CN216382348U - Mechanical vibration damping mechanism and multi-degree-of-freedom vibration isolation device applying same - Google Patents
Mechanical vibration damping mechanism and multi-degree-of-freedom vibration isolation device applying same Download PDFInfo
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- CN216382348U CN216382348U CN202121908623.0U CN202121908623U CN216382348U CN 216382348 U CN216382348 U CN 216382348U CN 202121908623 U CN202121908623 U CN 202121908623U CN 216382348 U CN216382348 U CN 216382348U
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Abstract
The utility model discloses a mechanical vibration reduction mechanism and a multi-degree-of-freedom vibration isolation device using the same. The mechanical vibration reduction structure combines the characteristic of increasing the mass effect of the inerter with the characteristic of providing rigidity and damping effect and allowing large deformation of the corrugated pipe damper, has simple structure and low setting cost, and obviously improves the vibration reduction effect compared with the traditional damper.
Description
Technical Field
The utility model relates to the technical field of mechanical vibration reduction, in particular to a mechanical vibration reduction mechanism and a multi-degree-of-freedom vibration isolation device using the same.
Background
In the prior art, a passive six-degree-of-freedom platform consists of six supporting legs, six universal hinges respectively arranged at the upper part and the lower part, and an upper platform and a lower platform, wherein when the six supporting legs do telescopic motion, the upper platform moves in six degrees of freedom (X, Y, Z, alpha, beta and gamma) in space. When vibration is generated at the lower platform, the vibration is transmitted to the upper platform through the six legs having a vibration damping function.
The supporting leg structure generally adopted by the passive six-degree-of-freedom platform consists of a spring and a traditional hydraulic damper, and the damping performance is weak because the supporting leg structure only uses two elements of the spring and the damper, so that the damping performance of the whole platform is poor. The existing fluid damper is most common as a cylinder type hydraulic damper, and the cylinder type hydraulic damper has sliding fit of a piston and a cylinder barrel and sliding fit of a piston rod and an end cover, and a friction dead zone exists in the fit. When the vibration is small, the friction dead zone enables the originally designed vibration isolation frequency to move upwards, so that the vibration isolation effect is reduced; the micro-vibration isolation of the platform is very unfavorable, and meanwhile, a large error is caused to the vibration test of a large flexible structure.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model aims to provide a mechanical vibration reduction mechanism and a multi-degree-of-freedom vibration isolation device using the same, and solve the problem that the vibration reduction performance of the traditional mechanical vibration reduction mechanism is poor; the problem of current six degrees of freedom platform damping performance weak, can't satisfy higher operation requirement is solved, compare traditional passive six degrees of freedom platform damping performance and show the promotion, can compromise the vibration isolation effect of small amplitude vibration and the dissipation of impact load.
The mechanical vibration reduction mechanism comprises an inerter module and a corrugated pipe damping module which are coaxially connected in series, wherein the inerter module comprises an inerter, and the corrugated pipe damping module comprises a corrugated pipe damper.
As a preferable mode, the inerter module comprises a first spring, and the inerter is sleeved with the first spring.
Preferably, the corrugated pipe damper is internally preset with viscous damping fluid.
Preferably, the bellows damper is a two-chamber bellows damper.
As a preferred mode, the bellows damping module further comprises a second spring and a third spring, the third spring is installed at the first end of the bellows damper, and the second spring is sleeved outside the bellows damper.
According to the mechanical vibration reduction mechanism provided by the utility model, the inerter and the corrugated pipe damper which are coaxially connected in series are arranged, and the spring is arranged at a specific position for assisting, when the vibration reduction mechanism is subjected to large impact, the corrugated pipe damping module is not easy to generate plastic deformation like the traditional actuating cylinder type hydraulic damper, the corrugated pipe damping module plays a buffering role through self-allowed large deformation and the spring assistance, and meanwhile, the acceleration difference between two ends of the inerter is increased steeply, so that rapidly increased inertia force is generated, and the axial compression of the vibration reduction mechanism is hindered; the characteristic that the mass effect of the inerter is increased is combined with the characteristic that the corrugated pipe damper provides rigidity and damping effect and allows large deformation, compared with the traditional damper, the damper has the advantages that the damping effect is obviously improved, and meanwhile, the structure is simple and compact, the space adaptation degree is high, the use is flexible, and the setting cost and the maintenance cost are low.
A multi-degree-of-freedom vibration isolation device comprises a supporting leg mechanism, an object carrying platform and a base platform, wherein the supporting leg mechanism is a mechanical vibration reduction mechanism; the cargo platform with the basic platform passes through 6 landing leg mechanism connects, the upper end of landing leg mechanism with cargo platform is articulated, the lower extreme of landing leg mechanism with the basic platform is articulated.
Furthermore, 3 upper spherical hinge seats are uniformly distributed on the circumference of the bottom surface of the object carrying platform, and 6 lower spherical hinge seats are uniformly distributed on the circumference of the surface of the basic platform; the upper spherical hinge seat is provided with two upper spherical hinge interfaces, the lower spherical hinge seat is provided with a lower spherical hinge interface, the upper end of the supporting leg mechanism is provided with an upper spherical hinge which is connected with the upper spherical hinge seat, and the lower end of the supporting leg mechanism is provided with a lower spherical hinge which is connected with the lower spherical hinge seat.
Further, the distribution circumference of the upper spherical hinge seat is smaller than that of the lower spherical hinge seat.
Furthermore, the support leg mechanism further comprises a first hook hinge and a second hook hinge, wherein the first hook hinge is connected with the upper end of the support leg mechanism and the carrying platform, and the second hook hinge is connected with the lower end of the support leg mechanism and the base platform.
When the basic platform is excited by vibration, the vibration is transmitted to the object carrying platform through the 6 supporting leg mechanisms with the vibration reduction function. When the basic platform is impacted greatly, the corrugated pipe damper is not easy to generate plastic deformation like a shock absorber adopting a spring and traditional actuator cylinder type hydraulic damping, the damping effect is achieved through self-allowed large deformation and spring assistance, and meanwhile, the acceleration difference between two ends of the inerter is increased steeply, so that the rapidly increased inertial force is generated, and the movement of the loading platform is hindered. Therefore, the object platform has smaller vibration and more stable movement; the inertial container-corrugated pipe supporting legs of the auxiliary spring are embedded into different positions of the loading platform and the basic platform of the device to form a vibration damping structure, so that a better vibration damping function is provided; simultaneously, this structure effectively promotes the vibration control effect of this device on the basis of guaranteeing bearing capacity.
Drawings
FIG. 1 is a simplified model diagram of equivalent mechanics of a leg of a conventional passive six-DOF platform;
FIG. 2 is a cross-sectional view of a leg mechanism according to a first embodiment of the present invention;
fig. 3 is a schematic structural view of a multi-degree-of-freedom vibration isolation device according to a second embodiment of the present invention;
FIG. 4 is a simplified model diagram of an equivalent mechanics of the leg mechanism according to a third embodiment of the present invention;
fig. 5 is a schematic diagram of an equivalent mechanical simplified model of a support leg of a six-degree-of-freedom platform including an inertial volume module and a conventional actuator cylinder hydraulic damper.
Number and name in the figure: 1. the device comprises a loading platform 2, a base platform 3, an upper spherical hinge 4, a lower spherical hinge 5, an upper spherical hinge seat 6, a lower spherical hinge seat 7, a supporting leg mechanism 8, an inertial container 9, a first spring 10, a second spring 11, a corrugated pipe damper 12 and a third spring
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings.
Example one
A mechanical vibration reduction mechanism, refer to fig. 2, comprises an inerter module and a bellows damping module which are coaxially connected in series, wherein the inerter module comprises an inerter 8 and a spring, and the bellows damping module comprises a bellows damper 11 and a spring.
It should be noted that the inerter of this embodiment is a mechanical energy storage element, and its characteristics are: the force exerted at its ends is proportional to its relative acceleration and therefore corresponds to a mass element, so that the circuit synthesis theory can be completely transferred into a mechanical network. The inerter has wide application prospect, and has main functions of vibration absorption, suspension design, replacement mass and the like. Common applications of inertias are various mechanical systems for vibration mitigation, such as improved automotive suspension systems, high performance motorcycle steering compensators, train suspension lateral control, mitigation of liquid sloshing in liquid storage tanks, optical platform vibration suppression, and even aircraft landing gear. The inerter element can also be used effectively for passive vibration control of civil engineering structures, in particular as a vibration isolation device effective in increasing the mass effect in structural dynamics applications.
The corrugated pipe is a tubular elastic sensitive element formed by connecting foldable corrugated sheets along the folding and stretching direction, and can be used as a liquid container at the same time. The bellows damping module has the characteristics of providing both damping and stiffness while allowing for large deformations. The bellows type fluid damping vibration isolator of the embodiment has no matching auxiliary and friction dead zone, thereby having good micro-vibration isolation characteristic. Furthermore, the feature of the bellows that allows large deformations for large impact forces or sudden loads can be programmed to avoid plastic deformation of the spring in the case of spring dampers.
Furthermore, the inerter module in this embodiment includes an inerter 8 and a first spring 9, and the inerter 8 is sleeved with the first spring 9 to play a buffering role.
Further, the bellows damping module in this embodiment includes a bellows damper 11, a second spring 10, and a third spring 12, wherein the bellows damper 11 is pre-filled with a viscous damping fluid before use, and the viscous damping fluid can form a pre-pressure in a cavity of the bellows damper; the first end of the corrugated pipe damper 11 is connected with the inertial volume module, the first end of the corrugated pipe damper 11 is provided with a second spring 10, and the second spring 10 can adjust the rigidity and response speed of the second spring; a third spring 12 is sleeved outside the corrugated pipe damper 11, and the height of the third spring 12 is matched with that of the corrugated pipe damper 11; when the mechanical damping mechanism is compressed and shortened, the corrugated pipe and the third spring 12 outside the corrugated pipe are compressed, the pressure in the cavity is increased to a certain value, and effective buffering is formed. The mechanical vibration reduction mechanism is provided with the inertial container 8 and the corrugated pipe damper 11 which are coaxially connected in series, and the spring is arranged at a specific position for assistance, when the vibration reduction mechanism is subjected to large impact, the corrugated pipe damping module is not easy to generate plastic deformation like the traditional actuating cylinder type hydraulic damper, the corrugated pipe damping module plays a buffering role through large deformation allowed by the corrugated pipe damping module and the spring assistance, and meanwhile, the acceleration difference between two ends of the inertial container is increased steeply, so that rapidly increased inertial force is generated, and the axial compression of the vibration reduction mechanism is hindered; the characteristic that the mass effect of the inerter 8 is increased is combined with the characteristic that the corrugated pipe damper 11 provides rigidity and damping effect and allows large deformation, so that compared with the traditional damper, the damping effect is obviously improved, and meanwhile, the damper is simple and compact in structure, high in space adaptation degree, flexible to use, and low in setting cost and maintenance cost.
Example two
The embodiment provides a multiple-degree-of-freedom vibration isolation device, and referring to fig. 2 and fig. 3, the multiple-degree-of-freedom vibration isolation device includes a supporting leg mechanism 7, an object carrying platform 1 and a base platform 2, and the supporting leg mechanism 7 is applied with the mechanical vibration reduction mechanism of the first embodiment; cargo platform 1 and basic platform 2 are connected through 6 landing leg mechanisms 7, and landing leg mechanism 7's upper end is articulated with cargo platform 1, and landing leg mechanism 7's lower extreme is articulated with basic platform 2.
It should be noted that, in the preferred hinge mode of this embodiment, 3 upper spherical hinge seats 5 are uniformly distributed on the circumference of the bottom surface of the object platform 1, and 6 lower spherical hinge seats 6 adapted to the positions of the upper spherical hinge seats 5 are uniformly distributed on the circumference of the surface of the base platform 2; the upper spherical hinge seat 5 is provided with two upper spherical hinge interfaces, the lower spherical hinge seat 6 is provided with a lower spherical hinge interface, the upper end of the supporting leg mechanism 7 is provided with an upper spherical hinge 3 connected with the upper spherical hinge seat 5, and the lower end of the supporting leg mechanism 7 is provided with a lower spherical hinge 4 connected with the lower spherical hinge seat 6.
It is understood that, in other embodiments, the device may be hinged by other means, such as a hooke joint, specifically, the device includes a first hooke joint and a second hooke joint, the first hooke joint connects the upper end of the leg mechanism 7 and the object carrying platform 1, and the second hooke joint connects the lower end of the leg mechanism 7 and the base platform 2; in other embodiments, the manner of articulation should be determined by the environment in which the device is used.
Furthermore, the arrangement circumference of the upper spherical hinge seat 5 is smaller than that of the lower spherical hinge seat 6, namely the support leg mechanism 7 is obliquely arranged.
It should be noted that, in general, the inerter is used in connection with a ram-type hydraulic damper, which can only isolate axial vibration; the support leg mechanism 7 of the present embodiment combines the inertial container and the bellows, and provides multi-directional vibration reduction by combining a plurality of obliquely arranged support leg mechanisms 7 and the upper and lower platforms by using the characteristics of the bellows.
In the multi-degree-of-freedom vibration isolation device of the embodiment, when the base platform 2 is subjected to vibration excitation, vibration is transmitted to the object carrying platform 1 through the 6 supporting leg mechanisms 7 with the vibration reduction function. When the base platform 2 is subjected to large impact, the corrugated pipe damper 11 is not easy to generate plastic deformation like a shock absorber adopting a spring and traditional actuator cylinder type hydraulic damping, and plays a role in buffering through large deformation allowed by the damper and the assistance of the spring, and meanwhile, the acceleration difference between two ends of the inertial container is increased sharply, so that an inertia force which is increased rapidly is generated, and the movement of the loading platform 1 is blocked. Therefore, the object carrying platform 1 has smaller vibration and more stable movement; the inertial volume-corrugated pipe supporting legs of the auxiliary springs are embedded into the object carrying platform 1 and the basic platform 2 at different positions to form a vibration damping structure, so that a better vibration damping function is provided; simultaneously, this structure effectively promotes the vibration control effect of this device on the basis of guaranteeing bearing capacity.
EXAMPLE III
The embodiment provides a multi-degree-of-freedom vibration isolation system, which is applied to the multi-degree-of-freedom vibration isolation device of the second embodiment, wherein a first mass module is connected to an object carrying platform 1, and a base platform 2 is fixedly arranged on any plane or is connected with a second mass module.
The first mass module and the second mass module are determined according to the application of the vibration isolation device with multiple degrees of freedom, and the embodiment does not limit itself.
The system is based on the assumption that each supporting leg, load and base platform 2 are elastic bodies, the whole platform shown in fig. 3 is divided into three elastic substructures of a carrying platform 1, a supporting leg mechanism and a base platform 2, wherein the substructures of the carrying platform 1 comprise first mass modules.
And performing dynamic modeling on the vibration isolation platform by adopting an elastic substructure comprehensive method based on a transmission matrix.
The substructures of the objective platform 1 (marked as P) and the basic platform 2 (marked as B) are modeled respectively, and the transfer characteristics can be expressed as:
in the formula: h is the transfer matrix, x is the displacement vector, f is the node force vector, subscript i is the inner point (typically the outer excitation point or the interesting response point), and subscript c is the connection point.
According to the formula (1) and the formula (2), a frequency response function matrix of the whole system before the synthesis of the substructures can be obtained:
referring to fig. 4, a simplified mechanical model of the leg supporting mechanism 7, a calculation method of an internal force at a connection point of the inerter module and the bellows damping module is as follows:
wherein f is1Is the internal force f at the connecting point of the supporting leg and the carrying platform 12Is the internal force f at the connecting point of the supporting leg and the base platform 2mIs equivalent basic mass m of a supporting leg mechanism frame, an inertia container b and a first spring k1Internal forces at the connection points.
The impedance matrix of the present leg mechanism 7 can be expressed as:
r is a rotation matrix considering the installation angle of the vibration isolation device.
Wherein I is a unit matrix, r ═ rx ry rz]Is a unit rotation vector obtained by cross-multiplying the same vector before and after rotation, and theta is the included angle of the two vectors.
In order to meet the displacement coordination condition and the stress balance condition of the substructures of the object carrying platform 1 and the basic platform 2 at the connecting point, the following steps are carried out:
R＝TZ’T-1 (10)
as shown in fig. 4, the inerter 8 has an equivalent mass b, and the inerter 8 has a first spring rate k1The damping of the bellows damper 11 is c, and the equivalent parallel spring of the bellows damper 11Stiffness of k2The equivalent series spring rate of the bellows damper 11 is k3Then the vibration transfer function T of the single leg mechanism 71Is composed of
Referring to fig. 5, the support leg is composed of an inerter and a conventional actuator cylinder type hydraulic damper, the inerter equivalent mass is still set as b, and the stiffness of an auxiliary spring of the inerter is k1The rigidity of the conventional actuating cylinder type hydraulic damper is k2Damping is c, the vibration transfer function T of the single leg2Comprises the following steps:
referring to a mechanical simplified model of a typical supporting leg in a traditional passive six-degree-of-freedom platform shown in FIG. 1, the rigidity is assumed to be k2And c is damping, the vibration equation T of the supporting leg is3Comprises the following steps:
by comparison of T1、T2、T3Knowing the difference in transfer function, T1The two adjustable parameters are more than the other two adjustable parameters, so that the performance adjustment and optimization of the vibration isolation system are facilitated, and a better vibration damping effect can be realized.
It should be noted that, in this embodiment, the inerter and the first spring 9 are connected in parallel to form an inerter module, and the bellows damper 11 and the second spring 10 are connected in series and then connected in parallel with a third spring 12 to form a bellows damping module; for convenience of modeling calculation, the inertial container module is connected with the carrying platform 1, and the corrugated pipe damping module is connected with the basic platform 2; in other embodiments, the substitution of the two positions is not limited, and the calculation method can still be derived by referring to the above calculation method.
The multi-degree-of-freedom vibration isolation system of the embodiment establishes and deduces calculation methods such as a kinetic equation and the like based on the multi-degree-of-freedom vibration isolation device, the vibration equation comprises supporting leg transmission characteristics and impedance matrix deduction, guarantee is provided for application of the multi-degree-of-freedom vibration isolation system, meanwhile, accurate comparison with the existing six-degree-of-freedom platforms is achieved, and the multi-degree-of-freedom vibration isolation system is beneficial to achieving a better vibration reduction effect.
The above description is provided for the mechanical vibration damping mechanism and the multi-degree-of-freedom vibration isolation device using the same, and is used to facilitate understanding of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any changes, modifications, substitutions, combinations, and simplifications that do not depart from the principles of the present invention shall be equivalent replacements within the protection scope of the present invention.
Claims (8)
1. The utility model provides a mechanical vibration reduction mechanism, its characterized in that, mechanical vibration reduction mechanism includes coaxial series connection's the volume of being used to hold module and bellows damping module, it includes and is used to hold the module and hold container and spring to be used to, bellows damping module includes bellows attenuator and spring, bellows damping module still includes second spring and third spring, install the first end of bellows attenuator the third spring, the outside cover of bellows attenuator is equipped with the second spring.
2. The mechanical damping mechanism of claim 1, wherein the inerter module comprises a first spring, and the first spring is sleeved on the inerter.
3. A mechanical vibration reducing mechanism according to claim 1, wherein viscous damping fluid is preset in the bellows damper.
4. A mechanical vibration canceling mechanism according to claim 1, wherein said bellows damper is a two-chamber bellows damper.
5. A vibration isolation device with multiple degrees of freedom is characterized by comprising a supporting leg mechanism, an object carrying platform and a base platform, wherein the supporting leg mechanism is the mechanical vibration damping mechanism of any one of claims 1 to 4; the cargo platform with the basic platform passes through 6 landing leg mechanism connects, the upper end of landing leg mechanism with cargo platform is articulated, the lower extreme of landing leg mechanism with the basic platform is articulated.
6. The vibration isolation device with multiple degrees of freedom according to claim 5, wherein 3 sets of upper spherical hinge seats are uniformly distributed on the circumference of the bottom surface of the object carrying platform, and each upper spherical hinge seat comprises 6 spherical hinge joints, and 6 lower spherical hinge seats matched with the upper spherical hinge seats in position are uniformly distributed on the circumference of the surface of the base platform; an upper spherical hinge interface is arranged in the upper spherical hinge seat, a lower spherical hinge interface is arranged in the lower spherical hinge seat, the upper end of the supporting leg mechanism is connected with the upper spherical hinge seat, and the lower end of the supporting leg mechanism is connected with the lower spherical hinge seat.
7. The vibration isolation device with multiple degrees of freedom according to claim 6, wherein the circumferential diameter of the upper spherical hinge seat is smaller than the circumferential diameter of the lower spherical hinge seat.
8. The vibration isolation device with multiple degrees of freedom according to claim 5, further comprising a first hook joint and a second hook joint, wherein the first hook joint connects the upper end of the supporting leg mechanism and the loading platform, and the second hook joint connects the lower end of the supporting leg mechanism and the base platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121908623.0U CN216382348U (en) | 2021-08-15 | 2021-08-15 | Mechanical vibration damping mechanism and multi-degree-of-freedom vibration isolation device applying same |
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| CN202121908623.0U CN216382348U (en) | 2021-08-15 | 2021-08-15 | Mechanical vibration damping mechanism and multi-degree-of-freedom vibration isolation device applying same |
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