Three-degree-of-freedom magnetorheological vibration isolation device

Abstract

The invention relates to a three-degree-of-freedom magneto-rheological vibration isolation device. The device comprises an upper mounting plate used for being connected to external equipment, and a first support and a second support are arranged at one end of the upper mounting plate in the X-axis direction and one end of the upper mounting plate in the Y-axis direction respectively; the lower mounting plate is used for being connected with a mounting foundation; the limiting assembly comprises a limiting frame and a limiting rod, the limiting frame is connected with the lower mounting plate, a limiting block which can be adjusted along the Z-axis position is arranged in the limiting frame, and one end of the limiting rod is connected with the upper mounting plate; the damping assembly comprises an X-axis magneto-rheological damper, a Y-axis magneto-rheological damper and a Z-axis magneto-rheological damper; and the elastic assembly is arranged between the lower mounting plate and the upper mounting plate so as to provide rigidity in the Z-axis direction. And the structure is simple and reliable, and good stability and applicability are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of vibration dampers, in particular to a three-degree-of-freedom magnetorheological vibration isolation device. Background Art

[0002] Laser weapons, as new-concept directed energy weapons, require high-precision tracking and aiming of their optical payloads, based on structural vibration reduction, optical system boresight stabilization, and tracking and aiming control via photoelectric detection and image tracking. Due to the complex operating environment of weapon systems, optical payloads are inevitably affected by the vibration of vehicle-mounted, airborne, and ship-mounted platforms, as well as the external environment. This presents significant technical challenges for beam control and high-precision acquisition and aiming. High-precision tracking and aiming technology for vehicle-mounted and airborne moving platforms is a critical technology for tactical laser weapons and urgently requires breakthroughs.

[0003] Vibration-damping structures, the foundation and key to high-precision tracking and aiming technology for moving platforms, perform the vibration reduction and buffering functions of optical loads. Their mechanical properties directly impact the stability and accuracy of tracking, aiming, and striking capabilities of vehicle-mounted optical systems, playing a crucial role in weapon systems. In laser weaponry, in particular, optical loads place significant demands on vibration-damping and stabilization platforms, characterized by high load capacity, a wide frequency range, and high precision. Under these broad frequency bands and high loads, the platform structure is often required to control the vibration amplitude input to the optical load to within micrometers.

[0004] Therefore, how to meet the optical load requirements in complex dynamic environments and achieve vibration control of the platform within a wide frequency range while maintaining a large load capacity is an urgent problem that needs to be solved. Summary of the Invention

[0005] To this end, the present invention provides a three-degree-of-freedom magnetorheological vibration isolation device, which solves the problems of isolating high-frequency vibrations and suppressing low-frequency resonance peaks in vehicle-mounted and airborne optical systems, as well as the problem of buffering and limiting when the load suddenly changes in posture. It has a simple and reliable structure, good stability and applicability, and can achieve high-precision vibration reduction and stabilization in a wide frequency range, thereby improving the stability accuracy of the optical system's tracking, aiming and striking.

[0006] In order to solve the above technical problems, the present invention provides a three-degree-of-freedom magnetorheological vibration isolation device, comprising: An upper mounting plate, used for connecting to an external device, wherein a first support and a second support are provided at one end of the upper mounting plate along the X-axis and the Y-axis, respectively; A lower mounting plate, used for connection with the mounting base; A limit assembly, comprising a limit frame and a limit rod, wherein the limit frame is connected to the lower mounting plate, a limit block adjustable along the Z axis is provided in the limit frame, one end of the limit rod is connected to the upper mounting plate, and the other end of the limit rod is capable of contacting the limit block and limiting the position when the upper mounting plate is displaced; A damping assembly comprising an X-axis magnetorheological damper, a Y-axis magnetorheological damper, and a Z-axis magnetorheological damper; wherein the telescopic end and the mounting end of the X-axis magnetorheological damper are respectively universally hinged to the first support and the limit frame to provide damping in the X-axis direction; the telescopic end and the mounting end of the Y-axis magnetorheological damper are respectively universally hinged to the second support and the limit frame to provide damping in the Y-axis direction; and the telescopic end and the mounting end of the Z-axis magnetorheological damper are respectively universally hinged to the upper mounting plate and the lower mounting plate to provide damping in the Z-axis direction; The elastic component is arranged between the lower mounting plate and the upper mounting plate to provide rigidity in the Z-axis direction.

[0007] In one embodiment of the present invention, the X-axis magnetorheological damper is located outside the elastic component along the Y-axis direction; the Y-axis magnetorheological damper is located outside the elastic component along the X-axis direction.

[0008] In one embodiment of the present invention, the elastic component includes a plurality of springs distributed around the Z-axis magnetorheological damper.

[0009] In one embodiment of the present invention, the spring is a cylindrical spring, and four of the springs are evenly distributed around the Z-axis magnetorheological damper.

[0010] In one embodiment of the present invention, the upper mounting plate is provided with an upper spring seat, the lower mounting plate is provided with a lower spring seat, and both ends of the spring are correspondingly mounted on the upper spring seat and the lower spring seat.

[0011] In one embodiment of the present invention, the upper mounting plate is connected to the first support and the second support respectively by welding, and is screwed to the limiting rod; the lower mounting plate is connected to the limiting frame by welding.

[0012] In one embodiment of the present invention, the limiting assembly includes a driving device arranged in the limiting frame and installed on the lower mounting plate, the driving end of the driving device is connected to the limiting block, and the limiting block is provided with a limiting guide hole that can cooperate and contact with the limiting rod.

[0013] In one embodiment of the present invention, the telescopic end and the mounting end of each of the X-axis magnetorheological damper, the Y-axis magnetorheological damper, and the Z-axis magnetorheological damper are respectively provided with a universal hinge assembly.

[0014] In one embodiment of the present invention, the X-axis magnetorheological damper, the Y-axis magnetorheological damper, and the Z-axis magnetorheological damper each include: a housing provided with a cavity filled with magnetorheological fluid, the housing being configured as an external magnetic conductor; A pull rod comprising a first end and a second end opposite to each other, wherein the first end of the pull rod extends axially out of the housing, and the second end of the pull rod extends into the cavity; an inner magnetic conductor, mounted on the second end of the pull rod and forming a predetermined gap with the side wall of the cavity; an excitation coil disposed on the inner magnet, the excitation coil being configured to generate a magnetic field when energized, thereby changing the fluid properties of the magnetorheological fluid in the cavity; the pull rod being capable of transmitting axial force and telescopically moving along the cavity, driving the magnetorheological fluid to move via the inner magnet, thereby achieving a damping effect through the magnetorheological fluid; A compensator, wherein the inner magnetic conductor divides the cavity into an upper chamber and a lower chamber, and the compensator is provided at an end of the housing away from the first end of the pull rod, and is used to compensate for the change in volume of the upper and lower chambers caused by the movement of the pull rod; Wherein, the two universal hinge head assemblies are respectively installed on the pull rod and the shell.

[0015] In one embodiment of the present invention, the inner magnetic body includes a shaft body and an upper magnetic shoulder and a lower magnetic shoulder radially extending at the upper and lower ends of the shaft body. A winding shaft is provided on the shaft body, and the excitation coil is wound around the winding shaft.

[0016] The above technical solution of the present invention has the following advantages over the prior art: The three-degree-of-freedom magnetorheological vibration isolation device described in the present invention has a simple and reliable structure, strong load-bearing capacity, good stability and applicability, and can achieve high-precision vibration reduction and stabilization over a wide frequency range, thereby improving the stability and accuracy of optical system tracking, aiming and striking. It provides three-degree-of-freedom damping, suitable for three-degree-of-freedom vibration reduction of large-scale equipment, and is equipped with a limit device to solve the buffering and limiting problems caused by sudden changes in the equipment's posture. The damping force can be adjusted in real time, with a fast response speed and precise control, making it suitable for complex dynamic environments. It can suppress the vibration of optical systems and other weapon equipment in real time to ensure aiming accuracy.

[0017] By placing magnetorheological dampers on the X, Y, and Z axes, this invention provides active, continuously adjustable, high-precision vibration damping and stabilization for optical loads in three spatial degrees of freedom. This effectively suppresses multi-directional vibration interference from the platform, improving the boresight stability and tracking accuracy of the laser weapon optical system. Combined with magnetorheological damping components, the platform can accommodate multi-level excitation and high-load conditions across a wide frequency range.

[0018] The overall structural design of the present invention is compact, and the upper mounting plate, lower mounting plate and multi-directional supports are integrated through high-strength connection, which reduces the number of parts, improves the reliability and maintenance convenience of the system, and facilitates engineering application and batch integration.

[0019] The present invention is provided with a limit component, which can provide effective limit protection in time during sudden posture changes or transportation of the equipment, avoid damage to the optical system caused by excessive displacement of the platform, and improve the safety and impact resistance of the entire machine operation.

[0020] The telescopic ends and mounting ends of the magnetorheological dampers in all directions of the present invention are connected by universal hinge assemblies, which can adapt to relative movements in different directions, prevent additional stress caused by changes in platform or load posture, and ensure the consistency and reliability of the vibration isolation effect.

[0021] The elastic component of the present invention adopts multiple uniformly distributed cylindrical springs with uniform stiffness distribution, which can cooperate with the magnetorheological damper to achieve efficient vibration isolation and energy absorption, and enhance the system's ability to suppress micro-vibration and impact. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0023] Figure 1 It is a structural diagram of one side of the three-degree-of-freedom magnetorheological vibration isolation device of the present invention.

[0024] Figure 2 It is a partial structural diagram of the three-degree-of-freedom magnetorheological vibration isolation device of the present invention.

[0025] Figure 3 It is a structural diagram of the other side of the three-degree-of-freedom magnetorheological vibration isolation device of the present invention.

[0026] Figure 4 It is a structural diagram of the limiting component of the present invention.

[0027] Figure 5 It is a cross-sectional structural diagram of the magnetorheological damper of the present invention.

[0028] Figure 6 It is an axial structural diagram of the magnetorheological damper of the present invention.

[0029] Figure 7 It is an axial side structural diagram of the universal joint head assembly of the present invention.

[0030] Figure 8 It is an axial side sectional structural diagram of the universal hinge head assembly of the present invention.

[0031] Description of the accompanying drawings: 1. Upper mounting plate; 1-1. First support; 1-2. Second support; 1-3. Upper spring seat; 2. Lower mounting plate; 2-1. Lower spring seat; 3. Limiting assembly; 3-1. Limiting frame; 3-2. Limiting rod; 3-3. Limiting block; 3-3-1. Limiting guide hole; 3-4. Driving device; 4. Damping assembly; 4a. X-axis magnetorheological damper; 4b. Y-axis magnetorheological damper; 4c. Z-axis magnetorheological damper; 4-1, shell; 4-11, cavity; 4-2, pull rod; 4-3, inner magnetic body; 4-31, shaft body; 4-32, upper magnetic shoulder; 4-33, lower magnetic shoulder; 4-4, excitation coil; 4-5, compensator; 4-51, hollow arc-surface convex body; 4-52, clamping edge; 4-6, universal hinge assembly; 4-61, universal hinge support; 4-62, hinge head; 4-63, screw; 4-7, sealing cover; 4-8, seals; 5. Elastic component; 5-1. Spring. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0033] In the present invention, if directions (up, down, left, right, front and back) are described, it is only for the convenience of describing the technical solution of the present invention, and does not indicate or imply that the technical features referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention.

[0034] In the present invention, "several" means one or more, "multiple" means more than two, "greater than," "less than," "exceeds," etc. are understood to exclude the number itself; "above," "below," "within," etc. are understood to include the number itself. In the description of the present invention, the use of "first" or "second" is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0035] In the present invention, unless otherwise expressly defined, terms such as "disposed," "installed," and "connected" should be interpreted broadly. For example, they may refer to direct connection or indirect connection through an intermediate medium; fixed connection or detachable connection or integral molding; mechanical connection or electrical connection or mutual communication; and internal connection between two components or interaction between two components. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0036] Reference Figure 1 、 Figure 2 As shown, a three-degree-of-freedom magnetorheological vibration isolation device of the present invention comprises: An upper mounting plate 1, used for connecting to external equipment, wherein a first support 1-1 and a second support 1-2 are provided at one end of the upper mounting plate 1 along the X-axis and the Y-axis directions, respectively; Lower mounting plate 2, used for connecting to the mounting base; The limiting assembly 3 includes a limiting frame 3-1 and a limiting rod 3-2. The limiting frame 3-1 is connected to the lower mounting plate 2. A limiting block 3-3 adjustable along the Z-axis is provided in the limiting frame 3-1. One end of the limiting rod 3-2 is connected to the upper mounting plate 1. The other end of the limiting rod 3-2 can contact the limiting block 3-3 and limit the position when the upper mounting plate 1 is displaced; The damping assembly 4 includes an X-axis magnetorheological damper 4a, a Y-axis magnetorheological damper 4b, and a Z-axis magnetorheological damper 4c; wherein the telescopic end and the mounting end of the X-axis magnetorheological damper 4a are universally hinged to the first support 1-1 and the limit frame 3-1, respectively, to provide damping in the X-axis direction; the telescopic end and the mounting end of the Y-axis magnetorheological damper 4b are universally hinged to the second support 1-2 and the limit frame 3-1, respectively, to provide damping in the Y-axis direction; and the telescopic end and the mounting end of the Z-axis magnetorheological damper 4c are universally hinged to the upper mounting plate 1 and the lower mounting plate 2, respectively, to provide damping in the Z-axis direction; The elastic component 5 is disposed between the lower mounting plate 2 and the upper mounting plate 1 to provide rigidity in the Z-axis direction.

[0037] In one embodiment, referring to Figure 2 As shown, the X-axis magnetorheological damper 4a is located outside the elastic component 5 along the Y-axis direction; the Y-axis magnetorheological damper 4b is located outside the elastic component 5 along the X-axis direction.

[0038] In one embodiment, the elastic component 5 includes a plurality of springs 5 ​​- 1 distributed around the Z-axis magnetorheological damper 4 c .

[0039] In one embodiment, the spring 5-1 is a cylindrical spring 5-1, with four springs evenly distributed around the Z-axis magnetorheological damper 4c. As supporting elements of the vibration isolation assembly, cylindrical springs 5-1 have the advantages of simple structure, reliable operation, and good stiffness linearity, and are widely used in vehicle vibration reduction equipment.

[0040] In one embodiment, referring to Figure 3 As shown, the upper mounting plate 1 is provided with an upper spring seat 1-3, the lower mounting plate 2 is provided with a lower spring seat 2-1, and the two ends of the spring 5-1 are correspondingly installed on the upper spring seat 1-3 and the lower spring seat 2-1 to prevent the spring 5-1 from moving horizontally.

[0041] In one embodiment, the upper mounting plate 1 is connected to the first support 1-1 and the second support 1-2 by welding, and is screwed to the limiting rod 3-2; the lower mounting plate 2 is connected to the limiting frame 3-1 by welding.

[0042] In one embodiment, referring to Figure 4 As shown, the limit assembly 3 includes a driving device 3-4 arranged in the limit frame 3-1 and installed on the lower mounting plate 2, the driving end of the driving device 3-4 is connected to the limit block 3-3, and the limit block 3-3 is provided with a limit guide hole 3-3-1 that can cooperate with and rigidly contact the limit rod 3-2.

[0043] It should be noted that when the displacement of the upper mounting plate 1 is large, the limit rod 3-2 moves to the limit position inside the rectangular tube and rigidly contacts the limit block 3-3, thereby achieving the limit limit function of the vibration isolator.

[0044] Specifically, the limit frame 3-1 is a rectangular square tube, and the driving device 3-4 is a cylinder. When working, the limit block 3-3 can play a limiting role when the cylinder is extended, and when not working or transported, the cylinder is retracted. The limit block 3-3 is made of stainless steel.

[0045] In one embodiment, the telescopic and mounting ends of the X-axis MR damper 4a, Y-axis MR damper 4b, and Z-axis MR damper 4c are each provided with a universal hinge assembly 4-6. It should be noted that since the MR damper can only telescope along its own axis, while the universal hinge assembly 4-6 can rotate along the axis of the MR damper, the combination of the two can effectively solve the coupling problem between the axial movement and horizontal shear movement of the MR damper.

[0046] In one embodiment, referring to Figure 5 、 Figure 6As shown, the X-axis magnetorheological damper 4a, the Y-axis magnetorheological damper 4b and the Z-axis magnetorheological damper 4c all include: The housing 4-1 is provided with a cavity 4-11 filled with magnetorheological fluid, and the housing 4-1 is configured as an external magnetic conductor; The pull rod 4-2 includes a first end and a second end that are oppositely disposed, wherein the first end of the pull rod 4-2 extends axially out of the housing 4-1, and the second end of the pull rod 4-2 extends into the cavity 4-11; The inner magnet 4-3 is mounted on the second end of the pull rod 4-2 and forms a predetermined gap with the side wall of the cavity 4-11; an excitation coil 4-4 disposed on the inner magnet 4-3, and configured to generate a magnetic field by energizing the excitation coil 4-4, thereby changing the fluid properties of the magnetorheological fluid in the cavity 4-11; the pull rod 4-2 is capable of transmitting an axial force and telescopically moving along the cavity 4-11, thereby driving the magnetorheological fluid to move via the inner magnet 4-3, thereby achieving a damping effect through the magnetorheological fluid; The compensator 4-5, wherein the inner conductive magnet 4-3 divides the cavity 4-11 into an upper chamber and a lower chamber. The compensator 4-5 is provided at an end of the housing 4-1 away from the first end of the pull rod 4-2, and is used to compensate for the change in the volume of the upper and lower chambers caused by the movement of the pull rod 4-2; The two universal hinge head assemblies 4 - 6 are respectively mounted on the pull rod 4 - 2 (ie, the telescopic end) and the housing 4 - 1 (ie, the mounting end).

[0047] In one embodiment, the inner magnet 4-3 includes a shaft 4-31 and upper and lower magnetic shoulders 4-32 and 4-33 extending radially from the shaft 4-31. A winding spool is disposed on the shaft 4-31, and the excitation coil 4-4 is wound around the winding spool. The excitation coil 4-4 can be connected to an external power source via a pull rod 4-2 (providing a lead channel) for power supply.

[0048] Through this setup, the controllable magnetic field generated by excitation coil 4-4 can alter the rheological properties of the magnetorheological fluid in real time, achieving continuous adjustment of the damping force. This allows for rapid response to changes in external operating conditions, significantly improving the suppression of structural vibrations. Universal joint assembly 4-6 can adapt to various connection requirements and rotate along the axis of the magnetorheological damper, coordinating with the axial movement of tie rod 4-2 to address the coupling issue between the axial movement of the magnetorheological damper and its horizontal shear motion. Compensator 4-5 effectively compensates for the volume changes within cavity 4-11 caused by the movement of tie rod 4-2, improving the sealing performance and operational stability of the device.

[0049] In one embodiment, a sealing cover 4-7 is further included, wherein the sealing cover 4-7 is threadedly connected to an end of the housing 4-1 away from the first end of the pull rod 4-2, and the compensator 4-5 is installed on the sealing cover 4-7.

[0050] In one embodiment, the compensator 4-5 includes a hollow cambered convex body 4-51 and a clamping edge 4-52 located at the end of the hollow cambered convex body 4-51, and the clamping edge 4-52 is clamped in the clamping groove on the surface of the sealing cover 4-7. When the movement of the pull rod 4-2 causes the volume of the cavity 4-11 to change, the compensator 4-5 is made of an elastomer that can undergo elastic deformation, such as oil-resistant rubber material (such as fluororubber), thereby automatically compensating for the volume change of the magnetorheological fluid in the cavity 4-11. Specifically, the compensator 4-5 adopts In one embodiment, the universal hinge assembly 4-6 is mounted on the first end of the pull rod 4-2 and the sealing cover 4-7.

[0051] In one embodiment, a seal 4-8 is provided between the pull rod 4-2 and one end of the housing 4-1 close to the first end of the pull rod 4-2.

[0052] In one embodiment, referring to Figure 7 、 Figure 8 As shown, the universal hinge assembly 4-6 includes a universal hinge support 4-61 and a hinge head 4-62 disposed within the universal hinge support 4-61. The hinge head 4-62 is capable of rotating about the axis of the magnetorheological damper to form a revolute pair. Furthermore, the hinge head 4-62 is provided with screws 4-63 that connect to the pull rod 4-2 or the sealing cover 4-7. The universal hinge support 4-61 is provided with connection holes for connecting to the limit frame 3-1 or the support.

[0053] Since the magnetorheological damper can only telescopically move along its own axis, and the hinge head 4-62 of the universal hinge head assembly 4-6 can rotate along the axis (of the magnetorheological damper), the combination of the two can effectively solve the coupling problem between the axial movement and the horizontal shear movement of the magnetorheological damper.

[0054] In one embodiment, the shell 4 - 1 is cylindrical.

[0055] It should be noted that magnetorheological dampers contain both magnetic and non-magnetic materials. The magnetic material is primarily used to construct the magnetic circuit, concentrating the magnetic field within the magnetorheological fluid area and affecting the magnetic control performance of the isolator. The non-magnetic material prevents magnetic field leakage and also helps avoid electromagnetic interference. The requirements for the magnetic material of an MRE damper are as follows: High magnetic permeability: Higher magnetic permeability ensures higher magnetic induction intensity under the same input; Low coercive force: Due to the coercive force of the magnetic material, residual magnetism will appear after the vibration isolator stops working. The residual magnetism changes the initial state of the vibration isolator and increases the difficulty of controlling the vibration isolator. High magnetic induction saturation intensity: After the magnetic material reaches magnetic saturation, the magnetic induction intensity will no longer increase with the current, which will affect the magnetic control range of the device; High thermal conductivity and specific heat capacity: The heat generated by the magnetorheological damper during operation increases the operating temperature, degrading the performance of the elastomer, while also increasing the coil resistance and the load power of the current driver. This requires the material to have good heat dissipation properties to reduce the temperature of the isolator during stable operation.

[0056] Therefore, the material of the outer magnet and the inner magnet 4-3 are both made of # steel, which has high strength and high magnetic permeability; the excitation coil 4-4 is made of copper enameled wire; the winding shaft and the sealing cover 4-7 are made of aluminum alloy material that is non-magnetic, light in weight and has a certain strength.

[0057] The shell 4-1 is used as the outer magnet, the inner magnet 4-3 is installed on the pull rod 4-2, and the excitation coil 4-4 is set on the inner magnet 4-3. The magnetorheological fluid is placed in the magnetic circuit composed of the outer magnet and the inner magnet 4-3, forming an efficient closed magnetic circuit structure, making the overall structure compact, ensuring that the magnetic field generated by the excitation coil 4-4 directly acts on the magnetorheological fluid, effectively enhancing the magnetorheological effect, making the damping force adjustment more sensitive, improving the strength and uniformity of the magnetic field in the working area, effectively reducing magnetic flux leakage, and significantly improving the efficiency of magnetic field regulation.

[0058] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A three-degree-of-freedom magnetorheological vibration isolation device, characterized in that: include: An upper mounting plate (1) is used for connecting to an external device, wherein a first support (1-1) and a second support (1-2) are provided at one end of the upper mounting plate (1) along the X-axis and the Y-axis directions, respectively; A lower mounting plate (2) for connection to a mounting base; A limit assembly (3) comprising a limit frame (3-1) and a limit rod (3-2), wherein the limit frame (3-1) is connected to the lower mounting plate (2), a limit block (3-3) whose position is adjustable along the Z axis is provided in the limit frame (3-1), one end of the limit rod (3-2) is connected to the upper mounting plate (1), and the other end of the limit rod (3-2) is capable of contacting the limit block (3-3) and performing position limiting when the upper mounting plate (1) is displaced; A damping assembly (4) comprising an X-axis magnetorheological damper (4a), a Y-axis magnetorheological damper (4b), and a Z-axis magnetorheological damper (4c); wherein the telescopic end and the mounting end of the X-axis magnetorheological damper (4a) are respectively universally hinged to the first support (1-1) and the limit frame (3-1) to provide damping in the X-axis direction, the telescopic end and the mounting end of the Y-axis magnetorheological damper (4b) are respectively universally hinged to the second support (1-2) and the limit frame (3-1) to provide damping in the Y-axis direction, and the telescopic end and the mounting end of the Z-axis magnetorheological damper (4c) are respectively universally hinged to the upper mounting plate (1) and the lower mounting plate (2) to provide damping in the Z-axis direction; An elastic component (5) is arranged between the lower mounting plate (2) and the upper mounting plate (1) to provide rigidity in the Z-axis direction.

2. A three-degree-of-freedom magnetorheological vibration isolation device according to claim 1, characterized in that: The X-axis magnetorheological damper (4a) is located outside the elastic component (5) along the Y-axis direction; and the Y-axis magnetorheological damper (4b) is located outside the elastic component (5) along the X-axis direction.

3. The three-degree-of-freedom magnetorheological vibration isolation device according to claim 1, characterized in that: The elastic component (5) comprises a plurality of springs (5-1) distributed around the Z-axis magnetorheological damper (4c).

4. The three-degree-of-freedom magnetorheological vibration isolation device according to claim 3, characterized in that: The springs (5-1) are cylindrical springs (5-1), and four of them are evenly distributed around the Z-axis magnetorheological damper (4c).

5. The three-degree-of-freedom magnetorheological vibration isolation device according to claim 3, characterized in that: The upper mounting plate (1) is provided with an upper spring seat (1-3), the lower mounting plate (2) is provided with a lower spring seat (2-1), and both ends of the spring (5-1) are correspondingly mounted on the upper spring seat (1-3) and the lower spring seat (2-1).

6. The three-degree-of-freedom magnetorheological vibration isolation device according to claim 1, characterized in that: The upper mounting plate (1) is respectively connected to the first support (1-1) and the second support (1-2) by welding, and is screwed to the limiting rod (3-2); the lower mounting plate (2) is connected to the limiting frame (3-1) by welding.

7. The three-degree-of-freedom magnetorheological vibration isolation device according to claim 1, characterized in that: The limiting assembly (3) comprises a driving device (3-4) arranged in the limiting frame (3-1) and mounted on the lower mounting plate (2); a driving end of the driving device (3-4) is connected to the limiting block (3-3); and the limiting block (3-3) is provided with a limiting guide hole (3-3-1) capable of cooperating with and contacting the limiting rod (3-2).

8. The three-degree-of-freedom magnetorheological vibration isolation device according to claim 1, characterized in that: The telescopic end and the mounting end of each of the X-axis magnetorheological damper (4a), the Y-axis magnetorheological damper (4b), and the Z-axis magnetorheological damper (4c) are respectively provided with a universal hinge assembly (4-6).

9. The three-degree-of-freedom magnetorheological vibration isolation device according to claim 8, characterized in that: The X-axis magnetorheological damper (4a), the Y-axis magnetorheological damper (4b), and the Z-axis magnetorheological damper (4c) each comprise: A housing (4-1) is provided with a cavity (4-11) filled with magnetorheological fluid, and the housing (4-1) is configured as an external magnetic conductor; A pull rod (4-2) comprises a first end and a second end arranged opposite to each other, the first end of the pull rod (4-2) extending axially out of the housing (4-1), and the second end of the pull rod (4-2) extending into the cavity (4-11); An inner magnetic conductor (4-3) is mounted on the second end of the pull rod (4-2) and forms a predetermined gap with the side wall of the cavity (4-11); An excitation coil (4-4) is provided on the inner magnetic conductor (4-3), and is used for energizing the excitation coil (4-4) to generate a magnetic field, thereby changing the fluid properties of the magnetorheological fluid in the cavity (4-11); the pull rod (4-2) is capable of transmitting an axial force and telescopically moving along the cavity (4-11), driving the magnetorheological fluid to move through the inner magnetic conductor (4-3), thereby achieving a damping effect through the magnetorheological fluid; A compensator (4-5), wherein the inner magnetic conductor (4-3) divides the cavity (4-11) into an upper chamber and a lower chamber, and the compensator (4-5) is arranged at an end of the housing (4-1) away from the first end of the pull rod (4-2) and is used to compensate for changes in the volumes of the upper and lower chambers caused by the movement of the pull rod (4-2); The two universal hinge head assemblies (4-6) are respectively mounted on the pull rod (4-2) and the housing (4-1).

10. The three-degree-of-freedom magnetorheological vibration isolation device according to claim 9, characterized in that: The inner magnetic conductor (4-3) comprises a shaft (4-31) and an upper magnetic conductor shoulder (4-32) and a lower magnetic conductor shoulder (4-33) radially extending at the upper and lower ends of the shaft (4-31); a winding shaft is provided on the shaft (4-31), and the excitation coil (4-4) is wound around the winding shaft.

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