Vibration isolation mechanism, control method and device for vibration isolation mechanism

Abstract

This application relates to the field of vibration isolation technology, and discloses a vibration isolation mechanism, a control method for the vibration isolation mechanism, and an apparatus. The vibration isolation mechanism includes: a base; a load platform for bearing heavy loads; and an actuation mechanism comprising a support column, a wedge-shaped slider, and a drive mechanism. The upper end of the support column is ball-jointed to the load platform, and the lower end has a wedge-shaped inclined surface. The wedge-shaped slider slides against the wedge-shaped inclined surface of the support column. The output end of the drive mechanism is connected to the wedge-shaped slider and is used to drive the wedge-shaped slider to move horizontally, thereby driving the support column to rise and fall vertically via the wedge-shaped inclined surface of the wedge-shaped slider, thus moving the load platform and compensating for disturbances on the carrier platform. The vibration isolation mechanism provided by this application can simultaneously meet the requirements of high load-bearing capacity and high-frequency disturbance isolation under heavy loads.

Description

Technical Field

[0001] This application relates to the field of vibration isolation technology, such as a vibration isolation mechanism, a control method and device for the vibration isolation mechanism. Background Technology

[0002] Currently, on mobile carriers such as ships and vehicles, in order to ensure the high-precision working performance of heavy and critical equipment such as radar, antennas, and laser weapons, it is necessary to actively stabilize and isolate the heavy and critical equipment to isolate the multi-degree-of-freedom swaying and vibration interference caused by sea waves, wind loads, and uneven road surfaces.

[0003] In related technologies, vibration isolation mechanisms for heavy loads typically include the following three types: One approach is a leveling and stabilization platform based on a centralized hydraulic servo system. This type of solution achieves platform posture adjustment through the coordinated extension and retraction of multiple hydraulic cylinders, providing extremely high output force to meet heavy-duty requirements. However, inherent problems in hydraulic systems, such as fluid compressibility, servo valve nonlinearity, pipeline delay, and oil leakage, result in severely insufficient response speed, typically low system bandwidth, and an inability to effectively compensate for high-frequency disturbances.

[0004] Secondly, a high-power rotary motor combined with a high-reduction-ratio gearbox is used to drive the frame structure. Although this solution has a faster response speed than a hydraulic system, the gear backlash, elastic deformation, and friction in the transmission chain introduce nonlinear errors, resulting in a decrease in transmission accuracy and dynamic stiffness.

[0005] Thirdly, there is the parallel leveling mechanism based on electric cylinders, which uses an electric cylinder combining a rotary motor and a ball screw as the support leg. This type of solution has advantages in rigidity and working space, but the process of converting the rotational motion of the motor into linear motion by the ball screw introduces a long transmission chain, resulting in significant frictional nonlinearity, backlash, and wear problems. Under heavy loads, the dynamic response speed of the electric cylinder is significantly reduced.

[0006] It is evident that none of the existing technical solutions can simultaneously achieve both load-bearing capacity and dynamic response speed. Therefore, how to enable vibration isolation mechanisms to simultaneously meet the requirements of high load-bearing capacity under heavy loads and isolation from high-frequency disturbances has become an urgent technical problem to be solved.

[0007] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0008] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0009] This disclosure provides a vibration isolation mechanism, a control method and apparatus for the vibration isolation mechanism, which enables the vibration isolation mechanism to simultaneously meet the requirements of high load-bearing capacity under heavy loads and high-frequency disturbance isolation.

[0010] In some embodiments, the vibration isolation mechanism includes: a base; a load platform for bearing heavy loads; and an actuation mechanism including a support column, a wedge-shaped slider, and a drive mechanism. The upper end of the support column is ball-jointed to the load platform, and the lower end has a wedge-shaped inclined surface. The wedge-shaped slider slides against the wedge-shaped inclined surface of the support column. The output end of the drive mechanism is connected to the wedge-shaped slider and is used to drive the wedge-shaped slider to move horizontally, thereby driving the support column to rise and fall vertically via the wedge-shaped inclined surface of the wedge-shaped slider, thus moving the load platform and compensating for disturbances in the carrier platform.

[0011] Optionally, the drive mechanism includes: a mounting base; a linear driver disposed within the mounting base, the output end of which is fixedly connected to the wedge slider; and a preload mechanism fixedly mounted within the mounting base and connected to the linear driver.

[0012] Optionally, the wedge-shaped inclined surface of the wedge slider makes an acute angle with the horizontal plane, so that the horizontal displacement ΔL of the wedge slider and the vertical displacement ΔH of the supporting column satisfy ΔH = ΔL×tanθ, where θ is the angle of the wedge-shaped inclined surface.

[0013] Optionally, the vibration isolation mechanism further includes: a measuring mechanism, disposed on the base, for detecting the position and orientation information of the load platform relative to the base, and the disturbance information of the base carrier platform; and a control device, electrically connected to the measuring mechanism and the actuating mechanism, for controlling the actuating mechanism to drive the load platform to move according to the position and orientation information and the disturbance information.

[0014] Optionally, the vibration isolation mechanism may also include an unloading mechanism, connected to the base and the load platform, for providing support to the load platform.

[0015] In some embodiments, the control method for the vibration isolation mechanism is applied to the vibration isolation mechanism as described above. The control method includes: acquiring the current pose of the load platform relative to the base, and the current disturbance of the carrier platform on which the base is located; determining the target vertical displacement required by each actuating mechanism based on the pose error between the current pose and the target pose and the current disturbance, wherein the target vertical displacement is used to compensate for the pose error and the current disturbance; calculating the target horizontal displacement corresponding to the target vertical displacement for each actuating mechanism; and synchronously controlling the action of the drive mechanism of each actuating mechanism to drive each wedge slider to generate the target horizontal displacement.

[0016] Optionally, based on the pose error between the current pose and the target pose and the current disturbance, the target vertical displacement required by each actuating mechanism is determined, including: converting the pose error into an error vector and the current disturbance into a disturbance vector; and calculating the target vertical displacement required by each actuating mechanism using a pre-built inverse kinematics model based on the error vector and the disturbance vector.

[0017] Optionally, for each actuating mechanism, the target horizontal displacement corresponding to the target vertical displacement is calculated according to the following expression: ; in, The target horizontal displacement of the i-th actuating mechanism. Let be the target vertical displacement of the i-th actuating mechanism. Let be the tangent of the wedge angle of the wedge slider of the i-th actuation mechanism.

[0018] Optionally, the vibration isolation mechanism also includes an unloading mechanism; before the drive mechanism of each actuating mechanism is synchronously controlled to operate, the control method further includes: controlling the unloading mechanism to start, so as to provide support force for the load platform.

[0019] In some embodiments, a control device for a vibration isolation mechanism includes a processor and a memory storing program instructions, the processor being configured to execute the control method for the vibration isolation mechanism as described above when the program instructions are executed.

[0020] The vibration isolation mechanism, control method, and apparatus for the vibration isolation mechanism provided in this disclosure can achieve the following technical effects: The vibration isolation mechanism provided in this embodiment includes a base, a load platform, and an actuation mechanism. The actuation mechanism includes a support column, a wedge-shaped slider, and a drive mechanism. The upper end of the support column is ball-jointed to the load platform, and the lower end has a wedge-shaped inclined surface. The wedge-shaped slider slides against the wedge-shaped inclined surface of the support column. The output end of the drive mechanism is connected to the wedge-shaped slider and is used to drive the wedge-shaped slider to move horizontally, thereby driving the support column to rise and fall vertically through the wedge-shaped inclined surface of the wedge-shaped slider, thus moving the load platform and compensating for disturbances on the carrier platform. This method of converting horizontal displacement into vertical rising and falling of the support column through the wedge-shaped inclined surface of the wedge-shaped slider, compared to the structure of related technologies, eliminates intermediate transmission links such as hydraulic cylinders and rotary motor-screw, improving the response speed of the vibration isolation mechanism. Furthermore, the cooperation between the support column and the wedge-shaped slider provides statically determinate support for the load platform. Directly connecting the output end of the drive mechanism to the wedge-shaped slider avoids elastic deformation and backlash in intermediate transmission links, improving the load-bearing capacity of the vibration isolation mechanism. Therefore, the vibration isolation mechanism provided in this embodiment can simultaneously meet the requirements of high load-bearing capacity and high-frequency disturbance isolation under heavy loads.

[0021] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0022] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein: Figure 1 This is a schematic diagram of a vibration isolation mechanism provided in an embodiment of this disclosure; Figure 2 This is a cross-sectional schematic diagram of an actuation mechanism provided in an embodiment of this disclosure; Figure 3 This is a cross-sectional schematic diagram of another actuating mechanism provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of another vibration isolation mechanism provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of another vibration isolation mechanism provided in an embodiment of this disclosure; Figure 6 This is a schematic diagram of a control method for a vibration isolation mechanism provided in an embodiment of this disclosure; Figure 7 This is a schematic diagram of a control device for a vibration isolation mechanism provided in an embodiment of this disclosure.

[0023] Explanation of reference numerals in the attached figures: 100. Vibration isolation mechanism; 110. Base; 120. Load platform; 130. Actuation mechanism; 131. Support column; 132. Wedge slider; 133. Drive mechanism; 1331. Mounting base; 1332. Linear actuator; 1333. Preload mechanism; 140. Measuring mechanism; 1401. Laser ranging unit; 1402. Inertial measurement unit; 150. Unloading mechanism; 151. Spring mechanism; 152. Hydrostatic bearing mechanism; 700. Control device for vibration isolation mechanism; 701. Processor; 702. Memory; 703. Communication interface; 704. Bus. Detailed Implementation

[0024] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0025] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0026] Unless otherwise stated, the term "multiple" means two or more features.

[0027] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, the A / B feature means: A or B.

[0028] The term "and / or" describes an association between objects, and the feature indicates that there can be three relationships. For example, A and / or B, the feature indicates three relationships: A or B, or A and B.

[0029] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0031] Combination Figure 1 As shown in the figure, this disclosure provides a vibration isolation mechanism 100, which includes a base 110, a load platform 120, and an actuation mechanism 130. The load platform 120 is used to bear heavy loads. The actuation mechanism 130 includes a support column 131, a wedge-shaped slider 132, and a drive mechanism 133. The upper end of the support column 131 is ball-jointed to the load platform 120, and the lower end has a wedge-shaped inclined surface. The wedge-shaped slider 132 is slidably engaged with the wedge-shaped inclined surface of the support column 131. The output end of the drive mechanism 133 is connected to the wedge-shaped slider 132 and is used to drive the wedge-shaped slider 132 to move horizontally, thereby driving the support column 131 to rise and fall vertically through the wedge-shaped inclined surface of the wedge-shaped slider 132, thus moving the load platform 120 and compensating for disturbances in the carrier platform.

[0032] Specifically, the base 110 is the basic support component of the entire vibration isolation mechanism 100. It is fixed to the carrier platform (e.g., a platform that may generate vibration, such as a vehicle, ship, or aircraft) to bear the weight of the entire vibration isolation mechanism 100 and the heavy load it carries, and to transfer these loads to the carrier platform. The base 110 provides mounting positions and space for other components on the vibration isolation mechanism 100.

[0033] Specifically, the load platform 120 is located on the upper part of the vibration isolation mechanism 100 and is the component in the entire vibration isolation mechanism 100 that directly bears heavy loads. The load platform 120 is used to provide a stable and reliable placement surface for heavy loads.

[0034] Specifically, since the load platform 120 needs to bear the weight of heavy loads, it needs to have sufficient strength and rigidity to ensure the safety and stability of the vibration isolation mechanism 100 under the heavy loads during operation.

[0035] Specifically, the actuation mechanism 130 is the component in the entire vibration isolation mechanism 100 used to realize the vibration isolation function. It connects and supports the base 110 and the load platform 120, and is used to compensate for the disturbance of the isolation carrier platform to the heavy load.

[0036] Specifically, the number of actuating mechanisms 130 is at least three, and the at least three actuating mechanisms 130 are arranged at evenly spaced angles. Taking three actuating mechanisms 130 as an example, the three actuating mechanisms 130 are arranged at evenly spaced angles of 120 degrees.

[0037] Specifically, the actuation mechanism 130 includes a support column 131, a wedge-shaped slider 132, and a drive mechanism 133.

[0038] Specifically, the support column 131 is a key component connecting the load platform 120 and the wedge slider 132.

[0039] Specifically, the ball joint connection is a universal connection method. By connecting the upper end of the support column 131 to the load platform 120 with a ball joint, the support column 131 can rotate at a certain angle in multiple directions relative to the load platform 120. This connection method allows the load platform 120 to adjust its posture more flexibly when subjected to disturbances in different directions, while reducing stress concentration caused by excessive connection stiffness.

[0040] Specifically, by setting the lower end of the support column 131 as a wedge-shaped inclined surface, the support column 131 can slide in conjunction with the wedge-shaped slider 132, converting the horizontal movement of the wedge-shaped slider 132 into the vertical movement of the support column 131. The angle and dimensions of the wedge-shaped inclined surface of the support column 131 are adapted to the wedge-shaped inclined surface of the wedge-shaped slider 132 to ensure that a suitable vertical displacement is generated when the wedge-shaped slider 132 moves, thereby effectively compensating for disturbances in the carrier platform.

[0041] Specifically, the wedge-shaped slider 132 is a component that cooperates with the wedge-shaped inclined surface of the support column 131. It can move horizontally under the action of the drive mechanism 133, thereby causing the support column 131 to produce vertical displacement.

[0042] Specifically, the wedge-shaped slider 132 has an inclined surface that matches the wedge-shaped inclined surface of the support column 131, allowing the two to fit closely together and generate vertical displacement during relative sliding. To ensure the stability of the sliding between the support column 131 and the wedge-shaped slider 132, a slide rail is provided on one side of each component, and a sliding part is provided on the other side. This ensures sliding stability while also limiting the movement of the support column 131.

[0043] Specifically, the drive mechanism 133 is the component in the entire actuation mechanism 130 that provides power for the horizontal movement of the wedge slider 132.

[0044] Specifically, by connecting the output end of the drive mechanism 133 to the wedge slider 132, when the drive mechanism 133 outputs power, it can drive the wedge slider 132 to move horizontally, thereby driving the support column 131 to move vertically, that is, driving the support point connected to the load platform 120 to rise and fall, adjusting the position and posture of the load platform 120, and compensating for the disturbance caused by the carrier platform to the vibration isolation mechanism 100.

[0045] The vibration isolation mechanism 100 provided in this embodiment includes a base 110, a load platform 120, and an actuation mechanism 130. The actuation mechanism 130 includes a support column 131, a wedge-shaped slider 132, and a drive mechanism 133. The upper end of the support column 131 is ball-jointed to the load platform 120, and the lower end has a wedge-shaped inclined surface. The wedge-shaped slider 132 slides with the wedge-shaped inclined surface of the support column 131. The output end of the drive mechanism 133 is connected to the wedge-shaped slider 132 and is used to drive the wedge-shaped slider 132 to move horizontally, thereby driving the support column 131 to rise and fall vertically via the wedge-shaped inclined surface of the wedge-shaped slider 132, thus moving the load platform 120 and compensating for disturbances in the carrier platform. This method of converting horizontal displacement into vertical rising and falling of the support column 131 via the wedge-shaped inclined surface of the wedge-shaped slider 132, compared to the structure of related technologies, eliminates intermediate transmission links such as hydraulic cylinders and rotary motor-screw, improving the response speed of the vibration isolation mechanism 100. Furthermore, the cooperation between the support column 131 and the wedge-shaped slider 132 provides statically determinate support for the load-bearing platform. Directly connecting the output end of the drive mechanism 133 to the wedge-shaped slider 132 avoids elastic deformation and backlash in the intermediate transmission links, thereby improving the load-bearing capacity of the vibration isolation mechanism 100. Therefore, the vibration isolation mechanism 100 provided in this embodiment can simultaneously meet the requirements of high load-bearing capacity under heavy loads and high-frequency disturbance isolation.

[0046] In some embodiments, the bottom of the load platform 120 is provided with a ball joint connector corresponding to the number of support columns 131, and the upper end of the support column 131 is provided with a ball joint pair, and the support column 131 is connected to the ball joint connector through the ball joint pair.

[0047] Specifically, the ball joint connectors are installed at the bottom of the load platform 120, and their number corresponds one-to-one with the number of support columns 131. The ball joint connectors have a ball socket inside to accommodate the ball joint pair, providing space for the installation and movement of the ball joint pair.

[0048] Specifically, the ball joint is located at the upper end of the support column 131 and is the core component of the ball joint connection. The ball joint includes a ball head, which is fitted into the ball socket of the ball joint connector to achieve a ball joint connection between the upper end of the support column 131 and the bottom of the load platform 120.

[0049] In this embodiment, by providing ball joint connectors at the bottom of the load platform 120 corresponding to the number of support columns 131, and by providing ball joint pairs at the upper ends of the support columns 131, the support columns 131 are connected to the ball joint connectors via the ball joint pairs. This achieves a ball joint connection between the upper ends of the support columns 131 and the load platform 120, allowing the support columns 131 to rotate at certain angles relative to the load platform 120 in multiple directions. This connection method enables the load platform 120 to adjust its posture more flexibly when subjected to disturbances in different directions, while reducing stress concentration caused by excessive connection stiffness.

[0050] Combination Figure 2 As shown, in some embodiments, the drive mechanism 133 includes: a mounting base 1331, a linear driver 1332, and a preload mechanism 1333. The linear driver 1332 is disposed within the mounting base 1331, and its output end is fixedly connected to the wedge slider 132. The preload mechanism 1333 is fixedly mounted within the mounting base 1331 and connected to the linear driver 1332.

[0051] Specifically, the mounting base 1331 is the basic support component of the entire drive mechanism 133, used to provide installation space and fixed position for the linear actuator 1332 and the preload mechanism 1333. The mounting base 1331 needs to be made of high-strength, high-rigidity materials (e.g., aluminum alloy or steel) to ensure that it can withstand various forces without significant deformation during the operation of the drive mechanism 133.

[0052] Specifically, the linear actuator 1332 is the power component of the entire drive mechanism 133, used to generate linear motion. By placing the linear actuator 1332 inside the mounting base 1331 and fixing the output end of the linear actuator 1332 to the wedge slider 132, it can transmit its own linear motion to the wedge slider 132, thereby driving the wedge slider 132 to move in the horizontal direction.

[0053] Optionally, the linear actuator 1332 is an electromagnetic linear actuator 1332.

[0054] Specifically, by fixing the preload mechanism 1333 inside the mounting base 1331 and connecting it to the linear drive 1332, a preload force can be provided to the linear drive 1332, eliminating the internal gap of the linear drive 1332 and improving the accuracy and stability of the drive.

[0055] Optionally, the pre-tightening mechanism 1333 is a constant force spring, used to apply a lateral pre-tightening force to the wedge slider 132 or the linear actuator 1332 so that the wedge slider 132 and the wedge-shaped inclined surface of the support column 131 maintain a gapless contact.

[0056] In this embodiment, by providing a drive mechanism 133 including a mounting base 1331, a linear actuator 1332, and a pre-tightening mechanism 1333, when it is necessary to move the wedge slider 132, a command can be sent to the linear actuator 1332 to start working and drive the wedge slider 132 to move horizontally. Before the linear actuator 1332 operates, the pre-tightening mechanism 1333 has already applied a pre-tightening force, eliminating internal gaps in the linear actuator 1332 and ensuring that the output motion of the linear actuator 1332 can be accurately transmitted to the wedge slider 132. As the wedge slider 132 moves, through its engagement with the wedge-shaped inclined surface of the support column 131, it drives the support column 131 to rise and fall vertically, thereby driving the load platform 120 to move and compensating for disturbances in the carrier platform.

[0057] In some embodiments, the wedge-shaped inclined surface of the wedge slider 132 makes an acute angle with the horizontal plane, so that the horizontal displacement ΔL of the wedge slider 132 and the vertical displacement ΔH of the support column 131 satisfy ΔH = ΔL×tanθ, where θ is the angle of the wedge-shaped inclined surface.

[0058] Specifically, in the vibration isolation mechanism 100, the horizontal motion generated by the drive mechanism 133 needs to be converted into the vertical motion of the load platform 120 to compensate for the disturbance of the carrier platform. The mating structure between the wedge-shaped slider 132 and the support column 131 is the key part to achieve this motion conversion. This is achieved by adjusting the angle between the wedge-shaped inclined surface and the horizontal plane (i.e.,...) Figure 3 The angle θ in the inclined plane is designed as an acute angle. This allows the mechanical and kinematic principles of the inclined plane to be utilized, so that a small displacement in the horizontal direction can be amplified into a relatively large displacement in the vertical direction, thereby more effectively adjusting the height of the load platform 120.

[0059] Optionally, the angle between the wedge-shaped inclined surface of the wedge slider 132 and the horizontal plane ranges from 5 degrees to 30 degrees.

[0060] In this embodiment, by designing the angle between the wedge-shaped inclined plane and the horizontal plane to be an acute angle, a small displacement in the horizontal direction can be amplified into a relatively large displacement in the vertical direction through the inclined plane. This improves the response speed of the vibration isolation mechanism 100 when compensating for disturbances in the carrier platform.

[0061] Combination Figure 4 As shown, in some embodiments, the vibration isolation mechanism 100 further includes a measuring mechanism 140 and a control device 700. The measuring mechanism 140 is disposed on the base 110 and is used to detect the pose information of the load platform 120 relative to the base 110, as well as the disturbance information of the carrier platform of the base 110. The control device 700 is electrically connected to the measuring mechanism 140 and the actuation mechanism 130, and is used to control the actuation mechanism 130 to drive the load platform 120 to move according to the pose information and the disturbance information.

[0062] Specifically, by setting a measuring mechanism 140 on the base 110, the positional information of the load platform 120 relative to the base 110 and the disturbance information of the carrier platform of the base 110 are detected. In this way, the specific disturbance of the carrier platform to the vibration isolation mechanism 100 can be clearly identified, so as to determine how to control the actuation mechanism 130 to compensate for these disturbances.

[0063] Optionally, the measuring mechanism 140 includes a laser ranging unit 1401 and an inertial measurement unit 1402. The laser ranging unit 1401 is disposed on the base 110 and is used to detect the pose information of the load platform 120 relative to the base 110. The inertial measurement unit 1402 is disposed on the base 110 and is used to detect the disturbance information of the carrier platform on which the base 110 is located.

[0064] Optionally, the number of laser ranging units 1401 corresponds one-to-one with the number of actuation mechanisms 130, and they are respectively set close to the corresponding actuation mechanism 130.

[0065] Specifically, by setting up a control device 700 electrically connected to the measuring mechanism 140 and the actuation mechanism 130, the control device 700 can determine the horizontal displacement of the wedge slider 132 in each actuation mechanism 130 according to the pose information and disturbance information according to the internal preset program, and control the horizontal displacement corresponding to the movement of the wedge slider 132 to drive the load platform 120 to move and compensate for the disturbance of the carrier platform.

[0066] It should be noted that the control device 700 is integrated inside the base 110. Figure 5 This is to illustrate that the vibration isolation mechanism 100 includes a control device 700.

[0067] Optionally, the control device 700 can be a microprocessor, a single-chip microcomputer, or a digital signal processor. For example, an ARM series microprocessor or a DSP chip can be used as the control device 700.

[0068] Combination Figure 5 As shown, in some embodiments, the vibration isolation mechanism 100 further includes an unloading mechanism 150. The unloading mechanism 150 is connected to the base 110 and the load platform 120 and is used to provide support for the load platform 120.

[0069] Specifically, by providing an unloading mechanism 150 connected to the base 110 and the load platform 120, support can be provided to the load platform 120, sharing the weight of the load platform 120 and the equipment it carries. During the operation of the vibration isolation mechanism 100, external disturbances can cause the load platform 120 to vibrate and displace. The unloading mechanism 150, through its specific mechanical characteristics, can transfer a portion of the load weight to the base 110, reducing the burden on the actuation mechanism 130. Simultaneously, it can work in conjunction with the actuation mechanism 130, ensuring the stability of the load platform 120 while allowing the actuation mechanism 130 to focus more on dealing with the dynamic forces generated by external disturbances.

[0070] Optionally, the unloading mechanism 150 may be a spring mechanism 151, a hydrostatic bearing mechanism 152, a pneumatic constant pressure support mechanism, or a hydraulic constant pressure support mechanism disposed between the base 110 and the load platform 120.

[0071] For example, Figure 5 The diagram shows the case where the spring mechanism 151 and the hydrostatic bearing mechanism 152 together serve as the unloading mechanism 150.

[0072] In this embodiment, by setting an unloading mechanism 150 connected to the base 110 and the load platform 120, the burden on the actuation mechanism 130 is reduced, allowing the actuation mechanism 130 to focus more on dealing with the dynamic forces generated by external disturbances, thereby improving the overall vibration isolation performance and response speed of the vibration isolation mechanism 100.

[0073] In conjunction with the aforementioned vibration isolation mechanism, this disclosure provides a control method for the vibration isolation mechanism, wherein the executing entity of the control method can be the aforementioned control device. Figure 6 As shown, the control methods include: S601, the control device acquires the current pose of the load platform relative to the base, and the current disturbance of the carrier platform on which the base is located.

[0074] Specifically, the control device detects the current pose of the load platform relative to the base using the laser ranging unit of the measuring mechanism. The control device also detects the current disturbance of the carrier platform on which the base is located using the inertial measurement unit of the measuring mechanism.

[0075] S602, the control device determines the target vertical displacement required by each actuating mechanism based on the pose error between the current pose and the target pose and the current disturbance. The target vertical displacement is used to compensate for the pose error and the current disturbance.

[0076] Specifically, there is a deviation between the current pose and the target pose. By calculating the pose error, the direction and magnitude of the adjustment that need to be made can be determined. One of the purposes of determining the target vertical displacement is to enable the load platform to move from the current pose to the target pose, thereby eliminating the pose error.

[0077] Specifically, the acquired current pose is compared with the preset target pose, and the pose error in each direction is obtained through coordinate transformation and error calculation algorithms. For example, in three-dimensional space, the position errors in the X, Y, and Z directions, as well as attitude errors such as pitch angle, roll angle, and yaw angle, are calculated respectively.

[0078] Specifically, current disturbances in the carrier platform can adversely affect the load platform. By determining the target vertical displacement, these disturbances can be compensated for and offset, keeping the load platform relatively stable. For example, when the carrier platform vibrates upwards, the actuator can compensate for this vibration by generating a downward vertical displacement that drives the load platform, thus reducing the swaying of the load platform.

[0079] Specifically, the acquired current disturbance is analyzed to determine its frequency, amplitude, direction, and other characteristics. Based on these disturbance characteristics and the pose error, a preset algorithm can be used to determine the target vertical displacement required by each actuator.

[0080] Optionally, based on the pose error between the current pose and the target pose and the current disturbance, the target vertical displacement required by each actuating mechanism is determined, including: converting the pose error into an error vector and the current disturbance into a disturbance vector; and calculating the target vertical displacement required by each actuating mechanism using a pre-built inverse kinematics model based on the error vector and the disturbance vector.

[0081] Specifically, in vibration isolation mechanism control, there is a deviation between the current pose and the target pose of the load platform, while the carrier platform on which the base is located experiences disturbances. Both of these factors affect the stability and performance of the load platform. Converting the pose error and the current disturbance into vector form allows for a more intuitive and accurate description of their magnitude and direction. The pre-built inverse kinematics model establishes a mapping relationship from these vectors to the target vertical displacement of each actuator. Through this model, the vertical displacement required by each actuator to compensate for the pose error and disturbance can be calculated quickly and accurately.

[0082] For example, taking a vibration isolation mechanism with three actuation mechanisms as an example, the inverse kinematic model is expressed as follows: ; in, Let e ​​be the inverse Jacobian matrix of the vibration isolation mechanism with three actuation mechanisms, and let e be the error vector. , For feedback control gain matrix, The feedforward gain matrix is... This is the perturbation vector.

[0083] S603, the control device calculates the target horizontal displacement corresponding to the target vertical displacement for each actuating mechanism.

[0084] Specifically, the motion of the wedge slider has a coupling relationship between vertical and horizontal displacement; that is, when the wedge slider generates horizontal displacement, it simultaneously causes a change in vertical displacement. Therefore, in order to achieve the target vertical displacement, it is necessary to calculate the corresponding target horizontal displacement in order to precisely control the motion of the wedge slider.

[0085] Optionally, for each actuating mechanism, the target horizontal displacement corresponding to the target vertical displacement is calculated according to the following expression: ; in, The target horizontal displacement of the i-th actuating mechanism. Let be the target vertical displacement of the i-th actuating mechanism. Let be the tangent of the wedge angle of the wedge slider of the i-th actuation mechanism.

[0086] S604, the control device synchronously controls the drive mechanism of each actuating mechanism to drive each wedge slider to generate the target horizontal displacement.

[0087] Specifically, if the actions of the various actuating mechanisms are not synchronized, it may cause abnormalities such as tilting or twisting of the load platform, affecting the vibration isolation effect and the normal operation of heavy-duty equipment. Therefore, in order to ensure that the load platform can adjust its position smoothly and accurately, it is necessary to synchronously control the drive mechanisms of each actuating mechanism.

[0088] In this embodiment, after determining the target horizontal position of each actuator based on the current pose of the load platform relative to the base and the current disturbance of the carrier platform on which the base is located, the actuators are synchronously controlled to drive the wedge slider to generate the target horizontal displacement. This allows the actuators to operate in coordination, avoiding problems such as tilting or twisting of the load platform caused by asynchronous actions, and further enhancing the vibration isolation effect.

[0089] In some embodiments, the vibration isolation mechanism further includes an unloading mechanism; before the drive mechanism of each actuating mechanism is synchronously controlled to operate, the control method further includes: controlling the unloading mechanism to start, so as to provide support force for the load platform.

[0090] In this embodiment, before the drive mechanisms of each actuating mechanism are synchronously controlled to operate, the unloading mechanism is activated to provide support for the load platform. This transfers a portion of the load weight to the base, reducing the burden on the actuating mechanisms. Simultaneously, it works in conjunction with the actuating mechanisms, ensuring the stability of the load platform while allowing the actuating mechanisms to focus more on responding to the dynamic forces generated by external disturbances, thus improving the overall vibration isolation performance and response speed of the vibration isolation mechanism.

[0091] Combination Figure 7 As shown, this disclosure provides a control device 700 for a vibration isolation mechanism, including a processor 701 and a memory 702. Optionally, the device may further include a communication interface 703 and a bus 704. The processor 701, communication interface 703, and memory 702 can communicate with each other via the bus 704. The communication interface 703 can be used for information transmission. The processor 701 can call logical instructions in the memory 702 to execute the control method for the vibration isolation mechanism described in the above embodiment.

[0092] Furthermore, the logic instructions in the aforementioned memory 702 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0093] The memory 702, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 701 executes functional applications and data processing by running the program instructions / modules stored in the memory 702, thereby implementing the control method for the vibration isolation mechanism in the above embodiments.

[0094] The memory 702 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 702 may include high-speed random access memory and may also include non-volatile memory.

[0095] This disclosure provides a computer-readable storage medium storing computer-executable instructions configured to execute the control method described above for a vibration isolation mechanism.

[0096] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0097] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0098] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0099] The methods and products disclosed in the embodiments herein (including but not limited to devices and equipment) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to implement this embodiment according to actual needs. In addition, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0100] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A vibration isolation mechanism, characterized in that, include: Base; Load platform for supporting heavy loads; The actuation mechanism includes a support column, a wedge-shaped slider, and a drive mechanism. The upper end of the support column is connected to the load platform via a ball joint, and the lower end has a wedge-shaped inclined surface. The wedge-shaped slider slides in engagement with the wedge-shaped inclined surface of the support column. The output end of the drive mechanism is connected to the wedge-shaped slider and is used to drive the wedge-shaped slider to move horizontally, thereby driving the support column to rise and fall vertically through the wedge-shaped inclined surface of the wedge-shaped slider, thus moving the load platform and compensating for disturbances on the carrier platform.

2. The vibration isolation mechanism according to claim 1, characterized in that, The drive mechanism includes: Mounting base; The linear actuator is housed within the mounting base, with its output end fixedly connected to the wedge-shaped slider. The preload mechanism is fixedly installed in the mounting base and connected to the linear drive.

3. The vibration isolation mechanism according to claim 1, characterized in that, The wedge-shaped slider has an acute angle between its wedge-shaped inclined surface and the horizontal plane, so that the horizontal displacement ΔL of the wedge-shaped slider and the vertical displacement ΔH of the supporting column satisfy ΔH = ΔL×tanθ, where θ is the angle of the wedge-shaped inclined surface.

4. The vibration isolation mechanism according to any one of claims 1 to 3, characterized in that, Also includes: The measuring mechanism, set on the base, is used to detect the pose information of the load platform relative to the base, as well as the disturbance information of the base carrier platform; The control device, electrically connected to the measuring mechanism and the actuating mechanism, is used to control the actuating mechanism to drive the load platform to move based on the pose information and disturbance information.

5. The vibration isolation mechanism according to any one of claims 1 to 3, characterized in that, Also includes: The unloading mechanism, connected to the base and load platform, is used to provide support for the load platform.

6. A control method for a vibration isolation mechanism, characterized in that, The control method, applied to the vibration isolation mechanism as described in any one of claims 1 to 5, comprises: Obtain the current pose of the load platform relative to the base, and the current disturbance of the carrier platform on which the base is located; Based on the pose error between the current pose and the target pose, and the current disturbance, determine the target vertical displacement required by each actuator. The target vertical displacement is used to compensate for the pose error and the current disturbance. For each actuating mechanism, calculate the target horizontal displacement corresponding to the target vertical displacement; The drive mechanism of each actuating mechanism is synchronously controlled to drive each wedge slider to generate the target horizontal displacement.

7. The control method according to claim 6, characterized in that, Based on the pose error between the current pose and the target pose, and the current disturbance, determine the target vertical displacement required for each actuator, including: Convert the pose error into an error vector, and convert the current perturbation into a perturbation vector; Based on the error vector and disturbance vector, the target vertical displacement required by each actuation mechanism is calculated using a pre-built inverse kinematics model.

8. The control method according to claim 6, characterized in that, For each actuating mechanism, the target horizontal displacement corresponding to the target vertical displacement is calculated according to the following expression: ； in, The target horizontal displacement of the i-th actuating mechanism. Let be the target vertical displacement of the i-th actuating mechanism. Let be the tangent of the wedge angle of the wedge slider of the i-th actuation mechanism.

9. The control method according to any one of claims 6 to 8, characterized in that, The vibration isolation mechanism also includes an unloading mechanism; before synchronously controlling the drive mechanism of each actuating mechanism, the control method also includes: The unloading mechanism is activated to provide support for the load platform.

10. A control device for a vibration isolation mechanism, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to execute, when running the program instructions, the control method for a vibration isolation mechanism as described in any one of claims 6 to 9.

Images