Modularized ultralow frequency vibration isolation device with load self-adaption characteristic

Abstract

The invention discloses a modularized ultralow-frequency vibration isolation device with a load self-adaption characteristic, which belongs to the field of vibration absorbers, and adopts a highly modularized structural design, vibration isolation modules are axially mounted between a load supporting platform and a base at equal intervals, and the vibration isolation modules are connected with one another through standard interfaces arranged at the center of the base. A vertical preload adjusting device and a horizontal preload adjusting device are designed in each vibration isolation unit. The effective load of the whole vibration isolation system is dynamically adjusted by adjusting the vertical preload device, so that the vibration isolation device can provide the optimal vibration isolation effect under different load conditions; by adjusting the preloading distance of the horizontal preloading device, the vibration isolation device can present the constant zero stiffness characteristic at any position. Therefore, the whole vibration isolation device shows different rigidity attributes such as high static and low dynamic rigidity, quasi-zero rigidity and constant zero rigidity, can adapt to wider working environments and vibration conditions, is simple to operate, and provides great convenience and flexibility for users.

Description

Technical Field

[0001] The invention belongs to the field of vibration absorbers, and in particular relates to a modular ultra-low frequency vibration isolation device with load adaptive characteristics. Background Art

[0002] With the rapid development of industry and technology, the demand for ultra-low frequency vibration isolation is increasing, especially in high-end application fields such as precision instruments, aerospace, marine engineering, and high-speed railways. Traditional vibration isolation devices often face challenges such as poor low-frequency vibration isolation effect, complex structure, high cost, and difficulty in adapting to different load conditions.

[0003] In recent years, quasi-zero stiffness vibration isolation technology has become a research hotspot due to its excellent vibration isolation performance. Quasi-zero stiffness vibration isolation devices can provide high load-bearing capacity in static state and exhibit low stiffness characteristics in dynamic state, thereby effectively widening the vibration isolation frequency band and improving the low-frequency vibration isolation effect. However, the existing quasi-zero stiffness vibration isolation devices are only effective for specific vibration isolation loads corresponding to the static equilibrium position and cannot achieve adaptive adjustment of the load. Once the load mass deviates from the static equilibrium position, it is difficult for the quasi-zero stiffness vibration isolation system to maintain the optimal vibration isolation performance, resulting in a decline in system performance or even failure. In order to adapt to the working conditions of different loads, the vibration isolation device needs to be replaced to achieve the expected vibration isolation effect, which causes great inconvenience in actual engineering applications. Summary of the invention

[0004] In view of the above problems, the present invention proposes a modular ultra-low frequency vibration isolation device with load adaptive characteristics, which has the adjustability of different stiffness properties such as high static and low dynamic stiffness, quasi-zero stiffness, and constant zero stiffness.

[0005] The modular ultra-low frequency vibration isolation device with load self-adaptation characteristics of the present invention comprises a supporting base, an outer shell, a connecting inner seat, a load supporting platform and a plurality of vibration isolation units.

[0006] The top surface of the support base is coaxially mounted with a connecting inner seat. The vibration isolation units are evenly distributed around the outer periphery of the connecting inner seat, fixed on the support base, and respectively connected to the connecting interfaces evenly distributed around the connecting inner seat.

[0007] The vibration isolation unit consists of a mounting seat, a horizontal guide rod, a vertical guide rod, a horizontal spring, a vertical spring, a horizontal slip ring, a vertical slip ring, a horizontal preload device, a vertical preload device, a first connecting rod, a second connecting rod and a locking bolt.

[0008] The mounting seat is a T-shaped structure consisting of a bottom plate and a longitudinal plate, which is fixed to the top surface of the support base through the bottom plate; the horizontal guide rod is arranged parallel to the top surface of the support base, and the end is fixedly connected to the longitudinal plate. The front end of the horizontal guide rod is fixedly connected to the connection interface on the inner seat; the vertical guide rod is arranged perpendicular to the support base, the bottom end is fixed to the support base, and the top end is connected to the load support platform.

[0009] The horizontal guide rod is sequentially sleeved with a horizontal slip ring, a horizontal spring and a horizontal preload device from back to front; wherein the horizontal preload device comprises a horizontal preload body and a horizontal locking bolt; the horizontal preload body is sleeved on the horizontal guide rod and is locked and fixed by the horizontal locking bolt to realize the adjustment of the horizontal spring preload force.

[0010] The vertical guide rod is covered with a vertical slip ring, a vertical spring and a vertical preload device in sequence from top to bottom; wherein the vertical preload device comprises a vertical preload body and a vertical locking bolt; the vertical preload body is covered on the vertical guide rod and is locked and fixed by the vertical locking bolt to realize the adjustment of the vertical spring preload force.

[0011] Furthermore, the horizontal slip ring and the vertical slip ring are connected via a first connecting rod and a second connecting rod which are symmetrically arranged.

[0012] The load supporting platform is sleeved with the top end of the longitudinal rod of the vibration isolation unit which is evenly distributed in the circumferential direction through the columnar joints which are evenly distributed in the circumferential direction on the bottom surface.

[0013] The modular ultra-low frequency vibration isolation device of the present invention has load-adaptive characteristics. External excitation is directly transmitted to the vibration isolation unit of the present invention through a supporting base. The vibration signal is attenuated by the vibration isolation unit in the circumferential direction and then transmitted to the vibration isolation load arranged on the load supporting platform. Moreover, through the adjustment and coordination of the horizontal preload device and the vertical preload device, the entire vibration isolation device can present different stiffness properties such as high static and low dynamic stiffness, quasi-zero stiffness, and constant zero stiffness.

[0014] The advantages of the present invention are:

[0015] 1. Load adaptive adjustment: The device of the present invention can adaptively adjust the load-bearing capacity of the designed vibration isolation device according to the mass of the isolation body to be protected, that is, by adjusting the vertical preload device to dynamically adjust the effective load of the entire vibration isolation system, so that the vibration isolation device can provide the best vibration isolation effect under different load conditions. This adaptive ability not only improves the adaptability and stability of the device, but also significantly enhances its reliability and durability under complex working conditions, providing a strong guarantee for the application of precision instruments, high-end equipment and special environments.

[0016] 2. Modular expansion: A highlight of the device of the present invention is its highly modular structure. Each vibration isolation module has an independent vibration isolation function, and the modules are interconnected through standardized interfaces, so that users can easily expand or reduce the device according to actual needs. This modular design not only simplifies the installation and maintenance process and reduces costs, but also greatly improves the flexibility and scalability of the device, meets the personalized needs of different scenarios and projects of different sizes, and provides convenience for large-scale applications.

[0017] 3. Ultra-low frequency vibration isolation performance: In view of the problem that traditional vibration isolation devices are not effective in ultra-low frequency vibration environments, the present invention adopts advanced ultra-low frequency vibration isolation technology. That is, by adjusting the preload distance of the horizontal preload device, the vibration isolation device can present a constant zero stiffness feature at any position, so that it can still maintain excellent vibration isolation performance in an extremely low frequency vibration environment.

[0018] 4. Adjustable stiffness properties: The device of the present invention can make the entire vibration isolation device present different stiffness properties such as high static and low dynamic stiffness, quasi-zero stiffness, and constant zero stiffness through the adjustment and coordination of the horizontal preload device and the vertical preload device. This adjustability enables the device to adapt to a wider range of working environments and vibration conditions. Whether high stiffness is required to resist external impacts, or low stiffness is required to achieve a more sophisticated vibration isolation effect, it can be achieved through simple operation, providing users with great convenience and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the modular ultra-low frequency vibration isolation device of the present invention;

[0020] Figure 2 This is a schematic diagram of the overall internal structure of the modular ultra-low frequency vibration isolation device of the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the vibration isolation unit in the modular ultra-low frequency vibration isolation device of the present invention;

[0022] Figure 4 It is a mechanical principle diagram of the vibration isolation unit in the modular ultra-low frequency vibration isolation device of the present invention when the horizontal and vertical preload devices are not activated;

[0023] Figure 5 It is a mechanical principle diagram of the vibration isolation unit after the horizontal and vertical preload devices in the modular ultra-low frequency vibration isolation device of the present invention are activated;

[0024] Figure 6 It is a schematic diagram of load adjustment of the vibration isolation unit in the modular ultra-low frequency vibration isolation device of the present invention;

[0025] Figure 7 This is a comparison chart of the vibration isolation performance corresponding to different stiffness properties of the modular ultra-low frequency vibration isolation device of the present invention.

[0026] In the figure:

[0027] 1-Support base 2-Outer shell 3-Connecting inner seat

[0028] 4- Load support platform 5- Vibration isolation unit 401- Column joint

[0029] 501-mounting seat 501a-bottom plate 501b-vertical plate

[0030] 503-vertical guide rod 504-horizontal spring 505-vertical spring

[0031] 506-Horizontal slip ring 507-Vertical slip ring 508-Horizontal preload device

[0032] 508a- horizontal preload body 508b- horizontal locking bolt 509- vertical preload device

[0033] 509a - vertical preload body 509b - vertical locking bolt 510 - first connecting rod

[0034] 511- second connecting rod 512- locking bolt DETAILED DESCRIPTION

[0035] The modular ultra-low frequency vibration isolation device with load adaptive characteristics of the present invention mainly includes a support base 1, a shell 2, a connecting inner seat 3, a load supporting platform 4 and a plurality of vibration isolation units 5, such as Figure 1 , Figure 2 shown.

[0036] The support base 1 is a circular plate structure, which serves as a support for other components. A cylindrical connecting inner seat 3 is coaxially installed at the center of the top surface of the support base 1. The bottom end of the connecting inner seat 3 is fixedly connected to the upper surface of the support base 1; the connecting inner seat 3 is evenly distributed circumferentially with a number of connecting interfaces equal to the number of the vibration isolation units 5, which are used to connect the vibration isolation units 5.

[0037] The vibration isolation unit 5 is the core component of the present invention. A plurality of vibration isolation units are evenly distributed around the outer periphery of the connecting inner seat 3 at equal angular intervals in the circumferential direction and are connected to the supporting base 3 and the connecting inner seat 3. Figure 3 As shown, the vibration isolation unit 5 consists of a mounting base 501, a horizontal guide rod 502, a vertical guide rod 503, a horizontal spring 504, a vertical spring 505, a horizontal slip ring 506, a vertical slip ring 507, a horizontal preload device 508, a vertical preload device 509, a first connecting rod 510, a second connecting rod 511 and a locking bolt 512.

[0038] The mounting seat 501 is a T-shaped structure consisting of a bottom plate 501a and a longitudinal plate 501b perpendicular to the bottom plate 501a. The bottom surface of the bottom plate 501a is attached to and fixed to the upper surface of the support base 1; and after the bottom plate 501b is fixed, the vertical line passing through the longitudinal midline of the longitudinal plate 501b needs to intersect with the axis connecting the inner seat 3.

[0039] The horizontal guide rod 502 is located at the top of the longitudinal plate, and is a D-shaped cross-section connecting rod as a whole. One side of the plane is arranged parallel to the upper surface of the support base 1, and the axis is perpendicular to the longitudinal plate 501b and passes through the longitudinal center line of the longitudinal plate 501b. The end of the horizontal guide rod 502 is plugged into the D-shaped hole opened on the longitudinal plate 501b, and is fixed after positioning by the circumferential shoulder; the front end of the horizontal guide rod 502 is plugged into the D-shaped connection interface, and is fixed after positioning by the circumferential shoulder.

[0040] The vertical guide rod 503 is located outside the longitudinal plate 501b, and is a D-shaped cross-section connecting rod. One side of the plane is arranged parallel to the longitudinal plate 501b, and the axis is perpendicular to the upper surface of the support base 1 and intersects with the axis of the horizontal guide rod 502. The bottom end of the vertical guide rod 503 passes through the through holes opened at the corresponding positions of the bottom plate 501a and the support base 1, and is fixed after being positioned by the circumferential shoulder. The top end of the vertical guide rod 503 is used to connect to the load support platform 4.

[0041] The horizontal guide rod 502 is provided with a horizontal slip ring 506, a horizontal spring 504 and a horizontal preload device 508 in sequence from the back to the front. The horizontal slip ring 506 is sleeved with the horizontal guide rod 502 through a D-shaped hole provided thereon, so that the axial rotation of the horizontal slip ring 506 is limited.

[0042] The horizontal preload device 508 includes a rectangular block-shaped horizontal preload body 508a and a horizontal locking bolt 508b. The body 508a is sleeved with the horizontal guide rod 502 through a D-shaped hole provided thereon, and the top surface is parallel to the upper surface of the support base 1. A threaded hole is provided on the top surface of the horizontal preload body 508a, which is connected to the D-shaped hole; a horizontal locking bolt 508b is installed in the threaded hole. Therefore, by loosening the horizontal locking bolt 508b, the position of the horizontal preload body 508a can be adjusted along the horizontal guide rod 502, thereby achieving the preload force adjustment of the horizontal spring 504. After the preload force is adjusted, the horizontal preload device 508 is fixed to the horizontal guide rod 502 by tightening the horizontal locking bolt, so that it does not loosen during the vibration process and affect the vibration isolation effect; at the same time, a spring gasket is sleeved on the horizontal locking bolt 508b to prevent the horizontal locking bolt 508b from loosening.

[0043] The vertical guide rod 503 is sleeved with a vertical slip ring 507, a vertical spring 505 and a vertical preload device 509 in order from top to bottom. The vertical slip ring 507 is sleeved with the vertical guide rod 503 through a D-shaped hole provided thereon, so that the axial rotation of the vertical slip ring 507 is limited.

[0044] The vertical preload device 509 includes a rectangular block-shaped vertical preload body 509a and a vertical locking bolt 509b. The vertical preload body 509a is sleeved with the vertical guide rod 503 through a D-shaped hole provided thereon, and the outer side surface is parallel to the longitudinal plate 501b. A threaded hole is also provided on the outer side wall of the vertical preload body 509a, which is connected to the D-shaped hole; the vertical locking bolt 509b is installed in the threaded hole. Therefore, by loosening the vertical locking bolt 509b, the position of the vertical preload body 509a can be adjusted along the vertical guide rod 503, thereby realizing the adjustment of the preload force of the vertical spring 505. After the preload force is adjusted, the vertical preload device 509 is fixed to the vertical guide rod 503 by tightening the vertical locking bolt 509b so that it does not loosen during vibration and affect the vibration isolation effect; at the same time, a spring washer is sleeved on the vertical locking bolt 509b to prevent the vertical locking bolt 509b from loosening.

[0045] Furthermore, the horizontal slip ring 506 and the vertical slip ring 507 are connected by a first connecting rod 510 and a second connecting rod 511 which are symmetrically arranged. The front ends of the two connecting rods are respectively connected to the corresponding positions in the middle of the left and right sides of the horizontal slip ring to form a revolute pair; the ends are respectively connected to the corresponding positions in the middle of the left and right sides of the vertical slip ring 507 to form a revolute pair.

[0046] The load support platform 4 is directly connected to each vibration isolation unit 5, and its top surface can be directly used to carry the vibration isolation load to be protected. The load support platform 5 is a circular plate-shaped platform, which is arranged parallel to the support platform 1. The bottom surface is designed with columnar joints 401 equal to the number of vibration isolation units 5 at equal angles in the circumference; the axis of the joint 401 is perpendicular to the lower surface of the support platform 1, and a D-shaped hole is opened in the longitudinal direction. Through the D-shaped holes on each joint 401 on the support platform 4, it is respectively plugged with the top of the vertical guide rod 503 in each vibration isolation unit 5, and the preload force of the vertical spring 505 is contacted with the vertical slip ring 507 to limit the position; and there is a certain distance D between the top of the vertical guide rod 503 and the bottom surface of the joint groove, which is the limit displacement of the load support platform 4 moving downward.

[0047] The shell 2 is used to protect the vibration isolation unit 5 from being affected by the external environment and also has an aesthetic effect. The shell 2 is a cylindrical structure, coaxially arranged with the support platform 1, and sleeved on the outer side of the vibration isolation unit 5 in the circumferential direction. A through hole is provided on the circumferential direction of the bottom to match the through hole on the circumferential direction of the outer edge of the support platform 1, and is further tightened by screws passing through the through hole to achieve the fixation between the shell and the support platform 1. At the same time, the inner diameter of the shell 2 is larger than the outer diameter of the load support platform 4, and will not hinder the load support platform 4 from moving downward.

[0048] During the operation of the vibration isolation unit 5 of the above structure, the horizontal guide rod 502 always maintains a horizontal state, the front end of the horizontal spring 504 always contacts the horizontal preload device 508, and the end always contacts the horizontal slip ring 506, and the horizontal slip ring 506 can move freely on the horizontal guide rod 502. Similarly, the vertical guide rod 503 always maintains a vertical state, the bottom end of the vertical spring 505 always contacts the vertical preload device 509, and the other end always contacts the vertical slip ring 507, and the vertical slip ring 507 can move freely on the vertical guide rod 503. Through the D-shaped cross-section design of the horizontal guide rod 502 and the vertical guide rod 503, the horizontal preload device 508 and the vertical preload device 509 can be firmly fixed on the guide rod; the coordination of the vibration isolation unit 5 during the movement is ensured by the first connecting rod 510 and the second connecting rod 511, so that the components of the vibration isolation unit 5 will not have physical collisions during the movement, and the stability of the structure is ensured.

[0049] Through the modular ultra-low frequency vibration isolation device with load adaptive characteristics of the present invention, the external excitation is directly transmitted to the vibration isolation unit 5 of the present invention through the support base 1, and the vibration signal is transmitted to the vibration isolation load set on the load support platform 4 after being attenuated by the vibration isolation unit 5 in the circumferential direction. At the same time, the present invention constructs a highly flexible and adaptable vibration isolation device with a highly modular structure. Each module has an independent vibration isolation function, and the modules are interconnected through standardized interfaces; therefore, the device can be easily expanded or reduced according to actual needs, which not only enhances the load adaptability of the entire vibration isolation device, enabling it to cope with a wide range of changes from lightweight to heavy loads, but also improves the redundancy and reliability of the vibration isolation device. In addition, the modular design is also convenient for subsequent maintenance and upgrades, and different load requirements can be met by adding or replacing vibration isolation units, thereby extending the service life of the system and reducing long-term operating costs.

[0050] The working principle of the modular ultra-low frequency vibration isolation device with load adaptive characteristics of the present invention is as follows:

[0051] The mechanical model of the vibration isolation unit 5 is as follows: Figure 4 , Figure 5 The stiffness coefficient of the horizontal spring 504 is k 1 , the stiffness coefficient of the vertical spring 505 is k 2 , the lengths of the first and second connecting rods are L. When the horizontal and vertical preloading devices are effective, assuming that the adjustment distance of the horizontal preloading device 508 is δ 1 , the adjustment distance of the vertical preload device 509 is δ 2 , the distance between the top hinge point of the first and second connecting rods and the horizontal guide rod 502 in the initial state is h, the displacement of the isolation load is x, and the output force of the vibration isolation unit 5 in the vertical direction is F. Then the force-displacement relationship of the vibration isolation unit 5 can be calculated as:

[0052]

[0053] Since the isolated load with a certain mass is placed on the load support platform 4, the load support platform 4 will move downward and eventually reach an equilibrium position. During the design process, this equilibrium position is designed to be at the same height as the horizontal guide rod 502, which is the static equilibrium position. Because the response of the system to external excitation at the static equilibrium position is usually considered under the vibration state, the displacement of the isolated load in the vertical direction is defined as the equilibrium displacement u with the vertical position of the horizontal guide rod 502 as the base point, that is:

[0054] u=xh (2)

[0055] The output force can be converted into:

[0056]

[0057] After Taylor series expansion, the above formula can be equivalently transformed into the following form:

[0058]

[0059] When the horizontal preload device 508 and the vertical preload device 509 are not activated, the horizontal spring and the vertical spring are both in a free state, and the above formula can be further rewritten as:

[0060]

[0061] It can be seen that at this time, the vibration isolation unit 5 is a typical high static and low dynamic vibration isolation system with first-order linear stiffness and third-order nonlinear stiffness. The high static and low dynamic system is converted into a quasi-zero stiffness vibration isolation system if and only if the following relationship is satisfied:

[0062]

[0063] At this time, the effective bearing capacity of the vibration isolation unit 5 is k 2 h.

[0064] It can be seen from formula (4) that when the horizontal preload device 508 and the vertical preload device 509 are adjusted, the output force F of the vibration isolation unit 5 can be adjusted, and the stiffness characteristics of the vibration isolation unit 5 can be adjusted. Figure 6 As shown, when adjusting δ 1 , δ 2 When the output characteristic of the vibration isolation unit 5 can be adjusted.

[0065] Therefore, when the vertical preload device 509 is adjusted, that is, the value of δ2 is changed, the bearing capacity of the vibration isolation device of the present invention can be adjusted instead of the original k 2 h, the bearing capacity of the adjusted vibration isolation device is k2 (h+δ2).

[0066] When the horizontal preload device 508 is adjusted, that is, the value of δ1 is changed, the vibration isolation unit exhibits a quasi-zero stiffness characteristic when the following conditions are met:

[0067]

[0068] It can be seen from formula (6) that when the horizontal preload device 508 and the vertical preload device 509 are not activated, the vibration isolation unit 5 has strict requirements on the stiffness coefficients of the two springs in order to achieve the quasi-zero stiffness characteristics. When the horizontal preload device 508 is activated, it is equivalent to the vibration isolation unit 5 essentially having an additional parameter that can be adaptively adjusted. By adjusting δ 1 It can be ensured that the vibration isolation unit 5 can always present a quasi-zero stiffness characteristic, and at this time, the stiffness coefficients of the two springs can be selected arbitrarily.

[0069] In addition, when the system meets the following conditions, the vibration isolation unit 5 can present a constant zero stiffness characteristic:

[0070]

[0071] The output force of the vibration isolation unit is always:

[0072] F = k 2 (h+δ 2 ) (9)

[0073] like Figure 6 The load adjustment diagram of the vibration isolation unit 5 is shown. Combined with formula (9), when adjusting δ 2 When the effective load-bearing capacity can be adjusted, it is no longer the original k 2 h.

[0074] This means that the vibration isolation unit 5 can always maintain a zero stiffness characteristic, and its effective load capacity can be adaptively adjusted by adjusting the vertical preload device. The dynamic stiffness of the vibration isolation unit is always 0, which can present the best vibration isolation effect.

[0075] like Figure 7The vibration transmissibility curves corresponding to different stiffness properties are shown. The vibration transmissibility can intuitively describe the vibration isolation performance of the vibration isolation device. When the vibration transmissibility is less than 0, it indicates that the vibration isolation device has a vibration suppression effect, and the smaller the value, the better the vibration isolation effect. It can be seen that when the stiffness characteristics of the vibration isolation device of the present invention are adjusted by a horizontal preload device, the system can be transformed from a high static and low dynamic stiffness system to a quasi-zero stiffness system, and when formula (8) is satisfied, the system behaves as a constant zero stiffness system. In the quasi-zero stiffness system and the constant zero stiffness system, the vibration transmissibility is always negative, indicating that there is a vibration isolation effect in the entire frequency band, ultra-low frequency vibration isolation can be achieved, and the constant zero stiffness system has a better vibration isolation effect.

Claims

1. A modular ultra-low frequency vibration isolation device with load adaptive characteristics, characterized in that: It includes a supporting base, an outer shell, a connecting inner seat, a load supporting platform and a number of vibration isolation units; The top surface of the support base is coaxially mounted with a connecting inner seat; The vibration isolation units are uniformly distributed around the outer periphery of the connecting inner seat, fixed on the support base, and respectively connected to the connecting interfaces uniformly distributed around the connecting inner seat; the vibration isolation unit is composed of a mounting seat, a horizontal guide rod, a vertical guide rod, a horizontal spring, a vertical spring, a horizontal slip ring, a vertical slip ring, a horizontal preload device, a vertical preload device, a first connecting rod, a second connecting rod and a locking bolt; The mounting seat is a T-shaped structure consisting of a bottom plate and a longitudinal plate, which is fixed to the top surface of the support base through the bottom plate; the horizontal guide rod is arranged parallel to the top surface of the support base, and the end is fixedly connected to the longitudinal plate; the front end of the horizontal guide rod is fixedly connected to the connection interface on the inner seat; the vertical guide rod is arranged perpendicular to the support base, the bottom end is fixed to the support base, and the top end is connected to the load support platform; The horizontal guide rod is sleeved with a horizontal slip ring, a horizontal spring and a horizontal preload device in sequence from back to front; wherein the horizontal preload device comprises a horizontal preload body and a horizontal locking bolt; the horizontal preload body is sleeved on the horizontal guide rod and is locked and fixed by the horizontal locking bolt to realize the adjustment of the preload force of the horizontal spring; The vertical guide rod is sleeved with a vertical slip ring, a vertical spring and a vertical preload device in sequence from top to bottom; wherein the vertical preload device comprises a vertical preload body and a vertical locking bolt; the vertical preload body is sleeved on the vertical guide rod and is locked and fixed by the vertical locking bolt to realize the adjustment of the vertical spring preload force; Furthermore, the horizontal slip ring and the vertical slip ring are connected via a first connecting rod and a second connecting rod which are symmetrically arranged on the left and right sides; The load supporting platform is sleeved with the top end of the longitudinal rod of the vibration isolation unit which is evenly distributed in the circumferential direction through the columnar joints which are evenly distributed in the circumferential direction on the bottom surface.

2. A modular ultra-low frequency vibration isolation device with load adaptive characteristics as claimed in claim 1, characterized in that: It also includes a cylindrical shell; the inner diameter of the shell is larger than the outer diameter of the load support platform, is coaxially arranged with the support platform, is sleeved on the outer side of the vibration isolation unit in the circumferential direction, and the bottom is fixed to the support base.

3. A modular ultra-low frequency vibration isolation device with load adaptive characteristics as claimed in claim 1, characterized in that: During assembly, the vertical line passing through the longitudinal center line of the longitudinal plate intersects with the axis connecting the inner seat; the axis of the horizontal guide rod is perpendicular to the longitudinal plate and passes through the longitudinal center line of the longitudinal plate; the vertical guide rod is located on the outside of the longitudinal plate, the axis is perpendicular to the upper surface of the support base, and intersects with the axis of the horizontal guide rod.

4. A modular ultra-low frequency vibration isolation device with load adaptive characteristics as claimed in claim 1, characterized in that: The bottom end of the vertical guide rod is fixed after passing through the through holes opened at the corresponding positions of the bottom plate and the supporting base.

5. A modular ultra-low frequency vibration isolation device with load adaptive characteristics as claimed in claim 1, characterized in that: Meet different load requirements by adding or replacing vibration isolation units.

6. A modular ultra-low frequency vibration isolation device with load adaptive characteristics as claimed in claim 1, characterized in that: When the vertical preload device is adjusted, the load-bearing capacity is adjusted, and the load-bearing capacity after adjustment is k2(h+δ2); Wherein, k2 is the stiffness coefficient of the vertical spring; h is the distance between the top hinge point of the first and second connecting rods and the horizontal guide rod in the initial state; δ2 is the adjustment distance of the vertical preload device; When the horizontal preload device is adjusted to meet the following conditions, the vibration isolation unit exhibits quasi-zero stiffness characteristics: Wherein, k1 is the stiffness coefficient of the horizontal spring; L is the length of the first connecting rod and the second connecting rod; δ1 is the adjustment distance of the horizontal preload device; When the following conditions are met, a constant zero stiffness characteristic is presented: The output force of the vibration isolation unit is always: F=k2(h+δ2)。

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