A vibration isolation system for precision instruments of mobile carriers

Abstract

The present invention provides a vibration isolation system for precision instruments of a mobile carrier, which includes an instrument installation platform. A horizontal shaking damping mechanism is provided below the instrument installation platform. Shock-absorbing support units are respectively arranged at the four corners of the bottom surface of the instrument installation platform. A plurality of shock-absorbing support units are respectively arranged at the four corners of a stable middle frame mechanism. A main controller is arranged on one side of the stable middle frame mechanism. The invention installs various instrument devices through the instrument installation platform, greatly improving the adaptability of the system; offsets the shaking in the horizontal direction through the horizontal shaking damping mechanism, so that the instrument remains stable in the horizontal direction; a plurality of shock-absorbing support units are passively supported and actively compensated in the early stage of vibration by electric tuning in cooperation with a plurality of DC motors, and actively support and reset after the vibration force disappears, realizing a vibration isolation method combining passivity and activity, and cooperating with a plurality of horizontal sensors to finely adjust and correct the instrument installation platform to keep it horizontal, isolating vibration from multiple dimensions and levels.

Description

Technical Field

[0001] The present invention relates to the technical field of precision vibration isolation, and in particular to a vibration isolation system for a mobile carrier precision instrument. Background Art

[0002] Vibration has always been a common occurrence in industrial production, precision measurement, and other fields. As the requirements for processing and measurement accuracy increase, the demand for vibration isolation is also becoming increasingly stringent. Since many measurement devices require the moving object to function properly, the movement of the moving object itself and the interference of the base on the moving object cause the vibration of the moving object to be transmitted to the precision instrument, causing the precision instrument to malfunction or significantly reduce its accuracy. Therefore, it is necessary to add a vibration isolation system for these precision instruments.

[0003] Existing vibration isolation systems generally adopt passive vibration isolation, rarely adopt active vibration isolation, and cannot achieve a vibration isolation method that combines passive and active methods.

[0004] According to the patent document with application number CN202210033189.9, a vibration isolation system for precision instruments on a mobile carrier is provided, which includes a posture stabilization component, a vibration isolation component and a sensor; the posture stabilization component includes an electric cylinder, an electric cylinder fixing plate, a frame beam, a universal ball adapter flange, a universal ball, a sensor and a support plate; the vibration isolation component includes a main spring, a flexible rope, a negative stiffness mechanism, a negative stiffness mechanism mounting plate, a fixing plate and a spring mounting plate; the upper part of the fixing plate is used to connect and fix with the precision instrument; the sensor is installed on the corresponding part of the precision instrument to obtain the horizontal state and vibration information of the precision instrument. The present invention realizes flexible active and passive vibration isolation and improves the vibration isolation bandwidth through the extension and contraction of multiple electric cylinders and the parallel connection of positive and negative stiffness mechanisms; and the vibration isolation system has a wide range of vibration displacement strokes with the base; at the same time, the vibration isolation system can adjust the load-bearing capacity, is suitable for a variety of mobile carriers, and increases the scope of application.

[0005] However, the above invention uses multiple electric cylinders to adjust the posture stability, and can only take action after the sensor senses the tilt. At this time, the tilt has already occurred and the control of the posture has lagged behind; the suspension-type seismic isolation is achieved through multiple main springs, flexible ropes, and negative stiffness mechanisms, and its actual rebound shaking cannot be avoided. Summary of the Invention

[0006] In view of the above problems, the present invention provides a mobile carrier precision instrument vibration isolation system, the purpose of which is to solve the technical problem of the above background technology that the passive and active vibration isolation methods cannot be combined.

[0007] To achieve the above object, the present invention provides the following technical solution: a vibration isolation system for precision instruments of a mobile carrier, including an instrument installation platform, a horizontal shaking damping mechanism is provided below the instrument installation platform, damping support units are respectively provided at the four corners of the bottom surface of the instrument installation platform, and a plurality of the damping support units are respectively arranged at the four corners of a stable middle frame mechanism, and a main controller is provided on one side of the stable middle frame mechanism.

[0008] Further, the instrument installation platform includes a platform frame, a plurality of flexible mounting plates are arranged inside the platform frame, ball head connectors are respectively provided at the four corners of the bottom surface of the platform frame, horizontal sensors are respectively provided on the four sides of the bottom surface of the platform frame, and a plurality of the horizontal sensors are all electrically connected to the main controller.

[0009] Further, the horizontal shaking damping mechanism includes a horizontal longitudinal counterweight block, the middle parts of longitudinal sliding rods are respectively slidably connected to both sides of the horizontal longitudinal counterweight block, first sliding rod fixing blocks are respectively provided at both ends of a plurality of the longitudinal sliding rods, longitudinal damping springs are respectively sleeved at both ends of the horizontal longitudinal counterweight block and both ends of a plurality of the longitudinal sliding rods, a plurality of linkage return springs are respectively arranged on both sides inside the horizontal longitudinal counterweight block, the other ends of a plurality of the linkage return springs are respectively arranged at both ends inside the horizontal transverse counterweight block, the middle parts of transverse sliding rods are respectively slidably connected to both ends of the horizontal transverse counterweight block, second sliding rod fixing blocks are respectively provided at both ends of a plurality of the transverse sliding rods, transverse damping springs are respectively sleeved at both sides of the horizontal transverse counterweight block and both ends of a plurality of the transverse sliding rods, and the top surfaces of a plurality of the first sliding rod fixing blocks and the top surfaces of a plurality of the second sliding rod fixing blocks are all arranged on the bottom surface of the instrument installation platform.

[0010] Further, the damping support unit includes a low-frequency damping component, the lower part of the low-frequency damping component is engaged and connected to the lower part of a double-sided rack, the middle part of the double-sided rack is arranged at a corner of the stable middle frame mechanism, the upper part of the double-sided rack is engaged and connected to the middle part of a high-frequency damping component, and the upper end of the high-frequency damping component is arranged at a corner of the bottom surface of the instrument installation platform.

[0011] Further, the low-frequency damping component includes a low-frequency damping base, an electric regulator is provided on one side of the lower part of the low-frequency damping base, the electric regulator is electrically connected to the main controller, a low-frequency damping gear is provided on one side of the upper part of the low-frequency damping base, the low-frequency damping gear is engaged and connected to the lower part of the double-sided rack, the lower part of the double-sided rack is slidably connected to the middle part of the low-frequency damping base, the low-frequency damping gear is coaxially connected to the output end of a low-frequency damping motor, the low-frequency damping motor is arranged on the upper part of the low-frequency damping base, the low-frequency damping motor is electrically connected to the electric regulator, and a plurality of lower-rack stabilizing rollers are rotatably connected to the other side of the upper part of the low-frequency damping base.

[0012] Further, a lower rack is provided on one side of the lower part of the double-sided rack, the lower rack is engaged and connected to the middle part of the low-frequency shock-absorbing component, an upper rack is provided on the other side of the upper part of the double-sided rack, and the upper rack is engaged and connected to the middle part of the high-frequency shock-absorbing component.

[0013] Further, the high-frequency shock-absorbing component includes a high-frequency shock-absorbing base. A high-frequency shock-absorbing gear is provided on one side of the lower part of the high-frequency shock-absorbing base. The high-frequency shock-absorbing gear is engaged and connected to the upper part of the double-sided rack. The upper part of the double-sided rack is slidably connected to the middle part of the high-frequency shock-absorbing base. The high-frequency shock-absorbing gear is coaxially connected to the output end of a high-frequency shock-absorbing motor. The high-frequency shock-absorbing motor is provided at the lower part of the high-frequency shock-absorbing base. The high-frequency shock-absorbing motor is electrically connected to the electronic speed controller. A plurality of upper-rack stabilizing rollers are rotatably connected to the other side of the lower part of the high-frequency shock-absorbing base. A connecting ball head is provided at the upper end of the high-frequency shock-absorbing base, and the connecting ball head is rotatably connected to a corner of the bottom surface of the instrument mounting platform.

[0014] Further, both the low-frequency shock-absorbing motor and the high-frequency shock-absorbing motor are DC brushless motors.

[0015] Further, the stable middle frame mechanism includes a middle frame body. The four corners of the middle frame body are respectively provided at the middle parts of a plurality of the shock-absorbing support units. A plurality of vertical limiting mechanisms are respectively provided on the upper and lower surfaces of the middle frame body. One ends of the plurality of vertical limiting mechanisms are respectively provided at one side of a plurality of the shock-absorbing support units.

[0016] Further, the vertical limiting mechanism includes a limiting fixed block provided on one surface of the middle frame body. Both ends of the limiting fixed block are respectively rotatably connected to one ends of a plurality of lower swing arms. The other ends of the plurality of lower swing arms are respectively rotatably connected to both ends of a limiting movable block. Both ends of the limiting movable block are respectively rotatably connected to one ends of a plurality of upper swing arms. The other ends of the plurality of upper swing arms are all rotatably connected to one side of the shock-absorbing support unit.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] By installing various instrument devices through the instrument mounting platform, the adaptability of the system is greatly improved; by the horizontal shaking shock-absorbing mechanism, the shaking in the horizontal direction is offset, so that the instrument is kept stable in the horizontal direction; a plurality of shock-absorbing support units are passively supported and actively compensated in the early stage of vibration through the electronic speed controller and a plurality of DC motors, and actively support and reset after the vibration force disappears, realizing a vibration isolation method combining passivity and activity, and cooperating with a plurality of horizontal sensors to finely adjust and correct the instrument mounting platform to keep it horizontal, isolating vibration from multiple dimensions and levels. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1It is a schematic diagram of the external structure of the present invention;

[0020] Figure 2 It is an exploded schematic diagram of the internal structure of the present invention;

[0021] Figure 3 It is a schematic diagram of the instrument installation platform structure of the present invention;

[0022] Figure 4 It is a sectional schematic diagram of the horizontal shaking damping mechanism structure of the present invention;

[0023] Figure 5 It is a schematic diagram of the damping support unit structure of the present invention;

[0024] Figure 6 It is a sectional schematic diagram of the internal structure of the damping support unit of the present invention;

[0025] Figure 7 It is a sectional schematic diagram of the low-frequency damping component structure of the present invention;

[0026] Figure 8 It is a sectional schematic diagram of the double-sided rack structure of the present invention;

[0027] Figure 9 It is a sectional schematic diagram of the high-frequency damping component structure of the present invention;

[0028] Figure 10 It is a schematic diagram of the stable middle frame mechanism structure of the present invention.

[0029] In the figure: 1. Instrument installation platform; 11. Platform border; 12. Flexible mounting plate; 13. Ball joint seat; 14. Horizontal inductor; 2. Horizontal shaking damping mechanism; 21. Horizontal longitudinal counterweight; 22. Longitudinal sliding rod; 23. First sliding rod fixing block; 24. Longitudinal damping spring; 25. Linkage reset spring; 26. Horizontal transverse counterweight; 27. Transverse sliding rod; 28. Second sliding rod fixing block; 29. Transverse damping spring; 3. Damping support unit; 31. Low-frequency damping component; 311. Low-frequency damping base; 312. Electronic speed controller; 313. Low-frequency damping gear; 314. Low-frequency damping motor; 315. Lower stable roller of the rack; 32. Double-sided rack; 321. Lower rack; 322. Upper rack; 33. High-frequency damping component; 331. High-frequency damping base; 332. High-frequency damping gear; 333. High-frequency damping motor; 334. Upper stable roller of the rack; 335. Connecting ball head; 4. Stable middle frame mechanism; 41. Middle frame body; 42. Vertical limiting mechanism; 421. Limiting fixing block; 422. Lower rocker arm; 423. Limiting movable block; 424. Upper rocker arm; 5. Main controller. Detailed implementation manners

[0030] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0031] It should be noted that when an element is referred to as being "fixedly provided on" another element, it can be directly on the other element or there can be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for illustrative purposes.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0033] For the embodiment, please refer with emphasis to Figure 1-2 , a vibration isolation system for precision instruments of a mobile carrier, comprising an instrument mounting platform 1. A horizontal sway damping mechanism 2 is provided below the instrument mounting platform 1. Shock-absorbing support units 3 are respectively provided at the four corners of the bottom surface of the instrument mounting platform 1. A plurality of the shock-absorbing support units 3 are respectively provided at the four corners of a stable middle frame mechanism 4. A main controller 5 is provided on one side of the stable middle frame mechanism 4.

[0034] For the embodiment, please refer with emphasis to Figure 3 , the instrument mounting platform 1 includes a platform frame 11. A plurality of flexible mounting plates 12 are provided inside the platform frame 11 for mounting and fixing precision instruments. Ball head connectors 13 are respectively provided at the four corners of the bottom surface of the platform frame 11 for connecting and mounting the shock-absorbing support units 3. Horizontal sensors 14 are respectively provided on the four sides of the bottom surface of the platform frame 11. A plurality of the horizontal sensors 14 are all electrically connected to the main controller 5. The horizontal data of the four sides of the platform frame 11 are respectively collected by the plurality of horizontal sensors 14 and sent to the main controller 5.

[0035] For the embodiment, please refer with emphasis to Figure 4, the horizontal shaking damping mechanism 2 includes a horizontal longitudinal counterweight 21. The middle parts of longitudinal sliding rods 22 are respectively and slidably connected to both sides of the horizontal longitudinal counterweight 21. First sliding rod fixing blocks 23 are respectively provided at both ends of the plurality of longitudinal sliding rods 22. Longitudinal damping springs 24 are respectively sleeved on both ends of the horizontal longitudinal counterweight 21 and both ends of the plurality of longitudinal sliding rods 22. A plurality of linkage return springs 25 are respectively provided on both inner sides of the horizontal longitudinal counterweight 21. The other ends of the plurality of linkage return springs 25 are respectively provided at both inner ends of a horizontal transverse counterweight 26. The middle parts of transverse sliding rods 27 are respectively and slidably connected to both ends of the horizontal transverse counterweight 26. Second sliding rod fixing blocks 28 are respectively provided at both ends of the plurality of transverse sliding rods 27. Transverse damping springs 29 are respectively sleeved on both sides of the horizontal transverse counterweight 26 and both ends of the plurality of transverse sliding rods 27. The top surfaces of the plurality of first sliding rod fixing blocks 23 and the top surfaces of the plurality of second sliding rod fixing blocks 28 are both provided on the bottom surface of the instrument mounting platform 1. This design allows the horizontal longitudinal counterweight 21 to freely slide on the plurality of longitudinal sliding rods and slowly reset under the action of the plurality of longitudinal damping springs, thereby offsetting the shaking force in the horizontal longitudinal direction;

[0036] Meanwhile, the horizontal transverse counterweight 26 freely slides on the plurality of transverse sliding rods and slowly resets under the action of the plurality of transverse damping springs, thereby offsetting the shaking force in the horizontal transverse direction. And through the plurality of linkage return springs 25, the horizontal longitudinal counterweight 21 and the horizontal transverse counterweight 26 are interlinked with each other, thereby more gently offsetting the force of horizontal shaking.

[0037] For the embodiment, please refer to Figures 5-9, the shock absorption support unit 3 includes a low-frequency shock absorption component 31. The middle part of the low-frequency shock absorption component 31 is bite-connected to the lower part of a double-sided rack 32. The middle part of the double-sided rack 32 is arranged at a corner of the stable middle frame mechanism 4. The upper part of the double-sided rack 32 is bite-connected to the middle part of a high-frequency shock absorption component 33. The upper end of the high-frequency shock absorption component 33 is arranged at a corner of the bottom surface of the instrument installation platform 1. The low-frequency shock absorption component 31 includes a low-frequency shock absorption base 311. One side of the lower part of the low-frequency shock absorption base 311 is provided with an electric regulator 312. The electric regulator 312 is electrically connected to the main controller 5. One side of the upper part of the low-frequency shock absorption base 311 is provided with a low-frequency shock absorption gear 313. The low-frequency shock absorption gear 313 is bite-connected to the lower part of the double-sided rack 32. The lower part of the double-sided rack 32 is slidably connected to the middle part of the low-frequency shock absorption base 311. The low-frequency shock absorption gear 313 is coaxially connected to the output end of a low-frequency shock absorption motor 314. The low-frequency shock absorption motor 314 is arranged at the upper part of the low-frequency shock absorption base 311. The low-frequency shock absorption motor 314 is electrically connected to the electric regulator 312. The other side of the upper part of the low-frequency shock absorption base 311 is rotatably connected with a plurality of lower rack stabilizing rollers 315. One side of the lower part of the double-sided rack 32 is provided with a lower rack 321. The lower rack 321 is bite-connected to the middle part of the low-frequency shock absorption component 31. The other side of the upper part of the double-sided rack 32 is provided with an upper rack 322. The upper rack 322 is bite-connected to the middle part of the high-frequency shock absorption component 33. The high-frequency shock absorption component 33 includes a high-frequency shock absorption base 331. One side of the lower part of the high-frequency shock absorption base 331 is provided with a high-frequency shock absorption gear 332. The high-frequency shock absorption gear 332 is bite-connected to the upper part of the double-sided rack 32. The upper part of the double-sided rack 32 is slidably connected to the middle part of the high-frequency shock absorption base 331. The high-frequency shock absorption gear 332 is coaxially connected to the output end of a high-frequency shock absorption motor 333. The high-frequency shock absorption motor 333 is arranged at the lower part of the high-frequency shock absorption base 331. The high-frequency shock absorption motor 333 is electrically connected to the electric regulator 312. The other side of the lower part of the high-frequency shock absorption base 331 is rotatably connected with a plurality of upper rack stabilizing rollers 334. The upper end of the high-frequency shock absorption base 331 is provided with a connecting ball head 335. The connecting ball head 335 is rotatably connected to a corner of the bottom surface of the instrument installation platform 1. Both the low-frequency shock absorption motor 314 and the high-frequency shock absorption motor 333 are DC brushless motors.Select a double-sided rack 32 with an appropriate length according to the actual situation to cope with the shock absorption stroke of different shock amplitudes; after installing the precision instrument, set the system on the mobile carrier. The electronic speed controller 312 controls the low-frequency shock absorption motor 314 through the FOC algorithm to drive the low-frequency shock absorption gear 313 to roll and engage to the middle of the lower rack 321, and at the same time controls the high-frequency shock absorption motor 333 to drive the high-frequency shock absorption gear 332 to roll and engage to the middle of the upper rack 322 to complete stable support; when vibration occurs, the force for the low-frequency shock absorption motor 314 to maintain support is destroyed, the low-frequency shock absorption base 311 moves upward, and the low-frequency shock absorption motor 314 records the upward movement distance. The FOC algorithm controls the low-frequency shock absorption motor 314 to drive the low-frequency shock absorption gear 313 to rotate following the hour of the shock force to restore support; at the same time, according to the actual displacement distance of the double-sided rack 32 obtained by the algorithm, control the high-frequency shock absorption motor 333 to drive the high-frequency shock absorption gear 332 to rotate, and then drive the high-frequency shock absorption base 331 for displacement compensation; at the same time, through the horizontal data collected by multiple horizontal sensors 14, the main controller 5 cooperates with multiple electronic speed controllers 312 to control the high-frequency shock absorption motor 333 to drive the high-frequency shock absorption gear 332 to rotate respectively, and then drive the high-frequency shock absorption base 331 to adjust and maintain the horizontal state of the instrument installation platform 1.

[0038] For the embodiments, please refer with emphasis to Figure 10 , the stable middle frame mechanism 4 includes a middle frame body 41. The four corners of the middle frame body 41 are respectively arranged in the middle of a plurality of the shock absorption support units 3, and are convenient for replacement and disassembly through movable buckles. The upper and lower surfaces of the middle frame body 41 are respectively provided with a plurality of vertical limiting mechanisms 42. One ends of the plurality of vertical limiting mechanisms 42 are respectively arranged on one side of a plurality of the shock absorption support units 3. The vertical limiting mechanism 42 includes a limiting fixed block 421. The limiting fixed block 421 is arranged on one surface of the middle frame body 41. Both ends of the limiting fixed block 421 are respectively rotatably connected to one ends of a plurality of lower swing arms 422. The other ends of the plurality of lower swing arms 422 are respectively rotatably connected to both ends of a limiting movable block 423. Both ends of the limiting movable block 423 are respectively rotatably connected to one ends of a plurality of upper swing arms 424. The other ends of the plurality of upper swing arms 424 are all rotatably connected to one side of the shock absorption support unit 3. The movement of two shock absorption components in one shock absorption support unit 3 is vertically limited by every four vertical limiting mechanisms 42.

[0039] Operating principle: First, select a double-sided rack 32 with an appropriate length according to the actual situation to cope with the shock absorption stroke of different vibration amplitudes; after installing the precision instrument, set the system on the moving carrier; the horizontal longitudinal counterweight 21 slides freely on multiple longitudinal sliding rods 22 and slowly resets under the action of multiple longitudinal shock absorption springs 24, so as to offset the shaking force in the horizontal longitudinal direction; at the same time, the horizontal transverse counterweight 26 slides freely on multiple transverse sliding rods 27 and slowly resets under the action of multiple transverse shock absorption springs 29, so as to offset the shaking force in the horizontal transverse direction, and the horizontal longitudinal counterweight 21 and the horizontal transverse counterweight 26 are interconnected through multiple linkage reset springs 25, so as to more gently offset the horizontal shaking force; the electronic speed controller 312 controls the low-frequency shock absorption motor 314 to drive the low-frequency shock absorption gear 313 to roll and engage to the middle of the lower rack 321 through the FOC algorithm, and at the same time controls the high-frequency shock absorption motor 333 to drive the high-frequency shock absorption gear 332 to roll and engage to the middle of the upper rack 322 to complete stable support; when vibration occurs, the force maintaining the support of the low-frequency shock absorption motor 314 is damaged, the low-frequency shock absorption base 311 moves upward, the low-frequency shock absorption motor 314 records the upward movement distance, and the FOC algorithm controls the low-frequency shock absorption motor 314 to drive the low-frequency shock absorption gear 313 to rotate following the small shock force to restore the support; at the same time, according to the algorithm, the actual displacement distance of the double-sided rack 32 is obtained, and the high-frequency shock absorption motor 333 is controlled to drive the high-frequency shock absorption gear 332 to rotate, and then drive the high-frequency shock absorption base 331 for displacement compensation; at the same time, through the horizontal data collected by multiple horizontal sensors 14, the main controller 5 cooperates with multiple electronic speed controllers 312 to control the high-frequency shock absorption motor 333 to drive the high-frequency shock absorption gear 332 to rotate respectively, and then drive the high-frequency shock absorption base 331 to adjust and maintain the horizontal state of the instrument installation platform 1.

[0040] The above has made an exemplary description of the present invention in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above methods. As long as such non-substantial improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A vibration isolation system for precision instruments of a mobile carrier, characterized in that: The apparatus comprises an instrument installation platform (1), a horizontal shaking shock-absorbing mechanism (2) is provided below the instrument installation platform (1), shock-absorbing support units (3) are provided at the four corners of the bottom surface of the instrument installation platform (1), a plurality of the shock-absorbing support units (3) are provided at the four corners of a stable middle frame mechanism (4), and a main controller (5) is provided on one side of the stable middle frame mechanism (4); The instrument mounting platform (1) includes a platform frame (11), a plurality of flexible mounting plates (12) are provided inside the platform frame (11), ball head connection seats (13) are provided at the four corners of the bottom surface of the platform frame (11), and level sensors (14) are provided on the four sides of the bottom surface of the platform frame (11), and the plurality of level sensors (14) are all electrically connected to the main controller (5); The horizontal shaking damping mechanism (2) includes a horizontal longitudinal counterweight (21), both sides of the horizontal longitudinal counterweight (21) are respectively slidably connected to the middle of the longitudinal slide bar (22), and both ends of the plurality of longitudinal slide bars (22) are respectively provided with a first slide bar fixing block (23), both ends of the horizontal longitudinal counterweight (21) and both ends of the plurality of longitudinal slide bars (22) are respectively sleeved with a longitudinal damping spring (24), and both sides of the interior of the horizontal longitudinal counterweight (21) are respectively provided with a plurality of linkage reset springs (25), and the other ends of the plurality of linkage reset springs (25) are respectively provided with a plurality of linkage reset springs (25). One end is respectively arranged at the two ends of the interior of the horizontal transverse counterweight block (26), the two ends of the horizontal transverse counterweight block (26) are respectively slidably connected to the middle of the transverse slide bar (27), and the two ends of the plurality of transverse slide bars (27) are respectively provided with a second slide bar fixing block (28), and the two sides of the horizontal transverse counterweight block (26) and the two ends of the plurality of transverse slide bars (27) are respectively sleeved with a transverse shock-absorbing spring (29), and the top surfaces of the plurality of first slide bar fixing blocks (23) and the top surfaces of the plurality of second slide bar fixing blocks (28) are both arranged on the bottom surface of the instrument mounting platform (1); The shock-absorbing support unit (3) includes a low-frequency shock-absorbing component (31), the middle portion of the low-frequency shock-absorbing component (31) is engaged with the lower portion of a double-sided rack (32), the middle portion of the double-sided rack (32) is arranged at a corner of the stable middle frame mechanism (4), the upper portion of the double-sided rack (32) is engaged with the middle portion of a high-frequency shock-absorbing component (33), and the upper end of the high-frequency shock-absorbing component (33) is arranged at a corner of the bottom surface of the instrument mounting platform (1); The low-frequency shock-absorbing component (31) includes a low-frequency shock-absorbing base (311). On one side of the lower part of the low-frequency shock-absorbing base (311), there is an electronic tuner (312), and the electronic tuner (312) is in telecommunication connection with the main controller (5). On one side of the upper part of the low-frequency shock-absorbing base (311), there is a low-frequency shock-absorbing gear (313), and the low-frequency shock-absorbing gear (313) is engaged and connected to the lower part of the double-sided rack (32). The lower part of the double-sided rack (32) is slidably connected to the middle part of the low-frequency shock-absorbing base (311). The low-frequency shock-absorbing gear (313) is coaxially connected to the output end of a low-frequency shock-absorbing motor (314), and the low-frequency shock-absorbing motor (314) is arranged on the upper part of the low-frequency shock-absorbing base (311). The low-frequency shock-absorbing motor (314) is in telecommunication connection with the electronic tuner (312). On the other side of the upper part of the low-frequency shock-absorbing base (311), a plurality of lower-rack stabilizing rollers (315) are rotatably connected; On one side of the lower part of the double-sided rack (32), there is a lower rack (321), and the lower rack (321) is engaged and connected to the middle part of the low-frequency shock-absorbing component (31). On the other side of the upper part of the double-sided rack (32), there is an upper rack (322), and the upper rack (322) is engaged and connected to the middle part of the high-frequency shock-absorbing component (33); The high-frequency shock-absorbing component (33) includes a high-frequency shock-absorbing base (331). On one side of the lower part of the high-frequency shock-absorbing base (331), there is a high-frequency shock-absorbing gear (332), and the high-frequency shock-absorbing gear (332) is engaged and connected to the upper part of the double-sided rack (32). The upper part of the double-sided rack (32) is slidably connected to the middle part of the high-frequency shock-absorbing base (331). The high-frequency shock-absorbing gear (332) is coaxially connected to the output end of a high-frequency shock-absorbing motor (333), and the high-frequency shock-absorbing motor (333) is arranged on the lower part of the high-frequency shock-absorbing base (331). The high-frequency shock-absorbing motor (333) is in telecommunication connection with the electronic tuner (312). On the other side of the lower part of the high-frequency shock-absorbing base (331), a plurality of upper-rack stabilizing rollers (334) are rotatably connected. At the upper end of the high-frequency shock-absorbing base (331), there is a connecting ball head (335), and the connecting ball head (335) is rotatably connected to a corner of the bottom surface of the instrument mounting platform (1); both the low-frequency shock-absorbing motor (314) and the high-frequency shock-absorbing motor (333) are DC brushless motors.

2. The vibration isolation system for precision instruments of a mobile carrier according to claim 1, wherein: The stable middle frame mechanism (4) includes a middle frame body (41). The four corners of the middle frame body (41) are respectively arranged in the middle parts of a plurality of the shock-absorbing support units (3). On the upper and lower surfaces of the middle frame body (41), a plurality of vertical limiting mechanisms (42) are respectively arranged, and one ends of the plurality of vertical limiting mechanisms (42) are respectively arranged on one side of a plurality of the shock-absorbing support units (3).

3. The vibration isolation system for precision instruments of a mobile carrier according to claim 2, characterized in that: The vertical limit mechanism (42) includes a limit fixing block (421) which is arranged on one side of the middle frame body (41). Both ends of the limit fixing block (421) are respectively rotatably connected to one ends of a plurality of lower swing arms (422). The other ends of the plurality of lower swing arms (422) are respectively rotatably connected to both ends of a limit movable block (423). Both ends of the limit movable block (423) are respectively rotatably connected to one ends of a plurality of upper swing arms (424). The other ends of the plurality of upper swing arms (424) are all rotatably connected to one side of the shock absorption support unit (3).

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