Magnetorheological multi-dimensional vibration isolator

Abstract

The invention discloses a magneto-rheological multi-dimensional vibration isolator, belongs to the field of intelligent vibration control, solves the problems that a traditional vibration isolator can only carry out vibration isolation in a single direction in a limited installation space and parameters cannot be adjusted, and comprises a shell, a rubber main spring, a spherical hinge piston, a cylinder barrel, a magnetic core assembly and a rubber bottom film. When relative movement occurs between a protected device connected with the vibration isolator and a vibration excitation object, the spherical hinge structure converts movement in all directions into vertical movement of the piston, so that magnetorheological fluid is pumped and flows through the magnetorheological fluid annular damping channel to generate damping; and the yield stress of the magnetorheological fluid in the magnetorheological fluid annular damping channel is changed by controlling the input current of the coil, so that the output of different damping forces is realized. The magneto-rheological damper, the rubber vibration isolator, the spherical hinge structure and the piston are organically combined, the structure is simple and compact, and excellent multi-dimensional vibration control, vibration isolation system parameter adjustability, wide-frequency-band vibration isolation and impact resistance are achieved.

Description

Technical Field

[0001] The invention belongs to the field of intelligent vibration control, and in particular relates to a magnetorheological multidimensional vibration isolator based on magnetorheological material. Background Art

[0002] Precision equipment on vehicles will be subject to vibration interference from all directions while the vehicle is driving, which will have a great impact on the performance and service life of the precision instruments. How to effectively reduce the response of precision equipment on vehicles when the vehicle is stimulated by the road surface and protect the long-term normal operation of precision equipment on vehicles is an important research topic in the field of vibration isolation.

[0003] At present, vibration isolation devices for vehicle-mounted equipment mostly use passive vibration isolators in the form of multi-layer superimposed vibration isolation, which is mainly made of flexible materials or simple mechanical mechanisms. The vibration isolator is installed at the contact point between the base of the equipment platform and the vehicle body. Its performance is mainly reflected in the stiffness and damping parameters, but the parameters cannot be adjusted once installed. With the passage of time or replacement of vehicle-mounted equipment, the vibration characteristics will change, and at this time the passive vibration isolator cannot respond to the adjustment of the stiffness and damping parameters. In addition, it is difficult to effectively isolate low-frequency vibrations using passive vibration isolation, and the use of multi-layer superimposed vibration isolation has a more complex structure and increases the weight of the equipment.

[0004] The excitation of the road surface on a vehicle is random, and the precision equipment on the vehicle will produce random vibration responses in all directions. The vibration isolators currently used or developed can usually only perform vibration isolation in a single direction. In addition, in actual use, the size of the vibration isolator is limited by the installation space. How to achieve multi-dimensional vibration isolation within the smallest envelope size has become a technical problem that needs to be solved urgently.

[0005] To solve the above problems, the present invention organically combines a magnetorheological semi-active suspension with controllable stiffness and damping parameters with a ball joint structure, draws on the advantages of the two technologies, and realizes multi-dimensional vibration control, adaptive adjustment of system parameters, wide-band vibration isolation and impact resistance. Summary of the invention

[0006] The present invention provides a magnetorheological multi-dimensional vibration isolator, the purpose of which is to solve the deficiencies of the prior art mentioned in the above background technology, to be able to perform vibration isolation more efficiently, to reduce the response to vibration excitation in multiple directions such as vertical and horizontal directions, to adjust its own damping parameters according to working conditions, to provide wide-band vibration isolation and transient impact protection, and to achieve multi-dimensional vibration isolation while having the advantages of strong stability, low power consumption, fast response speed and redundant protection of a semi-active system.

[0007] The technical solution for realizing the present invention is: a magnetorheological multi-dimensional vibration isolator, including a shell, a rubber main spring, a ball-jointed piston, a magnetic core assembly and a rubber bottom membrane, an opening is provided at the top of the shell, the rubber main spring is buckled with the shell to seal the opening at the top of the shell, the ball-jointed piston is located between the rubber main spring and the shell, the magnetic core assembly and the rubber bottom membrane are both arranged in the shell, and an exciting object is fixed on the bottom surface of the shell.

[0008] Compared with the prior art, the present invention has the following improvements:

[0009] 1) The present invention introduces a ball joint structure into the rubber vibration isolator, and realizes multi-dimensional relative motion between objects connected to the vibration isolator through the rotation of the upper and lower ball joints, thereby solving the multi-dimensional vibration isolation problem of a single vibration isolator.

[0010] 2) The present invention realizes adjustable parameters of the vibration isolation system in multi-dimensional vibration control, and has excellent wide-band multi-directional vibration isolation and impact resistance performance.

[0011] 3) The vibration isolator proposed by the present invention has a simple and compact structure and a small overall size, and can be applied to working environments where installation space is limited and multi-dimensional vibration isolation is required. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0013] Figure 1 It is a schematic diagram of the overall structure of a magnetorheological multi-dimensional vibration isolator of the present invention.

[0014] Figure 2 It is a top view of a magnetorheological multi-dimensional vibration isolator of the present invention.

[0015] Figure 3 It is a schematic diagram of the ball joint piston structure in an embodiment of the present invention.

[0016] Figure 4 Schematic diagram of the magnetorheological fluid annular damping channel in an embodiment of the present invention.

[0017] Figure 5 It is a structural schematic diagram of the rubber main spring and the ball joint piston structure in an embodiment of the present invention.

[0018] In the figure, 1-main spring upper plate, 2-main spring rubber, 3-main spring lower plate, 4-cylinder, 5-wiring adapter, 6-coil support, 7-coil, 8-lower end cover of magnetic core, 9-outer magnetic ring, 10-housing, 11-housing lower plate, 12-liquid chamber, 13-inner magnetic ring, 14-rubber bottom membrane, 15-magnetic upper cover, 16-upper end cover of magnetic core, 17-wiring adapter counterpart, 18-pump liquid chamber, 19-piston, 20-lower ball joint base, 21-lower ball head rod, 22-ball joint connecting rod, 23-upper ball head rod, 24-upper ball joint base, 25-ball joint adapter rod, 26-guide ring, 27-piston sealing ring. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; "connection" can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] like Figure 1 to Figure 5 As shown, the present invention is a magnetorheological multi-dimensional vibration isolator, including a shell, a rubber main spring, a ball-jointed piston, a magnetic core assembly and a rubber bottom membrane 14. An opening is provided at the top of the shell. The rubber main spring is buckled with the shell to seal the opening at the top of the shell. The ball-jointed piston is located between the rubber main spring and the shell. The magnetic core assembly and the rubber bottom membrane 14 are both arranged in the shell, and an exciting object is fixed on the bottom surface of the shell.

[0023] The shell comprises an outer shell 10, a cylinder 4, a wiring adapter 5, a wiring adapter port 17 and an outer shell lower plate 11. The outer shell 10 is provided with four-step through holes along the central axis from top to bottom. The diameters of the first three-step through holes decrease, and the diameter of the fourth-step through hole is larger than the third-step through hole, forming a first inner wall step surface, a second inner wall step surface, a third inner wall step surface, and a fourth inner wall step surface in sequence. Flange holes are provided at the four corners of the top and bottom ends of the outer shell 10. The exciting object is fixedly connected to the outer shell 10 through the flange holes at the bottom end of the outer shell 10 using screws. The rubber bottom The edge of the membrane 14 is pressed against the second inner wall step surface, the bottom surface of the magnetic core assembly is pressed against the first inner wall step surface and the rubber bottom membrane 14, the cylinder 4 is arranged on the top surface of the magnetic core assembly, the inner cavity of the cylinder 4 above the magnetic core assembly serves as the pump liquid cavity 18, and the inner cavity of the rubber bottom membrane 14 below serves as the liquid containing cavity 12, the inside of the pump liquid cavity 18 and the liquid containing cavity 12 are both filled with magnetorheological fluid, the lower plate 11 of the outer shell is fixed to the fourth inner wall step surface by screws, and the wiring adapter 5 and the wiring adapter counterpart 17 are radially symmetrically arranged on the outer wall of the outer shell 10.

[0024] The magnetic core assembly includes a magnetic core upper end cover 16, a magnetic core lower end cover 8, an inner magnetic conductive ring 13, and an external magnet. The magnetic core upper end cover 16 is fixedly connected to the top surface of the magnetic core lower end cover 8 by bolts to form a column core. A circle of grooves is opened in the middle section of the column core. The inner circle of the inner magnetic conductive ring 13 is provided with a first boss. After the inner magnetic conductive ring 13 is sleeved on the column core, the first boss and the groove are fixed together. The external magnet is sleeved on the column core. The bottom surface of the external magnet contacts the top surface of the magnetic core lower end cover 8, and is limited by the second boss set on the outer edge of the magnetic core lower end cover 8, and there is a gap between the external magnet and the inner magnetic conductive ring 13.

[0025] The external magnet includes a coil 7, a coil support 6, a magnetic conductive top cover 15 and an outer magnetic conductive ring 9. A three-step through hole with decreasing diameter is opened from top to bottom along the central axis of the outer magnetic conductive ring 9, forming a first magnetic conductive step surface, a second magnetic conductive step surface, and a third magnetic conductive step surface in sequence. The top surface of the outer magnetic conductive ring 9 is set as the first magnetic conductive step surface, the coil support 6 wrapped with the coil 7 is set on the third magnetic conductive step surface, and the magnetic conductive top cover 15 is fixed on the second magnetic conductive step surface and the top surface of the coil support 6.

[0026] A gap is formed between the inner magnetic ring 13 and the outer magnetic ring 9 as a magnetorheological fluid annular damping channel that connects the pump liquid chamber 18 and the liquid containing chamber 12. The yield stress of the magnetorheological fluid is changed by controlling the input current of the coil 7 to achieve the output of different damping forces. The wiring adapter 5 is the outlet of the enameled wire of the coil 7. A plurality of circular holes are cut on the lower plate 11 of the outer shell to squeeze out the gas between the rubber bottom membrane 14 and the lower plate 11 of the outer shell when the bottom membrane is deformed.

[0027] The rubber main spring comprises a main spring upper plate 1, a main spring rubber 2 and a main spring lower plate 3. The main spring rubber 2 is oval, with both upper and lower ends being flat. The main spring rubber 2 has three-step through holes from top to bottom along its central axis, which are first-step holes, second-step holes and third-step holes in sequence. The first-step hole has the largest diameter, the second-step hole has the smallest diameter, and the top surface of the third-step hole has an arc transition. The main spring upper plate 1 and the main spring lower plate 3 are respectively vulcanized and connected to the two ends of the main spring rubber 2. The main spring upper plate 1 is in the shape of a three-step cylinder with decreasing diameter from top to bottom, and has a first through hole along its central axis. The top first-order cylinder is located on the top surface of the main spring rubber 2, the third-order cylinder is located in the third-order hole, the main spring lower plate 3 is shaped as a second-order cylinder with decreasing diameter from top to bottom, the diameter of the fourth-order cylinder located on the top is larger than the diameter of the fifth-order cylinder, and along the central axis of the main spring lower plate 3, there are second-order through holes with increasing diameters, which are the fourth-order hole and the fifth-order hole respectively. The aperture of the fourth-order hole is not larger than the aperture of the third-order hole, and the fifth-order cylinder is pressed against the top surface of the cylinder 4. Flange holes are set at the four corners of the main spring lower plate 3, and the main spring lower plate 3 and the outer shell 10 are fixedly connected by bolts.

[0028] The ball joint piston includes a ball joint adapter rod 25, an upper ball joint base 24, an upper ball head rod 23, a ball joint connecting tube 22, a lower ball head rod 21, a lower ball joint base 20, and a piston 19, which are arranged in sequence from top to bottom, wherein the ball joint adapter rod 25 and the upper ball joint base 24 are fixedly connected by threads, the upper ball head rod 23 and the lower ball head rod 21 are respectively extended into the ball joint connecting tube 22 and fixedly connected to the ball joint connecting tube 22 by threads, the lower ball joint base 20 is fixedly connected to the piston 19 by threads, the piston 19 is located in the cylinder 4, and a piston guide ring 26 and a piston sealing ring 27 are provided on the outer side wall of the piston 19.

[0029] After the ball joint transfer rod 25 extends out from the first through hole in the center of the main spring upper plate 1, it is fixedly connected to the protected device by a nut. When relative movement occurs between the protected device connected to the vibration isolator and the exciting object, the upper ball head rod 23 rotates in the upper ball joint base 24, and the upper ball head rod 23 drives the lower ball head rod 21 to rotate in the lower ball joint base 20 through the ball joint connecting tube 22, thereby converting the multi-directional movement of the ball joint transfer rod 25 relative to the shell into the up and down movement of the piston 19 fixedly connected to the lower ball joint base 20. The piston guide ring 26 plays an anti-tilting role when the piston 19 reciprocates, and the piston sealing ring 27 realizes dynamic sealing when the piston 19 reciprocates to prevent leakage.

[0030] In this embodiment, in order to ensure that the ball joint transfer rod 25 and the ball joint connecting rod 22 do not interfere with the inner cavity of the main spring rubber 2 during the operation of the vibration isolator, it is necessary to have

[0031] r≥1.15t

[0032] Wherein r represents the diameter of the inner cavity of the main spring rubber 2, and t represents the outer diameter of the lower end of the ball joint transfer rod 25.

[0033] In this embodiment, the angle between the ball joint transfer rod 25 and the ball joint connecting rod 22 changes within a range of ±15° through the rotation of the upper and lower ball joints.

[0034] In this embodiment, during vibration isolation, the piston 19 moves up and down in the cylinder 4 to pump out or suck back the magnetorheological fluid in the pump liquid chamber 18. The liquid pumped out of the pump liquid chamber 18 will enter the liquid containing chamber 12 where the rubber bottom membrane 14 is located through the magnetorheological fluid annular damping channel. The rubber bottom membrane 14 will expand or contract with the amount of magnetorheological fluid in the liquid containing chamber 12. The radial cross-section of the rubber bottom membrane 14 is wavy and has a certain deformation redundancy.

[0035] The magnetic core upper end cover 16 and the magnetic core lower end cover 8 are made of non-magnetic conductive materials, the magnetic core upper end cover 16 and the magnetic core lower end cover 8 are fixedly connected by screws, the inner magnetic conductive ring 13, the outer magnetic conductive ring 9 and the upper magnetic conductive cover are made of magnetic conductive materials, and the coil support 6 is made of non-magnetic conductive materials. In order to ensure that the magnetorheological fluid in the annular damping channel of the ring magnetorheological fluid is affected by the magnetic field generated by the coil 7 to produce sufficiently large damping, it is necessary to ensure that

[0036]

[0037] Wherein, L is the total depth of the magnetorheological annular damping channel, l is the inner height of the coil support 6, and Ll is the effective depth of the magnetorheological annular damping channel.

[0038] The maximum magnetic field intensity generated by coil 7 in the magnetorheological fluid damping channel should be no less than 0.4T. In this embodiment, the width of the magnetorheological fluid annular damping channel is 1.2mm, the total depth is 15mm, the effective depth is 10mm, the diameter of the enameled wire of coil 7 is 0.41mm, and the number of enameled wire turns is 75. Comsol simulation software is used to simulate that when 2A current is passed through coil 7, the magnetic field intensity in the magnetorheological fluid annular damping channel is 0.45T.

[0039] A local coordinate system is established with the center of the bottom surface of the lower plate 11 of the housing, the vertical direction is the Z direction, the horizontal right direction is the Y direction, and the vertical cross-sectional view outward is the X direction. The magnitude of the Y-direction displacement excitation generated by the exciting object is y=8sin(69.1t), so the Z-direction displacement formula of the piston 19 is:

[0040] z=-1.2sin(69.1t)

[0041] In this embodiment, the magnetorheological damping force generated by the movement of the piston 19 is

[0042]

[0043] In the formula, C Pis a constant, depending on the steady-state conditions. In this embodiment, it is taken as 3, h is the width of the magnetorheological damping channel, R is the bottom diameter of the piston 19, τ y is the magnetorheological fluid yield stress. In this embodiment, the effective depth and width of the magnetorheological annular damping channel are 10 mm and 1.2 mm respectively. When a current of 2 A is passed through, the yield stress of the magnetorheological fluid is 20 kPa. The bottom diameter of the piston 19 is 70 mm. The magnetorheological damping force generated is 1923 N, which is opposite to the movement direction of the piston 19.

[0044] In this embodiment, the viscous damping force generated by the movement of the piston 19 is:

[0045]

[0046] In the formula, μ is the viscosity of the magnetorheological fluid. In this embodiment, the viscosity of the magnetorheological fluid is 0.2 Pa·s. The viscous damping force generated by the movement of the piston 19 is 110 N, and its direction is opposite to the movement direction of the piston 19 .

[0047] In this embodiment, when the mass of the protected device is 60 kg, the longitudinal resonance frequency of the vibration system composed of the protected device and the magnetorheological multidimensional vibration isolator of the present invention is 10.8 Hz, and the transverse resonance frequency is 10.2 Hz. When 2 A current is passed through the coil 7, the displacement amplification factors during longitudinal and transverse resonances are both less than 3. When the exciting object generates a longitudinal random vibration excitation of 5-2000 Hz, the longitudinal vibration isolation efficiency of the magnetorheological multidimensional vibration isolator of the present invention is 96%. When the exciting object generates a transverse random vibration excitation of 5-2000 Hz, the transverse vibration isolation efficiency of the magnetorheological multidimensional vibration isolator of the present invention is 94%.

[0048] The present invention is a magnetorheological multi-dimensional vibration isolator, and its working principle is as follows: when the exciting object generates vibration or impact excitation, relative movement occurs between the protected device fixedly connected to the ball joint transfer rod 25 and the exciting object fixedly connected to the bottom end of the shell 10. If the relative movement direction is longitudinal, that is, the direction of the central axis of the rubber main spring, the main spring rubber 2 deforms to provide longitudinal support force to exhibit stiffness characteristics, and the piston 19 moves up and down to pump magnetorheological fluid. When the magnetorheological fluid flows through the magnetorheological fluid annular damping channel, damping is generated to exhibit damping characteristics. If the relative movement direction is transverse, that is, perpendicular to the central axis of the rubber main spring, the main spring rubber 2 deforms to provide transverse support force, and the ball joint transfer rod 25 drives the two ball joints to rotate, converting the transverse relative movement between the protected device and the exciting object into the longitudinal movement of the piston 19, thereby pumping the magnetorheological fluid to generate damping. When the amplitude, excitation frequency and impact intensity of the exciting object are different, the damping force of the magnetorheological fluid when it flows through the magnetorheological fluid annular damping channel can be adjusted by adjusting the current passed into the coil 7.

Claims

1. A magnetorheological multidimensional vibration isolator, characterized in that: The invention comprises a shell, a rubber main spring, a ball joint piston, a magnetic core assembly and a rubber bottom membrane (14); an opening is arranged at the top of the shell; the rubber main spring is buckled with the shell to seal the opening at the top of the shell; the ball joint piston is located between the rubber main spring and the shell; the magnetic core assembly and the rubber bottom membrane (14) are both arranged in the shell; and an exciting object is fixed on the bottom surface of the shell.

2. The magnetorheological multi-dimensional vibration isolator according to claim 1, characterized in that: The shell comprises an outer shell (10), a cylinder (4), a wiring adapter (5), a wiring adapter port (17) and an outer shell lower plate (11). The outer shell (10) is provided with four-step through holes along the central axis from top to bottom. The diameters of the first three-step through holes decrease gradually, and the diameter of the fourth-step through hole is larger than that of the third-step through hole. A first inner wall step surface, a second inner wall step surface, a third inner wall step surface and a fourth inner wall step surface are formed in sequence. The four corners of the top and bottom ends of the outer shell (10) are provided with flange holes. The exciting object is fixedly connected to the outer shell (10) through the flange holes at the bottom end of the outer shell (10). The rubber bottom membrane (14) The edge is pressed against the second inner wall step surface, the bottom surface of the magnetic core assembly is pressed against the first inner wall step surface and the rubber bottom membrane (14), the cylinder (4) is arranged on the top surface of the magnetic core assembly, the inner cavity of the cylinder (4) above the magnetic core assembly serves as a pump liquid cavity (18), and the inner cavity of the rubber bottom membrane (14) below serves as a liquid containing cavity (12), the inside of the pump liquid cavity (18) and the liquid containing cavity (12) are both filled with magnetorheological fluid, the lower plate (11) of the housing is fixed on the fourth inner wall step surface, and the wiring adapter (5) and the wiring adapter counterpart (17) are radially symmetrically arranged on the outer wall of the housing (10).

3. The magnetorheological multi-dimensional vibration isolator according to claim 2, characterized in that: The magnetic core assembly comprises a magnetic core upper end cover (16), a magnetic core lower end cover (8), an inner magnetic conductive ring (13), and an external magnet. The magnetic core upper end cover (16) is fixedly connected to the top surface of the magnetic core lower end cover (8) to form a column core. A circle of grooves is opened in the middle section of the column core. The inner circle of the inner magnetic conductive ring (13) is provided with a first boss. After the inner magnetic conductive ring (13) is sleeved on the column core, the first boss cooperates with the groove to fix. The external magnet is sleeved on the column core. The bottom surface of the external magnet contacts the top surface of the magnetic core lower end cover (8) and is limited by a second boss arranged on the outer edge of the magnetic core lower end cover (8). There is a gap between the external magnet and the inner magnetic conductive ring (13).

4. The magnetorheological multi-dimensional vibration isolator according to claim 3, characterized in that: The external magnet comprises a coil (7), a coil support (6), a magnetic conductive upper cover (15) and an external magnetic conductive ring (9); three-step through holes with decreasing diameters are opened from top to bottom along the central axis of the external magnetic conductive ring (9), and a first magnetic conductive step surface, a second magnetic conductive step surface and a third magnetic conductive step surface are formed in sequence; the top surface of the external magnetic conductive ring (9) is set as the first magnetic conductive step surface, the coil support (6) wound around the coil (7) is set on the third magnetic conductive step surface, and the magnetic conductive upper cover (15) is fixed on the second magnetic conductive step surface and the top surface of the coil support (6); A gap is formed between the inner magnetic ring (13) and the outer magnetic ring (9) as a magnetorheological fluid annular damping channel that connects the pump fluid chamber (18) and the liquid containing chamber (12). The output of different damping forces is achieved by changing the yield stress of the magnetorheological fluid by controlling the input current of the coil (7). The wiring adapter (5) is the outlet of the enameled wire of the coil (7). A plurality of circular holes are cut on the lower plate (11) of the housing so as to squeeze out the gas between the rubber bottom membrane (14) and the lower plate (11) of the housing when the bottom membrane is deformed.

5. The magnetorheological multi-dimensional vibration isolator according to claim 4, characterized in that: The rubber main spring comprises a main spring upper plate (1), a main spring rubber (2) and a main spring lower plate (3). The main spring rubber (2) is oval in shape, with both upper and lower ends being flat. The main spring rubber (2) has three-step through holes along its central axis from top to bottom, which are first-step holes, second-step holes and third-step holes in sequence. The first-step holes have the largest diameter, the second-step holes have the smallest diameter, and the top surface of the third-step holes has an arc transition. The main spring upper plate (1) and the main spring lower plate (3) are respectively vulcanized and connected to both ends of the main spring rubber (2). The main spring upper plate (1) is shaped like a three-step cylinder with a decreasing diameter from top to bottom. The first-step through holes are opened along its central axis. The main spring lower plate (3) is shaped as a second-order cylinder with decreasing diameter from top to bottom, the diameter of the fourth-order cylinder located at the top is larger than the diameter of the fifth-order cylinder, and along the central axis of the main spring lower plate (3) are second-order through holes with increasing diameters, which are the fourth-order hole and the fifth-order hole in sequence, the aperture of the fourth-order hole is not larger than the aperture of the third-order hole, and the fifth-order cylinder is pressed against the top surface of the cylinder barrel (4), and flange holes are arranged at the four corners of the main spring lower plate (3), and the main spring lower plate (3) and the housing (10) are fixedly connected by bolts.

6. The magnetorheological multi-dimensional vibration isolator according to claim 5, characterized in that: The ball joint piston comprises a ball joint adapter rod (25), an upper ball joint base (24), an upper ball head rod (23), a ball joint connecting tube (22), a lower ball head rod (21), a lower ball joint base (20), and a piston (19) which are arranged in sequence from top to bottom, wherein the ball joint adapter rod (25) and the upper ball joint base (24) are fixedly connected by threads, the upper ball head rod (23) and the lower ball head rod (21) respectively extend into the ball joint connecting tube (22) and are fixedly connected to the ball joint connecting tube (22) by threads, the lower ball joint base (20) and the piston (19) are fixedly connected by threads, the piston (19) is located in the cylinder (4), and a piston guide ring (26) and a piston sealing ring (27) are provided on the outer side wall of the piston (19); After the ball joint transfer rod (25) extends out from the first through hole in the center of the main spring upper plate (1), it is fixedly connected to the protected device via a nut. When relative movement occurs between the protected device connected to the vibration isolator and the exciting object, the upper ball head rod (23) rotates in the upper ball joint base (24), and the upper ball head rod (23) drives the lower ball head rod (21) to rotate in the lower ball joint base (20) via the ball joint connecting tube (22), thereby converting the multi-directional movement of the ball joint transfer rod (25) relative to the housing into the up and down movement of the piston (19) fixedly connected to the lower ball joint base (20). The piston guide ring (26) plays an anti-tilting role when the piston (19) reciprocates, and the piston sealing ring (27) realizes dynamic sealing to prevent leakage when the piston (19) reciprocates.

7. The magnetorheological multi-dimensional vibration isolator according to claim 6, characterized in that: In order to ensure that the ball joint transfer rod (25) and the ball joint connecting rod 22 do not interfere with the inner cavity of the main spring rubber (2) during the operation of the vibration isolator, it is necessary to have: r≥1.15t In the formula, r represents the diameter of the inner cavity of the main spring rubber (2), and t represents the outer diameter of the lower end of the ball joint transfer rod (25).

8. The magnetorheological multi-dimensional vibration isolator according to claim 6, characterized in that: The magnetic core upper end cover (16) and the magnetic core lower end cover (8) are made of non-magnetic conductive material, the magnetic core upper end cover (16) and the magnetic core lower end cover (8) are fixedly connected by screws, the inner magnetic conductive ring (13), the outer magnetic conductive ring (9) and the upper magnetic conductive cover are made of magnetic conductive material, and the coil support (6) is made of non-magnetic conductive material. In order to ensure that the magnetorheological fluid in the annular damping channel of the ring magnetorheological fluid is affected by the magnetic field generated by the coil (7) to generate sufficiently large damping, it is necessary to ensure that: Where L is the total depth of the magnetorheological annular damping channel, l is the inner height of the coil support (6), and Ll is the effective depth of the magnetorheological annular damping channel.

9. The magnetorheological multi-dimensional vibration isolator according to claim 6, characterized in that: A local coordinate system is established with the center of the bottom surface of the lower plate (11) of the housing, the vertical direction is the Z direction, the horizontal right direction is the Y direction, and the vertical cross-sectional view outward is the X direction. The magnitude of the Y-direction displacement excitation generated by the exciting object is y=8sin(69.1t), and the Z-direction displacement formula of the piston (19) is: z=-1.2sin(69.1t) The magnetorheological damping force F generated by the movement of the piston (19) MR for: In the formula, C P is a constant, depending on the steady-state condition, h is the width of the magnetorheological damping channel, R is the bottom diameter of the piston (19), τ y is the magnetorheological fluid yield stress; is the first-order derivative of z; The viscous damping force F generated by the movement of the piston (19) μ for: Where μ is the viscosity of the magnetorheological fluid.

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