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

Abstract

The invention relates to the technical field of quasi-zero-stiffness low-frequency vibration isolation, and discloses a debugging method of a compact inclined quasi-zero-stiffness vibration isolator with a single-pair swing rod construction.The vibration isolator comprises two parallel swing rods, and in the initial state, an included angle is formed between each swing rod and the vertical direction; the top end of a swing rod is hinged to two connecting rods symmetrically arranged in the inclined movement direction, the bottom end of the swing rod is hinged to a rack, the two connecting rods and the top end of a guide rod are hinged to a point O, the two hinged points of the swing rod and the connecting rods fix the two ends of a first extension spring, the bottom end of the guide rod is fixed to the bottom end of a second extension spring, and the top end of the second extension spring is fixed to the rack. According to the vibration isolator and the debugging method, the low-frequency vibration problem caused by excitation in the inclined direction of an existing quasi-zero-stiffness vibration isolator and the design problem of a small vibration isolator are solved, meanwhile, only two swing rods are needed, and the number of parts for constructing the quasi-zero-stiffness vibration isolator is greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of quasi-zero stiffness low-frequency vibration isolation, in particular to a debugging method of a compact tilt quasi-zero stiffness vibration isolator with single pair of swing rods. 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 is a strict limitation on the installation space of the vibration isolator in application occasions, and the compact quasi-zero stiffness vibration isolator with small size has a wide application demand. In addition, the present application solves the low-frequency vibration problem in the tilt direction.

[0003] The effective working direction of the traditional quasi-zero stiffness vibration isolator is the vertical direction, but in the actual environment, the direction of excitation is not always vertical, and the low-frequency vibration caused by the excitation in the non-vertical tilt direction often exists in the actual environment. If the quasi-zero stiffness vibration isolator in the vertical direction is used to solve the low-frequency vibration problem caused by the excitation in the tilt direction, the vibration isolation effect will be reduced or even invalid. In addition, the existing quasi-zero stiffness vibration isolation structure is complex, and a large number of parts are required, which cannot be used in some application scenarios with strict space limitation. Therefore, the design of small and compact quasi-zero stiffness vibration isolator can effectively expand the application scenarios of quasi-zero stiffness vibration isolator.

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

[0005] The purpose of the present application is to provide a compact tilt quasi-zero stiffness vibration isolator with single pair of swing rods and a debugging method, which solves the low-frequency vibration problem caused by the excitation in the tilt direction of the existing quasi-zero stiffness vibration isolator and the design problem of small vibration isolator, and only two swing rods are required, which greatly reduces the number of parts for constructing the quasi-zero stiffness vibration isolator.

[0006] To achieve the above purpose, the present application provides the following technical scheme:

[0007] A debugging method of a compact tilt quasi-zero stiffness vibration isolator with single pair of swing rods, the vibration isolator comprising two parallel swing rods, in the initial state, the angle between each swing rod and the vertical direction is , the top end of the swing rod is hinged to two connecting rods arranged symmetrically along the tilt motion direction, the bottom end of the swing rod is hinged to the rack, and the other end of the two connecting rods is hinged to the top end of the guide rod at point O, and the load disc is arranged at point O;

[0008] The two hinge points of the swing rod and the connecting rod fix the two ends of the first tension spring;

[0009] The two hinged links are hinged to the top end of the guide rod, the bottom end of the guide rod is fixedly connected to the bottom end of the second tensile spring, and the top end of the second tensile spring is fixed to the rack;

[0010] The stiffness of the first tensile spring is k1, and the stiffness of the second tensile spring is k2. The first tensile spring cooperates with the links and the swing rod to provide negative stiffness in the tilt motion direction, and the second tensile spring provides positive stiffness in the tilt motion direction. The positive stiffness and the negative stiffness are connected in parallel to realize the quasi-zero stiffness characteristic;

[0011] The length between the two hinge points of the swing rod is , the swing rod is arranged in parallel with the guide rod in the initial state, and the projection length of the link in the initial state in the direction perpendicular to the tilt motion direction is ;

[0012] The debugging method of the vibration isolator comprises the following steps:

[0013] S1. Determine the tilt angle according to the actual working condition of the vibration isolator, determine the dimensionless pre-compression amount of the first tensile spring in the initial state , determine the dimensionless projection length of the link in the initial state in the direction perpendicular to the tilt motion direction of the link , determine the dimensionless length between the two hinge points of the swing rod , and determine the stiffness ratio of the first tensile spring and the second tensile spring ;

[0014] S2. According to the parameter conditions of the quasi-zero stiffness characteristic, if the given parameter values satisfy the quasi-zero stiffness parameter relationship , a nonlinear quasi-zero stiffness characteristic curve is obtained; if the given parameter values satisfy the quasi-zero stiffness parameter relationship and , a constant zero stiffness characteristic curve is obtained; and if the given parameter values satisfy the quasi-zero stiffness parameter relationship and , a constant quasi-zero stiffness characteristic curve is obtained.

[0015] S3. After the parameters designed in step S2 are determined, the force-displacement curve is drawn , is the application force applied to the load disc, when the application force is in the motion direction or in the vertical direction , the vibration isolator is in a static equilibrium position, and the force divided by the gravitational acceleration is the carrying mass. Determine whether the vibration isolator meets the design requirements of the carrying capacity and the vibration isolation frequency band. If the design requirements are not met, repeat steps S1 to S3.

[0016] wherein is the pre-tensioning amount of the first tensile spring in the initial state, is the tension of the first tensile spring in the direction perpendicular to the motion direction; the initial state refers to the state that the connecting rod is articulated with the guide rod and the second tensile spring is at a free length; and the static equilibrium state refers to the position of the connecting rod when the connecting rod is perpendicular to the direction of the tilting motion.

[0017] Compared with the prior art, the application has the beneficial effects that:

[0018] The technical scheme of the application meets the quasi-zero stiffness characteristic condition by adjusting parameters such as the length of the swing rod, the angle between the swing rod in the initial state and the vertical direction, and the pre-tensioning amount of the spring, so as to realize the nonlinear, constant zero stiffness or constant quasi-zero stiffness characteristics. At the same time, the technical scheme of the application introduces the tilting angle and dimensionless processing to ensure that the vibration isolator can work effectively in the tilting direction.

[0019] In addition, compared with the prior art, the application only needs two swing rods, greatly reducing the number of parts, and realizing the design of a small and compact quasi-zero stiffness vibration isolator.

[0020] As a further improvement on the debugging method of the compact tilting quasi-zero stiffness vibration isolator of the application with a single pair of swing rod structure, for analyzing the structural parameter characteristics, the applied force , the dimensionless applied force is:

[0021] ; (1)

[0022] The first-order derivative of the applied force is taken, and the dimensionless stiffness is obtained, and the approximate dimensionless stiffness is obtained. The expression is:

[0023] ; (2)

[0024] wherein, and are intermediate variables.

[0025] As a further improvement on the debugging method of the compact tilting quasi-zero stiffness vibration isolator of the application with a single pair of swing rod structure, the dimensionless parameter form is:

[0026] ;

[0027] ;

[0028] ;

[0029] ;

[0030] ;

[0031] ;

[0032] ;

[0033] ;

[0034] ;

[0035] ;(3)

[0036] wherein the vertical direction displacement from the initial state is the vertical direction displacement from the static equilibrium position is , is a dimensionless expression of , is a dimensionless expression of ; the distance from the initial position O point to the top end of the pendulum along the tilting movement direction in the initial state is ; the distance from the initial position O point to the static equilibrium position is , is the displacement variation of the top end of the pendulum in the movement direction caused by the pendulum swing from the initial position to the static equilibrium position;

[0037] the static equilibrium position satisfies , in the static equilibrium position, the rotation angle of the pendulum is , in any position, the rotation angle of the pendulum is , is limited to the following equation:

[0038]

[0039] the corresponding conversion relationship of the two coordinates is .

[0040] As a further improvement of the debugging method of the present application, in the static equilibrium position, the dimensionless stiffness is equal to zero, and the second derivative of the stiffness is equal to zero, two quasi-zero stiffness conditions can be approximately derived respectively:

[0041] ; (4)

[0042] ; (5)

[0043] With formula (4) and formula (5) as basic conditions, a nonlinear quasi-zero stiffness characteristic curve in the moving direction, a constant zero stiffness characteristic curve and a constant quasi-zero stiffness characteristic curve are obtained.

[0044] As a further improvement on the debugging method of the compact tilt quasi-zero stiffness vibration isolator of the single pair of swing rod structure of the present application, with the O point moving downward, when the connecting rod is in a state perpendicular to the moving direction and the vibration isolator reaches the static equilibrium position, the force That is, the rated load of the vibration isolator in the moving direction. BRIEF DESCRIPTION OF DRAWINGS

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

[0046] Figure 2 It is the static equilibrium state diagram of the vibration isolator of the present application;

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

[0048] Figure 4 It is the nonlinear quasi-zero stiffness curve of the vibration isolator of the present application;

[0049] Figure 5 It is the force displacement curve corresponding to the nonlinear quasi-zero stiffness curve of the vibration isolator of the present application;

[0050] Figure 6 It is the constant quasi-zero stiffness curve of the vibration isolator of the present application;

[0051] Figure 7 It is the force displacement curve corresponding to the constant quasi-zero stiffness curve of the vibration isolator of the present application;

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

[0053] The technical solutions in the embodiments of the present application will be described clearly and completely below with 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 protection scope of the present application.

[0054] The following detailed description is exemplary in nature and is intended to provide further description of the application. Unless otherwise defined, all technical 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 application herein is for describing particular embodiments only and is not intended to be limiting of the example embodiments in accordance with the application.

[0055] The present application is significantly different from ZL 2022 1 0975179.7 in structure, force and stiffness expression, mechanism, compactness, and is to solve the problem of ZL 2022 1 0975179.7 in application size, unable to make compact quasi-zero stiffness vibration isolator, and solve the problem of unable to use in tilting method.

[0056] Specifically, in terms of structure, patent ZL202210975179.7 uses a fixed support and guide rail slider module to achieve horizontal sliding of the two ends of the horizontal tension spring, while ensuring that the positions of the two ends of the spring remain unchanged in the vertical direction. And the present application uses a swing rod 2 to replace the above module, with fewer parts, simple and compact structure, and position change of the two ends of the horizontal tension spring in the vertical direction. Among them, the fewer parts feature is the key to realizing compact quasi-zero stiffness vibration isolator.

[0057] Secondly, the force and stiffness expressions of the present application and the comparative document are different. Due to the significant structural difference, the modeling process of the vibration isolator is different from the comparative document patent ZL202210975179.7. For example, the swing rod 2 rotation angle and parameters participate in the expression of the force and stiffness of the present application, while the force and stiffness expressions of the comparative document ZL 202210975179.7 do not have these parameters. The present application uses swing rod 2, connecting rod 1 and horizontal tension spring to achieve negative stiffness. The comparative document ZL202210975179.7 uses support, guide rail, slider, connecting rod 1 and horizontal tension spring to achieve negative stiffness. The present application uses swing rod 2 to replace the previous support, guide rail and slider, which uses fewer parts and is more compact in structure.

[0058] In summary, the technical solution of the present application has a simpler structure, uses fewer parts, can obtain a compact quasi-zero stiffness vibration isolator design, and can be applied to application scenarios with strict size restrictions.

[0059] Further, in order to facilitate the understanding of the schemes provided by the following embodiments of the present application, before describing the technical solutions provided by the present application, the following terms related to the present application are explained as follows:

[0060] Quasi-zero stiffness vibration isolator: A vibration isolator that utilizes the parallel connection of positive and negative stiffness structures to achieve a stiffness characteristic close to zero near a specific working point. By reducing the effective stiffness of the system, the low-frequency vibration isolation effect can be significantly improved. Compared with traditional vibration isolators, the application can achieve higher performance in low-frequency vibration isolation near the static equilibrium position.

[0061] Excitation in the tilt direction: Refers to a form of external force in the actual environment, where the direction of the excitation force is not vertical downward, but at an angle (not 90°) to the vibration isolator. Traditional quasi-zero stiffness vibration isolators are mainly designed for vertical excitation. If the excitation is in the tilt direction, the isolation effect will be significantly reduced or even fail.

[0062] Swing rod 2: A rod-shaped component hinged to the frame 5, used to transmit force and displacement, and involved in forming negative stiffness characteristics.

[0063] Connecting rod 1: A rigid component connecting the swing rod 2 and the load plate, used to convert the motion of the swing rod 2 into the overall motion of the vibration isolator. The connecting rod 1 is hinged to the swing rod 2 and reaches static equilibrium in a state perpendicular to the motion direction.

[0064] Static equilibrium position: The position of the vibration isolator in the force and displacement balance state without external disturbance.

[0065] Dimensionless: Dimensionless is a mathematical processing method that simplifies formula expression and calculation process by normalizing physical quantities. For example, the application of dimensionless parameters such as force 𝑓, displacement 𝑥, and stiffness ratio 𝛼 is used to analyze the mechanical properties of the vibration isolator.

[0066] Tension spring: An elastic element that produces tensile deformation under force, used to provide linear stiffness. In this application, the tension spring provides negative stiffness and positive stiffness to form quasi-zero stiffness characteristics.

[0067] From the technical common sense, the application can be realized by other embodiments without departing from the spirit or essential characteristics. Therefore, the above disclosed embodiments are only examples and are not the only ones. All changes within the scope of the application or within the scope equivalent to the application are included in the application.

[0068] Example 1

[0069] As Figure 1The initial state of the vibration isolator of the application is shown, wherein the compact quasi-zero stiffness vibration isolator and debugging method constructed by the single pair of swing rods 2 of the application only need two swing rods 22, which greatly reduces the number of parts for constructing the quasi-zero stiffness vibration isolator. Specifically, the quasi-zero stiffness vibration isolator is an effective way to solve the low-frequency vibration isolation problem and is a hot spot in current vibration isolation research. However, there are strict limitations on the installation space of the vibration isolator in application occasions, and the compact and small-size quasi-zero stiffness vibration isolator has a relatively wide application demand. In addition, the application solves the low-frequency vibration problem in the inclined direction.

[0070] In the debugging method of the compact inclined quasi-zero stiffness vibration isolator constructed by the single pair of swing rods 2 of the application, the vibration isolator includes two parallel swing rods 2, and the angle between each swing rod 2 and the vertical direction in the initial state is , the top end of the swing rod 2 is hinged to two connecting rods 1 symmetrically arranged along the inclined motion direction, the bottom end of the swing rod 2 is hinged to the rack 5, the other end of the two connecting rods 1 is hinged to the top end of the guide rod 6 at the O point, and the O point is provided with a load disc;

[0071] The two hinged points of the swing rod 2 and the connecting rod 1 fix the two ends of the first tensile spring 3;

[0072] The hinged points of the two connecting rods 1 and the top end of the guide rod 6 are hinged, the bottom end of the guide rod 6 is fixedly connected to the bottom end of the second tensile spring 4, and the top end of the second tensile spring 4 is fixed to the rack 5;

[0073] The stiffness of the first tensile spring 3 is k1, the stiffness of the second tensile spring 4 is k2, the first tensile spring 3 cooperates with the connecting rod 1 and the swing rod 2 to provide negative stiffness in the construction of the inclined motion direction, the second tensile spring 4 provides positive stiffness in the construction of the inclined motion direction, and the positive stiffness and the negative stiffness are connected in parallel to realize the quasi-zero stiffness characteristic;

[0074] The length between the two hinged points of the swing rod 2 is , the swing rod 2 is arranged in parallel with the guide rod 6 in the initial state, and the projection length of the connecting rod 1 in the initial state in the direction perpendicular to the inclined motion direction is ;

[0075] The debugging method of the vibration isolator includes the following steps:

[0076] S1. Determine the inclination angle according to the actual working condition of the vibration isolator, determine the dimensionless pre-compression amount of the first tensile spring 3 in the initial state, determine the dimensionless projection length of the connecting rod 1 in the initial state in the direction perpendicular to the inclined motion direction of the connecting rod 1, determine the dimensionless length between the two hinged points of the swing rod 2, and determine the stiffness ratio of the first tensile spring 3 and the second tensile spring 4.

[0077] S2. According to the parameter condition of quasi-zero stiffness characteristic, if the given parameter value satisfies the quasi-zero stiffness parameter relationship , a nonlinear quasi-zero stiffness characteristic curve is obtained; if the given parameter value satisfies the quasi-zero stiffness parameter relationship and , a constant zero stiffness characteristic curve is obtained; if the given parameter value satisfies the quasi-zero stiffness parameter relationship and , a constant quasi-zero stiffness characteristic curve is obtained.

[0078] S3. After determining the parameters designed in step S2, the force-displacement curve is drawn , is the applied force applied to the load disc, when the applied force is in the movement direction or in the vertical direction , the isolator is in a static equilibrium position, and the force divided by the gravitational acceleration is the carrying mass, to determine whether the isolator meets the design requirements of carrying capacity and isolation frequency band, if not, repeat steps S1 to S3.

[0079] wherein, is the pre-tension of the first tension spring 3 in the initial state, is the tension of the first tension spring 3 in the direction perpendicular to the movement direction; the initial state refers to the state that the connecting rod 1 is hinged with the guide rod 6 and the second tension spring 4 is in free length; the static equilibrium state refers to the position of the connecting rod 1 when it is perpendicular to the inclined movement direction.

[0080] Preferably, in the static equilibrium position, the rotation angle of the swing rod 2 is , as shown in Figure 2 .

[0081] Preferably, in any position, the rotation angle of the swing rod 2 is , as shown in Figure 3 .

[0082] For analyzing the structural parameter characteristics, the applied force is obtained, and the dimensionless applied force is:

[0083] ; (1)

[0084] The first-order derivative of the applied force is obtained, and the approximate dimensionless stiffness is obtained, and the expression is:

[0085] ; (2)​​

[0086] wherein, and are intermediate variables.

[0087] Further, the dimensionless parameter is in the form of:

[0088]

[0089]

[0090]

[0091]

[0092]

[0093]

[0094]

[0095]

[0096]

[0097] (3)

[0098] wherein, the vertical direction displacement from the initial state is , the vertical direction displacement from the static equilibrium position is , is a dimensionless expression of , is a dimensionless expression of ; the distance from the initial position O point to the top end of the swing rod 2 in the initial state along the tilting movement direction is ; the distance from the initial position O point to the static equilibrium position is , is the displacement variation of the top end of the swing rod 2 in the movement direction caused by the swing of the swing rod 2 from the initial position to the static equilibrium position; The static equilibrium position

[0099] satisfies , the rotation angle of the swing rod 2 in the static equilibrium position is , the rotation angle of the swing rod 2 in any position is , is limited to the following equation:

[0100] ​​​​​​​​​​

[0101] The corresponding transformation relationship between the two coordinates is .

[0102] Furthermore, in the static equilibrium position, let the dimensionless stiffness Equal to zero, let the stiffness The second-order derivative of is equal to zero, and two quasi-zero stiffness conditions can be approximately derived:

[0103] ; (4)

[0104] ; (5)

[0105] Taking formula (4) and formula (5) as basic conditions, the nonlinear quasi-zero stiffness characteristic curve, the constant zero stiffness characteristic curve and the constant quasi-zero stiffness characteristic curve in the motion direction are obtained.

[0106] Specifically, according to the quasi-zero stiffness condition The nonlinear quasi-zero stiffness can be obtained, and the stiffness and force-displacement curves are plotted as follows: Figure 4 、 Figure 5 As shown. Among them, according to Figure 4 The nonlinear quasi-zero stiffness curve shown in the figure shows that in the nonlinear quasi-zero stiffness characteristic curve, as the displacement of the load plate increases, the stiffness first decreases to a value close to zero, and then gradually increases. This characteristic makes the vibration isolator have excellent low-frequency vibration isolation effect near a specific working point. Figure 5 The force-displacement curve corresponding to the nonlinear, quasi-zero stiffness curve shown shows that as the load plate displacement increases, the force increases rapidly in the initial stage; however, when the displacement reaches a certain value, the force growth slows down as the stiffness approaches zero. This slow growth region corresponds exactly to the region where the stiffness approaches zero in the nonlinear, quasi-zero stiffness characteristic curve, reducing the system's response sensitivity to external excitation within this region, thereby effectively achieving low-frequency vibration isolation. Furthermore, the force-displacement curve shows that at larger displacements, the stiffness gradually increases, leading to a rapid increase in force.

[0107] Further, press and and The constant quasi-zero stiffness can be obtained, and the stiffness and force displacement curves are plotted as follows: Figure 6 、 Figure 7 Press and The constant zero stiffness characteristic can be obtained. Figure 6 The constant quasi-zero stiffness curve shown in the figure shows that in the constant quasi-zero stiffness characteristic curve, the stiffness remains approximately zero within a certain displacement range. This characteristic enables the vibration isolator to have stable vibration isolation performance within the displacement range. Figure 7The constant quasi-zero stiffness curve shown corresponds to a force-displacement curve in which the force increases slowly and approximately linearly as the displacement of the load plate increases. This is because the stiffness is designed to be approximately zero in this displacement range, so the increase in force is mainly determined by other nonlinear factors of the system, rather than the change in stiffness. This characteristic ensures that the vibration isolator provides stable vibration isolation in a wide frequency range, and is particularly suitable for applications sensitive to low-frequency vibrations.

[0108] It is to be understood that the embodiments of the present application can be in the form of a method, a system or a computer program product. Accordingly, embodiments of the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0109] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing device or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the one or more functions specified in the flowchart illustrations and / or block diagrams.

[0110] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the one or more functions specified in the flowchart illustrations and / or block diagrams.

[0111] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the one or more functions specified in the flowchart illustrations and / or block diagrams.

[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 it. 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 embodiments 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] It should be noted that the above examples are only used to illustrate the technical solutions of the present application but not to limit it. 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 embodiments 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.

[0114] Although the embodiments of the present application have been shown and described, it should be understood that various changes, modifications, substitutions and variations can be made to these 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 tilted quasi-zero stiffness vibration isolator with a single pair of rocker rods, characterized in that: The vibration isolator includes two parallel rockers. In the initial state, the angle between each rocker and the vertical direction is The top end of the swing arm is hinged to two connecting rods symmetrically arranged along the tilting motion direction, the bottom end of the swing arm is hinged to the frame, and the other ends of the two connecting rods are hinged to the top end of the guide rod at point O, where a load plate is provided; The two hinge points between the rocker arm and the connecting rod fix the two ends of the first tension spring; The hinge of the two connecting rods is hinged to the top end of the guide rod, the bottom end of the guide rod is fixedly connected to the bottom end of the second tension spring, and the top end of the second tension spring is fixed to the frame; The stiffness of the first extension spring is k1, and the stiffness of the second extension spring is k2. The first extension spring cooperates with the connecting rod and the rocker arm to provide negative stiffness in the direction of the tilting motion, and the second extension spring provides positive stiffness in the direction of the tilting motion. The positive stiffness and the negative stiffness are connected in parallel to achieve a quasi-zero stiffness characteristic. The length between the two hinge points of the rocker is , the rocker is initially arranged parallel to the guide rod, and the projection length of the connecting rod perpendicular to the tilting motion direction in the initial state is ; The debugging method of the vibration isolator comprises the following steps: S1. Determine the tilt angle according to the actual working condition of the vibration isolator , determine the dimensionless pre-compression of the first tension spring in the initial state , determine the dimensionless projection length of the connecting rod in the initial state perpendicular to its tilting motion direction , the dimensionless 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, if the given parameter value satisfies the quasi-zero stiffness parameter relationship , then the nonlinear quasi-zero stiffness characteristic curve is obtained; if the given parameter values ​​satisfy the quasi-zero stiffness parameter relationship and , then a constant zero stiffness characteristic curve is obtained; if the given parameter value satisfies the quasi-zero stiffness parameter relationship and , then the constant value quasi-zero stiffness characteristic curve is obtained; S3. After determining the parameters designed in step S2, draw the force-displacement curve , is the applied force applied to the load plate, when the applied force is in the direction of motion Or in the vertical direction , the vibration isolator is in a static equilibrium position, and the force at this time 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; in, is the pre-tension amount of the first tension spring in the initial state, is the tension of the first tension spring perpendicular to the direction of movement; the initial state refers to the state in which the connecting rod is hinged to the guide rod and the second tension spring is at a free length; the static equilibrium state refers to the position of the connecting rod when it is perpendicular to the direction of tilting movement.

2. The debugging method of a compact tilted quasi-zero stiffness vibration isolator with a single pair of rocker structures according to claim 1 is characterized in that: In order to analyze the structural parameter characteristics, the applied force By non-dimensionalization, the dimensionless applied force is: ; (1) Apply force right To find the first-order derivative, use , and the approximate dimensionless stiffness is obtained The expression is: ; (2) in, and All are intermediate variables.

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

4. The debugging method of a compact tilted quasi-zero stiffness vibration isolator with a single pair of rocker rods according to claim 1, characterized in that: In static equilibrium, let the dimensionless stiffness Equal to zero, let the stiffness The second-order derivative of is equal to zero, and two quasi-zero stiffness conditions can be approximately derived: ; (4) ; (5) Taking formula (4) and formula (5) as basic conditions, the nonlinear quasi-zero stiffness characteristic curve, the constant zero stiffness characteristic curve and the constant quasi-zero stiffness characteristic curve in the motion direction are obtained.

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

Images