A three-way decoupled parallel vibration isolation platform with adjustable stiffness

Abstract

The present invention relates to the field of vibration isolation technology. The purpose is to provide a three-way decoupled parallel vibration isolation platform with adjustable stiffness, which has vibration isolation capabilities in three directions, and the stiffness in each direction is decoupled and adjustable. The technical solution is a three-way decoupled parallel vibration isolation platform with adjustable stiffness, comprising a frame, an end platform, and three branches connected in parallel between the frame and the end platform and having the same structure, characterized in that: the proposed parallel vibration isolation platform has a symmetrical structure, has vibration isolation capabilities in three directions in space, has decoupled stiffness in each direction, and can be adjusted through a third movable pair and a fourth movable pair, and can be used in the fields of precision instruments, shipborne stable platforms, etc.

Description

Technical Field

[0001] The invention relates to the technical field of vibration isolation, in particular to a three-way decoupled parallel vibration isolation platform with adjustable stiffness. Background Art

[0002] The vibration generated by vehicles and ships during operation will affect the stability of the equipment on board. Precision instruments on the ground are also easily disturbed by external vibrations. An effective way to solve these problems is to install the equipment or instruments on a vibration isolation platform to reduce or eliminate vibration. Usually, the vibration isolation platform is required to have vibration isolation capabilities in three directions in space.

[0003] The parallel mechanism has a compact structure and is suitable as the main body of the vibration isolation platform. At present, several vibration isolation platforms based on parallel mechanisms have been proposed (CN113639146A, CN104924293B). However, the stiffness of these vibration isolation platforms in various directions is coupled, which is difficult to analyze and control, and the stiffness in each direction is fixed at a certain position and cannot be adjusted, which limits its application in multi-task conditions. In view of the above problems, it is necessary to propose a three-way decoupled parallel vibration isolation platform with adjustable stiffness. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the background technology and provide a three-way decoupled parallel vibration isolation platform with adjustable stiffness. The vibration isolation platform has vibration isolation capabilities in three directions, and the stiffness in each direction is decoupled and adjustable.

[0005] The technical solution provided by the present invention is:

[0006] A three-way decoupled parallel vibration isolation platform with adjustable stiffness comprises a frame, an end platform and three branches connected in parallel between the frame and the end platform and having the same structure;

[0007] Each branch includes a first moving pair, a second moving pair and a closed-loop vibration isolation unit which are sequentially connected between the frame and the end platform;

[0008] The closed-loop vibration isolation unit includes a spring, and a first rotating pair, a third moving pair sleeve, a third moving pair guide rod, a second rotating pair, a first connecting rod, a third rotating pair, a second connecting rod, a fourth rotating pair, a fourth moving pair guide rod and a fourth moving pair sleeve which are connected end to end in sequence;

[0009] In each branch, the first secondary movement axis is perpendicular to the second secondary movement axis and parallel to the first secondary rotation axis.

[0010] The closed-loop vibration isolation unit is connected to the end platform via the third rotating pair, and is connected to the second moving pair via the third moving pair sleeve.

[0011] In the three branches, three first secondary moving axes are perpendicular to each other.

[0012] The three third rotation sub-axes connected to the end platform are perpendicular to each other.

[0013] The first movable pair guide rod and the first movable pair sleeve cooperate to form a first movable pair, the second movable pair guide rod and the second movable pair sleeve cooperate to form a second movable pair, and the second movable pair sleeve is fixedly connected to the first movable pair sleeve.

[0014] The third movable pair sleeve and the third movable pair guide rod cooperate to form the third movable pair, and the fourth movable pair sleeve and the fourth movable pair guide rod cooperate to form the fourth movable pair; the spring is connected between the second rotating pair and the fourth rotating pair, and the first rotating pair axis, the second rotating pair axis, the third rotating pair axis, and the fourth rotating pair axis are parallel to each other and perpendicular to the third movable pair axis and the fourth movable pair axis.

[0015] The second movable secondary guide rod is fixedly connected to the third movable secondary sliding sleeve, and the second movable secondary axis and the third movable secondary axis form an acute angle.

[0016] Except for the third and fourth moving pairs, the rest are passive moving pairs; the third and fourth moving pairs are equipped with a driving device for adjusting the initial configuration of the closed-loop vibration isolation unit, thereby adjusting the equivalent stiffness of the parallel vibration isolation platform in each direction.

[0017] The beneficial effects of the present invention are:

[0018] The parallel vibration isolation platform proposed in the present invention has a symmetrical structure, has vibration isolation capabilities in three directions in space, has decoupled isotropic stiffness, and can be adjusted through the third mobile pair and the fourth mobile pair. It can be used in the fields of precision instruments, shipborne stable platforms, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention.

[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of each branch. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the embodiments described in the accompanying drawings, but the present invention is not limited to the following embodiments.

[0022] The stiffness-adjustable three-way decoupled parallel vibration isolation platform shown in the figure includes a frame (omitted in the figure), an end platform 1, and three branches connected in parallel between the frame and the end platform; the three branches have the same structure.

[0023] The branch includes a first moving secondary guide rod 2, a first moving secondary sleeve 3, a second moving secondary sleeve 4, a second moving secondary guide rod 5 and a closed-loop vibration isolation unit which are sequentially connected between the frame and the end platform. The first moving secondary guide rod and the first moving secondary sleeve cooperate to form a first moving secondary, the second moving secondary guide rod and the second moving secondary sleeve cooperate to form a second moving secondary, and the second moving secondary sleeve is fixedly connected to the first moving secondary sleeve.

[0024] The closed-loop vibration isolation unit includes a spring 6, and a first rotating pair 7, a third rotating pair sleeve 8, a third rotating pair guide rod 9, a second rotating pair 10, a first connecting rod 11, a third rotating pair 12, a second connecting rod 13, a fourth rotating pair 14, a fourth rotating pair guide rod 15, and a fourth rotating pair sleeve 16, which are connected end to end in sequence. The third rotating pair sleeve and the third rotating pair guide rod cooperate to form a third rotating pair, the fourth rotating pair sleeve and the fourth rotating pair guide rod cooperate to form a fourth rotating pair, the spring is connected between the second rotating pair and the fourth rotating pair, and the first rotating pair axis, the second rotating pair axis, the third rotating pair axis, and the fourth rotating pair axis are parallel to each other and perpendicular to the third rotating pair axis and the fourth rotating pair axis.

[0025] In each branch, the second movable secondary guide rod is fixedly connected to the third movable secondary sleeve and the second movable secondary axis forms an acute angle (preferably 35 degrees to 55 degrees) with the third movable secondary axis; the first movable secondary axis is perpendicular to the second movable secondary axis and parallel to the first rotation secondary axis.

[0026] The closed-loop vibration isolation unit is connected to the end platform via the third rotating pair, and is connected to the second moving pair via the third moving pair sleeve.

[0027] In the three branches, the three first movement sub-axes are perpendicular to each other; and the three third rotation sub-axes connected to the end platform are perpendicular to each other.

[0028] In this embodiment, except for the third and fourth moving pairs, the remaining moving pairs are passive moving pairs. The third and fourth moving pairs are equipped with a driving device such as a ball screw (omitted in the figure) to adjust the initial configuration of the closed-loop vibration isolation unit, thereby adjusting the equivalent stiffness of the parallel vibration isolation platform in each direction.

Claims

1. A three-way decoupled parallel vibration isolation platform with adjustable stiffness, comprising a frame, an end platform (1), and three branches connected in parallel between the frame and the end platform and having the same structure; Each branch includes a first moving pair, a second moving pair and a closed-loop vibration isolation unit which are sequentially connected between the frame and the end platform; The closed-loop vibration isolation unit comprises a spring (6), and a first rotating pair (7), a third moving pair sleeve (8), a third moving pair guide rod (9), a second rotating pair (10), a first connecting rod (11), a third rotating pair (12), a second connecting rod (13), a fourth rotating pair (14), a fourth moving pair guide rod (15), and a fourth moving pair sleeve (16) which are connected end to end in sequence; In each branch, the first secondary axis of movement is perpendicular to the second secondary axis of movement and parallel to the first secondary axis of rotation; The closed-loop vibration isolation unit is connected to the end platform via a third rotating pair and connected to the second moving pair via a third moving pair sleeve; In the three branches, three first moving secondary axes are perpendicular to each other; The third movable pair sleeve and the third movable pair guide rod cooperate to form the third movable pair, the fourth movable pair sleeve and the fourth movable pair guide rod cooperate to form the fourth movable pair, the spring is connected between the second rotating pair and the fourth rotating pair, the first rotating pair axis, the second rotating pair axis, the third rotating pair axis, and the fourth rotating pair axis are parallel to each other and perpendicular to the third movable pair axis and the fourth movable pair axis.

2. The three-way decoupled parallel vibration isolation platform with adjustable stiffness according to claim 1 is characterized in that: The three third rotation sub-axes connected to the end platform are perpendicular to each other.

3. The three-way decoupled parallel vibration isolation platform with adjustable stiffness according to claim 2 is characterized in that: The first movable pair guide rod and the first movable pair sliding sleeve cooperate to form a first movable pair, the second movable pair guide rod and the second movable pair sliding sleeve cooperate to form a second movable pair, and the second movable pair sliding sleeve is fixedly connected to the first movable pair sliding sleeve.

4. The three-way decoupled parallel vibration isolation platform with adjustable stiffness according to claim 3 is characterized in that: The second movable secondary guide rod is fixedly connected to the third movable secondary sliding sleeve, and the second movable secondary axis and the third movable secondary axis form an acute angle.

5. The three-way decoupled parallel vibration isolation platform with adjustable stiffness according to claim 4 is characterized in that: Except for the third and fourth moving pairs, the rest are passive moving pairs; the third and fourth moving pairs are equipped with a driving device for adjusting the initial configuration of the closed-loop vibration isolation unit, thereby adjusting the equivalent stiffness of the parallel vibration isolation platform in each direction.

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