Six-degree-of-freedom vibration isolation platform based on Kresling origami type structure

Abstract

The invention relates to a six-degree-of-freedom vibration isolation platform based on a Kresling paper folding type structure, and belongs to the technical field of vibration isolation platforms, the six-degree-of-freedom vibration isolation platform comprises a plurality of vibration isolation supporting legs, each vibration isolation supporting leg comprises a bottom plate, a lower paper folding piece, an upper paper folding piece, a top plate and a spring, and the bottom end of each lower paper folding piece is fixed to the corresponding bottom plate; the bottom end of the upper paper folding piece is foldably connected to the top end of the lower paper folding piece; the top plate is fixed to the top end of the upper paper folding piece. The shaft holes are formed in the bottom plate, the lower paper folding piece, the upper paper folding piece and the top plate; and the top end of the spring is fixed on the top plate, and the bottom end of the spring is fixed on the bottom plate. The bottom ends of the multiple connecting pieces are fixed to the top plates of the multiple vibration isolation supporting legs correspondingly and slide on the multiple shaft rods correspondingly, when the lower platform vibrates, the upper paper folding piece and the lower paper folding piece can conduct folding movement or unfolding movement, and the lower paper folding piece can be folded or unfolded by combining the elastic rigidity of the springs; and an excellent micro-vibration suppression effect can be provided under various complex working conditions.

Description

Technical Field

[0001] The invention relates to the technical field of vibration isolation platforms, and in particular to a six-degree-of-freedom vibration isolation platform based on a Kresling origami structure. Background Art

[0002] With the rapid development of science and technology, precision instruments tend to be ultra-precise and are currently widely used in the manufacture of microelectronics, semiconductors, optics and other devices. However, micro-vibration has become a key factor affecting its normal operation. In addition, for the optical payload carried by the observation satellite, the higher the observation resolution, the higher the requirement for pointing accuracy. However, micro-vibration caused by solar panel vibration, reaction force of control moment gyroscope, noise, etc. seriously affects the stability and accuracy of observation performance. Therefore, in practical applications, how to effectively suppress micro-vibration has become an urgent technical demand.

[0003] At present, micro-vibration isolation control is mainly divided into two categories: active control methods based on different driving modes and passive control methods based on the principle of negative stiffness. Compared with active control methods, passive control strategies have the advantages of simple structure, reliable performance, no energy consumption, and excellent vibration reduction effect, so they have become one of the important technologies in micro-vibration suppression. However, precision instruments and equipment usually use Stewart platforms to achieve six-degree-of-freedom vibration isolation, but this structure makes the end motion of the Stewart platform have strong coupling, and the legs have large friction during movement, resulting in certain restrictions on the vibration isolation effect. Therefore, it is necessary to study and invent a high-precision vibration isolation platform that is more adaptable to actual needs and has the ability to decouple multiple degrees of freedom structures, which can provide a larger motion space and better vibration isolation performance.

[0004] It is worth noting that origami, as an ancient art form, has been found in recent years to be useful in constructing quasi-zero stiffness isolators due to its unique geometric form and mechanical properties. Origami structures can exhibit unconventional mechanical properties such as programmability, controllable stiffness, and multi-stability, which provide possibilities for the design of low-bandwidth vibration isolation platforms. However, there are still some challenges in designing multi-directional quasi-zero stiffness isolators using origami configurations. Therefore, the development of a multi-degree-of-freedom nonlinear passive vibration isolation platform that combines programmability, lightweight, and structural decoupling has become an urgent task for current scientific researchers and engineering technicians. The success of this research will effectively enhance the anti-interference ability of highly sensitive instruments under complex working conditions, and bring breakthrough technological advances and broad application value to related fields. Summary of the invention

[0005] The present invention provides a six-degree-of-freedom vibration isolation platform based on a Kresling origami structure, thereby obtaining a more excellent vibration isolation performance and greater adjustability of structural design parameters in multiple degrees of freedom directions, and realizing a lightweight and compact design of the vibration isolation platform.

[0006] To achieve the above-mentioned purpose, the technical solution of the present invention is: a six-degree-of-freedom vibration isolation platform based on a Kresling origami structure, comprising a lower platform connected to a vibration source, an upper platform connected to a vibration isolation object, a plurality of connecting members, a plurality of shafts and a plurality of vibration isolation legs, wherein the upper platform is located parallel to and above the lower platform; a plurality of the connecting members are spaced apart along the circumference of the upper platform and their top ends are all fixed on the upper platform; a plurality of the shafts are spaced apart along the circumference of the lower platform and their bottom ends are vertically fixed on the lower platform; a plurality of the vibration isolation legs are provided with axial holes passing through the top and bottom ends and are respectively sleeved on the outer circumference of the plurality of the shafts; the bottom ends of the plurality of the connecting members slide on the plurality of shafts along the length direction of the shafts and are respectively fixed on the plurality of the vibration isolation legs; the plurality of the vibration isolation legs each comprise a bottom plate, a lower origami member, an upper origami member, a top plate and a spring,

[0007] The bottom plate is fixed parallel to the upper platform; the bottom end of the lower folding paper piece is fixed to the bottom plate; the bottom end of the upper folding paper piece is foldably connected to the top end of the lower folding paper piece; the top plate is parallel to the bottom plate and fixed to the top end of the upper folding paper piece; the axial hole is arranged on the bottom plate, the lower folding paper piece, the upper folding paper piece and the top plate; the spring is passed through the axial hole and its top end is fixed to the top plate, and its bottom end is fixed to the bottom plate; the plurality of axial rods are respectively passed through the plurality of springs; the bottom ends of the plurality of connecting members are respectively fixed to the plurality of top plates.

[0008] The beneficial effects of the present invention are: improving the traditional vibration isolation platform structure, firstly using the bottom ends of multiple connecting parts to be respectively fixed on the top plates of multiple vibration isolation legs and slide on multiple shaft rods respectively, and then successively fixing the top end of the upper origami piece on the top plate, the top end of the lower origami piece can be folded and connected to the bottom end of the upper origami piece, and the bottom plate is fixed to the bottom end of the lower origami piece. Since the spring is inserted into the shaft hole and the gap is sleeved outside the shaft rod, and since the top end of the spring is fixed on the top plate and the bottom end is fixed on the bottom plate, when the lower platform vibrates, the upper origami piece and the lower origami piece can be folded or unfolded. Combined with the elastic stiffness of the spring, it can provide excellent micro-vibration suppression effect under a variety of complex working conditions.

[0009] Based on the above technical solution, the present invention can also be improved as follows.

[0010] Furthermore, the plurality of connecting parts each include a universal joint, a connecting rod, a ball joint, a ball joint connecting part and a linear sliding bearing, wherein the universal joint is fixed on the upper platform; the top end of the connecting rod is hinged on the universal joint; the ball joint is fixed on the bottom end of the connecting rod; the ball joint connecting part is hinged on the ball joint; the linear sliding bearing is fixed on the ball joint connecting part and slides on the corresponding shaft rod, and the linear sliding bearing is fixed on the top plate.

[0011] Furthermore, the connecting rod is made of lightweight material.

[0012] Furthermore, the lower origami component and the upper origami component have the same structure and are both Kresling origami structures.

[0013] Furthermore, the size parameters of the Kresling origami structure can be determined by the number of sides of the regular n-polygon, the radius of the circumscribed circle of the top plate, the radius of the circumscribed circle of the bottom plate, the initial height and the initial rotation angle. The changes in key structural parameters have a certain influence on the steady-state characteristics. The vibration isolator constructed by the Kresling origami structure can obtain the potential energy U of the structure during the unfolding and folding process. The height h between the top plate and the bottom plate and the rotation angle As the independent variable of the vibration isolation leg, the following design criteria should be met to achieve quasi-zero characteristics:

[0014]

[0015] Furthermore, the bottom plate and the top plate can only expand and contract axially but not rotate, and the connection line between the lower origami component and the upper origami component can generate axial displacement and rotation.

[0016] Furthermore, the area of ​​the upper platform is smaller than the area of ​​the lower platform.

[0017] Furthermore, the bottom plate and the top plate are both hexagonal.

[0018] Furthermore, the upper origami piece and the lower origami piece are made of paper, plastic or metal.

[0019] 1. Compared with the existing technology, a six-degree-of-freedom vibration isolation platform based on the Kresling origami structure has the advantage of being able to achieve structural motion decoupling in space while increasing the rigidity of the structure; the vibration isolation legs move parallel to the shaft through linear sliding bearings, thereby achieving high-precision vibration isolation. This innovative design significantly improves the vibration isolation performance of the platform and overcomes the limitations of traditional vibration isolation platforms.

[0020] 2. A new designable nonlinear Kresling origami structure is introduced as the vibration isolation leg to replace the legs of the traditional Stewart platform. The origami structure can flexibly adjust the stiffness, increase the vibration isolation frequency band, and construct a wide zero-stiffness vibration isolator. Under the premise of maintaining a certain load-bearing capacity, the design realizes the lightweight structure, which fully meets the design requirements of lightweight and compact equipment in the aerospace field and shows strong adaptability.

[0021] 3. The multi-degree-of-freedom origami vibration isolation platform of the present invention has a simple and flexible structure, which is conducive to achieving a variety of required load-bearing capacities and vibration isolation performances by simply adjusting the structural parameters. For example, by adjusting the initial assembly angle of the guide rod, the radius of the upper and lower platforms, and the angle of the origami design and other parameters, the static and dynamic stiffness of the vibration isolation platform can be effectively changed, thereby regulating its mechanical properties. Therefore, the vibration isolation platform has adjustable mechanical properties, can provide precise vibration isolation effects, and is suitable for multi-directional low-frequency vibration isolation requirements under various complex and changeable working conditions.

[0022] 4. The proposed vibration isolation platform is a passive vibration isolation platform, which does not require external energy consumption. Compared with traditional vibration isolators that rely on active control in the low-frequency range to achieve effective vibration isolation and consume external energy, the design of the present invention avoids this energy consumption, has higher energy efficiency and simpler operation and maintenance requirements, and is suitable for long-term stable operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structural schematic diagram of a six-degree-of-freedom vibration isolation platform based on a Kresling origami structure of the present invention;

[0024] Figure 2 It is a perspective structural schematic diagram of a vibration isolation leg in a six-degree-of-freedom vibration isolation platform based on a Kresling origami structure of the present invention;

[0025] Figure 3 The present invention is a schematic diagram of the three-dimensional structure of a vibration isolation leg in a six-degree-of-freedom vibration isolation platform based on a Kresling origami structure.

[0026] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0027] 1. Lower platform, 2. Upper platform, 3. Connecting parts, 31. Universal hinge, 32. Connecting rod, 33. Ball joint, 34. Ball joint connecting parts, 35. Linear sliding bearing, 4. Shaft, 5. Vibration isolation legs, 51. Bottom plate, 52. Lower origami part, 53. Upper origami part, 54. Top plate, 55. Spring. DETAILED DESCRIPTION

[0028] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0029] like Figure 1 and Figure 2 As shown, a six-degree-of-freedom vibration isolation platform based on a Kresling origami structure comprises a lower platform 1, an upper platform 2, a plurality of connecting members 3, a plurality of shaft rods 4 and a plurality of vibration isolation legs 5, wherein the upper platform 2 is located parallel to and above the lower platform 1; the plurality of connecting members 3 are spaced apart along the circumference of the upper platform 2 and their top ends are all fixed on the upper platform 2; the plurality of shaft rods 4 are spaced apart along the circumference of the lower platform 1 and their bottom ends are vertically fixed on the lower platform 1; the plurality of vibration isolation legs 5 are provided with axial holes penetrating the top and bottom ends and are respectively sleeved on the outer circumference of the plurality of shaft rods 4; the bottom ends of the plurality of connecting members 3 slide on the plurality of shaft rods 4 along the length direction of the shaft rods 4 and are respectively fixed on the plurality of vibration isolation legs 5; the plurality of vibration isolation legs 5 each comprise a bottom plate 51, a lower origami member 52, an upper origami member 53, a top plate 54 and a spring 55,

[0030] The bottom plate 51 is fixed parallel to the upper platform 2; the bottom end of the lower folding paper piece 52 is fixed on the bottom plate 51; the bottom end of the upper folding paper piece 53 can be folded and connected to the top end of the lower folding paper piece 52; the top plate 54 is parallel to the bottom plate 51 and fixed to the top end of the upper folding paper piece 53; the shaft holes are arranged on the bottom plate 51, the lower folding paper piece 52, the upper folding paper piece 53 and the top plate 54; the spring 55 is passed through the shaft hole and its top end is fixed on the top plate 54, and its bottom end is fixed on the bottom plate 51; multiple shafts 4 are respectively passed through multiple springs 55; the bottom ends of multiple connecting parts 3 are respectively fixed on multiple top plates 54.

[0031] like Figure 1 As shown, in some specific embodiments, multiple connecting parts 3 can include a universal joint 31, a connecting rod 32, a ball joint 33, a ball joint connecting part 34 and a linear sliding bearing 35, the universal joint 31 is fixed on the upper platform 2; the top end of the connecting rod 32 is hinged on the universal joint 31; the ball joint 33 is fixed on the bottom end of the connecting rod 32; the ball joint connecting part 34 is hinged on the ball joint 33; the linear sliding bearing 35 is fixed on the ball joint connecting part 34 and slides on the corresponding shaft rod 4, and the linear sliding bearing 35 is fixed on the top plate 54.

[0032] Specifically, the connecting rod 32 may be made of a lightweight material.

[0033] Specifically, the lower origami component 52 and the upper origami component 53 have the same structure and can both be Kresling origami structures.

[0034] In some specific embodiments, the size parameters of the Kresling origami structure can be determined by the number of sides of the regular n-polygon, the radius of the circumscribed circle of the top plate 54, the radius of the circumscribed circle of the bottom plate 51, the initial height and the initial rotation angle. The changes in the key structural parameters have a certain influence on the steady-state characteristics. The vibration isolator constructed by the Kresling origami structure can obtain the potential energy U of the structure during the unfolding and folding process, the height h between the top plate 54 and the bottom plate 51 and the rotation angle As an independent variable of the vibration isolation leg 5, the following design criteria should be met to achieve quasi-zero characteristics:

[0035]

[0036] In some specific embodiments, the bottom plate 51 and the top plate 54 can only expand and contract axially but not rotate, and the connection line between the lower origami member 52 and the upper origami member 53 can generate axial displacement and rotation.

[0037] In some specific embodiments, the area of ​​the upper platform 2 may be smaller than that of the lower platform 1 .

[0038] Specifically, the bottom plate 51 and the top plate 54 may both be hexagonal.

[0039] Specifically, the upper folded paper piece 53 and the lower folded paper piece 52 may be made of paper, plastic or metal.

[0040] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A six-degree-of-freedom vibration isolation platform based on a Kresling origami structure, comprising a lower platform (1), an upper platform (2), a plurality of connecting members (3), a plurality of shafts (4) and a plurality of vibration isolation legs (5), wherein the upper platform (2) is located parallel to and above the lower platform (1); the plurality of connecting members (3) are spaced apart along the circumference of the upper platform (2) and their top ends are all fixed on the upper platform (2); the plurality of shafts (4) are spaced apart along the circumference of the lower platform (1) and their bottom ends are vertically fixed on the lower platform (1); the plurality of vibration isolation legs (5) are provided with axial holes penetrating the top and bottom ends and are respectively sleeved on the outer circumference of the plurality of shafts (4); the bottom ends of the plurality of connecting members (3) slide on the plurality of shafts (4) along the length direction of the shafts (4) and are respectively fixed on the plurality of vibration isolation legs (5); characterized in that Each of the plurality of vibration isolation legs (5) comprises a bottom plate (51), a lower folded paper piece (52), an upper folded paper piece (53), a top plate (54) and a spring (55). The bottom plate (51) is fixed in parallel to the upper platform (2); the bottom end of the lower folding paper piece (52) is fixed on the bottom plate (51); the bottom end of the upper folding paper piece (53) can be folded and connected to the top end of the lower folding paper piece (52); the top plate (54) is parallel to the bottom plate (51) and fixed to the top end of the upper folding paper piece (53); the axial hole is arranged on the bottom plate (51), the lower folding paper piece (52), the upper folding paper piece (53) and the top plate (54); the spring (55) is inserted into the axial hole and its top end is fixed on the top plate (54), and its bottom end is fixed on the bottom plate (51); the plurality of axial rods (4) are respectively inserted into the plurality of springs (55); the bottom ends of the plurality of connecting members (3) are respectively fixed on the plurality of top plates (54).

2. A six-degree-of-freedom vibration isolation platform based on a Kresling origami structure according to claim 1, characterized in that: The plurality of connecting parts (3) each include a universal joint (31), a connecting rod (32), a ball joint (33), a ball joint connecting part (34) and a linear sliding bearing (35); the universal joint (31) is fixed on the upper platform (2); the top end of the connecting rod (32) is hinged on the universal joint (31); the ball joint (33) is fixed on the bottom end of the connecting rod (32); the ball joint connecting part (34) is hinged on the ball joint (33); the linear sliding bearing (35) is fixed on the ball joint connecting part (34) and slides on the corresponding shaft rod (4); the linear sliding bearing (35) is fixed on the top plate (54).

3. The six-degree-of-freedom vibration isolation platform based on the Kresling origami structure according to claim 1, characterized in that: The connecting rod (32) is made of lightweight material.

4. The six-degree-of-freedom vibration isolation platform based on the Kresling origami structure according to claim 1, characterized in that: The lower origami piece (52) and the upper origami piece (53) have the same structure and are both Kresling origami structures.

5. The six-degree-of-freedom vibration isolation platform based on the Kresling origami structure according to claim 4, characterized in that: The size parameters of the Kresling origami structure can be determined by the number of sides of the regular n-polygon, the radius of the circumscribed circle of the top plate (54), the radius of the circumscribed circle of the bottom plate (51), the initial height and the initial rotation angle. The change of key structural parameters has a certain influence on the steady-state characteristics. The vibration isolator constructed by the Kresling origami structure can obtain the potential energy U of the structure during the unfolding and folding process. The height h between the top plate (54) and the bottom plate (51) and the rotation angle As the independent variable of the vibration isolation leg (5), the following design criteria should be met to achieve quasi-zero characteristics:

6. The six-degree-of-freedom vibration isolation platform based on the Kresling origami structure according to claim 1, characterized in that: The bottom plate (51) and the top plate (54) can only expand and contract axially but not rotate, and the connection line between the lower folding paper piece (52) and the upper folding paper piece (53) can generate axial displacement and rotation.

7. The six-degree-of-freedom vibration isolation platform based on the Kresling origami structure according to claim 1, characterized in that: The area of ​​the upper platform (2) is smaller than the area of ​​the lower platform (1).

8. The six-degree-of-freedom vibration isolation platform based on the Kresling origami structure according to claim 1, characterized in that: The bottom plate (51) and the top plate (54) are both hexagonal.

9. The six-degree-of-freedom vibration isolation platform based on the Kresling origami structure according to claim 1, characterized in that: The upper folded paper piece (53) and the lower folded paper piece (52) are made of paper, plastic or metal.

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