A large-power rotary multi-dimensional micro-vibration suppression device

Abstract

A large-power rotary multi-dimensional micro-vibration suppression device is used for suppressing a load, and the device comprises an upper table for supporting the load, a lower table for fixing the device and arranged in correspondence with the upper table, a spherical hinge support connecting the upper table and the lower table, and a plurality of vibration suppression assemblies arranged on the lower table in a circle around the spherical hinge support, wherein each of the vibration suppression assemblies is connected to the upper table at the other end, so that the load can be suppressed by driving the upper table to displace when the load vibrates. The vibration suppression device has the characteristics of compact structure, large power, good load capacity and multi-dimensional vibration suppression, and can be widely applied to the field of vibration suppression in aerospace and the like.

Description

Technical Field

[0001] This invention relates to a vibration suppression device, and more particularly to a high-output rotary multidimensional micro-vibration suppression device. Background Technology

[0002] Micro-vibrations are widespread in many scenarios in the aerospace field and can have a detrimental impact on the pointing accuracy and stability of spacecraft. During spacecraft operation in orbit, accessories such as truss antennas, solar panels, and solar panels can generate micro-vibrations under non-uniform thermal loads, often manifesting as bending vibrations. With the increasing size of accessories such as truss antennas (reaching the hundreds of meters in scale), the mass and inertial forces of these accessories have also increased dramatically, placing higher demands on the load-bearing capacity and output force of vibration damping devices.

[0003] Parallel mechanisms integrating intelligent actuators (such as piezoelectric actuators, voice coil motors, and magnetorheological dampers) are widely used in vibration control due to their high load-bearing capacity, high control precision, and fast response speed. Typical six-degree-of-freedom parallel mechanisms, such as the Stewart platform, can suppress vibrations in multiple directions, including translational vibrations in three directions and rotational vibrations around three directions. However, this type of parallel structure is relatively complex, and there is usually strong coupling between the branches, leading to relatively complex dynamic calculations and vibration control algorithm design, which in turn affects the vibration suppression effect. Furthermore, spaceborne attachments typically exhibit bending vibrations, with lower requirements for vibration suppression in the translational direction. The aerospace field has extremely high requirements for the mass of devices; therefore, it is necessary to invent a parallel vibration suppression device with a more compact structure and weaker coupling between branches.

[0004] In terms of intelligent actuators, piezoelectric actuators offer relatively high output force, but their output displacement is only on the order of micrometers, making it difficult to meet the vibration suppression requirements for scenarios with large vibration magnitudes. Voice coil motors can achieve output displacement on the order of millimeters, but their output force is relatively small, making it difficult to meet vibration suppression requirements under heavy loads when used alone. Therefore, it is necessary to design a force amplification mechanism to amplify the output force of the voice coil motor, coordinating the overall performance of output displacement and output force to meet the vibration suppression requirements under heavy load conditions. Summary of the Invention

[0005] The purpose of this invention is to provide a high-output rotary multidimensional micro-vibration suppression device, which has the advantage of vibration suppression.

[0006] To achieve the above objectives, the present invention provides a high-output rotary multidimensional micro-vibration suppression device for suppressing vibration loads. The suppression device includes: an upper platform for supporting the load; a lower platform for fixing the suppression device and correspondingly arranged with respect to the upper platform; a ball joint support connecting the upper platform and the lower platform; and a plurality of vibration suppression components arranged around the ball joint support on the lower platform. The other end of each vibration suppression component is connected to the upper platform, and when the load vibrates, it drives the upper platform to displace, thereby suppressing the vibration load.

[0007] Preferably, any of the vibration damping components includes: a guide rail, horizontally disposed on the lower platform; a slide table, disposed within the guide rail and movable along the guide rail; an amplification mechanism, fixedly disposed on the slide table and connected to the upper platform; and a voice coil motor, fixedly disposed on the lower platform, connected to the amplification mechanism, and connected to an external control system. The external control system can adjust the conductivity of the voice coil motor to apply the required force to the amplification mechanism, thereby driving the slide table to move horizontally within the guide rail and displacing the upper platform.

[0008] Preferably, the voice coil motor includes: a mover and a stator that are not connected to each other; the mover is connected to the amplification mechanism; the stator is fixedly connected to the lower platform; wherein, the stator generates a magnetic field, the mover is a permanent magnet, and after the mover is energized, the conductivity of the mover is controlled by an external control system to apply the required force to the amplification mechanism.

[0009] Preferably, the amplification mechanism includes: a wedge, the first end face of which is connected to the mover of the voice coil motor, and the second end face of which is connected to the slide table, the second end face and the third end face of the wedge forming an angle; a radial bearing, the outer ring of which is connected to the third end face of the wedge; and a cylindrical pin, one end of which is connected to the outer ring of the radial bearing, and the other end of which is connected to the upper table surface.

[0010] Preferably, the plurality of vibration damping components are evenly arranged in a circle around the ball joint support at equal intervals.

[0011] Preferably, the angle formed by the second end face and the third end face of the wedge is an acute angle.

[0012] Preferably, a rubber pad is also provided inside the voice coil motor; the rubber pad is installed between the mover and the stator.

[0013] Preferably, a motor support is provided between the voice coil motor and the lower platform; one end of the motor support is connected to the lower platform, and the other end is connected to the voice coil motor.

[0014] Preferably, the angle between the second and third end faces of the wedge is adjusted to amplify and redirect the output force of the voice coil motor to the amplification mechanism; and / or the type of rubber pad is adjusted to meet the vibration damping requirements in different scenarios; and / or the conductivity of the mover is controlled by adjusting the external control system to meet the vibration damping requirements in different scenarios; and / or the magnitude of the force exerted by the wedge on the upper platform through the radial bearing and cylindrical pin is adjusted by adjusting the connection position between the cylindrical pin and the outer ring of the radial bearing.

[0015] Preferably, the rubber pad is of the type selected from polyurethane rubber, vulcanized rubber, and natural rubber. In summary, compared with the prior art, the present invention has the following superior effects:

[0016] First, this invention integrates a voice coil motor and an amplification mechanism, which, through the cooperation of a wedge block and a radial bearing, ingeniously amplifies and directs the force of the voice coil motor simultaneously, balancing the output force and output displacement accuracy of the voice coil motor. This makes it very suitable for scenarios such as micro-vibration suppression under heavy loads.

[0017] Secondly, the present invention can adjust the included angle of the wedge according to actual usage requirements to provide different amplification ratios, thereby adapting to vibration suppression requirements in different scenarios.

[0018] Third, the present invention converts the linear motion of the voice coil motor into the rotation of the upper platform through the combined action of the wedge block and the ball joint support, thereby realizing the conversion of the motion form and thus suppressing rotational micro-vibrations.

[0019] Fourth, this invention improves load-bearing capacity through modular design, facilitating overall disassembly and replacement. It can be driven in multiple directions, providing multi-dimensional vibration damping effects.

[0020] Fifth, this invention provides stiffness to the entire device and maintains its balance by installing a rubber pad between the stator and mover of the voice coil motor. The rubber pad has certain damping characteristics, which can provide a certain vibration damping effect while actively damping vibrations. By adjusting the rubber pad, the stiffness and damping characteristics of the device can be adjusted to meet the micro-vibration damping requirements in different scenarios.

[0021] Sixth, compared with the current parallel mechanism, the present invention does not have the coupling effect between the support structure, which reduces the decoupling requirements of the control operation and facilitates the improvement of control operation speed and control accuracy. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a high-output rotary multidimensional micro-vibration suppression device according to the present invention.

[0023] Figure 2 This is a top view of a high-output rotary multidimensional micro-vibration suppression device according to the present invention.

[0024] Figure 3 This is a front view of a high-output rotary multidimensional micro-vibration suppression device according to the present invention.

[0025] Figure 4 This is a schematic diagram of the support structure of the present invention.

[0026] Figure 5 This is a schematic diagram of the amplification mechanism of the present invention.

[0027] Figure 6 This is a schematic diagram of the voice coil motor of the present invention.

[0028] Figure label:

[0029] 1-Upper table, 2-Amplification mechanism, 3-Voice coil motor, 4-Motor support, 5-Slide table, 6-Guide rail, 7-Lower table, 8-Spherical joint support, 9-Wedge block, 10-Radial bearing, 11-Cylindrical pin, 12-Rubber pad, 13-Motor, 14-Stator. Detailed Implementation

[0030] The following will be combined with the appendix in the embodiments of the present invention. Figure 1 ~Attached Figure 6 The technical solutions, structural features, objectives and effects achieved in the embodiments of the present invention will be described in detail.

[0031] It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions. They are only used to facilitate and clarify the purpose of illustrating the embodiments of the present invention, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationship, or adjustments to the size should still fall within the scope of the technical content disclosed in the present invention, provided that they do not affect the effects and objectives that the present invention can produce.

[0032] It should be noted that, in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only the expressly listed elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0033] like Figures 1-5 This invention provides a high-output rotary multidimensional micro-vibration suppression device for vibration-damping loads, comprising:

[0034] The support structure consists of an upper platform 1, a lower platform 7, and a ball joint support 8. The upper platform 1 supports the load, and the lower platform 7 fixes the suppression device. The upper platform 1 and the lower platform 7 are correspondingly arranged and connected by the ball joint support 8. Here, "correspondingly arranged" generally refers to having the same shape, size, and dimensions. The two ends of the ball joint support 8 are respectively connected to the center of the upper platform 1 and the center of the lower platform 7.

[0035] Several vibration damping components are arranged around the ball joint support 8 on the lower platform 7. The other end of the vibration damping components is connected to the upper platform 1. When the load vibrates, the vibration damping components can offset the load vibration by driving the upper platform 1 to move.

[0036] Specifically, such as Figure 1 , Figure 3 and Figure 5 As shown, any of the vibration damping components includes:

[0037] Guide rail 6 is horizontally set on the lower platform 7.

[0038] The slide 5 is embedded in the guide rail 6 and can move horizontally within the guide rail 6.

[0039] The magnification mechanism 2 is fixedly mounted on the slide table 5 and connected to the upper table surface 1.

[0040] The voice coil motor 3 is fixedly mounted on the lower platform 7, connected to the amplification mechanism 2, and connected to the external control system. When the voice coil motor 3 is energized, it can apply a force to the amplification mechanism 2. After the amplification mechanism 2 is subjected to the force, it can drive the slide 5 to move horizontally within the guide rail 6, thereby causing the upper platform 1 to move. In actual operation, the conductivity (current, voltage, and other parameters) of the voice coil motor 3 can be adjusted through the external control system to apply the required force to the amplification mechanism 2.

[0041] Specifically, such as Figure 6 As shown, the voice coil motor 3 has a mover 13 and a stator 14 that are connected to each other without contact. The mover 13 is connected to the amplification mechanism 2, and the stator 14 is fixedly connected to the lower platform 7. The stator 14 is a coil that generates a magnetic field. The mover 13 is a permanent magnet and is connected to an external control system. The mover 13 can be energized, and the conductivity of the mover 13 can be controlled by the external control system to adjust the force on the amplification mechanism 2.

[0042] like Figure 5 As shown, the amplification mechanism 2 includes a wedge block 9, a radial bearing 10, and a cylindrical pin 11.

[0043] The first end face of the wedge 9 is connected to the mover 13 in the voice coil motor 3, and the second end face is connected to the slide table 5. The angle formed by the second end face and the third end face of the wedge 9 is an acute angle, which can achieve a better connection effect. The outer ring of the radial bearing 10 is connected to the third end face of the wedge 9. The cylindrical pin 11 is connected to the outer ring of the radial bearing 10 at one end and to the upper platform 1 at the other end. The connection position between the cylindrical pin 11 and the outer ring of the radial bearing 10 is not limited, as long as the mover 13 in the voice coil motor 3 can push the wedge 9, and then drive the upper platform 1 to move through the radial bearing 10 and the cylindrical pin 11.

[0044] In a preferred embodiment, the plurality of vibration damping components are evenly arranged in a circle around the ball joint support 8 at equal intervals.

[0045] In a preferred embodiment, to better mount the voice coil motor 3 onto the lower platform 7, a motor support 4 is provided on the contact surface between the stator 14 of the voice coil motor 3 and the lower platform 7; in this case, the voice coil motor 3 is not directly mounted on the lower platform 7. One end of the motor support 4 is connected to the lower platform 7, and the other end is connected to the stator 14 of the voice coil motor 3, achieving a more stable fixation of the voice coil motor 3.

[0046] like Figure 6 As shown, in a preferred embodiment of the present invention, a rubber pad 12 is also provided inside the voice coil motor 3. The rubber pad 12 is installed between the mover 13 and the stator 14 of the voice coil motor 3 to provide better stiffness and damping when the voice coil motor 3 is working.

[0047] Regarding the question of how to adjust the vibration suppression device, the following methods are listed here, but in actual operation, it is not limited to the following methods.

[0048] First, adjust the angle between the second and third end faces of the wedge 9. That is, use wedges 9 of different shapes to adapt to the vibration damping requirements in different scenarios. The principle is that by adjusting the angle between the second and third end faces of the wedge 9, the output force of the voice coil motor 3 can be amplified and redirected. The smaller the angle, the greater the amplification ratio.

[0049] Second, by adjusting the type of rubber pad 12, vibration damping requirements can be adapted to different scenarios. For example, polyurethane rubber, vulcanized rubber, and natural rubber can be used. Specific applications are as follows: for low-frequency vibration damping, natural rubber with higher damping can be used; for wide-frequency vibration damping, polyurethane rubber with moderate damping can be used; and for heavy-load vibration damping, vulcanized rubber with higher stiffness can be used.

[0050] Third, by designing control algorithms, the electrical charge on the actuator 13 of the external control system is adjusted to adapt to the vibration suppression requirements in different scenarios.

[0051] Fourth, by adjusting the connection position between the cylindrical pin 11 and the outer ring of the radial bearing 10, the magnitude of the force exerted by the wedge block 9 on the upper platform 1 through the radial bearing 10 and the cylindrical pin 11 can be adjusted.

[0052] Of course, there are no restrictions on the combination of adjustment methods here. One method or a combination of several methods can be used to maintain the load balance for vibration control and damping devices.

[0053] In a specific embodiment, the load is set on the upper platform 1. When the load vibrates due to external factors, the energization of the mover 13 is controlled by the external control system. Due to the presence of the stator 14, the mover 13 will generate a force on the wedge block 9 in the amplification mechanism 2. After the wedge block 9 is subjected to force, it will directly drive the slide table 5 to move horizontally on the guide rail 6 (in the specific embodiment, because the load will vibrate continuously, this displacement is a reciprocating motion) and drive the upper platform 1 to move through the radial bearing 10 and the cylindrical pin 11. At this time, the upper platform 1 will move within the allowable displacement range of the ball joint support 8, thereby offsetting the vibration generated by the load and achieving the vibration suppression effect.

[0054] like Figures 1-4 As shown, this is a specific embodiment of a high-output rotary multidimensional micro-vibration suppression device of the present invention. The vibration suppression device includes four vibration suppression components, namely four voice coil motors 3, four amplification mechanisms 2, four guide rails 6, and four slides 5, which are arranged in a circle around the ball joint support 8 on the lower platform 7.

[0055] The upper platform 1 is cross-shaped, and the lower platform 7 is correspondingly cross-shaped. The voice coil motor 3, amplification mechanism 2, guide rail 6 and slide 5 are respectively arranged on each side of the lower platform 7. The working mode of the present invention is as described above.

[0056] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A high-output rotary multidimensional micro-vibration suppression device, characterized in that, For damping vibration loads, the damping device includes: The upper platform (1) is used to support the load; The lower platform (7) is used to fix the suppression device and is set in correspondence with the upper platform (1); A ball joint support (8) connects the upper table surface (1) and the lower table surface (7); Several vibration damping components are arranged around the ball joint support (8) on the lower platform (7); The other end of each of the vibration damping components is connected to the upper platform (1). When the load vibrates, it drives the upper platform (1) to move, thereby damping the load. Any of the vibration damping components includes: The guide rail (6) is horizontally set on the lower platform (7); The slide (5) is set inside the guide rail (6) and can move along the guide rail (6); The amplification mechanism (2) is fixedly mounted on the slide (5) and connected to the upper table (1); The voice coil motor (3) is fixedly installed on the lower platform (7), connected to the amplification mechanism (2), and connected to the external control system. The conductivity of the voice coil motor (3) can be adjusted by the external control system to apply the required force to the amplification mechanism (2), drive the slide (5) to move horizontally in the guide rail (6), and drive the upper platform (1) to move.

2. The high-output rotary multidimensional micro-vibration suppression device according to claim 1, characterized in that, The voice coil motor (3) includes a mover (13) and a stator (14) that are connected to each other without contact. The mover (13) is connected to the amplification mechanism (2); The stator (14) is fixedly connected to the lower platform; Among them, the stator (14) generates a magnetic field, and the mover (13) is a permanent magnet. After the mover (13) is energized, the conductivity of the mover (13) is controlled by the external control system, and the required force is applied to the amplification mechanism (2).

3. The high-output rotary multidimensional micro-vibration suppression device according to claim 2, characterized in that, The amplification mechanism (2) includes: The wedge (9) has its first end face connected to the mover (13) of the voice coil motor (3) and its second end face connected to the slide (5). The second end face and the third end face of the wedge (9) form an angle. A radial bearing (10) is provided, and the outer ring of the radial bearing (10) is connected to the third end face of the wedge block (9). The cylindrical pin (11) is connected at one end to the outer ring of the radial bearing (10) and at the other end to the upper platform (1).

4. The high-output rotary multidimensional micro-vibration suppression device according to claim 3, characterized in that, The vibration damping components are evenly arranged in a circle around the ball joint support (8) at equal intervals.

5. The high-output rotary multidimensional micro-vibration suppression device according to claim 3, characterized in that, The angle formed between the second end face and the third end face of the wedge (9) is an acute angle.

6. The high-output rotary multidimensional micro-vibration suppression device according to claim 3, characterized in that, The voice coil motor (3) also has a rubber pad (12) inside. The rubber pad (12) is installed between the mover (13) and the stator (14).

7. The high-output rotary multidimensional micro-vibration suppression device according to claim 3, characterized in that, A motor support (4) is also provided between the voice coil motor (3) and the lower platform (7) connecting contact surface; The motor support (4) is connected to the lower platform (7) at one end and to the voice coil motor (3) at the other end.

8. A high-output rotary multidimensional micro-vibration suppression device according to claim 3, characterized in that, Adjusting the angle between the second and third end faces of the wedge (9) amplifies and redirects the output force of the voice coil motor (3) to the amplification mechanism (2); and / or By adjusting the type of rubber pad (12), vibration damping requirements can be met in different scenarios; and / or The conductivity of the mover (13) is controlled by adjusting the external control system to meet the vibration damping requirements in different scenarios; and / or By adjusting the connection position between the cylindrical pin (11) and the outer ring of the radial bearing (10), the magnitude of the force exerted by the wedge block (9) on the upper platform (1) through the radial bearing (10) and the cylindrical pin (11) can be adjusted.

9. A high-output rotary multidimensional micro-vibration suppression device according to claim 8, characterized in that, The type of rubber pad (12) includes any one of polyurethane rubber, vulcanized rubber, and natural rubber.

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