CN102865328A - Hybrid mechanism-based five-dimensional vibration isolation platform - Google Patents
Hybrid mechanism-based five-dimensional vibration isolation platform Download PDFInfo
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- CN102865328A CN102865328A CN2012103241617A CN201210324161A CN102865328A CN 102865328 A CN102865328 A CN 102865328A CN 2012103241617 A CN2012103241617 A CN 2012103241617A CN 201210324161 A CN201210324161 A CN 201210324161A CN 102865328 A CN102865328 A CN 102865328A
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Abstract
The invention relates to a five-dimensional vibration isolation device which is suitable for equipment arranged on a dynamic carrier. Aiming at the problem of five-dimensional vibration of the equipment on the dynamic carrier, one hybrid mechanism-based vibration isolation platform is arranged between an equipment mounting platform and a carrier connecting platform to realize five-dimensional vibration isolation. The vibration isolation platform consists of the equipment mounting platform (1), a middle platform (2), the carrier connecting platform (5), six branched chains comprising vibration isolation subsystems and a constraint branch containing no vibration isolation subsystem, so that vibration isolation along spatial three-movement two-rotation directions can be realized. Each vibration isolation subsystem in each branched chain is formed by connecting a linear spring (3) and a magneto-rheological damper (4) in parallel; and control over the entire platform is realized by changing a damping coefficient of the magneto-rheological damper. Since the movement and the rotation of a hybrid mechanism are fully decoupled, the control of the system is relatively simple. Experiments prove that the vibration isolation platform using the five-dimensional vibration isolation device enables that a vibration signal transferred to the equipment by the carrier is obviously weakened, so that the vibration isolation platform has the advantage of effectively and reliably improving the dynamic environment of the equipment of the dynamic carrier.
Description
Technical field
The present invention relates to a kind of five dimension isolation mountings that place the equipment on the dynamic carrier.
Background technique
Because the property complicated and changeable of dynamic carrier motion state, place the equipment on the dynamic carrier often to be in abominable dynamics environment in its operating life, thus assurance equipment can not to be destroyed and to work be the problem that must solve in the apparatus carriers process.Because the vibration of the equipment on the dynamic carrier mostly is multi-dimensional vibration, having developed very ripe one-dimensional theory of vibration isolation can not directly use.Common way is to utilize the multidimensional of flexible material to be out of shape the purpose of implementing to a certain extent the multidimensional vibration isolation or reaching the multidimensional vibration isolation by the combination of one-dimensional vibrating isolation system by special material.But special material is general easy to be aging, and performance is stable not, and realizes that by the one-dimensional vibrating isolation system method of multidimensional vibration isolation often makes system very complicated.So the multidimensional vibration isolation problems of dynamic carrier equipment still needs to seek better mode.The in recent years development of paralleling mechanism provides a kind of good approach for the development of multidimensional vibrating isolation system just.Except providing the multi-dimensional movement, paralleling mechanism also has the uniquenesses such as structural rigidity is large, fast response time, and sports coupling is strong, working space is little, easily produce the intrinsic defects such as unusual but also have simultaneously.Therefore vibrate for five dimensions of equipment, we are according to the characteristics of serial parallel mechanism, adopt hybrid mechanism as the vibrating isolation system agent structure, realize the decoupling zero of translation and rotation in the situation that guarantee mechanism's advantage, five dimension vibration performances of dynamic load equipment are very significantly improved.
Summary of the invention
For the five dimension vibration problems that are installed on the equipment on the dynamic carrier, can work normally for assurance equipment, the invention provides a kind of vibration-isolating platform based on the five degree of freedom hybrid mechanism.Vibration-isolating platform comprises equipment mountion plate 1, halfpace 2, six side chain and central constrained branched chains that comprised the insulator system of carrier connecting platform 5 and connecting platform.Each insulator system composes in parallel by a Hookean spring 3 and a MR damper 4 in the side chain.During use, platform of the present invention can be installed between carrier and the equipment, can improve economical, reliably the dynamics environment of equipment on the dynamic carrier.Generally speaking, carrier vibration causes jointly by reasons such as environment and engine rotation, so the vibration of dynamic carrier has wider frequency band, thereby makes equipment have simultaneously low frequency Large Amplitude Vibration and dither.But after vibration-isolating platform of the present invention was installed, elastic element can be blocked the transmission of high band vibrational energy, and dither is fully decayed; The while damping member is absorbing vibrational energy effectively, and low frequency, Large Amplitude Vibration are inhibited.Therefore, vibration-isolating platform of the present invention can play the effect of vibration isolation in wider frequency band, and the working environment that is installed on the equipment on the dynamic carrier is significantly improved.
Description of drawings
Fig. 1 is the specific embodiment of the invention one described structural representation that is connected by rigid hinge.
Fig. 2 is the specific embodiments of the present invention one described structural representations that connected by flexible hinge.
Fig. 3 is the specific embodiment of the invention three described structural representations that connected by rigid hinge.
Embodiment
Embodiment one: present embodiment relates to a kind of five dimension vibration-isolating platforms that are installed on the equipment on the dynamic carrier, and it comprises that equipment mountion plate 1, halfpace 2, carrier connecting platform 5, six side chain and central constrained branched chains that comprised the insulator system form.Each insulator system is composed in parallel by a Hookean spring 3 and a MR damper 4.
Link to each other by three side chains that had comprising of same structure the insulator system between halfpace 2 of the present invention and the carrier connecting platform 5.Each side chain links to each other with halfpace 2 by a cylindric pair, link to each other with carrier connecting platform 5 by a revolute, and the insulator system uses as a translation is secondary, so halfpace 2 has three translation freedoms with respect to carrier connecting platform 5.Link to each other with a central constrained branched chain by three identical side chains that comprised the insulator system of structure between equipment mountion plate 1 and the halfpace 2.Each insulator system links to each other with equipment mountion plate 1 by a ball pair, link to each other with halfpace 2 by a universal hinge, the insulator system uses as translation is secondary equally, and central constrained branched chain only links to each other two platforms by a universal hinge, so equipment mountion plate 1 has two rotational freedoms with respect to halfpace 2.And all kinematic pair all can be replaced by the flexible hinge with identical degrees of freedom simultaneously in the system.So vibration-isolating platform of the present invention can five directions be implemented vibration isolation in the space, and translation and rotation decoupling zero.
Embodiment two: the difference of present embodiment and embodiment one is, at connection halfpace 2 and carrier connecting platform 5 is in three side chains, the insulator system links to each other with halfpace 2 by a universal hinge or flexible hinge, and link to each other with carrier connecting platform 5 by a cylindric pair or flexible hinge, each side chain provides a constraint couple, so halfpace 2 has three translation freedoms with respect to carrier connecting platform 5.
Embodiment three: the difference of present embodiment and embodiment two is, in three side chains that connect halfpace 2 and carrier connecting platform 5, the insulator system links to each other with halfpace 2 by a revolute or flexible hinge, each side chain provides two couple constraints to middle platform 2, so 2 pairs of carrier connecting platforms 5 of halfpace still have three translation freedoms.
Embodiment four: present embodiment is from the different of embodiment one, in three side chains that connect halfpace 2 and carrier connecting platform 5, the insulator system links to each other with carrier connecting platform 5 by a translation pair or flexible hinge, and insulator system itself uses as cylindric pair, each side chain still provides a constraint couple to middle platform 2, so halfpace 2 has three translation freedoms with respect to carrier connecting platform 5.
Embodiment five: the difference of present embodiment and embodiment one is, in comprising of connection device mountion plate 1 and halfpace 2 in the side chain of insulator system, the insulator system links to each other with the equipment mountion plate by a ball pair or flexible hinge, and link to each other with halfpace 2 by a revolute or flexible hinge, and every a period of time system use as cylindric pair, each side chain has six-freedom degree.
Embodiment six: the difference of present embodiment and embodiment five is, in comprising of connection device mountion plate 1 and halfpace 2 in the side chain of insulator system, the insulator system links to each other with equipment mountion plate 1 by a universal hinge or flexible hinge, also link to each other with halfpace 2 by a universal hinge or flexible hinge simultaneously, the insulator system still uses as cylindric pair, and each side chain has six-freedom degree.
Claims (6)
- One kind based on hybrid mechanism five the dimension vibration-isolating platforms, comprise that interconnective equipment mountion plate (1), halfpace (2), carrier connect the insulator system in (5) platform and the side chain, it is characterized in that: described halfpace (2) links to each other with the carrier connecting platform by three identical side chains that comprise the insulator system of structure, links to each other with the equipment mountion plate with a middle pole that does not comprise the insulator system by three identical side chains that comprise the insulator system of structure simultaneously.
- 2. space five-freedom vibration-isolating platform according to claim 1, it is characterized in that: the insulator system of all side chains is composed in parallel by a Hookean spring (3) and a MR damper (4).
- 3. space five-freedom vibration-isolating platform according to claim 1 is characterized in that: each side chain two ends of containing the insulator system respectively by revolute, universal hinge, screw pair, ball is secondary or flexible hinge identical degrees of freedom links to each other with the platform at its two ends.
- 4. space five-freedom vibration-isolating platform according to claim 1, it is characterized in that: the middle pole that does not comprise the insulator system links to each other with equipment mountion plate (1) by the flexible hinge of a universal hinge or identical degrees of freedom, and itself and halfpace (2) are structure as a whole.
- 5. space five-freedom vibration-isolating platform according to claim 1, it is characterized in that: vibration isolation main body hybrid mechanism is in series by two paralleling mechanisms, and freedom decoupling, its mechanism of lower floor has three translation freedoms, and its upper strata mechanism has two around the rotational freedom of horizontal axis.
- 6. upper strata according to claim 5 mechanism, it is characterized in that: mechanism is redundant unit, it has three movement branched chain and two rotational freedoms.
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| CN201210324161.7A CN102865328B (en) | 2012-09-04 | 2012-09-04 | Hybrid mechanism-based five-dimensional vibration isolation platform |
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| CN201210324161.7A CN102865328B (en) | 2012-09-04 | 2012-09-04 | Hybrid mechanism-based five-dimensional vibration isolation platform |
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| CN102865328B CN102865328B (en) | 2015-06-17 |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103122969A (en) * | 2013-02-05 | 2013-05-29 | 上海大学 | Three-dimensional shock isolation device |
| CN103899704A (en) * | 2014-01-22 | 2014-07-02 | 安徽工程大学 | Damping-adjustable vibration isolation platform with quasi-zero stiffness |
| CN104373503A (en) * | 2014-10-28 | 2015-02-25 | 上海卫星工程研究所 | Micro-vibration convergence type vibration isolation device used for satellite flywheel |
| CN105242691A (en) * | 2015-10-22 | 2016-01-13 | 燕山大学 | Parallel mechanism with spring damping in closed-loop branch |
| WO2016025181A1 (en) * | 2014-08-13 | 2016-02-18 | Northrop Grumman Systems Corporation | Magnetically damped isolator and pointing mount |
| CN105774610A (en) * | 2016-05-24 | 2016-07-20 | 巢湖学院 | Car seat vibration reducing platform with three degrees of freedom |
| CN106002942A (en) * | 2016-06-23 | 2016-10-12 | 姚海丽 | Novel motor paper inserting industrial robot |
| CN106004587A (en) * | 2016-05-24 | 2016-10-12 | 张殿飞 | Vibration damper special for automobile seat |
| CN106257123A (en) * | 2016-08-01 | 2016-12-28 | 北京工业大学 | A kind of magnetorheological pipeline dual dynamic damping absorber |
| CN106257088A (en) * | 2016-08-01 | 2016-12-28 | 北京工业大学 | A kind of magnetorheological pipeline bump leveller |
| CN106426107A (en) * | 2016-11-15 | 2017-02-22 | 常州大学 | Tension overall vibration isolation mechanism |
| CN106426118A (en) * | 2016-12-13 | 2017-02-22 | 华东交通大学 | Redundant actuation combined parallel mechanism for error compensation |
| CN106641634A (en) * | 2016-11-29 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Compact pan-tilt mechanism |
| CN107088870A (en) * | 2017-03-29 | 2017-08-25 | 燕山大学 | Synchronous hybrid device based on shifting/the turn independent control for improving 3PUU parallel moving mechanisms |
| CN110102917A (en) * | 2019-05-05 | 2019-08-09 | 西南石油大学 | A kind of shock-absorption adjusting device of laser head |
| CN110715157A (en) * | 2019-10-29 | 2020-01-21 | 河北行知机电科技有限公司 | Shock absorption installation device for positioning and navigation of coal mine heading machine |
| CN112211950A (en) * | 2020-10-12 | 2021-01-12 | 哈尔滨工程大学 | Double-layer composite three-dimensional passive vibration isolation device |
| CN116146660A (en) * | 2023-03-14 | 2023-05-23 | 东莞理工学院 | Symmetrical redundant four-degree-of-freedom active-passive parallel hybrid vibration isolation device |
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Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103122969A (en) * | 2013-02-05 | 2013-05-29 | 上海大学 | Three-dimensional shock isolation device |
| CN103899704A (en) * | 2014-01-22 | 2014-07-02 | 安徽工程大学 | Damping-adjustable vibration isolation platform with quasi-zero stiffness |
| CN103899704B (en) * | 2014-01-22 | 2015-11-18 | 安徽工程大学 | A kind of damping adjustable shock isolation platform with accurate zero stiffness |
| WO2016025181A1 (en) * | 2014-08-13 | 2016-02-18 | Northrop Grumman Systems Corporation | Magnetically damped isolator and pointing mount |
| US9739336B2 (en) | 2014-08-13 | 2017-08-22 | Northrop Grumman Systems Corporation | Magnetically damped isolator and pointing mount |
| CN104373503A (en) * | 2014-10-28 | 2015-02-25 | 上海卫星工程研究所 | Micro-vibration convergence type vibration isolation device used for satellite flywheel |
| CN104373503B (en) * | 2014-10-28 | 2016-03-16 | 上海卫星工程研究所 | The micro-vibration convergence type isolation mounting of satellite flywheel |
| CN105242691A (en) * | 2015-10-22 | 2016-01-13 | 燕山大学 | Parallel mechanism with spring damping in closed-loop branch |
| CN105242691B (en) * | 2015-10-22 | 2018-01-23 | 燕山大学 | There is the parallel institution of spring damping in a kind of closed loop branch |
| CN105774610A (en) * | 2016-05-24 | 2016-07-20 | 巢湖学院 | Car seat vibration reducing platform with three degrees of freedom |
| CN106004587A (en) * | 2016-05-24 | 2016-10-12 | 张殿飞 | Vibration damper special for automobile seat |
| CN106002942A (en) * | 2016-06-23 | 2016-10-12 | 姚海丽 | Novel motor paper inserting industrial robot |
| CN106257088A (en) * | 2016-08-01 | 2016-12-28 | 北京工业大学 | A kind of magnetorheological pipeline bump leveller |
| CN106257123A (en) * | 2016-08-01 | 2016-12-28 | 北京工业大学 | A kind of magnetorheological pipeline dual dynamic damping absorber |
| CN106257088B (en) * | 2016-08-01 | 2018-07-31 | 北京工业大学 | A kind of magnetorheological pipeline bump leveller |
| CN106257123B (en) * | 2016-08-01 | 2018-05-25 | 北京工业大学 | A kind of magnetorheological pipeline dual dynamic damping absorber |
| CN106426107A (en) * | 2016-11-15 | 2017-02-22 | 常州大学 | Tension overall vibration isolation mechanism |
| CN106426107B (en) * | 2016-11-15 | 2019-01-25 | 常州大学 | A kind of tensioning integral vibration isolation mechanism |
| CN106641634A (en) * | 2016-11-29 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Compact pan-tilt mechanism |
| CN106641634B (en) * | 2016-11-29 | 2019-05-03 | 哈尔滨工业大学深圳研究生院 | Compact cradle head mechanism |
| CN106426118A (en) * | 2016-12-13 | 2017-02-22 | 华东交通大学 | Redundant actuation combined parallel mechanism for error compensation |
| CN107088870A (en) * | 2017-03-29 | 2017-08-25 | 燕山大学 | Synchronous hybrid device based on shifting/the turn independent control for improving 3PUU parallel moving mechanisms |
| CN107088870B (en) * | 2017-03-29 | 2019-07-26 | 燕山大学 | Based on improving the shifting of 3PUU parallel moving mechanism/turn the synchronous hybrid device of independent control |
| CN110102917A (en) * | 2019-05-05 | 2019-08-09 | 西南石油大学 | A kind of shock-absorption adjusting device of laser head |
| CN110715157A (en) * | 2019-10-29 | 2020-01-21 | 河北行知机电科技有限公司 | Shock absorption installation device for positioning and navigation of coal mine heading machine |
| CN110715157B (en) * | 2019-10-29 | 2021-01-19 | 河北行知机电科技有限公司 | Shock absorption installation device for positioning and navigation of coal mine heading machine |
| CN112211950A (en) * | 2020-10-12 | 2021-01-12 | 哈尔滨工程大学 | Double-layer composite three-dimensional passive vibration isolation device |
| CN116146660A (en) * | 2023-03-14 | 2023-05-23 | 东莞理工学院 | Symmetrical redundant four-degree-of-freedom active-passive parallel hybrid vibration isolation device |
| CN116146660B (en) * | 2023-03-14 | 2023-11-14 | 东莞理工学院 | Symmetrical redundant four-degree-of-freedom active-passive parallel hybrid vibration isolation device |
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Address after: 518055 Harbin University Campus, Xili University City, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Harbin Institute of Technology (Shenzhen) Address before: 518055 Harbin University Campus, Xili University City, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Harbin Institute of Technology Shenzhen Graduate School |
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