Magnetorheological multi-dimensional vibration isolator

Abstract

This invention discloses a magnetorheological multidimensional vibration isolator, belonging to the field of intelligent vibration control. It solves the problems of traditional vibration isolators, which can only isolate vibration in a single direction within a limited installation space and whose parameters are not adjustable. The isolator includes a housing, a rubber main spring, a ball-joint piston, a cylinder, a magnetic core assembly, and a rubber base diaphragm. When relative motion occurs between the protected device connected to the isolator and the excitation object, the ball-joint structure converts the motion in all directions into the up-and-down motion of the piston, thereby pumping magnetorheological fluid through a magnetorheological fluid annular damping channel to generate damping. By controlling the input current of the control coil, the yield stress of the magnetorheological fluid in the annular damping channel is changed, thus achieving different damping force outputs. This invention organically combines a magnetorheological damper, a rubber vibration isolator, a ball-joint structure, and a piston, resulting in a simple and compact structure with excellent multidimensional vibration control, adjustable vibration isolation system parameters, wide-band vibration isolation, and impact resistance.

Description

Technical Field

[0001] This invention belongs to the field of intelligent vibration control, specifically relating to a magnetorheological multidimensional vibration isolator based on magnetorheological materials. Background Technology

[0002] Precision equipment mounted on vehicles is subjected to vibrations from all directions during vehicle operation, which significantly impacts the performance and lifespan of these instruments. Effectively reducing the response of such equipment to road surface disturbances and protecting its long-term normal operation is a crucial research topic in vibration isolation.

[0003] Current vehicle-mounted equipment vibration isolation devices mostly employ passive vibration isolators in a multi-layered stacked form, primarily using flexible materials or simple mechanical mechanisms. These isolators are installed at the contact point between the equipment platform's base and the vehicle body, and their performance is mainly reflected in stiffness and damping parameters; however, these parameters cannot be adjusted once installed. Over time or when the vehicle-mounted equipment is replaced, the vibration characteristics will change, and the passive isolators cannot adjust their stiffness and damping parameters accordingly. Furthermore, passive vibration isolation is ineffective at isolating low-frequency vibrations, and multi-layered stacked isolation systems are structurally complex and increase equipment weight.

[0004] The excitations a vehicle experiences from the road surface during movement are random, resulting in random vibration responses from its sophisticated onboard equipment in various directions. Currently used or developed vibration isolators typically only provide vibration isolation in a single direction. Furthermore, in practical applications, the size of vibration isolators is limited by installation space. Therefore, achieving multi-dimensional vibration isolation within a minimal envelope size has become a pressing technical challenge.

[0005] To address the aforementioned issues, this invention organically combines a magnetorheological semi-active suspension with controllable stiffness and damping parameters with a ball joint structure, leveraging the advantages of both technologies to achieve multidimensional vibration control, adaptive adjustment of system parameters, wide-band vibration isolation, and impact resistance. Summary of the Invention

[0006] This invention provides a magnetorheological multidimensional vibration isolator, the purpose of which is to overcome the shortcomings of the prior art mentioned in the background section. It can achieve more efficient vibration isolation, reduce the response to vibration excitation in multiple directions such as vertical and horizontal, adjust its own damping parameters according to the working conditions, provide wide-band vibration isolation and instantaneous impact protection, and achieve multidimensional vibration isolation while possessing the advantages of strong stability, low power consumption, fast response speed and redundant protection of semi-active systems.

[0007] The technical solution for realizing the present invention is as follows: a magnetorheological multidimensional vibration isolator, comprising a housing, a rubber main spring, a ball joint piston, a magnetic core assembly and a rubber bottom membrane. The top of the housing is provided with an opening, the rubber main spring is fastened to the housing to seal the opening at the top of the housing, the ball joint piston is located between the rubber main spring and the housing, the magnetic core assembly and the rubber bottom membrane are both disposed inside the housing, and an excitation object is fixed on the bottom surface of the housing.

[0008] Compared with the prior art, the present invention has the following advantages:

[0009] 1) This invention introduces a ball joint structure into a rubber vibration isolator, and achieves multidimensional relative motion between the object connected to the vibration isolator through the rotation of the upper and lower ball joints, thus solving the multidimensional vibration isolation problem of a single vibration isolator.

[0010] 2) This invention enables adjustable parameters of the vibration isolation system in multidimensional vibration control, and has excellent wide-band multi-directional vibration isolation and shock resistance performance.

[0011] 3) The vibration isolator proposed in this invention has a simple and compact structure and a small overall size, and can be applied in working environments with limited installation space and requiring multi-dimensional vibration isolation. Attached Figure Description

[0012] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0013] Figure 1 This is a schematic diagram of the overall structure of a magnetorheological multidimensional vibration isolator according to the present invention.

[0014] Figure 2 This is a top view of a magnetorheological multidimensional vibration isolator according to the present invention.

[0015] Figure 3 This is a schematic diagram of the ball joint piston structure in an embodiment of the present invention.

[0016] Figure 4 This is a schematic diagram of the magnetorheological fluid annular damping channel in an embodiment of the present invention.

[0017] Figure 5 This is a schematic diagram of the structure of the rubber main spring and ball joint piston in an embodiment of the present invention.

[0018] In the diagram, 1-upper main spring plate, 2-main spring rubber, 3-lower main spring plate, 4-cylinder, 5-wiring adapter, 6-coil support, 7-coil, 8-lower end cover of magnetic core, 9-outer magnetic ring, 10-outer shell, 11-lower outer shell plate, 12-liquid chamber, 13-inner magnetic ring, 14-rubber bottom film, 15-magnetic top cover, 16-upper end cover of magnetic core, 17-wiring adapter mating, 18-pump chamber, 19-piston, 20-lower ball joint base, 21-lower ball head rod, 22-ball joint connecting rod, 23-upper ball head rod, 24-upper ball joint base, 25-ball joint adapter rod, 26-guide ring, 27-piston sealing ring. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can refer to a fixed connection, a detachable connection, or an integral part; "connection" can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] like Figures 1-5 As shown, the present invention is a magnetorheological multidimensional vibration isolator, comprising a housing, a rubber main spring, a ball joint piston, a magnetic core assembly, and a rubber bottom diaphragm 14. The top of the housing has an opening, and the rubber main spring is fastened to the housing to seal the opening at the top of the housing. The ball joint piston is located between the rubber main spring and the housing. The magnetic core assembly and the rubber bottom diaphragm 14 are both disposed inside the housing, and an excitation object is fixed on the bottom surface of the housing.

[0023] The housing includes an outer shell 10, a cylinder 4, a wiring adapter 5, a wiring adapter connector 17, and a lower outer shell plate 11. The outer shell 10 has four through holes along its central axis from top to bottom. The diameters of the first three through holes decrease, and the diameter of the fourth through hole is larger than that of the third through hole, forming a first inner wall stepped surface, a second inner wall stepped surface, a third inner wall stepped surface, and a fourth inner wall stepped surface in sequence. Flange holes are provided at the four corners of the top and bottom of the outer shell 10. The vibrating object is fixedly connected to the outer shell 10 using screws through the flange holes at the bottom of the outer shell 10. A rubber base is also included. The edge of the membrane 14 is pressed against the second inner wall step surface, the bottom surface of the magnetic core assembly is pressed against the first inner wall step surface and the rubber bottom membrane 14, the cylinder 4 is set on the top surface of the magnetic core assembly, the inner cavity of the cylinder 4 above the magnetic core assembly serves as the pumping chamber 18, and the inner cavity of the rubber bottom membrane 14 below serves as the liquid receiving chamber 12. Both the pumping chamber 18 and the liquid receiving chamber 12 are filled with magnetorheological fluid. The lower plate 11 of the outer shell is fixed to the fourth inner wall step surface by screws. The wiring adapter 5 and the wiring adapter port 17 are symmetrically arranged radially on the outer side wall of the outer shell 10.

[0024] The magnetic core assembly includes an upper magnetic core cover 16, a lower magnetic core cover 8, an inner magnetic ring 13, and an outer magnet. The upper magnetic core cover 16 is fixed to the top surface of the lower magnetic core cover 8 by bolts to form a core. A groove is formed in the middle of the core. The inner ring of the inner magnetic ring 13 has a first protrusion. After the inner magnetic ring 13 is fitted onto the core, the first protrusion and the groove are fixed together. The outer magnet is fitted onto the core. The bottom surface of the outer magnet is in contact with the top surface of the lower magnetic core cover 8 and is limited by a second protrusion on the outer edge of the lower magnetic core cover 8. There is a gap between the outer magnet and the inner magnetic ring 13.

[0025] The outer magnet includes a coil 7, a coil support 6, a magnetically conductive cover 15, and an outer magnetically conductive ring 9. Three through holes with decreasing diameters are opened from top to bottom along the central axis of the outer magnetically conductive ring 9, forming a first magnetically conductive step surface, a second magnetically conductive step surface, and a third magnetically conductive step surface in sequence. The top surface of the outer magnetically conductive ring 9 is the first magnetically conductive step surface. The coil support 6, on which the coil 7 is wound, is set on the third magnetically conductive step surface. The magnetically conductive cover 15 is fixed to the second magnetically conductive step surface and the top surface of the coil support 6.

[0026] A gap is formed between the inner magnetic ring 13 and the outer magnetic ring 9 to serve as a magnetorheological fluid annular damping channel connecting the pump fluid chamber 18 and the liquid chamber 12. By controlling the input current of the coil 7, the yield stress of the magnetorheological fluid is changed, thereby realizing the output of different damping forces. The wiring adapter 5 is the outlet of the enameled wire of the coil 7. Several circular holes are cut on the lower plate 11 of the outer shell to facilitate the extrusion of gas between the rubber bottom film 14 and the lower plate 11 of the outer shell when the bottom film is deformed.

[0027] The rubber main spring includes an upper main spring plate 1, a main spring rubber 2, and a lower main spring plate 3. The main spring rubber 2 is oval-shaped with flat surfaces at both ends. Three through holes are formed along its central axis from top to bottom on the main spring rubber 2: a first-order hole, a second-order hole, and a third-order hole. The first-order hole has the largest diameter, the second-order hole has the smallest diameter, and the top surface of the third-order hole is rounded. The upper main spring plate 1 and the lower main spring plate 3 are vulcanized to both ends of the main spring rubber 2. The upper main spring plate 1 is a three-order cylinder with decreasing diameter from top to bottom, and a first through hole is formed along its central axis. The topmost first-stage cylinder is located on the top surface of the main spring rubber 2, and the third-stage cylinder is located in the third-stage hole. The shape of the main spring lower plate 3 is a two-stage cylinder with decreasing diameter from top to bottom. The diameter of the fourth-stage cylinder located at the top is greater than the diameter of the fifth-stage cylinder. Two-stage through holes with increasing diameter are opened along the central axis of the main spring lower plate 3, namely the fourth-stage hole and the fifth-stage hole. The diameter of the fourth-stage hole is not greater than the diameter of the third-stage hole. The fifth-stage cylinder is pressed against the top surface of the cylinder 4. Flange holes are provided at the four corners of the main spring lower plate 3. The main spring lower plate 3 and the outer shell 10 are fixedly connected by bolts.

[0028] The ball joint piston includes, from top to bottom, a ball joint adapter rod 25, an upper ball joint base 24, an upper ball head rod 23, a ball joint connecting cylinder 22, a lower ball head rod 21, a lower ball joint base 20, and a piston 19. The ball joint adapter rod 25 and the upper ball joint base 24 are threadedly connected. The upper ball head rod 23 and the lower ball head rod 21 extend into the ball joint connecting cylinder 22 and are threadedly connected to the ball joint connecting cylinder 22. The lower ball joint base 20 is threadedly connected to the piston 19. The piston 19 is located inside the cylinder 4, and a piston guide ring 26 and a piston sealing ring 27 are provided on the outer side wall of the piston 19.

[0029] After the ball joint adapter rod 25 extends out of the first through hole in the center of the upper spring plate 1, it is fixedly connected to the protected device by a nut. When relative motion occurs between the protected device connected to the vibration isolator and the excitation object, the upper ball joint rod 23 rotates in the upper ball joint base 24. The upper ball joint rod 23 drives the lower ball joint rod 21 to rotate in the lower ball joint base 20 through the ball joint connecting cylinder 22, thereby converting the multi-directional movement of the ball joint adapter rod 25 relative to the housing into the up-and-down movement of the piston 19 fixedly connected to the lower ball joint base 20. The piston guide ring 26 plays an anti-tilting role when the piston 19 reciprocates, and the piston sealing ring 27 achieves dynamic sealing to prevent leakage when the piston 19 reciprocates.

[0030] In this embodiment, to ensure that the ball joint adapter rod 25 and the ball joint connecting rod 22 do not interfere with the inner cavity of the main spring rubber 2 during the operation of the vibration isolator, it is necessary to have

[0031] r≥1.15t

[0032] In the formula, r represents the diameter of the inner cavity of the main spring rubber 2, and t represents the outer diameter of the lower end of the ball joint adapter rod 25.

[0033] In this embodiment, the angle between the ball joint adapter rod 25 and the ball joint connecting rod 22 varies within a range of ±15° by rotating the upper and lower ball joints.

[0034] In this embodiment, during vibration isolation, the piston 19 moves up and down in the cylinder 4 to pump out or draw back the magnetorheological fluid in the pumping chamber 18. The liquid pumped out of the pumping chamber 18 will enter the liquid-containing chamber 12 where the rubber bottom membrane 14 is located through the magnetorheological fluid annular damping channel. The rubber bottom membrane 14 will expand or contract according to the amount of magnetorheological fluid in the liquid-containing chamber 12. The radial cross section of the rubber bottom membrane 14 is wavy and has a certain deformation redundancy.

[0035] The upper end cover 16 and lower end cover 8 of the magnetic core are made of non-magnetic materials and are fixedly connected by screws. The inner magnetic ring 13, outer magnetic ring 9, and upper magnetic cover are made of magnetic materials, while the coil support 6 is made of non-magnetic materials. To ensure that the magnetorheological fluid in the annular damping channel of the magnetorheological fluid generates sufficiently large damping due to the magnetic field generated by the coil 7, it is necessary to ensure...

[0036]

[0037] In the formula, L is the total depth of the magnetorheological annular damping channel, l is the inner height of the coil support 6, and Ll is the effective depth of the magnetorheological annular damping channel.

[0038] The maximum magnetic field strength generated by coil 7 in the magnetorheological fluid damping channel should not be less than 0.4T. In this embodiment, the width of the magnetorheological fluid annular damping channel is 1.2mm, the total depth is 15mm, the effective depth is 10mm, the diameter of the enameled wire of coil 7 is 0.41mm, and the number of turns of the enameled wire is 75. Using Comsol simulation software, it was found that when a current of 2A is passed through coil 7, the magnetic field strength in the magnetorheological fluid annular damping channel is 0.45T.

[0039] Establish a local coordinate system with the center of the bottom surface of the lower outer shell 11. The vertical direction is the Z-axis, the horizontal direction to the right is the Y-axis, and the vertical sectional view outward is the X-axis. The magnitude of the Y-axis displacement excitation generated by the vibrating object is y = 8sin(69.1t). Then, the formula for the Z-axis displacement of the piston 19 is:

[0040] z = -1.2sin(69.1t)

[0041] In this embodiment, the magnetorheological damping force generated by the movement of piston 19 is:

[0042]

[0043] In the formula, C PThe constant is τ, which depends on the steady-state conditions. In this embodiment, it is taken as 3. h is the width of the magnetorheological damping channel, R is the bottom diameter of piston 19, and τ is the bottom diameter of piston 19. y The yield stress of the magnetorheological fluid is 10 mm and 1.2 mm, respectively. When a current of 2 A is applied, the yield stress of the magnetorheological fluid is 20 kPa. The bottom diameter of the piston 19 is 70 mm, and the magnetorheological damping force generated is 1923 N, which is opposite to the direction of piston 19 movement.

[0044] In this embodiment, the viscous damping force generated by the movement of piston 19 is:

[0045]

[0046] In the formula, μ is the viscosity of the magnetorheological fluid. In this embodiment, the viscosity of the magnetorheological fluid is 0.2 Pa·s, and the viscous damping force generated by the movement of piston 19 is 110 N, which is opposite to the direction of movement of piston 19.

[0047] In this embodiment, when the mass of the protected device is 60kg, the longitudinal resonant frequency of the vibration system composed of the protected device and the magnetorheological multidimensional vibration isolator of the present invention is 10.8Hz, and the transverse resonant frequency is 10.2Hz. When a current of 2A is applied to coil 7, the displacement amplification factor at both longitudinal and transverse resonance is less than 3. When the excitation object generates longitudinal random vibration excitation of 5-2000Hz, the longitudinal vibration isolation efficiency of the magnetorheological multidimensional vibration isolator of the present invention is 96%. When the excitation object generates transverse random vibration excitation of 5-2000Hz, the transverse vibration isolation efficiency of the magnetorheological multidimensional vibration isolator of the present invention is 94%.

[0048] This invention relates to a magnetorheological multidimensional vibration isolator. Its working principle is as follows: When an exciter vibrates or experiences impact, relative motion occurs between the protected device, fixed to the ball joint adapter 25, and the exciter, fixed to the bottom of the housing 10. If the relative motion direction is longitudinal (i.e., the direction of the central axis of the rubber main spring), the deformation of the rubber 2 of the main spring provides longitudinal support, thus exhibiting stiffness characteristics. The piston 19 moves up and down, pumping magnetorheological fluid. When the magnetorheological fluid flows through the annular damping channel, it generates damping, thus exhibiting damping characteristics. If the relative motion direction is transverse (i.e., perpendicular to the central axis of the rubber main spring), the deformation of the rubber 2 of the main spring provides transverse support. The ball joint adapter 25 drives the two ball joints to rotate, converting the transverse relative motion between the protected device and the exciter into the longitudinal motion of the piston 19, thereby pumping magnetorheological fluid and generating damping. When the amplitude, excitation frequency, and impact intensity of the exciter are different, the damping force of the magnetorheological fluid flowing through the annular damping channel can be adjusted by regulating the current flowing through the coil 7.

Claims

1. A magnetorheological multidimensional vibration isolator, characterized in that: It includes a housing, a rubber main spring, a ball joint piston, a magnetic core assembly and a rubber bottom diaphragm (14). The top of the housing has an opening, and the rubber main spring is fastened to the housing to seal the opening at the top of the housing. The ball joint piston is located between the rubber main spring and the housing. The magnetic core assembly and the rubber bottom diaphragm (14) are both located inside the housing. An excitation object is fixed on the bottom surface of the housing. The housing includes an outer shell (10), a cylinder (4), a wiring adapter (5), a wiring adapter mating port (17), and a lower outer shell plate (11). The outer shell (10) has four through holes from top to bottom along the central axis, forming a first inner wall step surface, a second inner wall step surface, a third inner wall step surface, and a fourth inner wall step surface in sequence. The excitation object is fixedly connected to the outer shell (10) through the flange hole at the bottom of the outer shell (10). The edge of the rubber bottom film (14) is pressed against the second inner wall step surface, and the bottom surface of the magnetic core assembly is pressed against the outer shell (10). On the first inner wall step surface and the rubber bottom membrane (14), the cylinder (4) is set on the top surface of the magnetic core assembly. The inner cavity of the cylinder (4) above the magnetic core assembly serves as the pumping chamber (18), and the inner cavity of the rubber bottom membrane (14) below serves as the liquid receiving chamber (12). The pumping chamber (18) and the liquid receiving chamber (12) are both filled with magnetorheological fluid. The lower plate (11) of the outer shell is fixed on the fourth inner wall step surface. The wiring adapter (5) and the wiring adapter port (17) are symmetrically arranged radially on the outer side wall of the outer shell (10). The magnetic core assembly includes an inner magnetic ring (13) and an outer magnet; The outer magnet includes a coil support (6), a coil (7), and an outer magnetic ring (9). A three-stage through hole with decreasing diameter is opened from top to bottom along the central axis of the outer magnetic ring (9), forming a first magnetic step surface, a second magnetic step surface, and a third magnetic step surface in sequence. The coil support (6) that winds the coil (7) is set on the third magnetic step surface. A gap is formed between the inner magnetic ring (13) and the outer magnetic ring (9) as a magnetorheological fluid annular damping channel that connects the pump liquid chamber (18) and the liquid container (12). The ball joint piston includes, from top to bottom, a ball joint adapter rod (25), an upper ball joint base (24), an upper ball head rod (23), a ball joint connecting cylinder (22), a lower ball head rod (21), a lower ball joint base (20), and a piston (19). The ball joint adapter rod (25) and the upper ball joint base (24) are connected by threads. The upper ball head rod (23) and the lower ball head rod (21) extend into the ball joint connecting cylinder (22) and are connected by threads to the ball joint connecting cylinder (22). The lower ball joint base (20) is connected by threads to the piston (19). The piston (19) is located inside the cylinder (4), and a piston guide ring (26) and a piston sealing ring (27) are provided on the outer side wall of the piston (19).

2. The magnetorheological multidimensional vibration isolator according to claim 1, characterized in that: The outer shell (10) has four through holes from top to bottom along the central axis. The diameters of the first three through holes decrease, and the diameter of the fourth through hole is larger than that of the third through hole.

3. The magnetorheological multidimensional vibration isolator according to claim 2, characterized in that: The magnetic core assembly also includes an upper magnetic core cover (16) and a lower magnetic core cover (8). The upper magnetic core cover (16) is fixed to the top surface of the lower magnetic core cover (8) to form a core. A groove is opened in the middle section of the core. The inner ring of the inner magnetic ring (13) is provided with a first protrusion. After the inner magnetic ring (13) is sleeved on the core, the first protrusion and the groove are fixed together. The outer magnet is sleeved on the core. The bottom surface of the outer magnet is in contact with the top surface of the lower magnetic core cover (8) and is limited by the second protrusion set on the outer edge of the lower magnetic core cover (8). There is a gap between the outer magnet and the inner magnetic ring (13).

4. The magnetorheological multidimensional vibration isolator according to claim 3, characterized in that: The outer magnet also includes a magnetically conductive top cover (15), the top surface of the outer magnetically conductive ring (9) is the first magnetically conductive step surface, and the magnetically conductive top cover (15) is fixed to the second magnetically conductive step surface and the top surface of the coil support (6); A gap is formed between the inner magnetic ring (13) and the outer magnetic ring (9) to serve as a magnetorheological fluid annular damping channel connecting the pump fluid chamber (18) and the liquid chamber (12). By controlling the input current of the coil (7), the yield stress of the magnetorheological fluid is changed, thereby realizing the output of different damping forces. The wiring adapter (5) is the outlet of the enameled wire of the coil (7). Several round holes are cut on the lower plate (11) of the outer shell to facilitate the extrusion of gas between the rubber bottom film (14) and the lower plate (11) of the outer shell when the bottom film is deformed.

5. The magnetorheological multidimensional vibration isolator according to claim 4, characterized in that: The rubber main spring includes an upper plate (1), a main spring rubber (2), and a lower plate (3). The main spring rubber (2) is oval-shaped with flat surfaces at both ends. The main spring rubber (2) has three through holes from top to bottom along its central axis, namely the first-order hole, the second-order hole, and the third-order hole. The first-order hole has the largest diameter, the second-order hole has the smallest diameter, and the top surface of the third-order hole is rounded. The upper plate (1) and the lower plate (3) are vulcanized and connected to both ends of the main spring rubber (2), respectively. The upper plate (1) is a three-order cylinder with a diameter decreasing from top to bottom, and has a first through hole along its central axis. The topmost first-order cylinder is located on the top surface of the main spring rubber (2), the third-order cylinder is located in the third-order hole, the shape of the main spring lower plate (3) is a second-order cylinder with decreasing diameter from top to bottom, the diameter of the fourth-order cylinder located at the top is greater than the diameter of the fifth-order cylinder, and a second-order through hole with increasing diameter is opened along the central axis of the main spring lower plate (3), which is the fourth-order hole and the fifth-order hole in sequence. The diameter of the fourth-order hole is not greater than the diameter of the third-order hole, the fifth-order cylinder is pressed on the top surface of the cylinder (4), and flange holes are provided at the four corners of the main spring lower plate (3). The main spring lower plate (3) and the outer shell (10) are fixedly connected by bolts.

6. The magnetorheological multidimensional vibration isolator according to claim 1, characterized in that: After the ball joint adapter rod (25) extends out of the first through hole in the center of the upper plate (1) of the self-spring, it is fixedly connected to the protected device by a nut. When relative motion occurs between the protected device connected to the vibration isolator and the excitation object, the upper ball joint rod (23) rotates in the upper ball joint base (24). The upper ball joint rod (23) drives the lower ball joint rod (21) to rotate in the lower ball joint base (20) through the ball joint connecting cylinder (22), thereby converting the multi-directional movement of the ball joint adapter rod (25) relative to the shell into the up and down movement of the piston (19) fixedly connected to the lower ball joint base (20). The piston guide ring (26) plays an anti-tilting role when the piston (19) reciprocates. The piston sealing ring (27) achieves dynamic sealing to prevent leakage when the piston (19) reciprocates.

7. The magnetorheological multidimensional vibration isolator according to claim 6, characterized in that: To ensure that the ball joint adapter rod (25) and the ball joint connecting cylinder (22) do not interfere with the inner cavity of the main spring rubber (2) during the operation of the vibration isolator, the following is required: ， In the formula, r represents the diameter of the inner cavity of the main spring rubber (2), and t represents the outer diameter of the lower end of the ball joint adapter rod (25).

8. The magnetorheological multidimensional vibration isolator according to claim 1, characterized in that: The upper end cap (16) and lower end cap (8) of the magnetic core are made of non-magnetic materials. The upper end cap (16) and lower end cap (8) of the magnetic core are fixedly connected by screws. The inner magnetic ring (13), outer magnetic ring (9) and upper magnetic cover are made of magnetic materials. The coil support (6) is made of non-magnetic materials. In order to ensure that the magnetorheological fluid in the annular damping channel of the magnetorheological fluid generates sufficiently large damping due to the magnetic field generated by the coil (7), it is necessary to ensure that: ， In the formula, L is the total depth of the magnetorheological annular damping channel, and l is the inner height of the coil support (6). The effective depth of the magnetorheological annular damping channel.

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