High-bearing six-degree-of-freedom active and passive vibration isolation platform

Abstract

The invention discloses a high-bearing six-degree-of-freedom active and passive vibration isolation platform, and belongs to the field of precise positioning and vibration isolation, the high-bearing six-degree-of-freedom active and passive vibration isolation platform comprises an upper platform, a lower platform and a fixed base which are sequentially arranged at intervals from top to bottom, and a plurality of inclined high-integration high-bearing electric telescopic supporting legs are hinged between the upper platform and the lower platform; passive shock absorbers are evenly distributed and installed between the lower platform and the fixed base in the circumferential direction. Compared with an existing Stewart vibration isolation platform, the high-integration high-bearing-capacity electric telescopic supporting legs are combined with the passive vibration absorbers, the bearing capacity can be improved by 5-10 times under the same size and weight requirements, and the vibration isolation effect can be achieved for large-tonnage equipment in almost all frequency band ranges (1 Hz or above).

Description

Technical Field

[0001] The present invention belongs to the field of precision positioning and vibration isolation, and in particular, relates to a high-load-bearing six-degree-of-freedom active and passive vibration isolation platform. Background Art

[0002] Vibration isolation technology is a vibration control method widely used in various equipment in the fields of sea, land and air. It is to add components between the object to be isolated and the interference source to reduce the transmission of vibration energy to the object to be isolated. Vibration isolation technology can be divided into active vibration isolation and passive vibration isolation. The former is to take vibration isolation measures on the vibration source equipment to prevent the vibration from being transmitted to other occasions, and the latter is to take vibration isolation measures on equipment, instruments or people that are afraid of being disturbed by vibration to prevent the influence of external vibration.

[0003] At present, the passive vibration isolation system has a simple structure, is easy to implement, has high reliability, is economical, does not require external energy, has the most mature technology, and is the most widely used; however, the passive vibration isolation system has a high natural frequency. The attenuation effect of low-frequency vibrations below times is limited, and it cannot adapt to changes in external disturbance frequency.

[0004] The basic principle of active vibration isolation technology is to introduce a secondary vibration source, that is, external energy, into the controlled system, and adjust the secondary excitation through the corresponding control strategy so that the vibration response generated by it cancels out the vibration response of the primary vibration source, thereby achieving the purpose of suppressing vibration. Active vibration isolation has a significant suppressing effect on low-frequency vibration and can adapt to changes in external disturbance frequency.

[0005] That is, active vibration isolation and passive vibration isolation are complementary. The active and passive composite vibration isolation technology combines the advantages of passive high-frequency effectiveness and active low-frequency effectiveness, and can achieve vibration isolation in a wide frequency range.

[0006] The Stewart platform is one of the most widely studied forms of active vibration isolation. Figure 1 As shown in the figure, it is essentially a six-degree-of-freedom parallel mechanism, which consists of multiple legs connecting the upper and lower platforms. The legs move and output force according to the control instructions. The platform has the advantages of compact structure and can achieve six degrees of freedom.

[0007] At present, the active and passive vibration isolation technology based on the Stewart platform in China is mostly limited to the research of universities and research institutes, and there are few engineering applications. Shanghai Jiaotong University proposed an electromagnetically driven Stewart active and passive integrated vibration isolation platform (CN105204543B); Beijing University of Aeronautics and Astronautics proposed a six-degree-of-freedom low-frequency vibration active and passive isolation mechanical device (CN108167379B); Xi'an Jiaotong University proposed a spatial six-degree-of-freedom active and passive vibration isolation platform and method based on electromagnetic negative stiffness (CN108533669B); Shanghai Satellite Equipment Research Institute proposed a new high-precision hybrid vibration isolation device (CN105276076B).

[0008] However, the existing Stewart platform has limited carrying capacity and cannot meet the vibration isolation requirements of ultra-large tonnage equipment, such as shipborne laser weapons, multifunctional optoelectronic systems and other high-end equipment weighing several tons or even dozens of tons. If the existing form of the Stewart platform is scaled up, the required installation space and platform weight will be too large, making it difficult to apply in engineering; in addition, the six-degree-of-freedom movement of the Stewart platform is achieved by the telescopic movement of each leg in coordination with each other, so the bottleneck of its carrying capacity lies in the supporting force of each leg, that is, the key to improving the platform's carrying capacity lies in improving the thrust, strength and stiffness of its legs. Summary of the invention

[0009] The purpose of the present invention is to provide a high-load six-degree-of-freedom active and passive vibration isolation platform, which can achieve wide-frequency range vibration isolation of ultra-large tonnage high-end equipment, and can not only isolate high-frequency vibrations, but also effectively control medium and low-frequency vibrations.

[0010] In order to achieve the purpose of the present invention, the technical solution adopted is: a high-load-bearing six-degree-of-freedom active and passive vibration isolation platform, comprising an upper platform, a lower platform, and a fixed base arranged in sequence from top to bottom, a plurality of highly integrated and high-load-bearing electric telescopic legs are hingedly connected between the upper platform and the lower platform, and a passive vibration absorber is installed between the lower platform and the fixed base.

[0011] Furthermore, an upper hinge is installed on the upper platform, and a lower hinge is installed on the lower platform. Both ends of the highly integrated and high-load-bearing electric telescopic legs are respectively connected to the upper hinge and the lower hinge.

[0012] Furthermore, a force sensor is connected between the highly integrated and high-load-bearing electric telescopic leg and the upper hinge or between the highly integrated and high-load-bearing electric telescopic leg and the lower hinge.

[0013] Furthermore, there are six highly integrated and high-load-bearing electric telescopic legs, and the angle between two adjacent highly integrated and high-load-bearing electric telescopic legs is 30° to 70°.

[0014] Furthermore, the highly integrated and high-load-bearing electric telescopic leg includes a shell, a stator and a rotor. The stator is fixedly mounted on the inner wall of the shell, and a nut sleeve is installed at the center of the shell. The rotor is fixedly mounted on the outer wall of the nut sleeve, and turntables are installed at both ends of the nut sleeve. A plurality of rotatable rollers are connected between the two turntables, and a lead screw meshing with the rollers is installed in the center of the plurality of rollers, and both ends of the lead screw pass through the turntable and extend outward.

[0015] Furthermore, a fixed cover is installed at the rear end of the shell, the rear end of the screw is connected to a connecting shaft, the rear end of the connecting shaft extends into the fixed cover, and an absolute encoder is installed on the connecting shaft, and a brake that can lock the connecting shaft is installed in the fixed cover; a hinged ear is also installed on the fixed cover.

[0016] Furthermore, there are multiple passive vibration absorbers, and the multiple passive vibration absorbers are evenly spaced along the central circumference of the lower platform.

[0017] Furthermore, the passive vibration absorber is a wire rope rubber vibration absorber.

[0018] Furthermore, the wire rope rubber vibration damper includes an upper connecting plate and a lower connecting plate arranged at intervals, a vibration-damping wire rope is wound around the upper connecting plate and the lower connecting plate, and a pressure plate for pressing the vibration-damping wire rope is fixed on the outer side of the upper connecting plate and the outer side of the lower connecting plate; a rubber block is also installed on the lower connecting plate, and the vibration-damping wire rope is supported on both sides of the rubber block.

[0019] Furthermore, two sides of the rubber block are arc-shaped.

[0020] The beneficial effects of the present invention are:

[0021] 1. The present invention combines highly integrated and high-load electric telescopic legs with passive vibration absorbers. Compared with the existing Stewart vibration isolation platform, with the same volume and weight requirements, the load-bearing capacity can be increased by 5 to 10 times, and it can play a vibration isolation role for large-tonnage equipment in almost all frequency bands (above 1 Hz).

[0022] 2. In the present invention, a brake is arranged in the highly integrated high-load electric telescopic outrigger, so that in the case of power failure, the highly integrated high-load electric telescopic outrigger can be self-locked, so that when the electrical system or control part of the highly integrated high-load electric telescopic outrigger fails, the active vibration isolation part of the platform can be fixed in position, and the passive vibration isolation can still play a role, which has a suppressive effect on medium and high frequency vibrations. That is, when the electrical system or control part fails, the present invention does not lose control and has high reliability.

[0023] 3. The highly integrated and high-load electric telescopic legs in the present invention have high load-bearing capacity, large thrust, high power-to-weight ratio, high efficiency, fast response, high precision, etc., so that the active and passive vibration isolation platform has the advantages of fast response, large thrust and large supporting force. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings illustrate exemplary embodiments of the present invention and together with the description serve to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification.

[0025] Figure 1 It is a schematic diagram of the structure of the existing Stewart platform;

[0026] Figure 2 It is a structural schematic diagram of a high-load bearing six-degree-of-freedom active and passive vibration isolation platform provided by the present invention;

[0027] Figure 3 This is the main view of the highly integrated and high-load-bearing electric telescopic outriggers;

[0028] Figure 4 yes Figure 3 Sectional view of AA in the middle;

[0029] Figure 5 It is the front view of the passive shock absorber;

[0030] Figure 6 is a side view of the passive shock absorber.

[0031] Markings and corresponding parts names in the attached drawings:

[0032] 1. Upper platform, 2. Upper hinge, 3. Force sensor, 4. Highly integrated and high-load electric telescopic legs, 5. Lower hinge, 6. Lower platform, 7. Passive shock absorber, 8. Fixed base;

[0033] 401, housing, 402, stator, 403, rotor, 404, bearing, 405, nut sleeve, 406, turntable, 407, roller, 408, lead screw, 409, fixed cover, 410, connecting shaft, 411, brake, 412, absolute encoder, 413, hinged ear;

[0034] 701. upper connecting plate, 702. lower connecting plate, 703. vibration-damping steel wire rope, 704. pressing plate, 705. rubber block. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings and implementation methods. It is understood that the specific implementation methods described herein are only used to explain the relevant content, rather than to limit the present invention. It is also necessary to explain that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings.

[0036] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] like Figure 2 As shown, the present invention provides a high-load-bearing six-degree-of-freedom active and passive vibration isolation platform, comprising an upper platform 1, a lower platform 6, and a fixed base 8. The upper platform 1 is located below the lower platform 6, the fixed base 8 is located below the lower platform 6, and there is a certain distance between the upper platform 1 and the lower platform 6, and between the lower platform 6 and the fixed base 8; the center of the upper platform 1, the center of the lower platform 6, and the center of the fixed base 8 are located on the same vertical line, and the upper platform 1, the lower platform 6, and the fixed base 8 can be annular or disc-shaped, and the shape of the upper platform 1, the lower platform 6, and the fixed base 8 can be circular or polygonal.

[0038] A plurality of highly integrated and highly loaded electric telescopic legs 4 are installed between the upper platform 1 and the lower platform 6. The upper ends of the highly integrated and highly loaded electric telescopic legs 4 are hinged to the upper platform 1, and the lower ends of the highly integrated and highly loaded electric telescopic legs 4 are hinged to the lower platform 6. The hinge points of the highly integrated and highly loaded electric telescopic legs 4 and the upper platform 1 and the hinge points of the highly integrated and highly loaded electric telescopic legs 4 and the lower platform 6 are arranged in a staggered manner, that is, the highly integrated and highly loaded electric telescopic legs 4 are in an inclined state, rather than a vertical state, between the upper platform 1 and the lower platform 6. By installing the highly integrated and highly loaded electric telescopic legs 4 between the upper platform 1 and the lower platform 6, the upper platform 1, the lower platform 6 and the highly integrated and highly loaded electric telescopic legs 4 together form an active vibration isolation platform structure.

[0039] A passive vibration damper 7 is also installed between the lower platform 6 and the fixed base 8. The passive vibration damper 7 mainly suppresses medium and high frequency vibrations. The lower platform 6, the passive vibration damper 7 and the fixed base 8 together constitute a passive vibration isolation platform structure.

[0040] In the present invention, the active vibration isolation table structure is combined with the passive vibration isolation table structure. Compared with the existing Stewart vibration isolation platform, with the same volume and weight requirements, the carrying capacity can be increased by 5 to 10 times, and it can play a vibration isolation role for large-tonnage equipment in almost all frequency bands (above 1 Hz).

[0041] In the present invention, in order to facilitate the connection between the upper platform 1 and the highly integrated high-load-bearing electric telescopic leg 4, and between the highly integrated high-load-bearing lower platform 6 and the highly integrated high-load-bearing electric telescopic leg 4, an upper hinge 2 is installed on the upper platform 1 with screws, and a lower hinge 5 is installed on the lower platform 6 with screws. The upper end of the highly integrated high-load-bearing electric telescopic leg 4 is hinged to the upper hinge 2, and the lower end of the highly integrated high-load-bearing electric telescopic leg 4 is hinged to the lower hinge 5, so that the highly integrated high-load-bearing electric telescopic leg 4 and the upper platform 1, and the highly integrated high-load-bearing electric telescopic leg 4 and the lower platform 6 can rotate relative to each other during the telescopic process.

[0042] In the present invention, a force sensor 3 is also installed between the highly integrated high-load electric telescopic leg 4 and the upper hinge 2, and the force sensor 3 can directly use the existing pressure sensor 3. By installing the force sensor 3 on each highly integrated high-load electric telescopic leg 4, the force closed-loop control of each highly integrated high-load electric telescopic leg 4 can be effectively achieved. In the present invention, when the convenience of installing the force sensor 3 is not considered, the force sensor 3 can also be installed between the highly integrated high-load electric telescopic leg 4 and the hinge, in which case the force closed-loop control of each highly integrated high-load electric telescopic leg 4 can also be achieved.

[0043] In the present invention, there are six highly integrated and high-load-bearing electric telescopic legs 4, and the six highly integrated and high-load-bearing electric telescopic legs 4 are evenly spaced along the circumferential direction of the center of the lower platform 6, and the angle between two adjacent highly integrated and high-load-bearing electric telescopic legs 4 is 30°~70°. Through the cooperation of the six highly integrated and high-load-bearing electric telescopic legs 4, the upper platform 1 has six degrees of freedom of movement relative to the lower platform 6, so that the upper platform 1 and the lower platform 6 are longitudinal, lateral, vertical translation and roll, pitch, and azimuth rotation, respectively, mainly suppressing medium and low frequency vibrations.

[0044] In the present invention, if Figure 3 , Figure 4As shown, the highly integrated high-load electric telescopic outrigger 4 includes a housing 401, a stator 402 and a rotor 403. The stator 402 is fixedly mounted on the inner wall of the housing 401, and a nut sleeve 405 is installed at the center of the housing 401. The inner wall of the nut sleeve 405 has threads, and the central axis of the nut sleeve 405 is in the same straight line as the central axis of the housing 401; the rotor 403 is fixedly mounted on the outer wall of the nut sleeve 405, and the nut sleeve 405 is rotatably mounted in the housing 401 through a bearing 404; turntables 406 are also installed at both ends of the nut sleeve 405, and the turntable 406 is located at the nut sleeve 40 5, the turntable 406 and the nut sleeve 405 are clearance-matched, and a roller 407 is connected between the two turntables 406. The roller 407 can rotate relative to the turntable 406, and there are multiple rollers 407, which are arranged circumferentially and spaced along the center of the turntable 406, and the multiple rollers 407 are meshed with the threads on the inner wall of the nut sleeve 405; a lead screw 408 is also installed in the center of the nut sleeve 405, and the lead screw 408 is meshed with multiple rollers 407. A through hole is also opened in the center of the two turntables 406, and the two ends of the lead screw 408 extend outward through the two through holes. In order to prevent the turntable 406 from affecting the rotation of the lead screw 408, the diameter of the through hole on the turntable 406 is larger than the diameter of the lead screw 408.

[0045] Through the cooperation of the housing 401, the stator 402, the rotor 403, the nut sleeve 405, the roller 407 and the lead screw 408, when the rotor 403 in the highly integrated and high-load-bearing electric telescopic leg 4 rotates, the nut sleeve 405, the roller 407 and the lead screw 408 rotate synchronously with the rotor 403, so that the lead screw 408 moves horizontally, outputs thrust and displacement, and makes the highly integrated and high-load-bearing electric telescopic leg 4 have the advantages of high load-bearing capacity and large thrust.

[0046] In the present invention, a fixed cover 409 is also installed at the rear end of the shell 401 of the highly integrated and high-load-bearing electric telescopic leg 4, and a connecting shaft 410 is also connected to the rear end of the screw 408. The central axis of the connecting shaft 410 is in the same straight line as the central axis of the screw 408, and the rear end of the connecting shaft 410 extends to the back of the fixed cover 409; an absolute encoder 412 is also installed on the connecting shaft 410, and the absolute encoder 412 is the use of the prior art. A brake 411 that can lock the connecting shaft 410 is also installed in the fixed sleeve, and the brake 411 can select the braking structure on the existing self-locking motor.

[0047] In order to facilitate the installation of the highly integrated and high-load-bearing electric telescopic leg 4, a hinge ear is also installed on the fixed cover 409, so that the lower end of the highly integrated and high-load-bearing electric telescopic leg 4 can be connected to the lower hinge 5 through the hinge ear 413 on the fixed cover 409; at the same time, the force sensor 3 is installed on the end face of the other end of the lead screw 408, and the other end of the lead screw 408 is also connected to the hinge ear 413, so that the upper end of the highly integrated and high-load-bearing electric telescopic leg 4 can be connected to the upper hinge 2 through the hinge ear 413.

[0048] By setting the brake 411 and the absolute encoder 412, when the power is off, the brake 411 locks the lead screw 408 in the electric telescopic rod, thereby fixing the position and posture of the active and passive vibration isolation platform, and the absolute encoder 412 feeds back the position information of the rotor 403 in real time to realize the closed-loop control of the electromechanical servo actuator.

[0049] In the present invention, there are multiple passive shock absorbers 7, which can effectively improve the bearing capacity of the active and passive vibration isolation platform. Specifically, the number of passive shock absorbers 7 can be the same as the number of highly integrated and high-load-bearing electric telescopic legs 4, or the number of passive shock absorbers 7 can be different from the number of highly integrated and high-load-bearing electric telescopic legs 4; when there are multiple passive shock absorbers 7 and the lower platform 6 is annular, the multiple passive shock absorbers 7 can be evenly spaced along the circumferential direction of the lower platform 6; when there are multiple passive shock absorbers 7 and the lower platform 6 is disc-shaped, the multiple passive shock absorbers 7 can be evenly distributed between the lower platform 6 and the fixed base 8; in addition, when the lower platform 6 is disc-shaped and there is one passive shock absorber 7, the size of the passive shock absorber 7 can be appropriately enlarged, and the passive shock absorber 7 can be installed in the center of the fixed base 8.

[0050] The passive vibration absorber 7 in the present invention is a wire rope rubber vibration absorber, which can effectively suppress the medium and high frequency vibrations in the three directions of XYZ. Figure 5 , Figure 6 As shown, the wire rope rubber vibration isolator comprises an upper connecting plate 701 and a lower connecting plate 702 arranged at intervals, a certain distance is provided between the upper connecting plate 701 and the lower connecting plate 702, and the central axis of the upper connecting plate 701 is aligned with the central axis of the lower connecting plate 702, a vibration-damping wire rope 703 is wound around the upper connecting plate 701 and the lower connecting plate 702, the vibration-damping wire rope 703 is wound in a spiral, and after the vibration-damping wire rope 703 is wound, the vibration-damping wire rope 703 is wound. The vibration wire rope 703 has multiple turns; in order to ensure the fixation of the vibration-damping wire rope 703 to the upper connecting plate 701 and the lower connecting plate 702, pressure plates 704 are fixedly installed on the outer sides of the upper connecting plate 701 and the lower connecting plate 702. The pressure plates 704 press and fix the parts of the vibration-damping wire rope 703 wrapped around the upper connecting plate 701 and the lower connecting plate 702, thereby avoiding displacement of the vibration-damping wire rope 703 on the upper connecting plate 701 and the lower connecting plate 702.

[0051] In the present invention, in order to prevent the vibration-damping wire rope 703 from being displaced on the upper connecting plate 701 and the lower connecting plate 702 as much as possible, grooves for accommodating the vibration-damping wire rope 703 are further provided on the upper connecting plate 701, the lower connecting plate 702 and the pressure plate 704, and the cross-section of the groove is semicircular. After the upper connecting plate 701 and the pressure plate 704 are pressed tightly, and after the lower connecting plate 702 and the pressure plate 704 are pressed tightly, the two opposite grooves form a circular through hole, and the diameter of the circular through hole is slightly smaller than the diameter of the vibration-damping wire rope 703. When the pressure plate 704 is pressed tightly on the upper connecting plate 701 and the lower connecting plate 702, the vibration-damping wire rope 703 is pressed and fixed in the circular through hole, so that the vibration-damping wire rope 703 is fixed to the upper connecting plate 701 and the lower connecting plate 702.

[0052] In the present invention, in order to facilitate the installation of the passive vibration damper 7, the upper connecting plate 701 and the pressure plate 704 are directly fixed to the lower platform 6 by screws after the vibration damping wire rope 703 is fixed, and the lower connecting plate 702 and the pressure plate 704 are directly fixed to the fixed base 8 by screws after the vibration damping wire rope 703 is fixed; at the same time, a rubber block 705 is also installed on the lower connecting plate 702, and the length direction of the rubber block 705 is consistent with the length direction of the lower connecting plate 702, and the length of the rubber block 705 is greater than the winding length of the vibration damping wire rope 703, and the rubber block 705 is also provided with a plurality of through grooves extending along the axial direction thereof, and the two ends of the through grooves respectively penetrate the two end faces of the rubber block 705, and the plurality of through grooves are arranged at intervals along the width direction of the rubber block 705. It should be noted that the winding length of the vibration-damping wire rope 703 is not the length of the vibration-damping wire rope 703, but the length of the vibration-damping wire rope 703 wound together on the upper connecting plate 701 and the lower connecting plate 702, that is, the distance between the vertical planes where the two ends of the vibration-damping wire rope 703 are located.

[0053] In the present invention, the two sides of the rubber block 705 are arc-shaped, so that the two sides of the rubber block 705 respectively support the vibration-damping wire rope 703 on both sides of the lower connecting plate 702 outward, so that the part of the vibration-damping wire rope 703 located between the upper connecting plate 701 and the lower connecting plate 702 has sufficient supporting force.

[0054] The bottleneck of the existing Stewart vibration isolation platform's bearing capacity lies in its telescopic legs. In the present invention, a linear electromechanical actuator integrated with a permanent magnet synchronous motor and a reverse planetary roller 407 screw 408 pair is used as a highly integrated and high-load electric telescopic leg 4. The planetary roller 407 screw 408 pair has the advantages of high load and large thrust. The permanent magnet synchronous motor has the advantages of high power-to-weight ratio, high efficiency, fast response, high precision, etc. under the cooperation of a high-performance controller. When the permanent magnet synchronous motor rotor 403 and the screw 408 pair nut are integrated into one, the rotor 403 rotates while the screw 408 moves horizontally. Therefore, the active and passive vibration isolation platform provided by the present invention has the advantages of fast response, large thrust and large supporting force.

[0055] In addition, by arranging the brake 411 in the highly integrated and high-load electric telescopic leg 4, the brake is released when the power is turned on, and the brake is turned off when the power is not turned on, so that the active vibration isolation platform structure can be self-locked when power is not on, and when the electrical system or control part of the active vibration isolation platform structure fails, the active vibration isolation platform structure can be fixed in position, and the passive vibration isolation platform structure can still function, thereby suppressing medium and high frequency vibrations without losing control and having high reliability.

[0056] In the present invention, the active vibration isolation platform structure and the wire rope vibration absorber are combined. Compared with the existing Stewart vibration isolation platform, the load-bearing capacity can be increased by 5 to 10 times with the same volume and weight requirements, and it can play a vibration isolation role for large-tonnage equipment in almost all frequency bands (above 1 Hz).

[0057] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments / methods or examples. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0059] It should be understood by those skilled in the art that the above embodiments are only for the purpose of clearly illustrating the present invention, and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present invention.

Claims

1. A high-load six-degree-of-freedom active and passive vibration isolation platform, characterized in that: The invention comprises an upper platform (1), a lower platform (6), and a fixed base (8) which are arranged in sequence from top to bottom at intervals, a plurality of highly integrated and highly load-bearing electric telescopic legs (4) are hingedly connected between the upper platform (1) and the lower platform (6), and a passive vibration absorber (7) is installed between the lower platform (6) and the fixed base (8).

2. The high-load six-degree-of-freedom active and passive vibration isolation platform according to claim 1 is characterized in that: An upper hinge (2) is installed on the upper platform (1), a lower hinge (5) is installed on the lower platform (6), and two ends of the highly integrated and high-load-bearing electric telescopic legs (4) are respectively connected to the upper hinge (2) and the lower hinge (5).

3. The high-load bearing six-degree-of-freedom active and passive vibration isolation platform according to claim 2 is characterized in that: A force sensor (3) is connected between the highly integrated and high-load-bearing electric telescopic leg (4) and the upper hinge (2) or between the highly integrated and high-load-bearing electric telescopic leg (4) and the lower hinge (5).

4. The high-load bearing six-degree-of-freedom active and passive vibration isolation platform according to claim 1, 2 or 3, characterized in that: There are six highly integrated and high-load-bearing electric telescopic legs (4), and the angle between two adjacent highly integrated and high-load-bearing electric telescopic legs (4) is 30° to 70°.

5. The high-load bearing six-degree-of-freedom active and passive vibration isolation platform according to claim 1 is characterized in that: The highly integrated and highly load-bearing electric telescopic outrigger (4) comprises a housing (401), a stator (402) and a rotor (403), wherein the stator (402) is fixedly mounted on the inner wall of the housing (401), and a nut sleeve (405) is mounted at the center of the housing (401), and the rotor (403) is fixedly mounted on the outer wall of the nut sleeve (405), and a turntable (406) is mounted at both ends of the nut sleeve (405), and a plurality of rotatable rollers (407) are connected between the two turntables (406), and a lead screw (407) meshing with the plurality of rollers (407) is mounted at the center of the plurality of rollers (407). 408), both ends of the lead screw (408) penetrate the turntable (406) and extend outward; a fixed cover (409) is also installed at the rear end of the housing (401), the rear end of the lead screw (408) is connected to a connecting shaft (410), the rear end of the connecting shaft (410) extends into the fixed cover (409), and an absolute value encoder (412) is also installed on the connecting shaft (410), and a brake (411) capable of locking the connecting shaft (410) is also installed in the fixed cover (409); and a hinged ear (413) is also installed on the fixed cover (409).

6. The high-load bearing six-degree-of-freedom active and passive vibration isolation platform according to claim 1, 2, 3 or 5, characterized in that: There are a plurality of passive vibration absorbers (7), and the plurality of passive vibration absorbers (7) are evenly spaced and arranged along the central circumference of the lower platform (6).

7. The high-load bearing six-degree-of-freedom active and passive vibration isolation platform according to claim 1, 2, 3 or 5, characterized in that: The passive vibration damper (7) is a steel wire rubber vibration damper.

8. The high-load bearing six-degree-of-freedom active and passive vibration isolation platform according to claim 7, characterized in that: The wire rope rubber vibration damper comprises an upper connecting plate (701) and a lower connecting plate (702) arranged at intervals, a vibration damping wire rope (703) being wound around the upper connecting plate (701) and the lower connecting plate (702), and a pressing plate (704) for pressing the vibration damping wire rope (703) is fixed on the outer side of the upper connecting plate (701) and the outer side of the lower connecting plate (702); a rubber block (705) is also installed on the lower connecting plate (702), and both sides of the rubber block (705) support the vibration damping wire rope (703); and both sides of the rubber block (705) are arc-shaped.

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