CN106704474B - The six axial cone shape vibration isolator of self-induction type of Highgrade integration - Google Patents
The six axial cone shape vibration isolator of self-induction type of Highgrade integration Download PDFInfo
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- CN106704474B CN106704474B CN201710015762.2A CN201710015762A CN106704474B CN 106704474 B CN106704474 B CN 106704474B CN 201710015762 A CN201710015762 A CN 201710015762A CN 106704474 B CN106704474 B CN 106704474B
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- 230000010354 integration Effects 0.000 title claims abstract description 19
- 238000002955 isolation Methods 0.000 claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims abstract description 9
- 239000012530 fluid Substances 0.000 claims description 7
- 239000011229 interlayer Substances 0.000 claims description 4
- 239000000696 magnetic material Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims description 2
- 238000013016 damping Methods 0.000 abstract description 10
- 238000013461 design Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
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- 230000033228 biological regulation Effects 0.000 description 3
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- 230000003044 adaptive effect Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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- Mechanical Engineering (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
一种高度集成化的自感式六轴锥形隔振器，涉及半主动隔振器，包含上端框、上球铰座、上球铰、支腿构件、下球铰、下球铰座、和维形框。所述支腿构件集成了磁流变阻尼器、模具弹簧、拉压力传感器、位移传感器和加速度传感器。所述隔振器安装在基座和被隔振负载之间，当基座产生振动时，集成在隔振器中的传感器采集振动状态信号并将其反馈至控制器，控制器进行运算后控制通入磁流变阻尼器的电流大小，对磁流变阻尼器的阻尼出力大小进行实时调节，从而改善被隔振负载的振动环境，实现对被隔振负载进行隔振的目标。所述隔振器具有高度集成化、多自由度隔振、阻尼力可调、功耗低、自感反馈等特点，可广泛适用于航空航天、汽车、船舶等隔振应用领域。
A highly integrated self-inductive six-axis conical vibration isolator relates to a semi-active vibration isolator, comprising an upper end frame, an upper spherical hinge seat, an upper spherical hinge, a leg member, a lower spherical hinge, a lower spherical hinge seat, and dimension box. The leg member integrates a magnetorheological damper, a die spring, a tension and pressure sensor, a displacement sensor and an acceleration sensor. The vibration isolator is installed between the base and the vibration-isolated load. When the base vibrates, the sensor integrated in the vibration isolator collects the vibration state signal and feeds it back to the controller, which controls the vibration after calculation. The magnitude of the current flowing into the magnetorheological damper can adjust the damping output of the magnetorheological damper in real time, thereby improving the vibration environment of the vibration-isolated load and realizing the goal of isolating the vibration-isolated load. The vibration isolator has the characteristics of high integration, multi-degree-of-freedom vibration isolation, adjustable damping force, low power consumption, self-inductive feedback, etc., and can be widely used in vibration isolation application fields such as aerospace, automobiles, and ships.
Description
Technical field
The present invention relates to vibration isolators, and in particular to a kind of six axial cone shape vibration isolator of self-induction type of Highgrade integration.
Background technique
Vibration isolator be it is a kind of be mounted on pedestal and by vibration isolation load between a kind of isolation mounting, usually contain stiffness elements
(spring), damping element (damper) and actuating means (such as piezoelectric actuator), by change system kinetic characteristics come
It is isolated from pedestal and is transmitted to the vibration loaded by vibration isolation, so as to improve the vibration environment loaded by vibration isolation.
According to the type of the actuating means of selection, vibration isolator can be divided into three classes: passive type vibration isolator, active vibration isolation
Device and semi-active vibration-isolating device.However, it is also possible to which passive type and active vibration isolation principle are mixed, a kind of mixing is formed
Formula vibration isolation.For passive type vibration isolator usually only comprising spring and hydraulic (or pneumatic) damper, this vibration isolator structure is simple, but by
In not having dynamic regulation function, the vibration isolation requirement under different vibration operating conditions cannot be met well.Active vibration isolation device be
It is proposed on the basis of passive type vibration isolator, structure type is similar, but a kind of active actuator can be selected passive to substitute
Rigidity-damping element.Active actuator, such as piezoelectric actuator, can be under different extraneous inputs (such as electric current)
The different active force in output size, direction, that is, have the function of automatic adjusument, by acquisition, the status signal of feedback system, and
Control actuator is issued an instruction to after calculation process.Therefore, active vibration insulator tend to according to the difference of exiting form come
Self-control and control are carried out, vibration isolating effect passive vibration isolation device opposite with adaptability is more preferable.
However, active vibration insulator generally requires to provide activities necessary of the very large energy supply to meet actuator,
The electrical power usually consumed is very big, the requirement of this harshness be under the special operations environment such as aerospace it is very inappeasable,
It is difficult to realize even if the general fields such as automobile.Therefore, power consumption is excessive often limits the scope of application of active vibration insulator.It is mixed
Box-like vibration isolator combines active vibration isolation with passive type vibration isolation, can mutually be cut according to actual working situation
It changes, power consumption big problem can be alleviated on the basis of ensureing vibration isolating effect to a certain extent.But hybrid vibration isolator
Structure type is complicated, weight is big, and the reliability in practical work process is low, these often will limit its use.
Therefore, in recent years, a kind of new vibration isolation principle is suggested and is widely studied, i.e. semi-active vibration-isolating.Half actively every
Vibration usually utilizes a kind of passive type controlled member (such as MR damper), and rigidity or the damping for carrying out dynamic adjusting system are special
Property, to reach vibration isolation purpose.Have that high reliablity, structure be simple, control using the vibration isolator of semi-active vibration-isolating principle development
Effect is good, therefore the good characteristics such as applied widely are widely used in the vibration isolation such as machinery, building, vehicle, aerospace
Application field.
Summary of the invention
In order to overcome the problems, such as to mention in background technique, it is based on semi-active vibration-isolating principle, and combine MR damper
Actual operation requirements, the present invention proposes a kind of six axial cone shape vibration isolator of self-induction type of compact-sized Highgrade integration, tool
There is the features such as Highgrade integration, multi-degree-of-freedom vibration isolation, damping force dynamic is adjustable, low in energy consumption, self-induction feedback, is widely portable to navigate
The vibration isolation application field such as empty space flight, automobile, ship.The vibration isolator proposed uses pyramidal structure, is dexterously integrated with rigidity member
(pull pressure sensor, displacement pass for part (die springs), semi active actuator part (MR damper) and self-induction feedback components
Sensor and acceleration transducer).
In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme:
A kind of six axial cone shape vibration isolator of self-induction type of Highgrade integration, including upper end frame, upper ball hinge, upper flexural pivot, supporting leg
Component, lower flexural pivot, lower ball hinge and dimension shape frame, it is characterised in that: the upper end frame is connected with by vibration isolation load, upper flexural pivot
Seat is fixed on the lower surface of upper end frame, and upper flexural pivot is mounted in ball hinge, and lower flexural pivot is mounted on lower flexural pivot, lower ball hinge
It is connected with dimension shape frame；The leg member includes baffle I, die springs I, end cap, shell, die springs II, gear
Plate II, piston rod, piston bush, baffle III, die springs III, die springs IV, baffle IV, displacement sensor, pressure sensing
Device, acceleration transducer and coil, die springs I are mounted between overhead gage I and end cap, and end cap passes through with shell
It is threaded togather, piston rod and piston bush carry out axial restraint by baffle II and baffle III, outside piston bush and damper
Shell carries out radial positioning by transition fit, and die springs II are mounted between end cap and baffle II, and die springs III are mounted on
Between baffle III and the intermediate interlayer of shell, die springs IV are mounted on the intermediate interlayer and baffle IV of shell
Between, one end of piston rod is connect with upper flexural pivot, the induction rod connection of the other end and displacement sensor, and displacement sensor one end is solid
It is scheduled on the interstitial hole of pull pressure sensor, pull pressure sensor is connect with lower flexural pivot, and acceleration transducer is fixed on baffle I
Upper surface, coil are wound on the piston rod.Shell, end cap, piston rod, piston bush, baffle II, baffle III, coil with
And magnetorheological fluid forms MR damper.
When piston rod is moved downward relative to shell, the die springs I and die springs III are in compression
State, and die springs II and die springs IV are in free state, at this point, die springs I and die springs III are in parallel connect
It connects；When piston rod is moved upwards relative to shell, die springs I and die springs III are in free state, and mould
Tool spring II and die springs IV are in compressive state, at this point, die springs II are to be connected in parallel with die springs IV.
The leg member quantity is the even number more than or equal to 6.
Institute's stopper rod and piston bush are made of permeability magnetic material, remaining components is made of non-magnet material.
One end of the leg member intersects at the upper ball hinge being fixed on the frame of upper end two-by-two, the other end respectively with one
Lower ball hinge is connected.The central angle of three ball hinges distribution on the frame of upper end is fixed in 120 °, and six lower ball hinges are adjacent
The central angle of distribution is in 60 °.
The power of the upper ball hinge and lower ball hinge with arc disperses edge, can disperse to concentrated force, change
Distribution situation of the kind vibration isolator to the power of pedestal.
The dimension shape frame is six sections of arc structures, and it is detachable that both ends, which pass through bolt respectively and are connected with lower ball hinge,
Formula design.When vibration isolator is individually tested or carried, dimension shape frame is linked into an integrated entity with vibration isolator, at this point, dimension shape frame
Play the role of that vibration isolator is carried out to maintain shape；It, can be with after vibration isolator is installed in the device or system for need vibration isolation
Dimension shape frame is disassembled, the weight of vibration isolator is mitigated.
The baffle II and baffle III are band boss structure, and this configuration design can be between die springs and baffle
The flowing space is reserved for magnetorheological fluid, to prevent the flow channel of die springs blocking magnetorheological fluid.
Due to the adoption of the technical scheme as described above, the present invention has the following advantages:
(1) the six axial cone shape vibration isolator of self-induction type of the Highgrade integration, is dexterously integrated with stiffness elements, half active actuation
Device and self-induction feedback components greatly simplified the structure type of traditional semi-active vibration-isolating device.It is passive compared to traditional
Vibration isolator has stronger environmental suitability and better vibration isolating effect；Compared to traditional active vibration isolation device, there is structure
The advantages that form is simple, low energy consumption, reliability is high.
(2) the six axial cone shape vibration isolator of self-induction type of the Highgrade integration uses modularized design and detachable design,
It greatly optimizes the installation process of vibration isolator and alleviates its weight.In the six axial cone shape vibration isolator of self-induction type of the Highgrade integration
Six roots of sensation supporting leg be modularized design, convenient for integral disassembly, assembly, replacement, and its tie up shape frame use detachable design, guaranteeing
The overall weight of vibration isolator can be mitigated while tieing up shape function again.
(3) the six axial cone shape vibration isolator of self-induction type of the Highgrade integration is different from traditional cube structure configuration design,
But pyramidal structure is used, leg member is also different from the head and the tail connection type of traditional vibration isolator.This design can be better
Meet the installation requirement for the vibrating isolation system that different sizes require, and can be risen simultaneously in three translations and three rotation directions
To vibration isolating effect.
(4) the six axial cone shape vibration isolator of self-induction type of the Highgrade integration, is integrated with four die springs, in the course of work,
When piston rod is relative to shell back and forth movement, it can always guarantee that wherein two die springs are in running order,
And the spring of two work is to be in parallel connectivity, and the handoff procedure of working spring and inoperative spring is also very flat
Suitable.It is this to design the fixation problem that can solve spring, furthermore it is possible to the rigidity of vibrating isolation system be greatly increased, to meet picture
The vibration isolation demand of the super-heavy loads load such as space flight, ship.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the six axial cone shape vibration isolator of self-induction type of Highgrade integration of the present invention.
Fig. 2 is the bottom view of the six axial cone shape vibration isolator of self-induction type of Highgrade integration of the present invention.
Fig. 3 is the cross-sectional view of leg member of the present invention.
Fig. 4 is the enlarged drawing at the A of Fig. 1.
Fig. 5 is the enlarged drawing at the B of Fig. 1.
Fig. 6 is the enlarged drawing at the C of Fig. 3.
Appended drawing reference: under 1-upper end frame, 2-upper ball hinges, 3-upper flexural pivots, 4-leg members, 5-lower flexural pivots, 6-
Ball hinge, 7-dimension shape frames, 8-baffles I, 9-die springs I, 10-end caps, 11-shells, 12-die springs
II, 13-baffles II, 14-piston rods, 15-piston bush, 16-baffles III, 17-die springs III, 18-die springs IV,
19-baffles IV, 20-displacement sensors, 21-pull pressure sensor, 22-acceleration transducers, 23-coils.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawings and examples.
Fig. 1 show the structural schematic diagram of the six axial cone shape vibration isolator of self-induction type of Highgrade integration of the present invention, specifically includes that
Upper end frame 1, upper ball hinge 2, upper flexural pivot 3, leg member 4, lower flexural pivot 5, lower ball hinge 6 and dimension shape frame 7.
Fig. 2 show the bottom view of the six axial cone shape vibration isolator of self-induction type of Highgrade integration of the present invention, fixes on upper end frame 1
Three upper ball hinges 2 in a circumferential direction to be evenly arranged, central angle two-by-two is 120 °；Six connect with dimension shape frame 7
For lower ball hinge 6 in a circumferential direction to be evenly arranged, the central angle of adjacent lower ball hinge 6 is 60 °.
Fig. 3 show the cross-sectional view of leg member of the present invention, specifically includes that baffle I 8, die springs I 9, end cap 10, resistance
Buddhist nun's device shell 11, die springs II 12, baffle II 13, piston rod 14, piston bush 15, baffle III 16, die springs III 17, mold
Spring IV 18, baffle IV 19, displacement sensor 20, pull pressure sensor 21, acceleration transducer 22 and coil 23.
Fig. 4 show the enlarged drawing at the A of Fig. 1, and two leg members 4 pass through two upper flexural pivots 3 and a upper ball hinge 2
It is connected.
Fig. 5 show the enlarged drawing at the B of Fig. 1, and a leg member 4 passes through a lower flexural pivot 5 and a lower ball hinge 6
It is connected.
Fig. 6 show the enlarged drawing at the C of Fig. 3, magnetorheological when 14 11 sliding back and forth of opposing damper shell of piston rod
Liquid passes through ring-shaped throttling channel (annular gap formed by piston rod 14 and piston bush 15) two chambers in shell 11
Flowing is exchanged in room.After coil 23 is passed through electric current, the magnetic field perpendicular through throttling passage will form.
Above-mentioned piston rod (14) and piston bush (15) are made of permeability magnetic material, remaining components is by non-magnet material system
At.
Working principle of the present invention is as follows:
Vibration isolator is mounted on the pedestal of vibrating isolation system, is mounted on the upper end frame 1 of vibration isolator by vibration isolation load, damper
Magnetorheological fluid is full of in shell 11, displacement sensor 20, pull pressure sensor 21, acceleration transducer 22 and coil 23 access
Control system.In the course of work, piston rod 14 is moved back and forth relative to shell 11, wherein two springs are in work
State, another two springs are to be in off working state, and the springs of two work are in parallel connectivity, the bullet of work
Spring smoothly switches with inoperative spring.
When not being passed through electric current in coil 23, MR damper is equivalent to a traditional hydraulic damper, vibrated
Vibrational energy is converted to thermal energy by damping action and dissipated by Cheng Zhong, vibration isolator, to improve vibration is isolated by vibration isolation
The vibration environment of load.
After being passed through electric current in coil 23, toroidal magnetic field will be formed in piston rod 14 and piston bush 15, magnetic field path will
Perpendicular through annular gap, the magnetorheological fluid in annular gap will form magnetic linkage under the influence of a magnetic field, when passing through annular gap
Damping force relevant to the shear strength of magnetorheological fluid will be generated, and its shear strength is related to magnetic field strength, it therefore, can be with
By changing the size for being passed through electric current in coil 23 come the damping force size of dynamic regulation MR damper.In the course of work,
Pull pressure sensor 21 acquires and feeds back the force-bearing situation of leg member 4；The acquisition of displacement sensor 20 and 14 phase of feedback piston bar
To the relative displacement state of shell, relative velocity signal is obtained after processing of differentiating；Acceleration transducer 22
The acceleration condition for acquiring simultaneously feedback piston bar 14, obtains absolute velocity signal after integral operation is handled.Feedback or operation
After obtain signal and be transferred to controller, after semi-active control strategy operation and decision, adjust be input in coil 23 in real time
The size of electric current, to realize the dynamic regulation to the damping force of vibration isolator.Make in the semi- active control of this self-induction reaction type
Under, vibration isolator carries out adaptive vibration isolation according to vibration environment, and the vibration environment loaded by vibration isolation is made to be greatly improved.
Claims (3)
1. a kind of six axial cone shape vibration isolator of self-induction type of Highgrade integration, including upper end frame (1), upper ball hinge (2), upper flexural pivot
(3), leg member (4), lower flexural pivot (5), lower ball hinge (6) and dimension shape frame (7), it is characterised in that: the upper end frame (1)
It is connected with by vibration isolation load, upper ball hinge is fixed on the lower surface of upper end frame (1), and upper flexural pivot (3) is mounted on ball hinge (2)
On, lower flexural pivot (5) is mounted on lower flexural pivot (6), and lower ball hinge (6) is connected with dimension shape frame (7)；Leg member (4) number
Amount is the even number more than or equal to 6, and leg member (4) includes baffle I (8), die springs I (9), end cap (10), shell
(11), die springs II (12), baffle II (13), piston rod (14), piston bush (15), baffle III (16), die springs III
(17), die springs IV (18), baffle IV (19), displacement sensor (20), pull pressure sensor (21), acceleration transducer
(22) and coil (23), die springs I (9) are mounted between overhead gage I (8) and end cap (10), end cap (10) and damper
Shell (11) is together by a threaded connection, piston rod (14) and piston bush (15) by baffle II (13) and baffle III (16) into
Row axial restraint, piston bush (15) and shell (11) pass through transition fit progress radial positioning, die springs II (12)
It is mounted between end cap (10) and baffle II (13), die springs III (17) are mounted on baffle III (16) and shell (11)
Intermediate interlayer between, die springs IV (19) are mounted between the intermediate interlayer and baffle IV (19) of shell (11),
One end of piston rod (14) is connect with upper flexural pivot (5), and the other end is connect with the induction rod of displacement sensor (20), displacement sensor
(20) one end is fixed on the interstitial hole of pull pressure sensor (21), and pull pressure sensor (20) is connect with lower flexural pivot (6), is accelerated
Degree sensor (22) is fixed on the upper surface of baffle I (8), and coil (23) is wrapped on piston rod (14)；Shell (11),
End cap (10), piston rod (14), piston bush (15), baffle II (13), baffle III (16), coil (23) and magnetorheological fluid composition
MR damper, the baffle II (13) and baffle III (16) are band boss structure.
2. the six axial cone shape vibration isolator of self-induction type of Highgrade integration according to claim 1, it is characterised in that: work as piston rod
(14) when moving downward relative to shell (11), the die springs I (8) and die springs III (17) are in compression shape
State, and die springs II (12) and die springs IV (18) are in free state, at this point, die springs I (8) and die springs III
It (17) is to be connected in parallel；When piston rod (14) is moved right relative to shell (11), die springs I (8) and mold
Spring III (17) is in free state, and die springs II (12) and die springs IV (18) are in compressive state, at this point, mold
Spring II (12) is to be connected in parallel with die springs IV (18).
3. the six axial cone shape vibration isolator of self-induction type of Highgrade integration according to claim 1, it is characterised in that: the piston
Bar (14) and piston bush (15) are made of permeability magnetic material, remaining components is made of non-magnet material.
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| CN103587724A (en) * | 2013-09-24 | 2014-02-19 | 南京航空航天大学 | Six-degree-of-freedom vibration isolation platform based on Stewart parallel mechanism |
| CN104632989A (en) * | 2014-12-29 | 2015-05-20 | 上海交通大学 | High-performance fluid damnailg vibration isolator and parallel connecting vibration isolation platform |
| CN205401578U (en) * | 2016-02-16 | 2016-07-27 | 兰州空间技术物理研究所 | Space multi freedom vibration isolation platform |
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2017
- 2017-01-10 CN CN201710015762.2A patent/CN106704474B/en not_active Expired - Fee Related
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| CN103587724A (en) * | 2013-09-24 | 2014-02-19 | 南京航空航天大学 | Six-degree-of-freedom vibration isolation platform based on Stewart parallel mechanism |
| CN104632989A (en) * | 2014-12-29 | 2015-05-20 | 上海交通大学 | High-performance fluid damnailg vibration isolator and parallel connecting vibration isolation platform |
| CN205401578U (en) * | 2016-02-16 | 2016-07-27 | 兰州空间技术物理研究所 | Space multi freedom vibration isolation platform |
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| CN106704474A (en) | 2017-05-24 |
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