A two-dimensional rotation vibration suppression device

Abstract

The application discloses a two-dimensional rotation vibration suppression device, which comprises a base platform serving as a base of the two-dimensional rotation vibration suppression device, a spherical hinge support arranged on the base platform, a load platform arranged on the spherical hinge support and hinged to one end of the spherical hinge support, the load platform being horizontally rotatable relative to the base platform, and the load platform being used for placing a load to be suppressed, and a plurality of groups of leg structures arranged at intervals around the base platform and located between the base platform and the load platform, each of the leg structures comprising a driving unit and a nonlinear elastic unit, the driving unit and the nonlinear elastic unit being connected in series, the driving unit being arranged on the base platform and connected to the load platform through the nonlinear elastic unit, and the driving unit being used for generating a rotating driving force to overturn the load platform through the nonlinear elastic unit, so as to suppress the bending vibration generated by the load. The application has the advantages of high energy density, high dynamic response and simple control algorithm design.

Description

Technical Field

[0001] This invention relates to a vibration suppression device, and more particularly to a two-dimensional rotational vibration suppression device. Background Technology

[0002] Bending vibrations are ubiquitous in the on-orbit operating environment of spacecraft. Components such as truss antennas, solar panels, and solar panels can experience bending vibrations under non-uniform thermal loads. Bending vibrations not only affect the functionality (such as Earth observation accuracy) and lifespan of the components themselves, but also the attitude stability and pointing accuracy of the spacecraft. With the increasing size of components such as truss antennas, their mass and inertial forces have also increased dramatically, posing new challenges to the performance of vibration suppression devices, such as load-bearing capacity, energy density, and response speed.

[0003] In recent years, parallel vibration damping platforms with integrated intelligent actuators (piezoelectric actuators, voice coil motors, magnetorheological dampers) of different configurations have been widely proposed and studied, the most typical being parallel vibration damping platforms based on the Stewart (six-degree-of-freedom platform) mechanism. These parallel platforms, equipped with a six-leg structure, possess vibration damping capabilities in six directions, including three translational directions and rotational directions around the three translational directions. However, the legs of this type of parallel platform typically exhibit severe coupling relationships, leading to highly complex dynamic calculations and control algorithm design, thus affecting vibration control accuracy and stability. While the six-leg structure increases load-bearing capacity, it also significantly increases the mass of the device. However, the aerospace environment imposes extremely stringent quality control requirements on the device. This increased mass inevitably impacts the practical application of such devices. Furthermore, components such as truss antennas typically generate bending vibrations, requiring less vibration damping capability in the translational direction. Therefore, the multi-dimensional vibration damping capabilities of parallel platforms like the Stewart mechanism cannot be fully utilized.

[0004] In the field of intelligent actuators, piezoelectric actuators are widely used in parallel vibration damping devices due to their advantages such as simple structure, high output, and high stroke accuracy. However, in existing designs, piezoelectric actuators are usually used alone or in conjunction with amplification mechanisms, with few solutions integrating them with nonlinear elastic elements. This makes it difficult for traditional solutions to reconcile the contradictory relationship between the actuation stroke and driving capability of the piezoelectric actuator; excessive stroke leads to a sharp decrease in driving capability, while insufficient stroke fails to fully utilize energy. Summary of the Invention

[0005] To address the problems in the prior art, this invention proposes a two-dimensional rotational vibration damping device based on the principle of active vibration damping and combined with the practical requirements of piezoelectric actuators. This device is achieved through the following technical solution:

[0006] A two-dimensional rotational vibration damping device includes: a base platform serving as the base of the device; a ball joint support disposed on the base platform; a load platform located on the ball joint support and hinged to one end of the support, the load platform rotating horizontally relative to the base platform; the load platform for placing the load to be damped; and several sets of support leg structures spaced apart around the base platform and located between the base platform and the load platform. Each support leg structure includes: a drive unit and a nonlinear elastic unit; the drive unit and the nonlinear elastic unit are connected in series; the drive unit is disposed on the base platform and connected to the load platform via the nonlinear elastic unit. The drive unit generates a rotational driving force to rotate the load platform via the nonlinear elastic unit, thereby suppressing the bending vibration generated by the load.

[0007] Optionally, the ball joint support includes: a support cylinder disposed on the load platform, the top end of the support cylinder having a threaded hole; the bottom surface of the load platform having a spherical groove recessed towards the top surface at its center; a ball head that matches the spherical groove and is disposed within the spherical groove; a ball head screw, one end of which is disposed within the threaded hole of the support cylinder, and the other end connected to the ball head; and a ball head cap that penetrates the ball head screw, the ball head cap pressing the ball head against the load platform.

[0008] Optionally, the ball joint support further includes a plurality of clamping screws for pressing the ball head cap against the load platform, wherein the clamping degree between the ball head cap and the load platform is adjusted by rotating the clamping screws.

[0009] Optionally, the outrigger structure is in four groups, and the four groups of outrigger structures are arranged at intervals around the base platform.

[0010] Optionally, the driving unit includes: a rhomboid amplification structure, the rhomboid amplification structure being rhomboid in shape, including two first vertices and a second vertices distributed vertically, and two third vertices and a fourth vertices distributed horizontally. The rhomboid amplification structure is disposed between the base platform and the load platform, the first vertices being connected to the nonlinear elastic unit; the second vertices being connected to the base platform; the rhomboid amplification structure is used to amplify and convert the actuation displacement and direction of the piezoelectric actuator to drive the nonlinear elastic unit to rotate; the piezoelectric actuator is disposed inside the rhomboid amplification structure, the two ends of the piezoelectric actuator being connected to the third vertices and the fourth vertices respectively, and the horizontal axis of the piezoelectric actuator being parallel to the upper end face of the base platform; the piezoelectric actuator is used to perform reciprocating linear motion along its horizontal axis to provide linear driving force to the rhomboid amplification structure. A pad is disposed between the rhomboid amplification structure and the piezoelectric actuator to tightly fit the rhomboid amplification structure and the piezoelectric actuator.

[0011] Optionally, the load platform is cross-shaped, with mounting holes at the bottom of each cross end. The nonlinear elastic unit includes: a hollow cylinder disposed within the mounting holes; an end cap disposed on the lower end face of the cylinder, forming a receiving space with the cylinder's interior; a spherical output rod with a spherical upper end face disposed within the receiving space, the other end of which passes through the end cap and is fixedly connected to the first apex; a stepped pad located within the receiving space, disposed on the upper end face of the spherical output rod, and fitting against the spherical surface of the rod; an upper disc spring located within the receiving space, between the top of the cylinder and the stepped pad; and a lower disc spring located within the receiving space, between the lower part of the spherical surface of the spherical output rod and the end cap; both the lower and upper disc springs are in a compressed state.

[0012] When the support leg structure consists of four groups, the four cylinders are arranged in pairs. The two cylinders in one group are called the first cylinder and the second cylinder, and the corresponding spherical force-output rods are called the first spherical force-output rod and the second spherical force-output rod. The line connecting the first cylinder and the second cylinder serves as the first rotation axis. The two cylinders in the other group are called the third cylinder and the fourth cylinder, and the corresponding spherical force-output rods are called the third spherical force-output rod and the fourth spherical force-output rod. The line connecting the third cylinder and the fourth cylinder serves as the second rotation axis. When the first spherical force-output rod moves in opposite directions relative to the first cylinder, the first cylinder generates a vertically downward / upward driving force. When the second spherical force-output rod moves in opposite directions relative to the second cylinder, the second cylinder generates a vertically upward / downward driving force to drive the load platform to rotate left and right along the second rotation axis. When the third spherical force-output rod moves in opposite directions relative to the third cylinder, the third cylinder generates a vertically downward / upward driving force. When the fourth spherical force-output rod moves towards or away from the fourth cylinder, the fourth cylinder generates a vertically upward or downward driving force to drive the load platform to flip up and down along the first flipping axis.

[0013] Optionally, the weight range of the first load is 0 Nm-20 Nm, and the weight range of the second load is 20 Nm-100 Nm. When the load to be damped is the first load, the equivalent stiffness of the nonlinear elastic element is the first equivalent stiffness; when the load to be damped is the second load, the equivalent stiffness of the nonlinear elastic element is the second equivalent stiffness; the second equivalent stiffness is greater than the first equivalent stiffness.

[0014] Optionally, the nonlinear elastic unit further includes a gasket located within the receiving space, between the upper disc spring and the top of the cylinder.

[0015] Optionally, the nonlinear elastic unit further includes a set screw, which is threaded to the upper end face of the cylinder, and rotating the set screw adjusts the compression of the lower disc spring and the upper disc spring.

[0016] Optionally, when the spherical force rod moves away from the cylinder, the compression of the lower disc spring increases, and the compression of the upper disc spring decreases. When the spherical force rod moves towards the cylinder, the compression of the lower disc spring decreases, and the compression of the upper disc spring increases.

[0017] This invention has at least one of the following technical effects:

[0018] (1) The two-dimensional rotational vibration damping device proposed in this invention integrates a drive unit and a nonlinear elastic element. The drive unit amplifies and converts the displacement and direction of the piezoelectric actuator through a rhomboid amplification structure. The nonlinear elastic element provides nonlinear stiffness, which increases with the amount of compression, in order to coordinate the contradictory relationship between the actuation stroke and driving capability of the piezoelectric actuator. The two-dimensional rotational vibration damping device proposed in this invention can ensure that the piezoelectric actuator can operate fully under small load conditions to provide a large energy dissipation effect, while under large load conditions it can respond quickly to complete the driving task, exhibiting the characteristics of high energy density and high dynamic response.

[0019] (2) The two-dimensional rotational vibration suppression device proposed in this invention converts the linear motion of the piezoelectric actuator into the rotation of the load platform through the cooperation of ball joint support, rhomboid amplification mechanism and spherical output rod, which facilitates the suppression of bending vibration.

[0020] (3) The two-dimensional rotational vibration damping device proposed in this invention has a driving unit and a nonlinear elastic unit connected in series to form a leg structure. The four sets of leg structures are evenly distributed around the central axis. There is no coupling effect between the legs. Compared with parallel mechanisms such as the Stewart platform, there is no need to perform dynamic decoupling calculations. It has the advantages of simple control algorithm design and high control accuracy. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a two-dimensional rotational vibration damping device provided in an embodiment of the present invention;

[0022] Figure 2 This is a top view of a two-dimensional rotational vibration damping device provided in an embodiment of the present invention;

[0023] Figure 3 This is a front view of a two-dimensional rotational vibration damping device provided in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of a ball joint support provided in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the support leg structure provided in an embodiment of the present invention;

[0026] Reference numerals in the attached drawings: 1-Base platform, 2-Support cylinder, 3-Ball head screw, 4-Ball head, 5-Ball head cover, 6-Load platform, 7-Piezoelectric actuator, 8-Padded block, 9-Rhomboid enlarged structure, 10-Spherical output rod, 11-Stepped pad, 12-Lower disc spring, 13-Upper disc spring, 14-Washer, 15-Cylinder, 1501-First cylinder, 1502-Second cylinder, 1503-Third cylinder, 1504-Fourth cylinder, 16-End cap. Detailed Implementation

[0027] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation of the two-dimensional rotational vibration suppression device proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, intended only to facilitate and clearly illustrate the embodiments of this invention. Please refer to the drawings to make the objectives, features, and advantages of this invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation conditions of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by this invention, should still fall within the scope of the technical content disclosed in this invention.

[0028] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] Figure 1 This is a schematic diagram of the overall structure of a two-dimensional rotational vibration damping device according to an embodiment of the present invention, as shown below. Figure 1 As shown, the two-dimensional rotational vibration damping device provided in this embodiment includes: a base platform 1 (see [reference needed]). Figure 4 (As shown by reference numeral 1), serving as the base of the two-dimensional rotational vibration damping device; a ball joint support, mounted on the base platform 1; a load platform 6 (see reference 1). Figure 3 As indicated by reference numeral 6, the load platform 6 is located on the ball joint support and hinged to one end of the ball joint support. The load platform 6 rotates horizontally relative to the base platform 1. The load platform 6 is used to place the load to be damped. Several sets of support leg structures are arranged at intervals around the base platform 1, located between the base platform 1 and the load platform 1. Each support leg structure includes: a drive unit and a nonlinear elastic unit; the drive unit and the nonlinear elastic unit are connected in series; the drive unit is disposed on the base platform 1 and connected to the load platform 6 through the nonlinear elastic unit. The drive unit is used to generate a rotational driving force to drive the load platform to rotate through the nonlinear elastic unit, thereby suppressing the bending vibration generated by the load.

[0030] This embodiment provides a two-dimensional rotational vibration damping device. The drive unit amplifies and converts the displacement and direction of the piezoelectric actuator through a rhomboid amplification structure. The nonlinear elastic unit provides nonlinear stiffness to coordinate the contradictory relationship between the actuation stroke and driving capability of the piezoelectric actuator, ensuring that the piezoelectric actuator can fully operate under small load conditions to provide a large energy dissipation effect, while it can respond quickly under large load conditions to complete the driving task.

[0031] like Figure 4 As shown, the ball joint support includes: a support cylinder disposed on the load platform 6, the top of the support cylinder having a threaded hole; and a spherical groove recessed towards the top surface at the center of the bottom surface of the load platform. A ball head 4, which matches the spherical groove and is disposed within it. A ball head screw 3, one end of which is disposed within the threaded hole of the support cylinder 2, and the other end connected to the ball head 4. A ball head cap 5, which penetrates the ball head screw 3, and the ball head cap 5 presses the ball head 4 against the load platform.

[0032] like Figure 3 As shown, the driving unit includes: a rhomboid amplification structure 9, which is generally rhomboid in shape, including two first vertices and a second vertices distributed vertically, and two third vertices and a fourth vertices distributed horizontally; the rhomboid amplification structure 9 is disposed between the base platform 1 and the load platform, the first vertices are connected to the nonlinear elastic unit, and the second vertices are connected to the base platform 1; the rhomboid amplification structure 9 is used to amplify and convert the actuation displacement and direction of the piezoelectric actuator 7 to drive the nonlinear elastic unit to rotate; the piezoelectric actuator 7 is disposed inside the rhomboid amplification structure 9, with its two ends connected to the third vertices and the fourth vertices respectively, and the horizontal axis of the piezoelectric actuator 7 is parallel to the upper surface of the base platform 1; the piezoelectric actuator 7 is used to perform reciprocating linear motion along its horizontal axis to provide linear driving force to the rhomboid amplification structure 9. A pad 8 is disposed between the rhomboid amplification structure 9 and the piezoelectric actuator 7 to tightly fit the rhomboid amplification structure 9 and the piezoelectric actuator 7.

[0033] like Figure 5As shown, the load platform is cross-shaped, and each cross has a mounting hole at its bottom end. The nonlinear elastic unit includes: a cylinder 15, which is hollow inside and is disposed within the mounting hole; an end cap 16, disposed on the lower end face of the cylinder 15, forming a receiving space with the interior of the cylinder; a spherical output rod 10, the upper end face of which is spherical and disposed within the receiving space, the other end of which passes through the end cap 16 and is fixedly connected to the first apex; a stepped pad 11, located within the receiving space, disposed on the upper end face of the spherical output rod 10, and fitting against the spherical surface of the spherical output rod 10; and an upper disc spring 13, located within the receiving space, between the top of the cylinder 15 and the stepped pad 11. The lower disc spring 12 is located within the receiving space, between the lower part of the spherical surface of the spherical output rod 10 and the end cap 16; both the lower disc spring 12 and the upper disc spring 13 are in a compressed state. A washer 14 is located within the receiving space, between the upper disc spring 13 and the top end of the cylinder 15. A set screw is threaded to the upper end face of the cylinder 15; rotating the set screw adjusts the compression of the lower disc spring 12 and the upper disc spring 13.

[0034] Please continue to refer to this. Figure 1 The outrigger structure consists of four sets, which are spaced apart around the base platform 1. For example... Figure 2 As shown, when the support leg structure consists of four groups, the four cylinders are arranged in pairs. The two cylinders in one group are referred to as the first cylinder 1501 and the second cylinder 1502, and the corresponding spherical force-output rods are referred to as the first spherical force-output rod and the second spherical force-output rod. The line connecting the first cylinder 1501 and the second cylinder 1502 serves as the first rotation axis. The two cylinders in the other group are referred to as the third cylinder 1503 and the fourth cylinder 1504; the corresponding spherical force-output rods are referred to as the third spherical force-output rod and the fourth spherical force-output rod. The line connecting the third cylinder 1503 and the fourth cylinder 1504 serves as the second rotation axis.

[0035] When the first spherical force output rod moves away from the first cylinder 1501, the first cylinder 1501 generates a vertically downward driving force; when the second spherical force output rod moves towards the second cylinder 1502, the second cylinder 1502 generates a vertically upward driving force to drive the load platform to rotate left and right along the second rotation axis.

[0036] When the first spherical force output rod moves toward the first cylinder 1501, the first cylinder 1501 generates an upward driving force; when the second spherical force output rod moves away from the second cylinder 1502, the second cylinder 1502 generates a downward driving force to drive the load platform to rotate left and right along the second rotation axis.

[0037] When the third spherical force-output rod moves away from the third cylinder 1503, the third cylinder 1503 generates a vertically downward driving force; when the fourth spherical force-output rod moves towards the fourth cylinder 1504, the fourth cylinder 1504 generates a vertically upward driving force to drive the load platform to flip up and down along the first flip axis.

[0038] When the third spherical force-output rod moves toward the third cylinder 1503, the third cylinder 1503 generates an upward driving force; when the fourth spherical force-output rod moves away from the fourth cylinder 1504, the fourth cylinder 1504 generates a downward driving force to drive the load platform to flip up and down along the first flip axis.

[0039] When the load to be damped is the first load, the compression of the upper disc spring 13 and the lower disc spring 12 is relatively small, and the equivalent stiffness of the nonlinear elastic unit is relatively small; when the load to be damped is the second load, the weight of the second load is greater than the weight of the first load, the compression of the upper disc spring 13 and the lower disc spring 12 is relatively large, and the equivalent stiffness of the nonlinear elastic unit is relatively large.

[0040] The weight range of the first load is 0 Nm-20 Nm, and the weight range of the second load is 20 Nm-100 Nm. When the load to be damped is the first load, the equivalent stiffness of the nonlinear elastic unit is the first equivalent stiffness; when the load to be damped is the second load, the equivalent stiffness of the nonlinear elastic unit is the second equivalent stiffness; the second equivalent stiffness is greater than the first equivalent stiffness. When the load to be damped is the first load, the compression of both the upper and lower disc springs is small, and the equivalent stiffness of the nonlinear elastic unit is small; the equivalent stiffness of the nonlinear elastic unit is the sum of the equivalent stiffnesses of the gasket 14, the cylinder 15, the lower disc spring 13, and the upper disc spring 12.

[0041] When the spherical output rod 10 moves away from the cylinder 15, the compression of the lower disc spring 12 increases, and the compression of the upper disc spring 13 decreases; when the spherical output rod 10 moves towards the cylinder 15, the compression of the lower disc spring 12 decreases, and the compression of the upper disc spring 13 increases; the upper disc springs are always connected in parallel. The stiffness of the lower and upper disc springs increases with the increase of compression.

[0042] The working principle of this embodiment is as follows:

[0043] The vibration suppression device is mounted on the base of the vibration suppression system, and the load to be suppressed is mounted on the upper surface of the load platform 6 of the vibration suppression device. When the load undergoes bending vibration, the sensor detects the vibration state and feeds it back to the controller. After calculation, the controller outputs a control command to drive the piezoelectric actuator 7. The output of the piezoelectric actuator 7 is amplified and redirected by the rhomboid amplifier mechanism 9, and then drives the load platform 6 to rotate through the elastic unit. Through the design of the control algorithm, the load platform 6 is controlled to move according to a certain pattern to suppress the bending vibration of the load.

[0044] When the spherical output rod 10 moves relative to the cylinder 15, the compression of the lower disc spring 12 and the upper disc spring 13 changes, providing parallel equivalent stiffness. The equivalent stiffness gradually increases with the increase of compression, ensuring that the piezoelectric actuator can operate fully under small loads to provide greater energy dissipation, while under large loads it can respond quickly to complete the driving task.

[0045] In summary, the two-dimensional rotational vibration damping device proposed in this invention is a lightweight rotational vibration damping device. It employs a drive unit and a nonlinear elastic unit connected in series to form a leg structure. The four sets of leg structures are evenly distributed around the central axis, with no coupling between the legs, and the structure is more compact. The use of nonlinear elastic elements ensures that the piezoelectric actuator can operate sufficiently under small loads to provide significant energy dissipation, while responding quickly under large loads to complete the driving task.

[0046] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A two-dimensional rotational vibration damping device, characterized in that, include: The base platform serves as the base for the two-dimensional rotational vibration damping device; A ball joint support is provided on the foundation platform; A load platform is located on the ball joint support and is hinged to one end of the ball joint support. The load platform rotates horizontally relative to the base platform. The load platform is used to place the load to be damped. Several sets of support leg structures are arranged at intervals around the base platform and located between the base platform and the load platform; Each of the aforementioned outrigger structures includes: a drive unit and a nonlinear elastic unit; the drive unit and the nonlinear elastic unit are connected in series; the drive unit is disposed on the base platform and connected to the load platform through the nonlinear elastic unit; The drive unit is used to generate rotational driving force to drive the load platform to flip through the nonlinear elastic unit, thereby suppressing the bending vibration generated by the load; The load platform is cross-shaped, and each cross has a mounting hole on its bottom end. The nonlinear elastic unit includes: A cylinder, which is hollow inside, is disposed within the mounting hole; An end cap is disposed on the lower end face of the cylinder, forming a receiving space with the interior of the cylinder; A spherical output rod, wherein the upper end surface of the spherical output rod is spherical, the spherical surface of the spherical output rod is disposed within the receiving space, and the other end of the spherical output rod is connected to the drive unit; A step pad, located within the receiving space, is disposed on the upper end surface of the spherical output rod, and is in contact with the spherical surface of the spherical output rod; The upper disc spring is located within the receiving space, between the top of the cylinder and the stepped pad; The lower disc spring is located within the receiving space, between the lower part of the spherical output rod and the end cap; Both the lower disc spring and the upper disc spring are in a compressed state.

2. The two-dimensional rotational vibration damping device according to claim 1, characterized in that, The ball joint support includes: A support cylinder is disposed on the load platform, and the top end of the support cylinder is provided with a threaded hole; the bottom surface of the load platform is provided with a spherical groove that is recessed towards the top surface at its center. A ball head that matches the spherical groove and is disposed within the spherical groove; A ball-end screw, one end of which is disposed in the threaded hole of the support cylinder, and the other end is connected to the ball end; A ball head cap extends through the ball head screw and presses the ball head against the load platform.

3. The two-dimensional rotational vibration damping device according to claim 2, characterized in that, The ball joint support also includes several clamping screws for pressing the ball head cap against the load platform. The clamping force between the ball head cap and the load platform is adjusted by rotating the clamping screws.

4. The two-dimensional rotational vibration damping device according to claim 3, characterized in that, The outrigger structure consists of four sets, which are spaced apart around the base platform.

5. The two-dimensional rotational vibration damping device according to claim 4, characterized in that, The driving unit includes: A rhomboid magnified structure, wherein the rhomboid magnified structure is rhomboid in shape, including two first vertices and two second vertices distributed along the vertical direction, and two third vertices and four fourth vertices distributed along the horizontal direction; The rhomboid amplification structure is disposed between the base platform and the load platform, with the first apex connected to the nonlinear elastic unit and the second apex connected to the base platform. The rhomboid amplification structure is used to amplify and convert the actuation displacement and direction of the piezoelectric actuator to drive the nonlinear elastic unit to rotate. The piezoelectric actuator is disposed inside the rhomboid amplification structure. The two ends of the piezoelectric actuator are connected to the third vertices and the fourth vertices, respectively, and the horizontal axis of the piezoelectric actuator is parallel to the upper end face of the base platform. The piezoelectric actuator is used to perform reciprocating linear motion along its horizontal axis to provide linear driving force to the rhomboid amplification structure. A pad is disposed between the rhombic amplification structure and the piezoelectric actuator to ensure that the rhombic amplification structure and the piezoelectric actuator are tightly fitted together.

6. The two-dimensional rotational vibration damping device according to claim 5, characterized in that, The other end of the spherical output rod passes through the end cap and is fixedly connected to the first apex. When the support leg structure is in four groups, the four cylinders are in pairs, and the two cylinders in one group are called the first cylinder and the second cylinder, and the corresponding spherical force output rods are called the first spherical force output rods and the second spherical force output rods. The line connecting the first cylinder and the second cylinder serves as the first rotation axis; The other two cylinders are referred to as the third cylinder and the fourth cylinder; the corresponding spherical force-output rods are referred to as the third spherical force-output rods and the fourth spherical force-output rods; the line connecting the third cylinder and the fourth cylinder serves as the second flipping axis; When the first spherical force-output rod moves in opposite directions to the first cylinder, the first cylinder generates a vertical downward / upward driving force. When the second spherical force output rod moves towards / away from the second cylinder, the second cylinder generates a vertical upward / downward driving force to drive the load platform to flip left and right along the second flip axis; When the third spherical force-output rod moves in opposite directions to the third cylinder, the third cylinder generates a vertical downward / upward driving force. When the fourth spherical force-output rod moves towards or away from the fourth cylinder, the fourth cylinder generates a vertically upward or downward driving force to drive the load platform to flip up and down along the first flipping axis.

7. The two-dimensional rotational vibration damping device according to claim 6, characterized in that, When the load to be damped is a first load, the equivalent stiffness of the nonlinear elastic element is a first equivalent stiffness; when the load to be damped is a second load, the equivalent stiffness of the nonlinear elastic element is a second equivalent stiffness; the weight range of the first load is 0 Nm-20 Nm, and the weight range of the second load is 20 Nm-100 Nm; the second equivalent stiffness is greater than the first equivalent stiffness.

8. The two-dimensional rotational vibration damping device according to claim 6, characterized in that, The nonlinear elastic unit further includes: A gasket is located within the receiving space, between the upper disc spring and the top of the cylinder.

9. The two-dimensional rotational vibration damping device according to claim 6, characterized in that, The nonlinear elastic unit also includes a set screw, which is threaded to the upper end face of the cylinder. Rotating the set screw adjusts the compression of the lower disc spring and the upper disc spring.

10. The two-dimensional rotational vibration damping device according to claim 6, characterized in that, When the spherical force rod moves away from the cylinder, the compression of the lower disc spring increases and the compression of the upper disc spring decreases. When the spherical force rod moves toward the cylinder, the compression of the lower disc spring decreases and the compression of the upper disc spring increases.

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