Vibration isolation device

Abstract

The utility model relates to a vibration isolation device which comprises a support. The main shaft is arranged in the support in a penetrating mode and can move in the support in the axial direction. The carrying table is arranged on the main shaft, and the main shaft supports the carrying table; the negative stiffness mechanism is arranged in the support and carries out negative stiffness supporting on the main shaft, the negative stiffness mechanism comprises an inner magnetic ring, an upper magnetic ring and a lower magnetic ring, the main shaft is sleeved with the inner magnetic ring, the upper magnetic ring and the lower magnetic ring are arranged on the support and located on the upper side and the lower side of the inner magnetic ring respectively, and the inner magnetic ring is magnetically attracted with the upper magnetic ring and the lower magnetic ring respectively; the positive stiffness mechanism is arranged in the support and used for carrying out positive stiffness supporting on the main shaft, the positive stiffness mechanism comprises pneumatic artificial muscles, one ends of the pneumatic artificial muscles are connected with the support, and the other ends of the pneumatic artificial muscles are connected with the main shaft. Compared with existing spring vibration isolation equipment, the stability, the reliability and the resistance to the environment are all improved, and compared with an existing electromagnetic vibration isolator, the structure is simpler, and the use cost performance is higher.

Description

Technical Field

[0001] The utility model relates to the field of vibration control, in particular to a vibration isolation device. Background Art

[0002] As an important vibration control technology, vibration isolation technology aims to take certain measures between the vibration source and the system, and place appropriate vibration control or vibration isolation equipment to isolate the direct transmission of vibration. In theory, traditional passive vibration isolators can only attenuate vibrations with an excitation frequency greater than √2 times the natural frequency of the system. With the continuous increase in vibration isolation requirements, there is an urgent need for a vibration isolation technology that can maintain static support capacity and have low dynamic stiffness in a low-frequency environment. Therefore, quasi-zero stiffness vibration isolation technology has received more and more attention in recent years.

[0003] Quasi-zero stiffness isolators are mostly composed of positive and negative stiffness mechanisms in parallel. The positive stiffness element (such as a spring, etc.) provides static support capacity, and the negative stiffness provided by the negative stiffness mechanism offsets the positive stiffness to achieve quasi-zero stiffness. When the vibration isolation system is displaced from the static equilibrium position, the positive stiffness spring suppresses the movement trend, and the negative stiffness mechanism strengthens the movement trend in the displacement direction. The parallel connection of the two can reduce the overall stiffness of the system to close to or equal to zero, while achieving high static stiffness and low dynamic stiffness, greatly broadening the vibration isolation frequency band, and can be well used to solve the problem of low-frequency vibration isolation.

[0004] In the prior art, there are vibration isolation devices using ordinary springs. In terms of working performance, the vibration isolation frequency, stability and environmental adaptability are not as good as those of electromagnetic vibration isolation devices. At the same time, due to the limitation of spring life, the spring needs to be replaced frequently. For electromagnetic vibration isolators, for example: Prior art publication number: CN112696455B, invention name: A quasi-zero stiffness electromagnetic vibration isolator suitable for ultra-low frequency vibration reduction and isolation. The disclosed electromagnetic vibration isolator has a complex structure, is extremely difficult to repair once a failure occurs, has high cost, has weak anti-rolling ability, and is only suitable for specific load-bearing occasions and cannot be changed according to changes in weight. Utility Model Content

[0005] To this end, the technical problem to be solved by the utility model is to overcome the defects of the existing vibration isolation equipment in the prior art, and provide a vibration isolation equipment, which simplifies the complex structure of the existing electromagnetic device, retains only the negative stiffness mechanism in the electromagnetic device, and is supplemented by a pneumatic artificial muscle as a positive stiffness mechanism. The two are connected in parallel to reduce the overall stiffness of the system to close to or equal to zero, while achieving high static stiffness and low dynamic stiffness. Compared with the existing spring vibration isolation equipment, it has improvements in stability, reliability, and resistance to the environment. Compared with the existing electromagnetic vibration isolators, the structure is simpler and the cost-effectiveness is higher.

[0006] In order to solve the above technical problems, the utility model provides a vibration isolation device, comprising:

[0007] Bracket;

[0008] A main shaft is inserted into the bracket and can move in the bracket along the axial direction;

[0009] A carrier, arranged on the main shaft, and the main shaft supports the carrier;

[0010] A negative stiffness mechanism is arranged in the bracket to provide negative stiffness support for the main shaft, and the negative stiffness mechanism comprises: an inner magnetic ring, an upper magnetic ring and a lower magnetic ring, wherein the inner magnetic ring is sleeved on the main shaft, and the upper magnetic ring and the lower magnetic ring are respectively arranged on the bracket at the upper and lower sides of the inner magnetic ring, and the inner magnetic ring is magnetically attracted to the upper magnetic ring and the lower magnetic ring respectively;

[0011] A positive stiffness mechanism is arranged in the bracket to provide positive stiffness support to the main shaft. The positive stiffness mechanism comprises a pneumatic artificial muscle, one end of which is connected to the bracket and the other end of which is connected to the main shaft.

[0012] In one embodiment of the present invention, the bracket comprises:

[0013] A base, wherein the pneumatic artificial muscle is arranged between the base and the main shaft;

[0014] A support rod is arranged on the base and has the same extension direction as the main shaft, and the upper magnetic ring and the lower magnetic ring are fixed on the support rod;

[0015] A bearing is provided at one end of the support frame corresponding to the base, and the bearing supports the main shaft and limits the main shaft from moving in the axial direction.

[0016] In one embodiment of the utility model, the carrier is hinged to the main shaft through a ball head seat.

[0017] In one embodiment of the present invention, the inner magnetic ring, the upper magnetic ring and the lower magnetic ring are all electromagnetic rings.

[0018] In one embodiment of the utility model, the inner magnetic ring moves in the bracket along the axial direction with the main shaft, and when the inner magnetic ring is located in the middle position between the upper magnetic ring and the lower magnetic ring, the negative stiffness mechanism is in an initial equilibrium position.

[0019] In one embodiment of the utility model, the positive stiffness mechanism includes a plurality of pneumatic artificial muscles, and the positive stiffness mechanism also includes an upper connecting plate and a lower connecting plate, the plurality of pneumatic artificial muscles are arranged between the upper connecting plate and the lower connecting plate, the upper connecting plate is connected to the main shaft, and the lower connecting plate is arranged on the base of the bracket.

[0020] In one embodiment of the utility model, the pneumatic artificial muscle is tilted between the main shaft and the bracket. Changing the tilt angle of the pneumatic artificial muscle can change the height of the pneumatic artificial muscle supporting the main shaft and adjust the relative position of the inner magnetic ring.

[0021] In one embodiment of the utility model, slide rails are arranged on the bracket and the main shaft, and sliders capable of sliding in the slide rails are arranged at the upper and lower ends of the pneumatic artificial muscle. The upper and lower ends of the pneumatic artificial muscle are both slidably connected to the bracket and the main shaft, and sliding the upper and lower ends of the pneumatic artificial muscle can change the inclination angle of the pneumatic artificial muscle.

[0022] In one embodiment of the present invention, a locking bolt is passed through the slider and abuts against the slide rail, and the sliding position of the slider is fixed by the locking bolt.

[0023] In one embodiment of the utility model, the positive stiffness mechanism also includes: a guide rod, the guide rod is fixed on the bracket, a guide hole for inserting the guide rod is provided in the main shaft, the guide rod can be inserted into the guide hole and slide relatively axially in the guide hole.

[0024] The above technical solution of the utility model has the following advantages compared with the prior art:

[0025] The vibration isolation device described in the utility model simplifies the complex structure of the existing electromagnetic device, only retains the electromagnetic device as a negative stiffness mechanism, and adopts a magnetic matching method to avoid direct contact and friction between connecting parts, which not only alleviates the impact between parts but also improves the stability and reliability of the system, and increases the overall service life of the mechanism; and is supplemented by pneumatic artificial muscles as positive stiffness mechanisms. The pneumatic artificial muscles have high support stiffness and are connected in parallel with the negative stiffness mechanism of the electromagnetic device. They have very low motion stiffness and small static deformation, and achieve a vibration isolation effect with a low dynamic natural frequency; compared with the existing spring vibration isolation equipment, the stability, reliability, and resistance to the environment are all improved. Compared with the existing electromagnetic vibration isolators, the structure is simpler and more compact, and the control and adjustment are convenient. Quasi-zero stiffness is achieved at the lowest cost, increasing the cost-effectiveness of its use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein:

[0027] Figure 1 It is a schematic diagram of the overall structure of the vibration isolation device of the utility model;

[0028] Figure 2It is a structural schematic diagram of the negative stiffness mechanism of the utility model;

[0029] Figure 3 It is a structural schematic diagram of the positive stiffness mechanism of the utility model;

[0030] Figure 4 It is a schematic diagram of the structure of the utility model in an unbalanced position after the load of the vibration isolation device is changed;

[0031] Figure 5 It is a structural schematic diagram of the utility model in which the load of the vibration isolation device is changed and adjusted to a balanced position.

[0032] Explanation of the markings in the drawings in the specification: 1. bracket; 2. spindle; 3. carrier; 4. bearing; 5. inner magnetic ring; 6. upper magnetic ring; 7. middle magnetic ring; 8. pneumatic artificial muscle; 9. ball head seat; 10. upper connecting plate; 11. lower connecting plate; 12. slide rail; 13. slider; 14. locking bolt; 15. guide rod. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0034] Reference Figure 1 As shown, the utility model discloses a vibration isolation device, comprising: a bracket 1, a spindle 2, a carrier 3, a negative stiffness mechanism and a positive stiffness mechanism, wherein:

[0035] The bracket 1 includes: a base, a support rod arranged on the base, a bearing 4 is arranged at the other end of the support rod corresponding to the base, the support rod and the spindle 2 extend in the same direction, the spindle 2 is inserted into the bracket 1, the bearing 4 can support the spindle 2 and limit the spindle 2 from moving axially relative to the bracket 1, the carrier 3 is arranged on the spindle 2, and the spindle 2 can support the carrier 3;

[0036] Reference Figure 1 and Figure 2As shown, the negative stiffness mechanism is arranged in the bracket 1, and the negative stiffness mechanism performs negative stiffness support on the main shaft 2. The negative stiffness mechanism includes: an inner magnetic ring 5, an upper magnetic ring 6 and a lower magnetic ring 7. The inner magnetic ring 5 is sleeved on the main shaft 2, and the upper magnetic ring 6 and the lower magnetic ring 7 are respectively arranged on the support rod at the upper and lower sides of the inner magnetic ring 5. The inner magnetic ring 5 is magnetically attracted to the upper magnetic ring 6 and the lower magnetic ring 7 respectively. When the main shaft 2 moves, the inner magnetic ring 5 moves in the direction close to the upper magnetic ring 6 or the lower magnetic ring 7. The closer the distance, the stronger its magnetism, so as to achieve the effect of strengthening the movement trend in the displacement movement direction. The greater the displacement, the more obvious the strengthening effect, that is, it has a negative stiffness effect, and the magnetic matching method is adopted to avoid direct contact and friction between the connecting parts, which not only alleviates the impact between the parts but also improves the stability and reliability of the system, and improves the service life of the mechanism as a whole.

[0037] Reference Figure 1 and Figure 3 As shown, the positive stiffness mechanism is arranged in the bracket 1 to provide positive stiffness support for the main shaft 2, and the positive stiffness mechanism includes: a pneumatic artificial muscle 8, one end of the pneumatic artificial muscle 8 is connected to the base of the bracket 1, and the other end of the pneumatic artificial muscle 8 is connected to the main shaft 2, and the pneumatic artificial muscle 8 can provide static support capability. When the main shaft 2 is displaced from the static equilibrium position by force, the pneumatic artificial muscle 8 suppresses the movement trend. The greater the displacement, the stronger the suppression effect, that is, it has a positive stiffness effect; in this embodiment, the positive stiffness mechanism and the negative stiffness mechanism are connected in parallel to reduce the overall stiffness of the system to close to or equal to zero, and at the same time achieve high static stiffness and low dynamic stiffness, broaden the vibration isolation frequency band, and can be well used to solve the problem of low-frequency vibration isolation;

[0038] Moreover, compared with the existing spring vibration isolation equipment, it has improved stability, reliability, and environmental resistance. Compared with the existing electromagnetic vibration isolators, it has a simpler and more compact structure, is easy to control and adjust, and can achieve quasi-zero stiffness at the lowest cost, increasing its cost-effectiveness.

[0039] In this embodiment, the platform 3 is hinged to the main shaft 2 through a ball head seat 9. The platform 3 can be tilted relative to the main shaft 2. Through the rotation of the ball head seat 9, it can bear forces in different directions and convert them into forces for driving the main shaft 2 to move linearly, so as to improve the weak anti-roll capability of the electromagnetic vibration isolator.

[0040] In this embodiment, the inner magnetic ring 5, the upper magnetic ring 6 and the lower magnetic ring 7 are all electromagnetic rings, and an energized coil is wound around the magnetic ring. The magnitude of the magnetism can be changed as required by changing the current of the coil, and the direction of the magnetism can be changed by changing the direction of the current, thereby meeting the demand for negative stiffness adjustment and improving the adjustment range of the negative stiffness force.

[0041] In this embodiment, the positive stiffness mechanism includes a plurality of pneumatic artificial muscles 8, and the positive stiffness mechanism also includes an upper connecting plate 10 and a lower connecting plate 11, and the plurality of pneumatic artificial muscles 8 are arranged between the upper connecting plate 10 and the lower connecting plate, the upper connecting plate 10 is connected to the main shaft 2, and the lower connecting plate 11 is arranged on the base of the bracket 1.

[0042] In one embodiment of the utility model, the inner magnetic ring 5 moves in the bracket 1 along the axial direction with the main shaft 2. When the inner magnetic ring 5 is located in the middle position between the upper magnetic ring 6 and the lower magnetic ring 7, the negative stiffness mechanism is in the initial equilibrium position.

[0043] In actual use, due to the different weights of the loads on the carrier 3, the negative stiffness mechanism needs to be adjusted to the initial equilibrium position according to the load before use; Figure 4 As shown, when a load is applied to the carrier 3, the main shaft 2 moves downward, and the main shaft 2 drives the inner magnetic ring 5 to move downward as well. In this way, the inner magnetic ring 5 on the main shaft 2 deviates from the middle position of the upper magnetic ring 6 and the lower magnetic ring 7, and is now in an unbalanced position, so its initial position needs to be adjusted. In this embodiment, in order to solve this problem, the state of the positive stiffness mechanism is adjusted.

[0044] Reference Figure 3 As shown, the pneumatic artificial muscle 8 is tiltedly arranged between the main shaft 2 and the bracket 1. Changing the tilt angle of the pneumatic artificial muscle 8 can change the height at which the pneumatic artificial muscle 8 supports the main shaft 2, and thus the relative position of the inner magnetic ring 5 can be adjusted.

[0045] In this embodiment, in order to change the support height of the pneumatic artificial muscle 8, a slide rail 12 is provided on the bracket 1 and the spindle 2, and a slider 13 capable of sliding in the slide rail 12 is provided at the upper and lower ends of the pneumatic artificial muscle 8. The upper and lower ends of the pneumatic artificial muscle 8 are both slidably connected to the bracket 1 and the spindle 2. Sliding the upper and lower ends of the pneumatic artificial muscle 8 can change the inclination angle of the pneumatic artificial muscle 8. Figure 5 As shown, after a load is applied to the carrier 3, by simply changing the support height of the pneumatic artificial muscle 8, the main shaft 2 can be lifted up relative to the bracket 1 as a whole, so that the inner magnetic ring 5 returns to the middle position between the upper magnetic ring 6 and the lower magnetic ring 7, and the negative stiffness mechanism is adjusted to return to the initial equilibrium position.

[0046] In one embodiment of the utility model, a locking bolt 14 is passed through the slider 13 and abutted against the slide rail 12. The sliding position of the slider 13 is fixed by the locking bolt 14. When sliding adjustment is performed, the locking bolt 14 is loosened and the slider 13 can move freely on the slide rail 12. After the negative stiffness mechanism is adjusted to the initial equilibrium position, the locking bolt 14 is tightened so that the locking bolt 14 is pressed against the slide rail 12, thereby fixing the slider 13.

[0047] Specifically, the positive stiffness mechanism also includes: a guide rod 15, the guide rod 15 is fixed on the bracket 1, and a guide hole for inserting the guide rod 15 is provided in the main shaft 2, the guide rod 15 can be inserted into the guide hole and slide relatively axially in the guide hole, and the moving direction of the main shaft 2 can be limited by the limiting cooperation between the guide rod 15 and the guide hole to prevent the main shaft 2 from moving lateraly.

[0048] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A vibration isolation device, characterized in that: include: Bracket; A main shaft is inserted into the bracket and can move in the bracket along the axial direction; A carrier, arranged on the main shaft, and the main shaft supports the carrier; A negative stiffness mechanism is arranged in the bracket to provide negative stiffness support for the main shaft, and the negative stiffness mechanism comprises: an inner magnetic ring, an upper magnetic ring and a lower magnetic ring, the inner magnetic ring, the upper magnetic ring and the lower magnetic ring are all electromagnetic rings, the inner magnetic ring is sleeved on the main shaft, the upper magnetic ring and the lower magnetic ring are respectively arranged on the bracket at the upper and lower sides of the inner magnetic ring, and the inner magnetic ring is magnetically attracted to the upper magnetic ring and the lower magnetic ring respectively; A positive stiffness mechanism is arranged in the bracket to provide positive stiffness support to the main shaft, and the positive stiffness mechanism comprises: a pneumatic artificial muscle, one end of the pneumatic artificial muscle is connected to the bracket, and the other end of the pneumatic artificial muscle is connected to the main shaft; The pneumatic artificial muscle is tilted between the main shaft and the bracket. Changing the tilt angle of the pneumatic artificial muscle can change the height of the pneumatic artificial muscle supporting the main shaft and can adjust the relative position of the inner magnetic ring. Slide rails are arranged on the bracket and the main shaft, and sliders that can slide in the slide rails are arranged at the upper and lower ends of the pneumatic artificial muscle. The upper and lower ends of the pneumatic artificial muscle are both slidably connected to the bracket and the main shaft. Sliding the upper and lower ends of the pneumatic artificial muscle can change the tilt angle of the pneumatic artificial muscle.

2. The vibration isolation device according to claim 1, characterized in that: The support comprises: A base, wherein the pneumatic artificial muscle is arranged between the base and the main shaft; A support rod is arranged on the base and has the same extension direction as the main shaft, and the upper magnetic ring and the lower magnetic ring are fixed on the support rod; A bearing is provided at one end of the support rod corresponding to the base, and the bearing supports the main shaft to limit the main shaft from moving in the axial direction.

3. The vibration isolation device according to claim 1, characterized in that: The carrier is hinged on the main shaft through a ball head seat.

4. The vibration isolation device according to claim 1, characterized in that: The inner magnetic ring moves in the bracket along the axial direction with the main shaft. When the inner magnetic ring is located in the middle position of the upper magnetic ring and the lower magnetic ring, the negative stiffness mechanism is in an initial equilibrium position.

5. The vibration isolation device according to claim 1, characterized in that: The positive stiffness mechanism includes a plurality of pneumatic artificial muscles, and the positive stiffness mechanism also includes an upper connecting plate and a lower connecting plate, wherein the plurality of pneumatic artificial muscles are arranged between the upper connecting plate and the lower connecting plate, wherein the upper connecting plate is connected to the main shaft, and the lower connecting plate is arranged on the base of the bracket.

6. The vibration isolation device according to claim 1, characterized in that: A locking bolt is passed through the slider and abuts against the slide rail, and the sliding position of the slider is fixed by the locking bolt.

7. The vibration isolation device according to claim 1, characterized in that: The positive stiffness mechanism also includes: a guide rod, which is fixed on the bracket. A guide hole for inserting the guide rod is provided in the main shaft. The guide rod can be inserted into the guide hole and slide relatively axially in the guide hole.

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