Damping device, seat and automobile

Abstract

The application discloses a damping device, comprising: a moving platform for connecting a damping target; a bottom platform, a pitching active damping device is fixed on the bottom platform; the pitching active damping device comprises a pitching motor; a roll active damping device is arranged on the pitching active damping device and rotates around the rotation axis of the pitching motor under the driving of the pitching motor; the roll active damping device comprises a roll motor and drives the roll active damping device to rotate; a damping output device, the damping output device specifically comprises a guide column and an output support, the output support is fixed on the roll active damping device, and the output support is internally provided with a guide hole; the guide column passes through the guide hole and is connected with the moving platform. The application also discloses a seat and a car. The application actively compensates by arranging the motors in the roll direction and the pitch direction respectively and outputs through the guide column, so that the stability of the damping target is improved.

Description

Technical Field

[0001] This invention relates to vibration damping devices, and more particularly to a vibration damping device, a seat, and an automobile. Background Technology

[0002] Vehicles generate multidimensional vibrations during operation, and the frequency components of these vibration signals are highly complex. For example, braking and sharp turns produce linear vibrations in the front-to-back and left-to-right directions, causing passengers to experience pitch and roll accelerations, resulting in a certain impact. Braking and sharp turns, while occurring infrequently, have a very noticeable impact effect, easily causing passenger discomfort. Furthermore, as vehicle speed increases, road surface excitation causes high-frequency vibrations in the vehicle body, and other excitation sources such as the engine also generate high-frequency vibrations. These high- and low-frequency impact vibration signals severely affect passenger comfort, making effective vibration reduction measures essential. Passive control structures are simple, mainly utilizing the deformation of materials with spring-damping properties, such as rubber, to achieve vibration reduction within a certain frequency range, but their effectiveness is very limited for low-frequency vibration signals. Research on active vibration reduction is still limited. Currently, mechanisms with different degrees of freedom are generally used for motion compensation to overcome low-frequency, large-amplitude vibration signals, but for high-frequency vibration signals, the limited response bandwidth of the motor drive device often makes compensation difficult.

[0003] Therefore, in order to reduce the impact of linear acceleration and centrifugal force caused by braking and sharp turns during vehicle operation on ride comfort, it is very important to design a vibration damping device with pitch and roll motion compensation and full-band signal attenuation function. Summary of the Invention

[0004] To address the impact of linear acceleration and centrifugal force caused by braking and sharp turns on ride comfort in existing technologies, this invention provides a vibration damping device, a seat, and a vehicle. The specific technical solution is as follows:

[0005] This invention provides a vibration damping device, comprising: a moving platform for connecting to the target to be damped;

[0006] A bottom platform, on which a pitch active vibration damping device is fixed; the pitch active vibration damping device includes a pitch motor;

[0007] The roll active damping device is mounted on the pitch active damping device and rotates around the rotation axis of the pitch motor under the drive of the pitch motor.

[0008] The roll active damping device includes a roll motor, which drives the roll active damping device to rotate.

[0009] The damping output device specifically comprises a guide column and an output support, the output support is fixed on the roll active damping device, and the output support is internally provided with a guide hole;

[0010] The guide column connects the moving platform through the guide hole.

[0011] By respectively arranging the roll motor and the pitch motor in the roll direction and the pitch direction, active compensation is performed, and output is performed through the guide column, so that the left-right and front-back shaking is reduced, and the high-frequency vibration of the same platform is reduced, thereby improving the stability of the damping target.

[0012] Preferably, the pitch active damping device specifically further comprises a pitch reducer support, a pitch reducer, a pitch movement output support and a bearing base.

[0013] The pitch reducer support is fixed on the bottom platform.

[0014] One end of the pitch reducer support is connected with the pitch motor, and the other end is connected with the pitch reducer.

[0015] One end of the pitch movement output support is connected with the pitch reducer, and the other end is connected with the bearing base; and the bearing base is fixed on the bottom platform.

[0016] Preferably, the pitch movement output support specifically comprises a pitch mounting base and a motor mounting block.

[0017] One end of the pitch mounting base is fixedly mounted on the pitch reducer, and the other end extends outward along the center of the pitch mounting base to form the motor mounting block; and the pitch mounting base and the motor mounting block are in a T-shaped structure.

[0018] The motor mounting block is provided with a roll device mounting hole in the center, and the roll active damping device is mounted on the pitch movement output support through the roll device mounting hole.

[0019] Further preferably, the pitch active damping device further comprises a pitch anti-collision block and a pitch anti-collision pad.

[0020] The pitch anti-collision pad is mounted on the bottom platform and located below the pitch reducer support.

[0021] The pitch anti-collision block is mounted on both sides of the pitch movement output support and rotates with the rotation of the pitch active damping device.

[0022] When the pitch anti-collision block collides with the pitch anti-collision pad during rotation, the pitch anti-collision pad cooperates with the pitch anti-collision block to limit further rotation of the pitch active damping device.

[0023] Further preferably, the roll active damping device specifically further comprises: a roll decelerator, a roll motion output support;

[0024] One side of the roll motion output support is connected to the output support, and the other side is connected to the roll decelerator;

[0025] One side of the roll decelerator is connected to the roll motion output support, and the other side is connected to the pitch motion output support.

[0026] Further preferably, the roll motion output support specifically comprises a mounting base and an output connecting block;

[0027] One side of the mounting base is connected to the output connecting block, and the other side is connected to the roll decelerator;

[0028] One end of the output connecting block is connected to the mounting base, and the other end is connected to the output support.

[0029] Further preferably, it further comprises a damper; one end of the damper is connected to the output connecting block, and the other end is connected to the moving platform through a rotating pair.

[0030] Further preferably, it further comprises a roll anti-collision block and a roll anti-collision pad;

[0031] The roll anti-collision pad is arranged on the pitch motion output support near the side of the damping output device;

[0032] The roll anti-collision block is arranged on the side of the mounting base and rotates with the rotation of the roll motor;

[0033] When the roll anti-collision block hits the roll anti-collision pad during rotation, the roll anti-collision pad limits the further rotation of the roll active damping device.

[0034] Preferably, the rotation axis of the pitch motor and the rotation axis of the roll motor always intersect perpendicularly.

[0035] Preferably, a ball guide sleeve is arranged between the output support and the guide column; the output support moves up and down along the guide column through the ball guide sleeve.

[0036] Preferably, limit bosses are arranged at both ends of the guide column; when the output support hits the limit bosses during up and down movement, the limit bosses limit the further movement of the output support to the edge of the guide column.

[0037] Further preferably, it further comprises a passive damping device;

[0038] The passive damping device specifically comprises an air spring, one end of the air spring being arranged on the moving platform and the other end being arranged on the bottom platform.

[0039] An air pump is further arranged on the bottom platform and is connected to the air spring through a gas pipeline, for maintaining the pressure of the air spring.

[0040] Through the combination of active damping and passive damping, when high-frequency vertical vibration exists, the air spring will play a passive damping effect, thereby reducing the influence of high-frequency vertical vibration on the stability of the moving platform.

[0041] Further preferably, an air pressure sensor is arranged in the air spring; the air pressure sensor is electrically connected to an air pressure automatic inflation control board.

[0042] When the air pressure sensor detects that the air pressure inside the air spring is lower than a preset air pressure, the air pressure automatic inflation control board controls the air pump to inflate the air spring through the gas pipeline.

[0043] Further preferably, the number of the air springs is four.

[0044] The air springs are respectively arranged on four corners of the moving platform.

[0045] Further preferably, the passive damping device further comprises an air spring bottom column arranged on the bottom platform, for fixedly connecting the air spring and the bottom platform.

[0046] The gas pipeline is connected to the air spring through the air spring bottom column.

[0047] Preferably, it further comprises a posture sensor, a main control board and a motor driver.

[0048] The posture sensor is electrically connected to the main control board, for detecting the acceleration of the target to be damped, to generate an acceleration signal and transmit the acceleration signal to the main control board, and the main control board controls the motor driver to drive the pitch motor and the roll motor to operate according to the acceleration signal.

[0049] Through the arrangement of the posture sensor, the direction of active damping is determined through the detection of the posture sensor, thereby effectively improving the damping efficiency and increasing the comfort of the damping process.

[0050] Further preferably, when the posture sensor detects the linear acceleration of the target to be damped, the main control board controls the motor driver to drive the operation of the pitch motor according to the linear acceleration.

[0051] More preferably, when the attitude sensor detects the centripetal acceleration of the target being damped, the main control board controls the motor driver to drive the roll motor based on the centripetal acceleration signal.

[0052] The present invention also provides a seat, including a seat body and the aforementioned vibration damping device; the seat body is fixed to the moving platform of the vibration damping device.

[0053] The present invention also provides an automobile using the aforementioned seat.

[0054] This invention includes at least one of the following technical effects:

[0055] (1) By setting the roll and pitch directions of the motors respectively, active compensation is performed, thereby reducing the left and right and front and back sway. The output is carried out through the guide column, which reduces the high-frequency vibration of the same platform, thereby improving the stability of the target to be vibration reduced.

[0056] (2) By combining active and passive vibration reduction, when there is high-frequency vertical vibration, the air spring will play the role of passive vibration isolation, thereby reducing the impact of high-frequency vertical vibration on the stability of the moving platform.

[0057] (3) By setting up an attitude sensor, the direction of active vibration reduction is determined by the detection of the attitude sensor, thereby effectively improving the efficiency of vibration reduction and increasing the comfort of the vibration reduction process. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a front view of the vibration reduction device of the present invention;

[0060] Figure 2 This is a schematic diagram of the back of the vibration damping device of the present invention;

[0061] Figure 3 This is a schematic diagram of the various limiting devices of the vibration damping device of the present invention;

[0062] Figure 4 This is a schematic diagram of the bottom mounting platform of the present invention;

[0063] Figure 5 This is a schematic diagram of the pitch motion output support structure of the present invention;

[0064] Figure 6This is a schematic diagram of the output support structure of the roll reducer of the present invention;

[0065] Figure 7 This is a schematic diagram of the structure of the vibration damping device of the present invention after the top moving platform is removed;

[0066] Figure 8 This is a schematic diagram of the various vibration damping components of the vibration damping device of the present invention.

[0067] Bottom platform 1, Pitch motor 2, Pitch reducer support 3, Moving platform 4, Pitch motion output support 5, Roll motor 6, Air pump 7, Automatic air pressure inflation control board 8, Main control board 9, Air spring base column 10, Air spring 11, Guide column support 12, Guide column 13, Ball bearing guide sleeve 14, Output support 15, Damper 16, Roll reducer 17, Bearing base 18, Pitch reducer 19, Pitch anti-collision pad 20, Pitch anti-collision block 21, Gas pipeline 22, Roll anti-collision block 23, Roll anti-collision pad 24 Attitude sensor 25, motor driver 26, power interface 27, air spring base mounting hole 28, roll anti-collision pad mounting hole 29, pitch reducer mounting hole 30, pitch anti-collision block mounting hole 31, roll limit switch reserved hole 32, roll reducer mounting hole 33, bearing base mounting hole 34, roll motor base mounting hole 35, roll anti-collision block mounting hole 36, guide hole 37, damper mounting hole 38, roll reducer mounting hole 39, pitch mounting base 40, motor mounting block 41, output connection block 42 Detailed Implementation

[0068] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0069] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or sets.

[0070] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, components with the same structure or function are shown only schematically, or only one is labeled. In this document, "a" not only means "only one," but can also mean "more than one."

[0071] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0072] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0073] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0074] Example 1:

[0075] like Figures 1-8 As shown, this embodiment provides a vibration damping device, including: a moving platform 4 for connecting to the target to be damped; a bottom platform 1 on which a pitch active vibration damping device is fixed; the pitch active vibration damping device includes a pitch motor 2; a roll active vibration damping device is disposed on the pitch active vibration damping device and rotates around the rotation axis of the pitch motor 2 under the drive of the pitch motor 2; the roll active vibration damping device includes a roll motor 6 that drives the roll active vibration damping device to rotate; and a vibration damping output device, which specifically includes a guide column 13 and an output support 15. The output support 15 is fixed on the roll active vibration damping device, and a guide hole 37 is provided inside the output support 15; one end of the guide column 13 is connected to the bottom platform 1, and the other end passes through the guide hole 37 and is connected to the moving platform 4.

[0076] In this embodiment, the moving platform 4 is generally located at the bottom of the target to be vibration damped. The target to be vibration damped can be a seat in a moving car, or any device that may sway during movement, such as a seat on an airplane. The bottom platform 1 is fixed to the floor inside the vehicle, such as a car or airplane, or the floor of the car or airplane can be used directly as the bottom platform 1.

[0077] Taking a car as an example, a car generates multidimensional vibrations during driving. For instance, braking produces linear vibrations in the front-to-back direction, which in turn causes pitch acceleration in the passengers, resulting in them pitching forward and backward. At this point, the active pitch damping device activates the pitch motor 2 to rotate, providing the moving platform 4 with a counter-directional motion compensation to prevent it from swaying back and forth. Similarly, when the car makes a sharp turn, it generates a centripetal acceleration in the left-to-right direction, which requires the roll motor 6 to provide a counter-directional centripetal acceleration to compensate for the motion.

[0078] More specifically, when the pitch motor 2 rotates, it drives the entire pitch active damping device to rotate, and also drives the output support 15 mounted on the roll active damping device to move. For example, when encountering a backward pitch, the guide column 13 will tilt backward. In this case, due to the output support 15, the pitch active damping device will exert a forward force on the guide column 13 through the output support 15, thereby maintaining the attitude of the guide column 13, and maintaining the attitude of the moving platform 4 by maintaining the attitude of the guide column 13. Similarly, when encountering a leftward lateral movement, the guide column 13 will tilt to the left. At this time, the roll motor 6 drives the roll active damping device to rotate, and exerts a rightward force on the guide column 13 through the output support 15, thereby maintaining the attitude of the guide column 13, and maintaining the attitude of the platform by maintaining the attitude of the guide column 13. For the installation of the guide column 13, a guide column support 12 is provided on the base for mounting the guide column 13.

[0079] If the object encounters acceleration motion in a direction that is neither completely left-right nor completely forward-backward, then according to the principle of force decomposition, the two motors are controlled to rotate, and the active compensation motion is transmitted to the moving platform 4 through the vibration damping output device.

[0080] This embodiment uses motors with separate roll and pitch directions for active compensation, and outputs the compensation through guide column 13, thereby reducing left-right and forward-backward swaying, which in turn reduces high-frequency vibration on the same platform and improves the stability of the target being vibration damped.

[0081] Preferably, the active pitch damping device further includes: a pitch reducer support 3, a pitch reducer 19, a pitch motion output support 5, and a bearing base 18; the pitch reducer support 3 is fixed on the bottom platform 1; one end of the pitch reducer support 3 is connected to the pitch motor 2, and the other end is connected to the pitch reducer 19; one end of the pitch motion output support 5 is connected to the pitch reducer 19, and the other end is connected to the bearing base 18; the bearing base 18 is fixed on the bottom platform 1.

[0082] The pitch motion output support 5 specifically includes a pitch mounting base 40 and a motor mounting block 41; one end of the pitch mounting base 40 is fixedly mounted on the pitch reducer 19, and the other end extends outward along the center of the pitch mounting base 40 to form the motor mounting block 41; the pitch mounting base 40 and the motor mounting block 41 form a T-shaped structure.

[0083] The motor mounting block 41 has a roll device mounting hole at its center, and the roll active damping device is mounted on the pitch motion output support 5 through the roll device mounting hole.

[0084] In the specific implementation of pitch direction vibration reduction, since the motor itself generally does not use a high-horsepower motor, but generally uses a low-horsepower servo motor, its torque is relatively small. Therefore, it is necessary to set up a corresponding reducer to output greater torque.

[0085] Specifically, a bearing base 18 and a pitch reducer support 3 are fixed on the bottom platform 1. One end of the pitch reducer 19 is connected to the pitch motor 2, and the other end is connected to the pitch motion output support 5. The whole is straddling between the fixed bearing base 18 and the pitch reducer support 3, and a roll active vibration damping device is installed through the roll device mounting hole.

[0086] More specifically, the pitch motion output support 5 has a T-shaped side. Multiple mounting holes are provided on the T-shaped structure of the pitch motion output support 5, including a pitch reducer mounting hole 30 located at the bottom of the pitch mounting base 40. These mounting holes allow the pitch motion output support 5 to form a single unit with the pitch reducer 19 and the pitch motor 2. This transmits the active compensation motion of the pitch motor 2 to the pitch motion output support 5, and then, through the roll active damping device mounted on the pitch motion output support 5, transmits the compensation to the output support 15. The roll device mounting holes specifically include a roll reducer mounting hole 33 and a roll motor base mounting hole 35, used to mount the roll reducer and roll motor respectively. A bearing base mounting hole 34 is also provided for mounting the bearing base 34.

[0087] More preferably, it also includes a pitch anti-collision block 21 and a pitch anti-collision pad 20; the pitch anti-collision pad 20 is installed on the bottom platform 1 and located below the pitch reducer support 3; the pitch anti-collision block 21 is installed on both sides of the pitch motion output support 5 and rotates with the rotation of the active pitch damping device; when the pitch anti-collision block 21 hits the pitch anti-collision pad 20 during rotation, the pitch anti-collision pad 20 cooperates with the pitch anti-collision block 21 to restrict the active pitch damping device from rotating further.

[0088] Meanwhile, during the rotation process, in order to prevent the pitch motion output support 5 from directly impacting the bottom platform 1 and causing damage to the bottom platform 1 or the pitch motion output support 5 itself, a pitch anti-collision pad 20 is provided on the bottom platform 1, and corresponding pitch anti-collision blocks 21 are provided at corresponding positions on both sides of the pitch motion output support 5. This ensures that during the rotation of the pitch motion output support 5, the range of rotation is limited to the two collision points between the pitch anti-collision block 21 and the pitch anti-collision pad 20.

[0089] More specifically, the pitch motion output support 5 is provided with pitch anti-collision block mounting holes 31, which are divided into two sides on the longitudinal structure of the inverted trapezoidal T-shaped structure of the pitch mounting base 40 as the axis, for mounting pitch anti-collision blocks 21.

[0090] More preferably, the roll active damping device further includes: a roll reducer 17 and a roll motion output support 15; one side of the roll motion output support 15 is connected to the output support 15, and the other side is connected to the roll reducer 17; one side of the roll reducer 17 is connected to the roll motion output support 15, and the other side is connected to the pitch motion output support 5; the roll motion output support 15 specifically includes a mounting base and an output connecting block 42; one side of the mounting base is connected to the output connecting block 42, and the other side is connected to the roll reducer 17; one end of the output connecting block 42 is connected to the mounting base, and the other end is connected to the output support 15.

[0091] In this preferred embodiment, the roll motion device mounted on the pitch motion output support 5 moves with the pitch motion output support 5 while simultaneously outputting motion through the roll reducer 17. This is because the roll motor 6 typically does not use a high-horsepower motor, but rather a low-horsepower servo motor with relatively low torque. Therefore, a corresponding reducer is needed to output greater torque. The mounting base mounted on the roll reducer 17 rotates with the roll reducer 17, driving the output connecting block 42 to rotate and further applying the motion to the output support 15 for motion compensation. Simultaneously, the mounting base is provided with a roll reducer mounting hole 39 for mounting the roll reducer.

[0092] More preferably, it also includes a damper 16; one end of the damper 16 is connected to the output connection block 42, and the other end is connected to the moving platform 4 through a rotating joint.

[0093] In this preferred embodiment, by adding a damper 16 to the device, the vibration reduction efficiency can be maximized, the small friction and air resistance in the system can be compensated, and the frequency response can be greatly improved.

[0094] Specifically, a damper 16 is installed between the output connection block 42 and the moving platform 4. The lower end of the damper 16 is fixed to the output connection block 42 and is fixed through the damper mounting hole 38 provided on the output connection block 42. The upper end is connected to the moving platform 4 through a rotating joint, and the axis of the rotating joint is parallel to the rotation axis of the pitch motor 2. Since the axis of the rotating joint is parallel to the rotation axis of the pitch motor 2, the rotating joint will not break due to the movement of the pitch motor 2 during the movement.

[0095] More preferably, it also includes a roll anti-collision block 23 and a roll anti-collision pad 24; the roll anti-collision pad 24 is disposed on the pitch motion output support 5 on the side near the vibration damping output device; the roll anti-collision block 23 is disposed on the side of the mounting base and rotates with the rotation of the roll motor 6; when the roll anti-collision block 23 impacts the roll anti-collision pad 24 during rotation, the roll anti-collision pad 24 restricts the roll active vibration damping device from rotating further.

[0096] In this further preferred embodiment, in order to prevent the output support 15 from directly impacting the bottom platform 1 during the rotation process, thereby causing damage to the bottom platform 1 or the output support 15 itself, a roll anti-collision pad 24 is provided on the side of the pitch motion output support 5 near the roll anti-collision pad 24, and a corresponding roll anti-collision block 23 is provided on the side of the mounting base at the corresponding position. This ensures that during the rotation of the output support 15, the range of rotation is limited to the two collision points between the roll anti-collision block 23 and the roll anti-collision pad 24.

[0097] In terms of specific installation, roll bumper mounting holes 36 are symmetrically arranged on the side and top surface of the mounting base, with the output connection block 42 as the axis of symmetry. Roll bumper pad mounting holes 29 are also provided on the pitch mounting base 40 of the pitch motion output support 5, near the output support 15, for installing roll bumper pads 24. Simultaneously, a roll limit switch reserved hole 32 is provided to allow for future modification of the limit switch.

[0098] Preferably, the rotation axis of the pitch motor 2 and the rotation axis of the roll motor 6 are always perpendicular to each other.

[0099] Preferably, a ball bearing guide sleeve 14 is provided between the output support 15 and the guide post 13; the output support 15 moves up and down along the guide post 13 via the ball bearing guide sleeve 14.

[0100] During operation, there may be significant shaking. If the output support 15 and the guide post 13 are rigidly connected, the guide post 13 may break due to excessive shaking and the inability of the guide post 13 to withstand the force. Therefore, in this embodiment, a ball bearing guide sleeve 14 is provided between the output support 15 and the guide post 13, so that the output support 15 and the guide post 13 are not rigidly fixed, but the output support 15 moves up and down on the guide post 13, thereby avoiding the breakage of the guide post 13 due to rigid fixation.

[0101] Preferably, the guide post 13 is provided with limiting bosses at both ends. When the output support 15 hits the limiting bosses during its up-and-down movement, the limiting bosses restrict the output support 15 from moving further toward the edge of the guide post 13.

[0102] Example 2:

[0103] like Figures 1-8 As shown, this embodiment provides a vibration damping device, including: a moving platform 4 for connecting to the target to be damped; a bottom platform 1 on which a pitch active vibration damping device is fixed; the pitch active vibration damping device includes a pitch motor 2; a roll active vibration damping device is disposed on the pitch active vibration damping device and rotates around the rotation axis of the pitch motor 2 under the drive of the pitch motor 2; the roll active vibration damping device includes a roll motor 6 that drives the roll active vibration damping device to rotate; and a vibration damping output device, which specifically includes a guide column 13 and an output support 15, the output support 15 being fixed on the roll active vibration damping device, and a guide hole 37 being provided inside the output support 15; the guide column 13 passes through the guide hole 37 and connects to the moving platform 4.

[0104] It also includes: a passive vibration damping device; the passive vibration damping device specifically includes an air spring 11, one end of the air spring 11 is set on the moving platform 4, and the other end is set on the bottom platform 1; an air pump 7 is also set on the bottom platform 1, which is connected to the air spring 11 through a gas pipeline 22 to maintain the pressure of the air spring 11; the number of air springs 11 is 4; the air springs 11 are respectively set at the four corners of the bottom platform 1.

[0105] In this embodiment, while setting active vibration damping, a passive vibration damping device should also be set to control high-frequency vertical vibration. In terms of implementation, air springs 11 distributed at the four corners of the bottom platform 1 and the moving platform 4 are generally used to achieve passive vibration damping, and the air pump 7 is connected through the gas pipe 22 extending to the air spring 11, thereby maintaining the internal air pressure of the air spring 11.

[0106] Taking the operation of a car as an example, when the moving platform 4 vibrates, the air springs 11 located at the four corners of the bottom platform 1 act as buffer pads and deform accordingly, thereby buffering the moving platform 4 and eliminating the impact of high-frequency vertical vibration on the moving platform 4.

[0107] This embodiment combines active and passive vibration reduction. When high-frequency vertical vibration exists, the air spring 11 will play a passive vibration isolation role, thereby reducing the impact of high-frequency vertical vibration on the stability of the moving platform 4.

[0108] Preferably, it also includes an air spring base column 10, which is disposed on the bottom platform 1 for fixing the air spring 11 and the bottom platform 1; the gas pipeline 22 is connected to the air spring 11 via the air spring base column 10.

[0109] In this preferred embodiment, an air spring 11 base column mounting hole 10 is provided on the bottom platform 1. The air spring 11 base column 10 is installed on the bottom platform 1 through the air spring 11 base column mounting hole 10. At the same time, the gas pipeline 22 enters the air spring 11 base column 10 from the air spring 11 base column mounting hole 10 provided on the bottom platform 1, and then connects to the air spring 11 through the air spring 11, so that the air pump 7 can inflate the air spring 11.

[0110] More preferably, a pressure sensor is provided inside the air spring 11; the pressure sensor is electrically connected to the automatic air pressure inflation control board 8;

[0111] When the air pressure sensor detects that the air pressure inside the air spring 11 is lower than the preset air pressure, the automatic air pressure inflation control board 8 controls the air pump 7 to inflate the air spring 11 through the gas pipeline 22.

[0112] In this preferred embodiment, an air pressure sensor is provided inside the air spring 11 to detect the air pressure inside the air spring 11 and transmit the air pressure to the automatic air pressure inflation control board 8 provided on the base platform. The automatic air pressure inflation control board 8 controls the air pump 7.

[0113] More specifically, when the air pressure sensor detects that the air pressure inside the air spring 11 is lower than the preset air pressure, the automatic air pressure inflation control board 8 issues an inflation command to control the air pump 7 to inject high-pressure gas into the air spring 11 through the gas pipeline 22. The high-pressure gas passes through the gas pipeline 22, through the air spring bottom column 10, and into the air spring 11, thereby maintaining the air pressure inside the air spring 11 at the target value.

[0114] Example 3:

[0115] likeFigures 1-8 As shown, this embodiment provides a vibration damping device, including: a moving platform 4 for connecting to the target to be damped; a bottom platform 1 on which a pitch active vibration damping device is fixed; the pitch active vibration damping device includes a pitch motor 2; a roll active vibration damping device is disposed on the pitch active vibration damping device and rotates around the rotation axis of the pitch motor 2 under the drive of the pitch motor 2; the roll active vibration damping device includes a roll motor 6 that drives the roll active vibration damping device to rotate; and a vibration damping output device, which specifically includes a guide column 13 and an output support 15. The output support 15 is fixed on the roll active vibration damping device, and a guide hole 37 is provided inside the output support 15; one end of the guide column 13 is connected to the bottom platform 1, and the other end passes through the guide hole 37 and is connected to the moving platform 4.

[0116] It also includes an attitude sensor 25, a main control board, and a motor driver 26; the attitude sensor 25 is electrically connected to the main control board and is used to detect the acceleration of the target being damped, generate an acceleration signal, and transmit the acceleration to the main control board. The main control board controls the motor driver 26 according to the acceleration to drive the pitch motor 2 and the roll motor 6 to run.

[0117] In this embodiment, an attitude sensor 25, a main control board, and a motor driver 26 are provided on the bottom platform 1. The attitude sensor 25 is generally implemented using an accelerometer to detect the acceleration of the target being damped, and the main control board uses this acceleration to drive and control the motor. A power interface 27 is also provided on the bottom platform to supply power to all electrical equipment, providing 48V and 12V voltages.

[0118] Specifically, when the data transmitted from the attitude sensor 25 to the main control board makes the main control board think that motion compensation is necessary, the main control board sends a corresponding drive signal to the motor driver 26. Under the control of the drive signal, the motor driver 26 sends motion signals to the pitch motor 2 and the roll motor 6, thereby controlling the operation of the pitch motor 2 and the roll motor 6.

[0119] This embodiment improves the efficiency of vibration reduction and increases the comfort of the vibration reduction process by setting an attitude sensor 25 and using the detection of the attitude sensor 25 to determine the direction of active vibration reduction.

[0120] More preferably, when the attitude sensor 25 detects the linear acceleration of the target being damped, the main control board controls the motor driver 26 to drive the operation of the pitch motor 2 according to the linear acceleration.

[0121] In this preferred embodiment, taking a car as an example, when the attitude sensor 25 detects linear acceleration, it indicates that braking or acceleration has occurred. Braking and acceleration will generate linear vibration in the front-to-back direction, which will generate pitch acceleration in the passenger, causing the passenger to pitch back and forth. At this time, the pitch active damping device starts the pitch motor 2 to rotate, giving the moving platform 4 a counter-directional motion compensation, so that it does not sway back and forth.

[0122] More preferably, when the attitude sensor 25 detects the centripetal acceleration of the target being damped, the main control board controls the motor driver 26 to drive the roll motor 6 according to the centripetal acceleration.

[0123] In this preferred embodiment, taking a car as an example, when the attitude sensor 25 detects the presence of centripetal acceleration, it indicates that a sharp turn or similar situation has occurred. When the car is making a sharp turn, it will generate a linear vibration in the left-right direction. At this time, the roll motor 6 needs to provide a linear acceleration in the left-right direction to compensate for the movement in the opposite direction, so that it does not sway left and right.

[0124] Example 4:

[0125] The present invention also provides a seat, including a seat body and the vibration damping device described in embodiments 1-3; the seat body is fixed on the moving platform 4 of the vibration damping device.

[0126] In this embodiment, vibration damping devices are generally applied to seats to compensate for seat vibrations. The seats can be installed in cars or airplanes, and adjustments can be made according to actual needs.

[0127] Example 5:

[0128] The present invention also provides an automobile that uses the seat described in Example 4.

[0129] In this embodiment, a standard seat is used in a car to improve the comfort of car passengers.

[0130] Specifically, when the attitude sensor 25 detects linear acceleration, it indicates braking or acceleration. Braking and acceleration generate linear vibrations in the forward and backward direction, which in turn cause pitch acceleration in the passenger, resulting in the passenger pitching forward and backward. At this time, the active pitch damping device activates the pitch motor 2 to rotate, providing a counter-directional motion compensation to the moving platform 4 to prevent it from swaying forward and backward. When the attitude sensor 25 detects centripetal acceleration, it indicates a sharp turn. When the car is making a sharp turn, it generates a centripetal vibration in the left and right direction. At this time, the roll motor 6 needs to provide a counter-directional centripetal acceleration in the left and right direction to compensate for the swaying, preventing it from swaying left and right.

[0131] Through the above embodiments, the present invention achieves the following: (1) Active compensation is performed by setting the roll direction and pitch direction of the motors respectively, thereby reducing the left and right and front and back sway, and the output is performed through the guide column, thereby reducing the high-frequency vibration of the same platform and improving the stability of the target to be vibration reduced.

[0132] (2) By combining active and passive vibration reduction, when there is high-frequency vertical vibration, the air spring will play the role of passive vibration isolation, thereby reducing the impact of high-frequency vertical vibration on the stability of the moving platform.

[0133] (3) By setting up an attitude sensor, the direction of active vibration reduction is determined by the detection of the attitude sensor, thereby effectively improving the efficiency of vibration reduction and increasing the comfort of the vibration reduction process.

[0134] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0135] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A vibration damping device, characterized in that, include: A moving platform is used to connect the target to be vibration damped; A bottom platform, on which an active pitch damping device is fixed; The active pitch damping device includes a pitch motor; The roll active damping device is mounted on the pitch active damping device and rotates around the rotation axis of the pitch motor under the drive of the pitch motor. The roll active damping device includes a roll motor, which drives the roll active damping device to rotate. A vibration damping output device, specifically comprising a guide column and an output support, wherein the output support is fixed on the roll active vibration damping device and a guide hole is provided inside the output support; The guide post passes through the guide hole and connects to the moving platform; A ball bearing sleeve is provided between the output support and the guide post, and the output support moves up and down along the guide post through the ball bearing sleeve. The guide post is provided with limiting bosses at both ends. When the output support hits the limiting boss during its up-and-down movement, the limiting boss restricts the output support from moving further toward the edge of the guide post.

2. The vibration damping device according to claim 1, characterized in that, The active pitch damping device further includes: a pitch reducer support, a pitch reducer, a pitch motion output support, and a bearing base; The pitch reducer support is fixed to the bottom platform; One end of the pitch reducer support is connected to the pitch motor, and the other end is connected to the pitch reducer. One end of the pitch motion output support is connected to the pitch reducer, and the other end is connected to the bearing base; the bearing base is fixed on the bottom platform.

3. The vibration damping device according to claim 2, characterized in that, The pitch motion output support specifically includes a pitch mounting base and a motor mounting block; One end of the pitch mounting base is fixedly mounted on the pitch reducer, and the other end extends outward along the center of the pitch mounting base to form the motor mounting block; the pitch mounting base and the motor mounting block form a T-shaped structure. The motor mounting block has a roll device mounting hole at its center, and the roll active damping device is mounted on the pitch motion output support through the roll device mounting hole.

4. A vibration damping device according to claim 2, characterized in that, It also includes pitch anti-collision blocks and pitch anti-collision pads; The pitch anti-collision pad is installed on the bottom platform and is located below the pitch reducer support; The pitch anti-collision blocks are installed on both sides of the pitch motion output support and rotate with the rotation of the active pitch damping device; When the pitch anti-collision block strikes the pitch anti-collision pad during rotation, the pitch anti-collision pad works with the pitch anti-collision block to limit the pitch active vibration damping device from rotating further.

5. A vibration damping device according to claim 2, characterized in that, The active roll damping device specifically includes: a roll reducer and a roll motion output support; One side of the roll motion output support is connected to the output support, and the other side is connected to the roll reducer; One side of the roll reducer is connected to the roll motion output support, and the other side is connected to the pitch motion output support.

6. A vibration damping device according to claim 5, characterized in that, The roll motion output support specifically includes a mounting base and an output connection block; One side of the mounting base is connected to the output connection block, and the other side is connected to the roll reducer; One end of the output connection block is connected to the mounting base, and the other end is connected to the output support.

7. A vibration damping device according to claim 6, characterized in that, It also includes a damper; one end of the damper is connected to the output connection block, and the other end is connected to the moving platform through a revolute joint.

8. A vibration damping device according to claim 6, characterized in that, It also includes roll-off blocks and roll-off pads; The roll anti-collision pad is disposed on the side of the pitch motion output support near the vibration damping output device; The roll bumper is located on the side of the mounting base and rotates with the roll motor. When the roll bumper block impacts the roll bumper pad during rotation, the roll bumper pad restricts the roll active damping device from rotating further.

9. A vibration damping device according to claim 1, characterized in that, The rotation axis of the pitch motor and the rotation axis of the roll motor are always perpendicular to each other.

10. A vibration damping device according to claim 1 or 7, characterized in that, Also includes: Passive vibration damping devices; The passive vibration damping device specifically includes an air spring, one end of which is disposed on the moving platform and the other end on the bottom platform; An air pump is also provided on the bottom platform, which is connected to the air spring through a gas pipeline to maintain the pressure of the air spring.

11. A vibration damping device according to claim 10, characterized in that, An air pressure sensor is installed inside the air spring; the air pressure sensor is electrically connected to the automatic air pressure inflation control board. When the air pressure sensor detects that the air pressure inside the air spring is lower than the preset air pressure, the automatic air pressure inflation control board controls the air pump to inflate the air spring through the gas pipeline.

12. A vibration damping device according to claim 10, characterized in that, The number of air springs is 4; The air springs are respectively installed at the four corners of the moving platform.

13. A vibration damping device according to claim 10, characterized in that, The passive vibration damping device also includes an air spring base column, which is disposed on the bottom platform and used to fix the air spring and the bottom platform. The gas pipeline is connected to the air spring via the bottom column of the air spring.

14. A vibration damping device according to claim 1, characterized in that, It also includes an attitude sensor, a main control board, and a motor driver; The attitude sensor is electrically connected to the main control board and is used to detect the acceleration of the target being vibration damped, generate an acceleration signal, and transmit the acceleration signal to the main control board. The main control board controls the motor driver to drive the pitch motor and the roll motor to run according to the acceleration signal.

15. A vibration damping device according to claim 14, characterized in that, When the attitude sensor detects the linear acceleration of the target being vibration damped, the main control board controls the motor driver to drive the pitch motor based on the linear acceleration.

16. A vibration damping device according to claim 14, characterized in that, When the attitude sensor detects the centripetal acceleration of the target being damped, the main control board controls the motor driver to drive the roll motor based on the centripetal acceleration signal.

17. A type of seat, characterized in that, Includes the seat body and the vibration damping device as described in any one of claims 1-16; The seat body is fixed to the moving platform of the vibration damping device.

18. A car, characterized in that, Use the seat as described in claim 17.

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