A six-degree-of-freedom vibration isolation platform based on Kresling origami structure

Abstract

This invention relates to a six-degree-of-freedom vibration isolation platform based on a Kresling origami structure, belonging to the technical field of vibration isolation platforms. It includes multiple vibration isolation legs, each leg comprising a base plate, a lower folded paper component, an upper folded paper component, a top plate, and a spring. The bottom end of the lower folded paper component is fixed to the base plate; the bottom end of the upper folded paper component is foldably connected to the top end of the lower folded paper component; the top plate is fixed to the top end of the upper folded paper component; shaft holes are located on the base plate, the lower folded paper component, the upper folded paper component, and the top plate; the spring passes through the shaft holes, with its top end fixed to the top plate and its bottom end fixed to the base plate. This invention utilizes multiple connectors whose bottom ends are respectively fixed to the top plates of the multiple vibration isolation legs and slide on multiple shafts. When the platform vibrates, the upper and lower folded paper components can fold or unfold. Combined with the elastic stiffness of the springs, it can provide excellent micro-vibration suppression under various complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of vibration isolation platform technology, and in particular to a six-degree-of-freedom vibration isolation platform based on a Kresling origami-type structure. Background Technology

[0002] With the rapid development of science and technology, precision instruments are becoming increasingly ultra-precise and are now widely used in the manufacture of microelectronics, semiconductors, and optical devices. However, micro-vibrations have become a key factor affecting their normal operation. Furthermore, for optical payloads carried by observation satellites, the higher the observation resolution, the higher the requirements for pointing accuracy. However, micro-vibrations caused by solar panel vibration, the reaction force of the control moment gyroscope, and noise severely affect the stability and accuracy of observation performance. Therefore, in practical applications, how to effectively suppress micro-vibrations has become an urgent technical need.

[0003] Currently, 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 advantages such as simple structure, reliable performance, no energy consumption, and excellent vibration reduction effect, thus becoming one of the important technologies in micro-vibration suppression. However, precision instruments and equipment typically use Stewart-type platforms to achieve six-degree-of-freedom vibration isolation, but this structure results in strong coupling at the end of the Stewart platform, and the outriggers experience significant friction during movement, which limits the vibration isolation effect. Therefore, it is necessary to research and invent high-precision vibration isolation platforms that are more adaptable to practical needs and possess multi-degree-of-freedom structural decoupling capabilities, providing greater motion space and superior vibration isolation performance.

[0004] It is worth noting that origami, as an ancient art form, has recently been found to have unique geometric shapes and mechanical properties that can be used to construct quasi-zero stiffness isolators. Origami structures can exhibit unconventional mechanical properties such as programmability, controllable stiffness, and multi-steady states, which offer possibilities for the design of low-bandwidth vibration isolation platforms. However, designing multi-directional quasi-zero stiffness isolators using origami configurations still faces some challenges. Therefore, developing a multi-degree-of-freedom nonlinear passive vibration isolation platform that combines programmability, lightweight design, and structural decoupling has become an urgent task for researchers and engineers. The success of this research will effectively improve the anti-interference capability of high-sensitivity instruments under complex operating conditions, bringing groundbreaking technological advancements and broad application value to related fields. Summary of the Invention

[0005] This invention provides a six-degree-of-freedom vibration isolation platform based on a Kresling origami structure, thereby achieving superior vibration isolation performance in multiple degrees of freedom directions, greater adjustability of structural design parameters, and a lightweight and compact design for the vibration isolation platform.

[0006] To achieve the above objectives, 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 the vibration isolation object, multiple connectors, multiple shafts, and multiple vibration isolation legs. The upper platform is located parallel above the lower platform. The multiple connectors are spaced apart circumferentially along the upper platform, and their top ends are all fixed to the upper platform. The multiple shafts are spaced apart circumferentially along the lower platform, and their bottom ends are vertically fixed to the lower platform. The multiple vibration isolation legs are provided with shaft holes penetrating the top and bottom ends and are respectively fitted with gaps around the outer periphery of the multiple shafts. The bottom ends of the multiple connectors slide along the length direction of the shafts and are respectively fixed to the multiple vibration isolation legs. Each of the multiple vibration isolation legs includes a base plate, a lower or upper folding component, a top plate, and a spring.

[0007] The base plate is fixed parallel to the upper platform; the bottom end of the lower fold paper piece is fixed to the base plate; the bottom end of the upper fold paper piece is foldable and connected to the top end of the lower fold paper piece; the top plate is parallel to the base plate and fixed to the top end of the upper fold paper piece; the shaft hole is provided on the base plate, the lower fold paper piece, the upper fold paper piece, and the top plate; the spring passes through the shaft hole and its top end is fixed to the top plate, and its bottom end is fixed to the base plate; multiple shafts pass through multiple springs respectively; the bottom ends of multiple connectors are respectively fixed to multiple top plates.

[0008] The beneficial effects of this invention are: it improves the structure of traditional vibration isolation platforms. First, the bottom ends of multiple connectors are fixed to the top plates of multiple vibration isolation legs and slide on multiple shafts. Then, the top end of the upper folded paper piece is fixed to the top plate, the top end of the lower folded paper piece is foldably connected to the bottom end of the upper folded paper piece, and the bottom plate is fixed to the bottom end of the lower folded paper piece. Since the spring is inserted into the shaft hole and the gap is sleeved outside the shaft, and since the top end of the spring is fixed to the top plate and its bottom end is fixed to the bottom plate, when the lower platform vibrates, the upper folded paper piece and the lower folded paper piece can fold or unfold. Combined with the elastic stiffness of the spring, it can provide excellent micro-vibration suppression effect under various complex working conditions.

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

[0010] Furthermore, each of the aforementioned connecting components includes a universal joint, a connecting rod, a ball joint, a ball joint connector, and a linear sliding bearing. The universal joint is fixed to the upper platform; the top end of the connecting rod is hinged to the universal joint; the ball joint is fixed to the bottom end of the connecting rod; the ball joint connector is hinged to the ball joint; the linear sliding bearing is fixed to the ball joint connector and slides on the corresponding shaft; and the linear sliding bearing is fixed to the top plate.

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

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

[0013] Furthermore, the dimensional parameters of the Kresling origami structure can be determined by the number of sides of a regular n-polygon, the radius of the circumcircle of the top plate, the radius of the circumcircle of the bottom plate, the initial height, and the initial rotation angle. Changes in key structural parameters have a certain impact on steady-state characteristics. The vibration isolator constructed by the Kresling origami structure can obtain the potential energy U of the structure during unfolding and folding. The height h between the top plate and the bottom plate and the rotation angle... As an 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 will only extend and retract axially without rotating, and the connecting line between the lower fold paper piece and the upper fold paper piece 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, both the bottom plate and the top plate are hexagonal.

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

[0019] 1. Compared with existing technologies, a six-degree-of-freedom vibration isolation platform based on a Kresling origami-like structure offers the advantage of decoupling structural motion in space while increasing structural stiffness. The vibration isolation legs move parallel to the shaft via linear sliding bearings, achieving high-precision vibration isolation. This innovative design significantly improves the platform's vibration isolation performance, overcoming the limitations of traditional vibration isolation platforms.

[0020] 2. A novel, designable nonlinear Kresling origami structure is introduced as a vibration isolation leg, replacing the traditional Stewart-style platform legs. The origami structure allows for flexible adjustment of stiffness, increases the vibration isolation bandwidth, and constructs a wide zero-stiffness vibration isolator. While maintaining a certain load-bearing capacity, this design achieves structural lightweighting, fully meeting the aerospace field's design requirements for lightweight and compact equipment, and demonstrating strong adaptability.

[0021] 3. The multi-degree-of-freedom origami vibration isolation platform of this invention has a simple and flexible structure, which facilitates the achievement of various required load-bearing capacities and vibration isolation performances through easy adjustment of structural parameters. For example, by adjusting parameters such as the initial assembly angle of the guide rod, the radius of the upper and lower platforms, and the angle of the origami design, the static and dynamic stiffness of the vibration isolation platform can be effectively changed, thereby controlling its mechanical properties. Therefore, this 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 variable 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 this invention avoids such energy consumption, has higher energy efficiency and simpler operation and maintenance requirements, and is suitable for long-term stable operation. Attached Figure Description

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

[0024] Figure 2 This is a perspective structural diagram of the vibration isolation legs in a six-degree-of-freedom vibration isolation platform based on a Kresling origami structure according to the present invention.

[0025] Figure 3 This is a three-dimensional structural diagram of the vibration isolation legs in a six-degree-of-freedom vibration isolation platform based on a Kresling origami-type structure according to the present invention.

[0026] The attached diagram lists the components represented by each number as follows:

[0027] 1. Lower platform, 2. Upper platform, 3. Connector, 31. Universal hinge, 32. Connecting rod, 33. Ball joint, 34. Ball joint connector, 35. Linear sliding bearing, 4. Shaft, 5. Vibration isolation leg, 51. Base plate, 52. Lower folding paper piece, 53. Upper folding paper piece, 54. Top plate, 55. Spring. Detailed Implementation

[0028] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended 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 includes a lower platform 1, an upper platform 2, multiple connectors 3, multiple shafts 4, and multiple vibration isolation legs 5. The upper platform 2 is located parallel to the lower platform 1 above it. The multiple connectors 3 are spaced apart along the circumference of the upper platform 2, and their top ends are all fixed to the upper platform 2. The multiple shafts 4 are spaced apart along the circumference of the lower platform 1, and their bottom ends are vertically fixed to the lower platform 1. The multiple vibration isolation legs 5 are provided with shaft holes that penetrate the top and bottom ends and are respectively fitted with gaps around the outer periphery of the multiple shafts 4. The bottom ends of the multiple connectors 3 slide along the length direction of the shafts 4 and are respectively fixed to the multiple vibration isolation legs 5. Each of the multiple vibration isolation legs 5 includes a base plate 51, a lower folding component 52, an upper folding component 53, a top plate 54, and a spring 55.

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

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

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

[0033] Specifically, the downward folded paper piece 52 and the upward folded paper piece 53 have the same structure and can both be Kresling origami structures.

[0034] In some specific embodiments, the dimensional parameters of the Kresling origami structure can be determined by the number of sides of a regular n-polygon, the radius of the circumcircle of the top plate 54, the radius of the circumcircle of the bottom plate 51, the initial height, and the initial rotation angle. Changes in key structural parameters have a certain impact on steady-state characteristics. The vibration isolator constructed by the Kresling origami structure can obtain the potential energy U of the structure during unfolding and folding, as well as 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 only extend and retract axially without rotating, and the connecting line between the lower fold paper piece 52 and the upper fold paper piece 53 can generate axial displacement and rotation.

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

[0038] Specifically, both the base plate 51 and the top plate 54 can be hexagonal.

[0039] Specifically, the materials of the upper folding paper piece 53 and the lower folding paper piece 52 can be paper, plastic or metal.

[0040] The above are merely 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 within 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), multiple connectors (3), multiple shafts (4), and multiple vibration isolation legs (5), wherein the upper platform (2) is located parallel above the lower platform (1); the multiple connectors (3) are distributed circumferentially around the upper platform (2) and their top ends are all fixed to the upper platform (2); the multiple shafts (4) are distributed circumferentially around the lower platform (1) and their bottom ends are vertically fixed to the lower platform (1); the multiple vibration isolation legs (5) are provided with shaft holes penetrating the top and bottom ends and are respectively fitted with gaps around the outer periphery of the multiple shafts (4); the bottom ends of the multiple connectors (3) slide along the length direction of the shafts (4) on the multiple shafts (4) and are respectively fixed to the multiple vibration isolation legs (5); characterized in that, Each of the aforementioned vibration isolation legs (5) includes a base plate (51), a lower folding paper piece (52), an upper folding paper piece (53), a top plate (54), and a spring (55). The base plate (51) is fixed parallel to the upper platform (2); the bottom end of the lower fold paper piece (52) is fixed to the base plate (51); the bottom end of the upper fold paper piece (53) is foldable and connected to the top end of the lower fold paper piece (52); the top plate (54) is parallel to the base plate (51) and fixed to the top end of the upper fold paper piece (53); the shaft hole is provided on the base plate (51), the lower fold paper piece (52), the upper fold paper piece (53), and the top plate (54); the spring (55) passes through the shaft hole and its top end is fixed to the top plate (54), and its bottom end is fixed to the base plate (51); multiple shafts (4) are respectively passed through multiple springs (55); the bottom ends of multiple connectors (3) are respectively fixed to multiple top plates (54); Each of the connecting components (3) includes a universal joint (31), a connecting rod (32), a ball joint (33), a ball joint connector (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 to the universal joint (31). The ball joint (33) is fixed to the bottom end of the connecting rod (32). The ball joint connector (34) is hinged to the ball joint (33). The linear sliding bearing (35) is fixed to the ball joint connector (34) and slides on the corresponding shaft (4). The linear sliding bearing (35) is fixed to the top plate (54). The connecting rod (32) is made of lightweight material; The lower fold paper piece (52) and the upper fold paper piece (53) have the same structure and are both Kresling origami structures.

2. The six-degree-of-freedom vibration isolation platform based on a Kresling origami structure according to claim 1, characterized in that, The dimensional parameters of the Kresling origami structure can be determined by the number of sides of the regular n-polygon, the radius of the circumcircle of the top plate (54), the radius of the circumcircle of the bottom plate (51), the initial height, and the initial rotation angle. Changes in key structural parameters have a certain impact on steady-state characteristics. The vibration isolator constructed by the Kresling origami structure can obtain the potential energy U of the structure during unfolding and folding. The height h and rotation angle between the top plate (54) and the bottom plate (51) are also important factors. As an independent variable of the vibration isolation leg (5), the following design criteria should be met to achieve quasi-zero characteristics:

3. The six-degree-of-freedom vibration isolation platform based on a Kresling origami structure according to claim 1, characterized in that, The bottom plate (51) and the top plate (54) will only extend and retract axially without rotating, and the connecting line between the lower fold paper piece (52) and the upper fold paper piece (53) can generate axial displacement and rotation.

4. The six-degree-of-freedom vibration isolation platform based on a 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).

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

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

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