A bionic variable stiffness vibration isolator based on active control

Abstract

The present invention belongs to the technical field of vibration isolators and specifically provides a bionic variable stiffness vibration isolator based on active control, comprising a base plate, an active variable stiffness control system, and a bionic system. The active variable stiffness control system comprises a negative stiffness adjustment mechanism, a positive stiffness adjustment mechanism, and a drive mechanism, wherein the drive mechanism comprises a PID active controller and a piezoelectric driver. The present invention uses a PID active controller to control the piezoelectric driver in real time, enabling adaptive adjustment of the stiffness of the vibration isolator. This organically combines the active variable stiffness control system with the passive control system, fully leveraging the advantages of active low-frequency vibration isolation, strong adaptability, ease of implementation, and excellent multi-modal vibration isolation, thereby achieving vibration isolation in multiple working conditions.

Description

Technical Field

[0001] The invention belongs to the technical field of vibration isolators, and specifically provides a bionic variable stiffness vibration isolator based on active control. Background Art

[0002] In the aerospace field, aircraft are subject to harsh environments, often generating unnecessary vibrations. These vibrations not only affect the precision of instruments but can also damage the aircraft structure, leading to catastrophic consequences. Therefore, the design of an efficient vibration isolation device is essential. Currently, a wide variety of vibration dampers are used for aerospace vibration suppression, which can be broadly categorized as passive, active, and integrated active-passive devices. Passive isolators offer a simple structure, reliable operation, and require no additional energy input. However, passive isolators have difficulty suppressing low-frequency resonances, and the parameters of the vibration damping device are difficult to adjust. Summary of the Invention

[0003] In view of the above problems, the present invention provides a bionic variable stiffness vibration isolator based on active control, comprising a base plate, an active variable stiffness control system and a bionic system, wherein:

[0004] The bottom plate includes a first bottom plate 1 and a second bottom plate 2, which are fixedly connected;

[0005] An active variable stiffness control system, comprising a negative stiffness adjustment mechanism, a positive stiffness adjustment mechanism and a drive mechanism;

[0006] The negative stiffness adjustment mechanism includes a buckling beam end support 3, a buckling beam, a piezoelectric driver base 5, a level conversion base 6 and a level conversion device;

[0007] The buckling beam end support 3 has its lower end fixed to the second base plate 2 by bolts, and its upper end is designed in a stepped shape, with a first fixing block 8 fixed on the lower table;

[0008] The buckling beam is a buckling steel plate, one end of which is fixed to the first fixing block 8 and the other end is fixed to the upper end of the piezoelectric driver base 5;

[0009] The horizontal conversion device includes a set of relatively parallel conversion steel plates 10. The bottom ends of the two conversion steel plates 10 are fixed to the horizontal conversion base 6, and the upper ends are respectively fixed to the two ends of the piezoelectric driver base 5 to support the piezoelectric driver base 5.

[0010] The positive stiffness adjustment mechanism includes a threaded rod 9, a spring seat 11 and a coil spring assembly.

[0011] The spring seat 11 is fixed on the second base plate 2 and has a chamber inside, which accommodates a coil spring group;

[0012] The threaded rod 9 has its upper end passing through the buckling beam, and the buckling beam is fixed on the threaded rod 9 by bolts; a stopper is provided at the lower end, and the stopper is placed between the two springs in the cavity of the spring seat 11;

[0013] The driving mechanism includes a PID active controller, a piezoelectric driver, and a piezoelectric driver support 14. The piezoelectric driver is arranged on the piezoelectric driver base 5, one end of which is connected to the piezoelectric driver support 14 and the other end of which is against the end of the buckling beam. The PID active controller is connected to the piezoelectric driver for signal control.

[0014] The bionic system includes an upper sliding support assembly, a lower sliding support assembly, a transmission assembly and a carrier plate 16;

[0015] The lower sliding support assembly includes two lower sliding supports 17 arranged opposite to each other, both of which are fixed to the first fixed plate, and a sliding groove is formed on each of the two lower sliding supports 17;

[0016] The upper sliding support assembly is located directly above the lower sliding support 17 and has the same structure as the lower sliding support assembly;

[0017] The carrier plate 16 is mounted on the upper sliding support assembly;

[0018] The transmission assembly is arranged between the upper and lower sliding support groups; the upper end of the threaded rod 9 is fixed on the transmission assembly, and the transmission assembly and the threaded rod 9 realize the conversion between axial movement and horizontal movement.

[0019] Furthermore, the thickness of the conversion steel plate 10 is greater than the thickness of the buckling beam.

[0020] Furthermore, it also includes a pre-tightening device 19, which is a screw that passes through the upper part of the piezoelectric driver support 14, and the head is fixed with the end of the piezoelectric driver by threaded engagement; on the pre-tightening device 19, a bolt is respectively provided at both ends of the piezoelectric driver support 14 for fixing.

[0021] Furthermore, a second fixing block 20 is fixed to the piezoelectric driver base 5 by bolts. The first fixing block 8 and the second fixing block 20 are arranged horizontally, and one end of the buckling beam is fixed to the second fixing block 20 .

[0022] Furthermore, it includes a guide rod 21 , the bottom end of which is fixed to the first fixed body through a bearing, and the upper end of which penetrates the carrier plate 16 , so that the carrier plate 16 can slide up and down along the guide rod 21 .

[0023] Furthermore, the transmission assembly includes two connecting members of the same structure and arranged opposite to each other, one for connecting the left ends of the upper and lower sliding supports 17, and the other for connecting the right ends of the upper and lower sliding supports 17;

[0024] The connecting member includes a first connecting rod 24 and a second connecting rod 25, which are cross-designed to form an X shape. A rotatable central through rod 26 is passed through the center intersection of the two connecting members.

[0025] A fixed through rod 27 and a sliding through rod 28 are provided between the two upper sliding supports 18, wherein both ends of the fixed through rod 27 are fixed to the inner side of the sliding support, and both ends of the sliding through rod 28 are placed in the slide groove via pulleys 29 and can slide along the slide groove; similarly, a fixed through rod 27 and a sliding through rod 28 of the same structure are also provided between the two lower sliding supports 17;

[0026] The upper end of the first connecting rod 24 of the two connecting parts is rotatably fixed on the fixed through rod 27 of the upper sliding support 18 on its side, and the lower end is rotatably fixed on the sliding through rod 28 of the lower sliding support 17; the upper end of the second connecting rod 25 is rotatably fixed on the sliding through rod 28 of the upper sliding support 18 on its side, and the lower end is rotatably fixed on the fixed through rod 27 of the lower sliding support 17.

[0027] Furthermore, a fastener is provided at the upper end of the threaded rod 9 , and the fastener is fixed to the second connecting rod of the lower sliding support 17 .

[0028] Furthermore, the spring seat 11 includes a spring kit 1 1101, a spring kit 2 1102 and a spring kit 3 1103.

[0029] The spring kit 1101 is a cylindrical barrel structure with a through hole on the upper end, an open design on the lower end, and a threaded outer wall;

[0030] The spring kit 2 1102 is fixed on the spring kit 3 1103 and is provided with a round through hole, and the inner wall of the round through hole is provided with a thread.

[0031] The spring kit three 1103 is a cylindrical barrel-shaped structure, the bottom end of which is fixed to the second base plate 2 by bolts, the upper end is open, and the inner wall is provided with an external thread. The lower part of the spring kit one 1101 is threadedly connected to the inner wall of the spring kit three 1103; the spring kit two 1102 is fixed at the opening of the spring kit three 1103 and is fixedly connected to the outer thread of the spring kit one 1101.

[0032] Furthermore, it also includes a buckling beam, two buckling beams forming a group, arranged parallel to each other in the upper and lower parts, with a rectangular connecting block 7 sandwiched in the middle, the two buckling beams and the middle parts of the connecting block are provided with through holes and penetrated by threaded rods 9, and are fixed by bolts on the outside of the two buckling beams; one end of the two buckling steel plates is respectively fixed to the upper and lower end surfaces of the first fixing block 8, and the other end is fixed to the upper and lower end surfaces of the second fixing block 20.

[0033] The present invention controls the piezoelectric driver in real time through a PID active controller, so that the stiffness of the vibration isolator can be adaptively adjusted, and the active variable stiffness control system and the passive control system are organically combined, giving full play to the advantages of good active low-frequency vibration isolation effect, strong adaptability, simplicity and ease of implementation, and good multi-modal vibration isolation effect, thereby realizing vibration isolation in multiple working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the structure of the invention;

[0035] Figure 2 It is the structural diagram of the active variable stiffness control system;

[0036] Figure 3 1 is a schematic structural diagram of an embodiment of a spring seat;

[0037] Among them, 1 is the first base plate, 2 is the second base plate, 3 is the end support of the buckling beam, 4 is the buckling beam, 5 is the piezoelectric driver base, 6 is the horizontal conversion base, 7 is the rectangular connecting block, 8 is the first fixed block, 9 is the threaded rod, 10 is the conversion steel plate, 11 is the spring seat, 1101 is the spring kit one, 1102 is the spring kit two, 1103 is the spring kit three, 12 is the coil spring, 13 is the piezoelectric driver, 14 is the piezoelectric driver support, 15 is the piezoelectric driver fixed block, 16 is the carrier plate, 17 is the lower sliding support, 18 is the upper sliding support, 19 is the preload device, 20 is the second fixed block, 21 is the guide rod, 22 is the linear bearing, 23 is the weight, 24 is the first connecting rod, 25 is the second connecting rod, 26 is the center through rod, 27 is the fixed through rod, 28 is the sliding through rod, 29 is the pulley. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0039] refer to Figure 1-2 A bionic variable stiffness vibration isolator based on active control includes a base plate, an active variable stiffness control system and a bionic system, wherein:

[0040] The bottom plate includes a first bottom plate 1 and a second bottom plate 2, which are fixedly connected;

[0041] An active variable stiffness control system, comprising a negative stiffness adjustment mechanism, a positive stiffness adjustment mechanism and a drive mechanism;

[0042] The negative stiffness adjustment mechanism includes a buckling beam end support 3, a buckling beam, a piezoelectric driver base 5, a level conversion base 6 and a level conversion device;

[0043] The buckling beam end support 3 has its lower end fixed to the second base plate 2 by bolts, and its upper end is designed in a stepped shape, with a first fixing block 8 fixed on the lower table;

[0044] The buckling beam 4 is a buckling steel plate with one end fixed to the first fixed block 8 and the other end fixed to the upper end of the piezoelectric driver base 5. The buckling beam provides negative stiffness for the system through buckling deformation. A through hole is provided at each of the four corners to facilitate fixing it to the first fixed block 8. In addition, a through hole is left at the center of the buckling beam to allow the threaded rod 9 to pass through.

[0045] The horizontal conversion device comprises a pair of parallel conversion steel plates 10. The bottom ends of the two conversion steel plates 10 are fixed to the horizontal conversion base 6, and the upper ends are fixed to the ends of the piezoelectric actuator base 5, providing support for the piezoelectric actuator base 5. The thickness of the conversion steel plates 10 is greater than that of the buckling beam. The horizontal conversion device functions as follows: in the preloaded state, when the piezoelectric actuator outputs displacement, because the thickness of the conversion steel plates 10 is greater than that of the steel plates at the ends of the buckling beam, the deformation of the conversion steel plates 10 ultimately transmits force and displacement to the buckling beam, causing the lateral stiffness of the buckling beam to change.

[0046] The positive stiffness adjustment mechanism includes a threaded rod 9, a spring seat 11 and a coil spring group. The positive stiffness mechanism provides positive stiffness for the system through two coil springs 12. The coil springs 12 contact the threaded rod 9 so that the threaded rod 9 has positive stiffness in the vertical direction.

[0047] The spring seat 11 is fixed on the second base plate 2 and has a chamber inside, which accommodates a coil spring group;

[0048] The upper end of the threaded rod 9 passes through the buckling beam 4, and the buckling beam is fixed in position on the threaded rod 9 by bolts; a stopper is provided at the lower end, and the stopper is placed between the two springs in the chamber of the spring seat 11; the lower end of the threaded rod 9 contacts the coil spring 12, and transmits the positive stiffness provided by the coil spring 12 in the vertical direction, and the middle end passes through the through hole reserved in the middle of the buckling beam, and transmits the negative stiffness generated by the buckling beam in the vertical direction.

[0049] The negative stiffness adjustment mechanism changes the negative stiffness of the system by changing the buckling deformation of the buckling beam, and the threaded rod 9 is transmitted so that the threaded rod 9 has negative stiffness in the vertical direction.

[0050] The drive mechanism includes a PID active controller, a piezoelectric driver 13, and a piezoelectric driver support 14. The piezoelectric driver is mounted on a piezoelectric driver base 5, with one end pre-tightened with the piezoelectric driver support 14 and the other end abutting against the end of the buckling beam. Specifically, a piezoelectric driver fixing block 15 can be provided on the piezoelectric driver base 5 near the buckling beam for support and fixation. This piezoelectric driver fixing block 15 ensures that the piezoelectric driver is positioned horizontally and remains level with the buckling beam end. The piezoelectric driver outputs displacement, uniformly transmitting force to the buckling beam end. The PID active controller is connected to the piezoelectric driver for signal control, and the PID active controller is used to adjust the piezoelectric driver's output displacement. The piezoelectric driver receives commands from the PID active controller and outputs displacement and force to act on the buckling beam.

[0051] The bionic system includes an upper sliding support assembly, a lower sliding support assembly, a transmission assembly and a carrier plate 16;

[0052] The lower sliding support assembly includes two lower sliding supports 17 arranged opposite to each other, both of which are fixed to the first fixed plate, and a sliding groove is formed on each of the two lower sliding supports 17;

[0053] The upper sliding support group is located directly above the lower sliding support group and includes two upper sliding supports 18, which have the same structure as the lower sliding support group;

[0054] The carrier plate 16 is mounted on the upper sliding support assembly;

[0055] The transmission assembly is arranged between the upper and lower sliding support groups; the upper end of the threaded rod 9 is fixed on the transmission assembly, and the transmission assembly and the threaded rod 9 realize the transmission of up and down axial movement and horizontal movement.

[0056] As an improvement, a preload device 19 is included. This preload device 19 is a screw that passes through a through-hole in the upper portion of the piezoelectric actuator support 14. Its head engages with the end of the piezoelectric actuator, threadedly securing it to the initial state of the entire system. A bolt is attached to each end of the piezoelectric actuator support 14. This preload device 19 provides a preload force to the piezoelectric actuator, ensuring its end is in close contact with the end of the buckling beam.

[0057] As an improvement to the solution, a second fixing block 20 is bolted to the piezoelectric driver base 5 , the first fixing block 8 and the second fixing block 20 are arranged horizontally, and one end of the buckling beam is fixed to the second fixing block 20 .

[0058] As an improvement, the solution also includes a guide rod 21 and two linear bearings 22. The two linear bearings 22 are fixed to the carrier plate 16 and the first fixed plate, respectively, with the smooth guide rod 21 passing through them. This reduces friction and ensures vertical stability. A weight 23 is carried on the carrier plate 16 and moves axially along the smooth guide rod 21 during vibration, driving the rotation of the connecting rod of the X-shaped connector.

[0059] As an improvement to the solution, the transmission assembly includes two connecting members of identical structure and arranged opposite to each other, one for connecting the upper sliding support 18 and the left end of the lower sliding support 17, and the other for connecting the upper sliding support 18 and the right end of the lower sliding support 17;

[0060] The connecting member includes a first connecting rod 24 and a second connecting rod 25, which are cross-designed to be X-shaped. A rotatable central through rod 26 is passed through the center intersection of the two connecting members. A bearing A is provided at the connection between the central through rod 26 and the connecting member to reduce rotational friction and ensure smooth operation of the system.

[0061] A fixed through rod 27 and a sliding through rod 28 are provided between the two upper sliding supports 18, wherein both ends of the fixed through rod 27 are fixed to the inner side of the sliding support, and both ends of the sliding through rod 28 are placed in the slide groove via pulleys 29 and can slide along the slide groove; similarly, a fixed through rod 27 and a sliding through rod 28 of the same structure are also provided between the two lower sliding supports 17;

[0062] The upper end of the first connecting rod 24 of the two connecting members is rotatably fixed to the fixed through rod 27 of the upper sliding support 18 on its side, and the lower end is rotatably fixed to the sliding through rod 28 of the lower sliding support 17. The upper end of the second connecting rod 25 is rotatably fixed to the sliding through rod 28 of the upper sliding support 18 on its side, and the lower end is rotatably fixed to the fixed through rod 27 of the lower sliding support 17. The two connecting members are used to convert the up and down movement of the mass carrier plate 16 into the telescopic movement of the threaded rod 9 through the sliding through rod 28.

[0063] As an improvement to the solution, a fastener is provided at the upper end of the threaded rod 9 , and the fastener is fixed on the sliding through rod 28 of the lower sliding support 17 .

[0064] As an improvement to the solution, refer to Figure 3 The spring seat 11 includes a spring kit 1 1101, a spring kit 2 1102 and a spring kit 3 1103.

[0065] The spring kit 1101 is a cylindrical barrel structure with a through hole on the upper end, an open design on the lower end, and a threaded outer wall;

[0066] The spring kit 2 1102 is fixed on the spring kit 3 1103 and is provided with a round through hole, and the inner wall of the round through hole is provided with a thread.

[0067] The spring kit three 1103 is a cylindrical barrel-shaped structure, the bottom end of which is fixed to the second base plate 2 by bolts, the upper end is open, and the inner wall is provided with an external thread. The lower part of the spring kit one 1101 is threadedly connected to the inner wall of the spring kit three 1103; the spring kit two 1102 is fixed at the opening of the spring kit three 1103 and is fixedly connected to the outer thread of the spring kit one 1101.

[0068] As an improvement, the solution also includes a buckling beam. Two buckling beams form a set, arranged in parallel, with a rectangular parallelepiped connecting block 7 sandwiched between them. Both the buckling beams and the connecting block have through-holes in their centers, penetrated by threaded rods 9. Bolts are used to secure the buckling beams. Two buckling steel plates are secured to the upper and lower surfaces of a first fixing block 8, with their other ends secured to the upper and lower surfaces of a second fixing block 20. The right end of the piezoelectric actuator abuts the left side of the second fixing block 20. Nuts are placed on the outside of each buckling beam to secure the rectangular parallelepiped, ensuring the buckling beams flex and deform according to the specified motion. Depending on the weight of the heavy object 23 being carried, one can choose to use a buckled beam or a group of buckled beam structures. Because with a single buckled beam structure, if the heavy object 23 is heavy, the amplitude of the buckled beam will be large under the action of gravity, which may easily cause the buckled beam to break and fail to achieve the effect of changing the stiffness and shock absorption; a group of buckled beam structure design is designed for the case where the mass of the heavy object 23 is large, and the structure is more stable. The specific structural method to be used is selected according to the actual load situation of the heavy object 23.

[0069] A weight 23 is carried on carrier plate 16. When subjected to harmful vibrations, the bionic system's mass carrier plate 16 rotates along the smooth guide rod 21 as the two connecting rods of the X-shaped connector rotate, transmitting the vibrations to the threaded rod 9 of the active variable stiffness control system. The active variable stiffness control system first pre-tightens the two nuts on the preload device 19 to achieve the desired buckling beam stiffness. Then, the wires at the end of the piezoelectric actuator are connected to a PID active controller. Based on changes in the vibration environment and actual needs, the piezoelectric actuator changes the displacement acting on the buckling beam to adjust the system's negative stiffness in real time, thereby adjusting the system's overall stiffness to achieve the desired vibration isolation effect.

[0070] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A bionic variable stiffness vibration isolator based on active control, characterized by: It includes base plate, active variable stiffness control system and bionic system, among which, The bottom plate comprises a first bottom plate (1) and a second bottom plate (2), which are fixedly connected; An active variable stiffness control system, comprising a negative stiffness adjustment mechanism, a positive stiffness adjustment mechanism and a drive mechanism; The negative stiffness adjustment mechanism comprises a buckling beam end support (3), a buckling beam (4), a piezoelectric driver base (5), a horizontal conversion base (6) and a horizontal conversion device; The buckling beam end support (3) has a lower end fixed to the second base plate (2) by bolts, and an upper end designed in a stepped shape, with a first fixing block (8) fixed on the lower table surface; The buckling beam (4) is a buckling steel plate, one end of which is fixed to the first fixed block (8) and the other end is fixed to the upper end of the piezoelectric driver base (5); The horizontal conversion device comprises a set of conversion steel plates (10) arranged relatively parallel to each other, wherein the bottom ends of the two conversion steel plates (10) are fixed to the horizontal conversion base (6), and the upper ends are respectively fixed to the two ends of the piezoelectric driver base (5), thereby forming support for the piezoelectric driver base (5); The positive stiffness adjustment mechanism comprises a threaded rod (9), a spring seat (11) and a coil spring assembly. The spring seat (11) is fixed on the second base plate (2) and has a chamber inside. The chamber contains a coil spring group, and the two coil springs are axially arranged. The threaded rod (9) has an upper end passing through the buckling beam, and the buckling beam is fixed on the threaded rod (9) by bolts; a stopper is provided at the lower end, and the stopper is placed between two springs in the cavity of the spring seat (11); The driving mechanism includes a PID active controller, a piezoelectric driver (13) and a piezoelectric driver support (14); the piezoelectric driver is arranged on a piezoelectric driver base (5), one end of the piezoelectric driver is connected to the piezoelectric driver support (14), and the other end of the piezoelectric driver is abutted against the end of the buckling beam; the PID active controller is connected to the piezoelectric driver signal control; A bionic system comprising an upper sliding support assembly, a lower sliding support assembly, a transmission assembly and a carrier plate (16); The lower sliding support assembly includes two lower sliding supports (17) arranged opposite to each other and both fixed on the first fixed plate, and a sliding groove is distributed on the two lower sliding supports (17); The upper sliding support assembly is located directly above the lower sliding support assembly (17) and has the same structure as the lower sliding support assembly; A carrier plate (16) is mounted on the upper sliding support assembly; The transmission assembly is arranged between the upper and lower sliding support groups; the upper end of the threaded rod (9) is fixed on the transmission assembly, and the transmission assembly and the threaded rod (9) realize the conversion between axial movement and horizontal movement.

2. The bionic variable stiffness vibration isolator based on active control according to claim 1, characterized in that: The thickness of the conversion steel plate (10) is greater than the thickness of the buckling beam.

3. The bionic variable stiffness vibration isolator based on active control according to claim 1, characterized in that: The invention also includes a pre-tightening device (19), which is a screw rod that penetrates the upper part of the piezoelectric driver support (14), and the head thereof is fixed by threaded engagement with the end of the piezoelectric driver; a bolt is respectively provided at both ends of the piezoelectric driver support (14) on the pre-tightening device (19) for fixing.

4. The bionic variable stiffness vibration isolator based on active control according to claim 1, characterized in that: A second fixing block (20) is fixed on the piezoelectric driver base (5) by bolts, the first fixing block (8) and the second fixing block (20) are arranged horizontally, and one end of the buckling beam is fixed on the second fixing block (20).

5. The bionic variable stiffness vibration isolator based on active control according to claim 1, characterized in that: It also includes a guide rod (21), the bottom end of which is fixed on the first fixed body through a bearing, and the upper end of which penetrates the carrier plate (16), and the carrier plate (16) can slide up and down along the guide rod (21).

6. The bionic variable stiffness vibration isolator based on active control according to claim 1, characterized in that: The transmission assembly comprises two connecting members of identical structure and arranged opposite to each other, one for connecting the left ends of the upper and lower sliding supports (17), and the other for connecting the right ends of the upper and lower sliding supports (17); The connecting member includes a first connecting rod (24) and a second connecting rod (25), which are cross-designed to form an X shape, and a rotatable central through rod (26) is passed through the center intersection of the two connecting members; A fixed through rod (27) and a sliding through rod (28) are provided between the two upper sliding supports (18), wherein both ends of the fixed through rod (27) are fixed to the inner side of the sliding support, and both ends of the sliding through rod (28) are placed in the slide groove through pulleys (29) and can slide along the slide groove; similarly, a fixed through rod (27) and a sliding through rod (28) of the same structure are also provided between the two lower sliding supports (17); The upper end of the first connecting rod (24) of the two connecting members is rotatably fixed to the fixed through rod (27) of the upper sliding support (18) on the side where the first connecting rod is located, and the lower end is rotatably fixed to the sliding through rod (28) of the lower sliding support (17); the upper end of the second connecting rod (25) is rotatably fixed to the sliding through rod (28) of the upper sliding support (18) on the side where the second connecting rod is located, and the lower end is rotatably fixed to the fixed through rod (27) of the lower sliding support (17).

7. The bionic variable stiffness vibration isolator based on active control according to claim 1, characterized in that: A fastener is provided at the upper end of the threaded rod (9), and the fastener is fixed on the second connecting rod of the lower sliding support (17).

8. The bionic variable stiffness vibration isolator based on active control according to claim 1, characterized in that: The spring seat (11) includes a spring kit 1 (1101), a spring kit 2 (1102) and a spring kit 3 (1103). The spring kit 1 (1101) is a cylindrical barrel structure, with a through hole on the upper end surface, an open design on the lower end, and a thread on the outer wall; The spring kit 2 (1102) is fixed on the spring kit 3 (1103) and is provided with a round through hole, and the inner wall of the round through hole is provided with a thread. The spring kit three (1103) is a cylindrical barrel structure, the bottom end of which is fixed to the second base plate (2) by bolts, the upper end is open, and the inner wall is provided with an external thread. The lower part of the spring kit one (1101) is threadedly connected to the inner wall of the spring kit three (1103); the spring kit two (1102) is fixed at the opening of the spring kit three (1103) and is fixedly connected to the outer thread of the spring kit one (1101).

9. The bionic variable stiffness vibration isolator based on active control according to claim 4, characterized in that: It also includes a buckling beam, wherein two buckling beams form a group and are arranged in parallel up and down, with a rectangular parallelepiped connecting block (7) sandwiched in the middle. The middle parts of the two buckling beams and the connecting block are both provided with through holes and penetrated by threaded rods (9), and are fixed by bolts on the outside of the two buckling beams; one end of the two buckling steel plates is respectively fixed to the upper and lower end surfaces of the first fixing block (8), and the other end is fixed to the upper and lower end surfaces of the second fixing block (20).

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