Debugging method of compact quasi-zero stiffness vibration isolator with single swing rod structure

Abstract

The invention relates to the technical field of quasi-zero stiffness vibration isolators, in particular to a debugging method of a compact quasi-zero stiffness vibration isolator with a single swing rod structure. The vibration isolator comprises a swing rod initially vertically arranged and a connecting rod hinged to the top end of the swing rod, the bottom end of the swing rod is hinged to a rack, the other end of the connecting rod is hinged to the top end of a guide rod at a point O, and a loading disc is arranged at the point O; the bottom end of the guide rod is fixed to the bottom end of the second extension spring, and the top end of the second extension spring is fixed to the rack to provide vertical positive rigidity. One end of the first extension spring is mounted at the hinged point of the swing rod and the connecting rod, the other end of the first extension spring is fixed on the rack, the first extension spring is horizontally matched with the connecting rod to provide vertical negative stiffness, and the positive stiffness and the negative stiffness are connected in parallel to realize the vertical quasi-zero stiffness characteristic; the quasi-zero stiffness vibration isolator adopts fewer parts, and has the advantage of realizing a small-size and compact quasi-zero stiffness vibration isolator.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of quasi-zero stiffness vibration isolator, in particular to a debugging method of a compact quasi-zero stiffness vibration isolator with a single swing rod structure. BACKGROUND

[0002] Quasi-zero stiffness vibration isolator is an effective way to solve low-frequency vibration isolation problem, and is a hot spot in current vibration isolation research. However, there are strict restrictions on the installation space of vibration isolator in application occasions, and compact quasi-zero stiffness vibration isolator with small size has a wide application demand.

[0003] Traditional vibration isolators usually perform well in high-frequency vibration isolation, but have limitations in low-frequency vibration isolation. Therefore, quasi-zero stiffness vibration isolator emerges as the times require and becomes a hot spot in current vibration isolation research. The quasi-zero stiffness vibration isolator in the prior art scheme usually has a complex structure and needs multiple parts and components to realize its function. These vibration isolators can include sliding pairs, support components, multiple springs, etc. to provide positive stiffness and negative stiffness parts, so as to realize the quasi-zero stiffness characteristic. However, due to the large number of parts, the vibration isolator in the prior art scheme has a large volume and is not suitable for application scenarios with limited space. In addition, the component structure increases the difficulty and cost of maintaining and replacing parts, and also reduces the overall reliability of the system.

[0004] Therefore, it is urgent to improve the quasi-zero stiffness vibration isolator in the prior art scheme and its debugging method to solve the technical defects in the prior art scheme. SUMMARY

[0005] The present application aims to provide a debugging method of a compact quasi-zero stiffness vibration isolator with a single swing rod structure, so as to solve the problems in the background art and realize the compact structure of the quasi-zero stiffness vibration isolator while maintaining good vibration isolation performance.

[0006] To achieve the above-mentioned purpose, the present application implements the following technical scheme:

[0007] A debugging method of a compact quasi-zero stiffness vibration isolator with a single swing rod structure, the vibration isolator comprising a swing rod arranged vertically in an initial state and a connecting rod hinged to the top end of the swing rod, the bottom end of the swing rod being hinged to a rack, the other end of the connecting rod being hinged to the top end of a guide rod at point O, and the point O being provided with a load disc;

[0008] The bottom end of the guide rod is fixedly connected to the bottom end of a second tensile spring;

[0009] One end of a first tensile spring is installed at the hinge point of the swing rod and the connecting rod, the other end of the first tensile spring is fixed to the rack, and the first tensile spring is in a horizontal state; the stiffness of the first tensile spring is The connecting rod cooperates with the pendulum to provide a negative stiffness part of the quasi-zero stiffness vibration isolator in the vertical direction;

[0010] The top end of the second tensile spring is fixedly connected to the frame, and the stiffness of the second tensile spring is

[0011] A positive stiffness part of the quasi-zero stiffness vibration isolator is provided, and the positive stiffness and the negative stiffness are connected in parallel to achieve the quasi-zero stiffness characteristic;

[0012] The pendulum is in a vertical position in the initial state, and the length between the two hinge points of the pendulum is ; In the initial state, the projection length of the distance between the two hinge points of the connecting rod in the horizontal direction is ;

[0013] The adjusting method of the vibration isolator comprises the following steps:

[0014] S1. According to the actual working condition, the dimensionless pre-compression amount of the first tensile spring in the initial state is determined , the dimensionless projection length of the connecting rod in the horizontal direction in the initial state is determined , the dimensionless parameter of the length between the two hinge points of the pendulum is determined , and the stiffness ratio of the first tensile spring and the second tensile spring is determined ;

[0015] S2. According to the parameter conditions of the quasi-zero stiffness characteristic, when the parameter conditions satisfy the quasi-zero stiffness parameter relationship , a nonlinear quasi-zero stiffness characteristic curve is obtained; when the parameter conditions satisfy the quasi-zero stiffness parameter relationship and , a constant zero stiffness characteristic curve is obtained; when the parameter conditions satisfy the quasi-zero stiffness parameter relationship and , a constant quasi-zero stiffness characteristic curve is obtained.

[0016] S3. After the above parameters are determined, the force displacement curve is drawn , The applied force applied to the load disc is in the direction of motion, the vibration isolator is in a static equilibrium position, the force divided by the acceleration of gravity is the carrying mass, and it is determined whether the vibration isolator meets the design requirements of the carrying capacity and the vibration isolation frequency band, if not, repeat steps S1 to S3.

[0017] The initial state refers to the state that one hinge end of the connecting rod is hinged to the top end of the guide rod and the second tensile spring is in a free length; the static equilibrium position refers to the horizontal state of the connecting rod.

[0018] wherein is the pre-tensioning amount of the first tensile spring in the initial state, is the horizontal tension of the first tension spring. In the static equilibrium position, the rotation angle of the pendulum is .

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] Existing quasi-zero-stiffness vibration isolation systems are complex and require many parts, making them unsuitable for applications with strict space constraints. Therefore, designing a miniaturized, compact quasi-zero-stiffness vibration isolator can effectively expand its application scenarios. This application proposes a compact quasi-zero-stiffness vibration isolator with a single rocker arm structure and a debugging method. Compared to the sliding motion pair and support components of existing vibration isolators, only a single rocker arm is required, significantly reducing the number of parts required to construct the quasi-zero-stiffness vibration isolator.

[0021] As a further improvement to the debugging method of a compact quasi-zero stiffness vibration isolator with a single pendulum structure in this application, in order to analyze the structural parameter characteristics, the applied force And its expression is dimensionless, where the dimensionless expression is:

[0022] (1)

[0023] By applying force The dimensionless expression of right Derivative, using , and the approximate stiffness is obtained , The expression is:

[0024] (2)

[0025] in, and is an intermediate variable.

[0026] As a further improvement to the debugging method of the compact quasi-zero stiffness vibration isolator with a single pendulum structure in the present application, the calculation method of the dimensionless parameters is as follows:

[0027] ;

[0028] ;

[0029] ;

[0030] ;

[0031] ;

[0032] ;

[0033] ;

[0034] ;

[0035] ;

[0036] ;(3)

[0037] In any position, the rotation angle of the swing rod is , limited to the following equation:

[0038]

[0039] wherein the displacement of the O point from the initial state is ; in the vertical direction, the displacement of the swing rod from the static equilibrium position is ; the static equilibrium position , the corresponding conversion relationship of the two coordinates is ; in the initial state, the distance from the initial position O point to the top of the swing rod in the movement direction is ; the distance between the initial position O point and the static equilibrium position is , is the displacement change of the top of the swing rod in the vertical direction caused by the swing of the swing rod from the initial position to the static equilibrium position.

[0040] As a further improvement to the debugging method of the compact quasi-zero stiffness vibration isolator with a single swing rod structure of the present application, the stiffness and the second derivative of the stiffness are equal to zero at the static equilibrium position, and two quasi-zero stiffness conditions are respectively obtained by approximate derivation:

[0041] ; (4)

[0042] ; (5)

[0043] As shown in the above formula (4) and formula (5).

[0044] As a further improvement to the debugging method of the compact quasi-zero stiffness vibration isolator with a single swing rod structure of the present application, as the O point moves down, when the connecting rod is in a horizontal state, i.e. the vibration isolator reaches the static equilibrium position, the force is the rated load of the vibration isolator. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is the initial state structure diagram of the vibration isolator of the present application;

[0046] Figure 2 Structure diagram of static balance state of the vibration isolator of the present application;

[0047] Figure 3 Structure diagram of the vibration isolator of the present application at any position;

[0048] Figure 4 Nonlinear quasi-zero stiffness curve in the debugging of the vibration isolator of the present application;

[0049] Figure 5 Force-displacement curve corresponding to the nonlinear quasi-zero stiffness curve in the debugging of the vibration isolator of the present application;

[0050] Figure 6 Constant value quasi-zero stiffness curve in the debugging of the vibration isolator of the present application;

[0051] Figure 7 Force-displacement curve corresponding to the constant value quasi-zero stiffness curve in the debugging of the vibration isolator of the present application;

[0052] In the figure: 1-pendulum rod; 2-connecting rod; 3-first tensile spring; 4-second tensile spring; 5-guide rod; 6-rack. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0054] The following detailed description is exemplary and is intended to provide further detail in describing the present application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the exemplary embodiments of the present application is for describing particular embodiments only and is not intended to be limiting of the exemplary embodiments in accordance with the present application.

[0055] It is known that the existing quasi-zero stiffness vibration isolation structure is complex, and a large number of parts are required, which cannot be used in some space-limited application scenarios, so a small and compact quasi-zero stiffness vibration isolator is designed to effectively expand the application scenarios of the quasi-zero stiffness vibration isolator. The present application proposes a compact quasi-zero stiffness vibration isolator and a debugging method constructed by a single pendulum rod 1. Compared with the sliding pairs and support components of the existing vibration isolator, only one pendulum rod 1 is required, which greatly reduces the number of parts for constructing the quasi-zero stiffness vibration isolator.

[0056] ​Among them, the representative technology in the prior art scheme is the technical scheme named a constant-value quasi-zero stiffness vibration isolation structure based on a horizontal tension spring and a debugging method with a patent application number ZL202210975179.7. This application has significant differences from ZL202210975179.7 in structure, force and stiffness expression, mechanism, and compactness, and is to solve the problem that ZL202210975179.7 cannot be made into a compact quasi-zero stiffness vibration isolator due to its large size in application. The following are the differences between this application and such technical schemes:

[0057] Structure: ZL202210975179.7 uses a fixed support and a guide rail slider module to achieve horizontal sliding of the two ends of the horizontal tension spring, and the positions of the two ends of the horizontal tension spring in the vertical direction do not change. This application uses a swing lever 1 to replace the above module, has fewer components, a simple and compact structure, and the positions of the two ends of the horizontal tension spring in the vertical direction change. The fewer components feature is the key to realizing a compact quasi-zero stiffness vibration isolator.

[0058] Force and stiffness expression: due to the significant structural differences, the modeling process of the vibration isolator is different from that of ZL202210975179.7. For example, the swing lever 1 angle participates in the expression of the force and stiffness of this application, but this parameter is not included in the force and stiffness expression of ZL202210975179.7.

[0059] Technical mechanism: this application uses a swing lever 1, a connecting rod 2, and a horizontal tension spring to achieve negative stiffness. ZL202210975179.7 uses a support, a guide rail, a slider, a connecting rod 2, and a horizontal tension spring to achieve negative stiffness. Compared with ZL202210975179.7, this application uses a swing lever 1 to replace the previous support, guide rail, and slider, and has fewer components and a more compact structure.

[0060] In summary, this application has a simpler structure, uses fewer components, can obtain a compact quasi-zero stiffness vibration isolator design, and can be applied to application scenarios with strict space size restrictions.

[0061] To facilitate the understanding of the schemes provided by the following embodiments of the present application, before describing the technical schemes provided by the present application, the terms related to the present application are explained as follows:

[0062] Quasi-zero stiffness vibration isolator: a mechanical passive vibration isolation device realized by connecting a positive stiffness structure and a negative stiffness structure in parallel, whose stiffness characteristic tends to zero near the equilibrium position, and which can effectively isolate low-frequency vibrations.

[0063] Swing bar 1: vertically installed hinged bar, the core moving part of the vibration isolator. The bottom end is hinged to the rack 6, and the top end is hinged to the connecting rod 2, which changes the geometric relationship by swinging to achieve stiffness adjustment, replacing the traditional sliding pair structure.

[0064] Static balance position: stable working position of the vibration isolator when bearing rated load.

[0065] Dimensionless parameter: unitless parameter after dimension normalization processing, used to simplify mathematical modeling.

[0066] Guide rod 5: vertically installed rigid rod, used to constrain the motion trajectory of the spring. The bottom end of the second tension spring 4 is fixed to the guide rod 5, and the top end is connected to the rack 6, ensuring the linear motion of the spring.

[0067] Example 1

[0068] As Figure 1 The initial state of the vibration isolator of the present application, the present application proposes a compact quasi-zero stiffness vibration isolator with a single swing bar 1 structure and a debugging method. Compared with the sliding motion pair and support components of the existing vibration isolator, only one swing bar 1 is needed, which greatly reduces the number of parts for constructing a quasi-zero stiffness vibration isolator. Specifically, the vibration isolator of the present application includes a swing bar 1 arranged vertically in the initial state and a connecting rod 2 hinged to the top end of the swing bar 1. The bottom end of the swing bar 1 is hinged to the rack 6, and the other end of the connecting rod 2 is hinged to the top end of the guide rod 5 at point O, and the load disc is arranged at point O.

[0069] The bottom end of the guide rod 5 is fixedly connected to the bottom end of the second tension spring 4.

[0070] One end of the first tension spring 3 is installed at the hinge point of the swing bar 1 and the connecting rod 2, and the other end of the first tension spring 3 is fixed to the rack 6. The first tension spring 3 is in a horizontal state; the stiffness of the first tension spring 3 is , which cooperates with the connecting rod 2 to provide a negative stiffness part for constructing a quasi-zero stiffness vibration isolator;

[0071] The top end of the second tension spring 4 is fixedly connected to the rack 6, and the stiffness of the second tension spring 4 is

[0072] provides a positive stiffness part for constructing a quasi-zero stiffness vibration isolator, and the positive stiffness and the negative stiffness are connected in parallel to realize the quasi-zero stiffness characteristic;

[0073] The swing bar 1 is in a vertical position in the initial state, and the length between the two hinge points of the swing bar 1 is ; In the initial state, the projection length of the distance between the two hinge points of the connecting rod 2 in the horizontal direction is ;

[0074] The debugging method of the vibration isolator includes the following steps:

[0075] S1. Determine the dimensionless pre-compression of the first tensile spring 3 in the initial state according to the actual working condition , determine the dimensionless projection length of the connecting rod 2 in the horizontal direction in the initial state , determine the dimensionless parameter of the length between the two hinge points of the swing rod 1 , determine the stiffness ratio of the first tensile spring 3 and the second tensile spring 4 ;

[0076] S2. According to the parameter conditions of quasi-zero stiffness characteristics, when the parameter conditions satisfy the quasi-zero stiffness parameter relationship , obtain the nonlinear quasi-zero stiffness characteristic curve; when the parameter conditions satisfy the quasi-zero stiffness parameter relationship and , obtain the constant zero stiffness characteristic curve; when the parameter conditions satisfy the quasi-zero stiffness parameter relationship and , obtain the constant quasi-zero stiffness characteristic curve

[0077] S3. After determining the above parameters, draw the force displacement curve , When the applied force applied to the load disc is , the vibration isolator is in a static equilibrium position, and the force divided by the acceleration of gravity is the carrying mass, to determine whether the vibration isolator meets the design requirements of carrying capacity and vibration isolation frequency band. If the design requirements are not met, repeat steps S1 to S3

[0078] The initial state refers to the state that one hinge end of the connecting rod 2 is hinged with the top end of the guide rod 5 and the second tensile spring 4 is in a free length; the static equilibrium position refers to the state that the connecting rod 2 is in a horizontal state

[0079] wherein is the pre-tension of the first tensile spring 3 in the initial state, is the tension of the first tensile spring 3 in the horizontal direction, and the rotation angle of the swing rod 1 in the static equilibrium position is The displacement from the initial state is , and the displacement from the static equilibrium position is . In the static equilibrium position, the rotation angle of the swing rod 1 is , as shown in Figure 2 .

[0080] Preferably, in any position, the rotation angle of the swing rod 1 is , as shown in Figure 3 .

[0081] Furthermore, as point O moves downward, when connecting rod 2 is in a horizontal state, that is, the vibration isolator reaches a static equilibrium position, the applied force This is the rated load of the isolator.

[0082] Furthermore, the above debugging method includes the corresponding force And its expression is dimensionless, where the dimensionless expression is:

[0083] (1)

[0084] By applying force The dimensionless expression of right Derivative, using , and the approximate stiffness is obtained , The expression is:

[0085] (2)

[0086] in, and is an intermediate variable.

[0087] Specifically, the calculation method of the above dimensionless parameters is:

[0088] ;

[0089] ;

[0090] ;

[0091] ;

[0092] ;

[0093] ;

[0094] ;

[0095] ;

[0096] ;

[0097] ; (3)

[0098] In any Position, the rotation angle of pendulum 1 is , It is limited to the following equation:

[0099]

[0100] Among them, the displacement of point O from the initial state is ; In the vertical direction, the displacement of pendulum 1 from the static equilibrium position is ; Static equilibrium position , the corresponding transformation relationship between the two coordinates is ; In the initial state, the distance from the initial position O to the top of the pendulum 1 along the direction of motion is ; The distance from the initial position O to the static equilibrium position is , It is the displacement change of the top end of the pendulum rod 1 in the vertical direction caused by the swing of the pendulum rod 1 in the process of moving from the initial position to the static equilibrium position.

[0101] Furthermore, by setting the stiffness and the second-order derivative of stiffness equal to zero at the static equilibrium position, two quasi-zero stiffness conditions can be approximately derived:

[0102] ; (4)

[0103] ; (5)

[0104] As shown in the above formula (4) and formula (5).

[0105] According to the quasi-zero stiffness condition The nonlinear quasi-zero stiffness curve is obtained, and the stiffness and force-displacement curves are plotted as follows: Figure 4 、 Figure 5 As shown. Figure 4 The nonlinear quasi-zero stiffness curve shown in the figure shows that the vibration isolator has a lower stiffness near the equilibrium position and can effectively isolate low-frequency vibrations. Figure 5 The force-displacement curve is shown, from which it can be observed that near the equilibrium position, the change in force with displacement is relatively gentle, which helps to reduce the dynamic response of the system when subjected to external disturbances and improve stability. Through the design of quasi-zero stiffness conditions, the device can achieve near-zero stiffness characteristics under specific conditions, thus demonstrating good vibration isolation effects in practical applications.

[0106] according to and and The constant quasi-zero stiffness curve is obtained, and the stiffness and force displacement curves are drawn as follows Figure 6 、 Figure 7 As shown. Figure 6 The constant quasi-zero stiffness curve shown in the figure shows that under the constant quasi-zero stiffness condition, the stiffness of the isolator remains approximately constant within a wide displacement range. This characteristic enables the isolator to exhibit good vibration isolation performance under different vibration amplitudes.Figure 7 The corresponding force-displacement curves are shown, and it can be seen from the figure that the force changes more linearly with displacement in the constant quasi-zero stiffness interval, which further enhances the stability and controllability of the system. By comparing the nonlinear quasi-zero stiffness curve and the constant quasi-zero stiffness curve, it can be found that the constant quasi-zero stiffness design has significant advantages in widening the effective vibration isolation range and improving the vibration isolation efficiency.

[0107] It is to be understood that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer usable program code.

[0108] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions, and the combination of flows and / or blocks in the flowcharts and / or block diagrams. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce a device that implements the flow Figure 1 one or more flows and / or blocks Figure 1 means for performing the functions specified in one or more blocks or flows.

[0109] These computer program instructions can also be stored in a computer-readable memory capable of guiding the computer or other programmable data processing devices to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including instruction means, which implements the flow Figure 1 one or more flows and / or blocks Figure 1 means for performing the functions specified in one or more blocks or flows.

[0110] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide a process for implementing the flow Figure 1 one or more flows and / or blocks Figure 1 means for performing the functions specified in one or more blocks or flows.

[0111] It should be noted that the above examples are only used to illustrate the technical solutions of the present application but not to limit the present application. Although the present application has been described in detail with reference to the above examples, those skilled in the art should understand that the specific implementation of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and any modification or equivalent replacement should be covered in the protection scope of the claims of the present application.

[0112] It should be noted that the above examples are only used to illustrate the technical solutions of the present application but not to limit the present application. Although the present application has been described in detail with reference to the above examples, those skilled in the art should understand that the specific implementation of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and any modification or equivalent replacement should be covered in the protection scope of the claims of the present application.

[0113] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A debugging method for a compact quasi-zero stiffness vibration isolator with a single rocker structure, characterized in that: The vibration isolator includes a swing rod that is initially vertically arranged and a connecting rod hinged to the top end of the swing rod. The bottom end of the swing rod is hinged to the frame, and the other end of the connecting rod is hinged to the top end of the guide rod at point O, where a load plate is provided. The bottom end of the guide rod is fixedly connected to the bottom end of the second tension spring; One end of the first tension spring is installed at the hinge point of the rocker arm and the connecting rod, and the other end of the first tension spring is fixed to the frame. The first tension spring is in a horizontal state. The stiffness of the first tension spring is , cooperates with the connecting rod to provide a negative stiffness portion of the quasi-zero stiffness isolator in the vertical direction; The top end of the second tension spring is fixedly connected to the frame, and the stiffness of the second tension spring is Providing a positive stiffness portion for constructing the quasi-zero stiffness vibration isolator, wherein the positive stiffness is connected in parallel with the negative stiffness to achieve a quasi-zero stiffness characteristic; The pendulum is in a vertical position in the initial state, and the length between the two hinge points of the pendulum is ; In the initial state, the horizontal projection length of the distance between the two hinge points of the connecting rod is ; The debugging method of the vibration isolator comprises the following steps: S1. Determine the dimensionless pre-compression of the first tension spring in the initial state according to the actual working conditions. , determine the dimensionless projection length of the connecting rod in the horizontal direction in the initial state , the dimensionless parameter that determines the length between the two hinge points of the rocker , determine the stiffness ratio of the first tension spring to the second tension spring ; S2. According to the parameter conditions of the quasi-zero stiffness characteristic, when the parameter conditions meet the quasi-zero stiffness parameter relationship , obtain the nonlinear quasi-zero stiffness characteristic curve; when the parameter conditions meet the quasi-zero stiffness parameter relationship and , obtain the constant zero stiffness characteristic curve; when the parameter conditions meet the quasi-zero stiffness parameter relationship and , obtain the constant value quasi-zero stiffness characteristic curve; S3. After determining the above parameters, draw the force-displacement curve , The applied force applied to the load plate is When the vibration isolator is in a static equilibrium position, the force divided by the acceleration of gravity is the bearing mass, and whether the vibration isolator meets the design requirements of bearing capacity and vibration isolation frequency band is determined. If it does not meet the design requirements, repeat steps S1 to S3; The initial state refers to a state in which one hinged end of the connecting rod is hinged to the top end of the guide rod and the second tension spring is at a free length; the static equilibrium position refers to a state in which the connecting rod is in a horizontal state; in, is the pre-tension amount of the first tension spring in the initial state, is the horizontal tension of the first tension spring. In the static equilibrium position, the rotation angle of the pendulum is .

2. The debugging method of a compact quasi-zero stiffness vibration isolator with a single rocker structure according to claim 1, characterized in that: In order to analyze the structural parameter characteristics, the applied force And its expression is dimensionless, where the dimensionless expression is: ； （1） By applying force The dimensionless expression of right Derivative, using , and the approximate stiffness is obtained , The expression is: ； （2） in, and is an intermediate variable.

3. The debugging method of a compact quasi-zero stiffness vibration isolator with a single rocker structure according to claim 2, characterized in that: The calculation method of the dimensionless parameter is: ； ； ； ； ； ； ； ； ； ； （3） In any Position, the rotation angle of the pendulum is , It is limited to the following equation: ； Among them, the displacement of point O from the initial state is ; In the vertical direction, the displacement of the pendulum from the static equilibrium position is ; Static equilibrium position , the corresponding transformation relationship between the two coordinates is ; In the initial state, the distance from the initial position O to the top of the pendulum along the direction of motion is ; The distance from the initial position O to the static equilibrium position is , It is the displacement change of the top end of the pendulum rod in the vertical direction caused by the swing of the pendulum rod in the process of moving from the initial position to the static equilibrium position.

4. The debugging method of a compact quasi-zero stiffness vibration isolator with a single rocker structure according to claim 1, characterized in that: At the static equilibrium position, let the stiffness and the second-order derivative of the stiffness be equal to zero, and two quasi-zero stiffness conditions can be approximately derived: ； （4） ； （5） As shown in the above formula (4) and formula (5).

5. The debugging method of a compact quasi-zero stiffness vibration isolator with a single rocker structure according to claim 1, characterized in that: As point O moves downward, when the connecting rod is in a horizontal state, that is, the vibration isolator reaches a static equilibrium position, the applied force That is the rated load of the vibration isolator.

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