a schematic diagram of a quasi-static support unit according to an embodiment of the present application;
FIG. 5 is a 2D calculation model of a quasi-static support unit in ANSYS Maxwell according to an embodiment of the present application;
FIG. 6 is a perspective view of a six degree-of-freedom quasi-static stage according to an embodiment of the present application;
FIG. 7 is a graph showing the comparison of the effects of the six-degree-of-freedom quasi-static stage according to the embodiment of the present application.
Wherein the above figures include the following reference numerals:
1: a housing; 1-1: a step; 2: an electromagnetic coil; 3: a magnetic core; 4: a coil spring; 5: a top end cap; 6: an intermediate shaft; 7: the ball is hinged with the upper cover; 8: a spherical hinge seat; 9: a ball-and-socket joint mechanism; 10: an electromagnetic spring clamp spring; 11: a linear bearing; 12: a movable iron core; 13: a bottom end cap; 14: a top platform; 15: a quasi-static support unit; 16: a bottom platform; 20: an electromagnetic spring.
Detailed Description
The invention is further illustrated by the following examples, which are intended to be illustrative only and not limiting in any way.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
1. Quasi-static support unit structure
As shown in fig. 1, the invention provides a quasi-static supporting unit, which consists of a shell 1, an electromagnetic spring 20, an electromagnetic coil 2, a magnetic core 3, a spiral spring 4, a top end cover 5, an intermediate shaft 6, a spherical hinge upper cover 7, a spherical hinge seat 8, a spherical hinge mechanism 9, an electromagnetic spring clamp spring 10, a linear bearing 11, a movable iron core 12 and a bottom end cover 13.
As shown in fig. 1-3, the electromagnetic coil 2 and the magnetic core 3 are combined into a whole to jointly form an electromagnetic spring 20, and the intermediate shaft 6 and the movable iron core 12 are combined into a whole to ensure synchronous movement of the intermediate shaft 6 and the movable iron core 12. Inside the quasi-static support unit, the movable iron core 12 is located in the middle of the quasi-static support unit; the two ends of the movable iron core 12 are provided with the electromagnetic springs 20, and enough space is reserved between the movable iron core 12 and the electromagnetic springs 20 to ensure that the movable iron core 12 cannot collide with the electromagnetic springs 20 when moving; annular grooves are formed in two sides of the interior of the shell, and electromagnetic spring clamp springs 10 are arranged in the annular grooves in two sides of the interior of the shell; when the electromagnetic spring 20 is installed, one side close to the movable iron core 12 is fixed through a step 1-1 in the shell 1, and one side far away from the movable iron core 12 is fixed through an electromagnetic spring clamp spring 10; when the coil spring 4 is installed, the coil spring is in a compressed state, one end of the coil spring is attached to the movable iron core 12, the other end of the coil spring is tightly pressed with the linear bearing 11, and the coil spring 4 is not separated from the movable iron core 12 when the movable iron core 12 is displaced; the two linear bearings 11 are respectively arranged on the top end cover 5 and the bottom end cover 13 through countersunk screws; the top end cover 5 and the bottom end cover 13 are respectively fixed at two ends of the shell 1 through countersunk screws; the ball joint mechanism 9 is arranged at two ends of the intermediate shaft 6, and the ball head is arranged between the ball joint upper cover 7 and the ball joint seat 8, so that multi-angle rotation can be realized. Because the axial distance of the quasi-static support unit is longer and the coil size of the electromagnetic spring 20 is not strictly limited, the invention can realize the effects of long stroke, large load force, quasi-static and the like.
2. Quasi-static support unit parameter design method and action principle
The invention provides a design method of a long-stroke and large-load force quasi-static support unit based on electromagnetic effect, which aims at achieving a quasi-static target and comprises the following steps: the quasi-static support unit adopts a symmetrical structure when in design, two ends are two electromagnetic springs (comprising an electromagnetic coil and a magnetic core, the electromagnetic force directions are the same), two helical springs in a compression state, the middle is a movable iron core made of permanent magnet materials, the intermediate shaft and the movable iron core are designed into an integrated structure, and the intermediate shaft is arranged on the shell through a linear bearing, so that the effect that the movable iron core and the intermediate shaft can synchronously axially slide is achieved. Because the design method increases the length of the electromagnetic spring, the stroke and the load of the electromagnetic spring are greatly improved.
The electromagnetic force and the elastic force are respectively acted on the movable iron core in the middle by the electromagnetic spring and the coil spring in a compressed state. When the movable iron core is positioned at the middle position, the resultant force of electromagnetic springs at two ends to the electromagnetic force is zero, the resultant force of spiral springs at two ends to the elastic force is zero, and the movable iron core is in a stress balance state; when the movable iron core deviates to one side, the electromagnetic force direction of the electromagnetic spring is the direction of the movable iron core deviation, the elastic force direction of the spiral spring is the opposite direction of the movable iron core deviation, and the electromagnetic force and the elastic force are mutually offset by reasonably setting the current parameters of the electromagnetic spring, so that the external combined force born by the system is zero, and the system is in a stable state.
The working principle of the quasi-static supporting unit is shown in fig. 4, the movable iron core and the intermediate shaft are connected into a whole, the intermediate shaft can synchronously move along with the movable iron core, the two ends of the movable iron core are helical springs in a compressed state, and the two ends of the quasi-static supporting unit are electromagnetic springs with the same direction and parameters.
The broken line in fig. 4 indicates a middle balance position, and under the action of gravity of the device, the movable iron core is in the middle balance position shown in fig. 4, namely, the middle position of the two electromagnetic springs, at the moment, the elasticity of the spiral springs and the gravity of the device are counteracted, the electromagnetic attraction force of the two electromagnetic springs to the movable iron core is the same in magnitude and opposite in direction, and the movable iron core is in a stress balance state.
Since the two helical springs are in series connection, there isThe stiffness of the elastic system is obtained, wherein the stiffness of the two spiral springs is k respectively 1 、k 2 . When the installation foundation is displaced and changed, the movable iron core deviates from the middle balance position, the elastic force of the spiral spring to the movable iron core is opposite to the electromagnetic force of the electromagnetic spring to the movable iron core, so that the electromagnetic force can offset part of the elastic force of the spiral spring, and if a proper current value is input, the electromagnetic resultant force can completely offset the elastic force of the spiral spring. In the early design stage of the quasi-static support unit, basic parameters such as the number of turns of the coil, the size of the dimension and the like of the quasi-static support unit are required to be set. The electromagnetic resultant force is equal to the elastic force of the spiral spring, namely +.>Wherein k is the rigidity of the elastic system, N is the number of turns of the coil, A is the area of the movable iron core, L is the distance between electromagnetic springs, h is the movement range of the movable iron core, mu 0 And when the resultant force of the system is zero, solving a theoretical current value i required by the equipment.
On the basis of obtaining a theoretical current value, an ANSYS Maxwell is required to be used for electromagnetic force calculation so as to correct the accuracy of the nuclear current value. Because the quasi-static support unit is of a central symmetry structure, the calculation model needs to be simplified into a 2D model, namely 1/2 radial sections (shown in fig. 5). If the electromagnetic force is different from the elastic force, the current value needs to be finely adjusted until the difference between the electromagnetic force and the elastic force is not more than 5% of the elastic force (the electromagnetic force is not more than the elastic force), the obtained current value is the designed current value, and under the action of the current, the electromagnetic resultant force can counteract the elastic force of the spiral spring.
The flow of the design method and the parameter solving flow are as follows:
s1, determining the diameter of a quasi-static supporting unit, namely the area A of a movable iron core, the distance L of an electromagnetic spring, the number of turns N of a coil, the movement range h of the movable iron core and the basic structural parameters of the rigidity of a spiral spring according to the actual use environment;
s2, after basic structural parameters of the quasi-static supporting unit are determined, the two spiral springs are in series connection, thereby meeting the requirements ofThe stiffness k of the elastic system is obtained under the condition that the stiffness k of the two spiral springs is respectively 1 、k 2 The method comprises the steps of carrying out a first treatment on the surface of the The electromagnetic resultant force of the two electromagnetic springs, namely the difference value of the electromagnetic attraction force of the two electromagnetic springs is obtained by a Max Wei Cili calculation method, so that the electromagnetic resultant force and the elastic resultant force of the spiral springs are the same in size and opposite in direction, and the electromagnetic force and the elastic force can be mutually counteracted, namelyWherein k is the rigidity of the elastic system, N is the number of turns of the coil, A is the area of the movable iron core, L is the distance between electromagnetic springs, h is the movement range of the movable iron core, mu 0 When the resultant force of the system is zero, solving a theoretical current value i required by the system;
s3, creating a quasi-static supporting unit calculation model in electromagnetic force numerical calculation software ANSYS Maxwell, simplifying a three-dimensional structure into a 2D model, namely 1/2 radial sections, inputting electromagnetic spring parameters, structural parameters, material parameters and current values i calculated in S2, outputting electromagnetic force values of the quasi-static supporting unit, checking whether the calculated current values in S2 are correct or not, wherein the electromagnetic force values output in calculation cannot be larger than elastic force values, and if the difference value between the electromagnetic force and the elastic force exceeds 5% of the elastic force, adjusting the current values until the difference value reaches a standard range, and obtaining final design current values;
s4, an application software MATLAB creates a single-degree-of-freedom quasi-static supporting unit model, and electromagnetic force values and elastic force values are input to obtain the rigidity parameters of the quasi-static supporting unit.
3. Six-degree-of-freedom quasi-static platform
The damping buffer structure with single degree of freedom is difficult to be independently applied to damping buffer design of equipment, and in engineering application, the damping unit has to be with three degrees of freedom or six degrees of freedom. The invention adopts the design method to obtain the single-degree-of-freedom quasi-static supporting unit, and on the basis, 6 quasi-static supporting unit units are combined by adopting a tower supporting mode and a spherical hinging technology, so that the six-degree-of-freedom quasi-static effect target is realized, and the protected equipment is in a static state at all times. The six-degree-of-freedom quasi-static platform is designed by the method, low-frequency vibration is free from amplification, the vibration reduction effect can reach 5dB at 5Hz, the vibration reduction effect can reach 80dB at 60Hz, and the multi-degree-of-freedom quasi-static effect can be realized. The six-degree-of-freedom quasi-static platform has the advantages that under the vibration condition, the fundamental frequency theory of protected equipment can be reduced to zero frequency, the full frequency band has no vibration amplification phenomenon, the six-degree-of-freedom quasi-static platform has vibration reduction and buffering effects, the equipment is guaranteed to be in a static state in unstable environments such as vibration and impact, and the six-degree-of-freedom quasi-static platform is suitable for vibration reduction and impact resistance design of precise equipment such as navigation, vehicle-mounted equipment and airborne equipment.
The design method of the six-degree-of-freedom quasi-static platform is based on the principle that an electromagnetic spring is introduced on the basis of an original elastic element to jointly form a supporting unit, the electromagnetic force of the electromagnetic spring is used for counteracting the elastic force generated by deformation of the elastic element, the effect that the resultant force at two ends of the supporting unit is kept unchanged when the elastic element is deformed is achieved, and on the basis, a tower type supporting mode and a spherical hinging technology are used for combining a plurality of supporting units to achieve a six-degree-of-freedom target, so that protected equipment is in a static state all the time. Aiming at the vibration reduction and buffering requirements of precision reinforcing equipment, the invention provides a six-degree-of-freedom quasi-static platform design method suitable for an unsteady state environment, and a six-degree-of-freedom quasi-static platform structure is designed by applying the method. The spiral spring and the symmetrical electromagnetic spring are combined, and the electromagnetic force of the symmetrical electromagnetic spring is applied to counteract the elastic force of the spiral spring, so that the quasi-static single-degree-of-freedom supporting unit is formed. Based on the combination of the static support units, the six-degree-of-freedom characteristics of the base are realized by adopting a tower support mode and a spherical hinge technology.
The six-degree-of-freedom quasi-static platform design method comprises the following steps:
1) Determining the basic size of a platform according to the actual parameters of the equipment (in the invention, the top platform and the bottom platform are both round);
2) Preferably, 6 quasi-static supporting units are selected, two by two are divided into three groups, the three groups are uniformly distributed, tower supporting design is carried out, the quasi-static supporting units incline inwards and can counteract lateral overturning force, and the connection modes of the quasi-static supporting units, the top platform and the bottom surface are all spherical hinges;
3) The top platform structure and the weight design, in the design process, top platform weight is adjustable, and the total weight of top platform and equipment needs to be matched with quasi-static supporting unit to reach under total weight (including equipment weight) effect, the movable iron core of quasi-static supporting unit is in the effect of intermediate balance position.
4) The quasi-static support unit is subjected to digital processing by using the COMBIN39 unit, and finite element software ANSYS is applied to calculate the vibration reduction effect of the platform and check the action effect of the platform.
The six-degree-of-freedom quasi-static platform is shown in fig. 6, and is composed of a top platform 14, a plurality of quasi-static supporting units 15 and a bottom platform 16, wherein the spherical hinge seat 8 at one end of each quasi-static supporting unit 15 is connected with the lower end of the top platform, and the spherical hinge seat 8 at the other end is connected with the upper end of the bottom platform. Preferably, 6 quasi-static supporting units are selected, two of the quasi-static supporting units 15 are divided into three groups, and in each group, the two quasi-static supporting units 15 incline inwards, and the three groups are uniformly distributed and are in tower type supporting: the center of the spherical hinge seat 8 at the upper end of the quasi-static support unit 15 is distributed on the center of one circumference, the center of the spherical hinge seat 8 at the lower end of the quasi-static support unit 15 is distributed on the center of the other circumference, the connecting line of the two centers is along the vertical direction, the diameter of the top platform 14 is smaller than that of the bottom platform 16, the tilting moment can be counteracted, and the stability of the platform is improved.
By applying the six-degree-of-freedom quasi-static platform, the six-degree-of-freedom characteristic of the base is realized, and the result shows that the platform has no amplification phenomenon in low-frequency vibration, the vibration reduction effect can reach 5dB at 5Hz and 80dB at 60Hz, and compared with the traditional mounting platform, the six-degree-of-freedom quasi-static platform has the advantages of being capable of realizing multiple degrees of freedom, being suitable for an unstable environment, having no amplification in vibration, achieving the quasi-static effect in the unstable environment and the like through numerical calculation, as shown in fig. 7.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that variations and modifications can be made without departing from the scope of the invention.
Claims (4)
1. A quasi-static support unit comprising:
a housing (1); the middle of the inside of the shell is provided with an inward-protruding step (1-1), and two sides of the inside of the shell are provided with annular grooves;
the two electromagnetic spring clamp springs (10), wherein the electromagnetic spring clamp springs (10) are arranged in annular grooves on two sides of the inner part of the shell;
the intermediate shaft (6) is positioned on the central axis of the quasi-static supporting unit and extends out of one end of the shell (1);
the movable iron core (12) is positioned in the middle of the quasi-static supporting unit and is combined with the intermediate shaft (6) into a whole;
the two electromagnetic springs (20), the electromagnetic springs (20) are integrally formed by the electromagnetic coil (2) and the magnetic core (3), the electromagnetic springs (20) are positioned at two sides of the movable iron core (12), one side, close to the movable iron core (12), of the electromagnetic springs (20) is fixed through a step (1-1) in the shell (1), and one side, far away from the movable iron core (12), is fixed through an electromagnetic spring clamp spring (10);
the two linear bearings (11) are sleeved on the intermediate shaft (6) in a clearance fit mode, the two linear bearings are respectively arranged on the top end cover (5) and the bottom end cover (13) through countersunk screws, and the top end cover (5) and the bottom end cover (13) are respectively fixed at two ends of the shell (1) through countersunk screws;
the two spiral springs (4) are in a compressed state when the spiral springs (4) are installed, one end of each spiral spring is attached to the movable iron core (12), and the other end of each spiral spring is tightly pressed against the linear bearing (11);
and the two spherical hinge mechanisms (9), the spherical hinge mechanisms (9) are arranged at two ends of the quasi-static supporting unit, and the ball heads of the spherical hinge mechanisms (9) are arranged between the spherical hinge upper cover (7) and the spherical hinge base (8).
2. A method of designing a quasi-static support unit, comprising:
s1, determining the diameter of a quasi-static supporting unit, namely the area A of a movable iron core, the distance L of an electromagnetic spring, the number of turns N of a coil, the movement range h of the movable iron core and the basic structural parameters of the rigidity of a spiral spring according to the actual use environment;
s2, after basic structural parameters of the quasi-static supporting unit are determined, the two spiral springs are in series connection, thereby meeting the requirements ofThe stiffness k of the elastic system is obtained under the condition that the stiffness k of the two spiral springs is respectively 1 、k 2 The method comprises the steps of carrying out a first treatment on the surface of the The electromagnetic resultant force of the two electromagnetic springs, namely the difference value of the electromagnetic attraction force of the two electromagnetic springs is obtained by a Max Wei Cili calculation method, so that the electromagnetic resultant force and the elastic resultant force of the spiral springs are the same in size and opposite in direction, and the electromagnetic force and the elastic force can be mutually counteracted, namelyWherein k is the rigidity of the elastic system, N is the number of turns of the coil, A is the area of the movable iron core, L is the distance between electromagnetic springs, h is the movement range of the movable iron core, mu 0 When the resultant force of the system is zero, solving a theoretical current value i required by the system;
s3, creating a quasi-static supporting unit calculation model in electromagnetic force numerical calculation software ANSYS Maxwell, simplifying a three-dimensional structure into a 2D model, namely 1/2 radial sections, inputting electromagnetic spring parameters, structural parameters, material parameters and current values i calculated in S2, outputting electromagnetic force values of the quasi-static supporting unit, checking whether the calculated current values in S2 are correct or not, wherein the electromagnetic force values output in calculation cannot be larger than elastic force values, and if the difference value between the electromagnetic force and the elastic force exceeds 5% of the elastic force, adjusting the current values until the difference value reaches a standard range, and obtaining final design current values;
s4, an application software MATLAB creates a single-degree-of-freedom quasi-static supporting unit model, and electromagnetic force values and elastic force values are input to obtain the rigidity parameters of the quasi-static supporting unit.
3. The six-degree-of-freedom quasi-static platform is characterized by comprising a top platform (14), a plurality of quasi-static supporting units (15) and a bottom platform (16), wherein a spherical hinge seat (8) at one end of each quasi-static supporting unit (15) is connected with the lower end of the top platform, and a spherical hinge seat (8) at the other end is connected with the upper end of the bottom platform.
4. A six degree of freedom quasi-static platform according to claim 3, characterized in that the centre of the spherical hinge seat (8) at the upper end of the quasi-static support unit (15) is distributed on the centre of a circle of one circumference, the centre of the spherical hinge seat (8) at the lower end of the quasi-static support unit (15) is distributed on the centre of the other circumference, the line connecting the two centres is in the vertical direction, and the diameter of the top platform (14) is smaller than the diameter of the bottom platform (16).
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