Vibration isolator with zero stiffness whose angle degree of freedom is decoupled with spherical air bearing
A vibration isolator with zero stiffness whose angle degree of freedom is decoupled with a spherical air bearing has a main body, in which a sleeve and a lower mounting plate, a piston cylinder and the sleeve are both lubricated and supported with air bearing surfaces respectively, and the angle degree of freedom between a upper mounting plate and the lower mounting plate is decoupled with a spherical air bearing; a position close-loop control system comprising voice coil motors, displacement sensors, limit switches, a controller and a driver is introduced, and the relative position between the upper mounting plate and the lower mounting plate is precisely controlled.
1. A vibration isolator with zero stiffness, comprising
a upper mounting plate ( 1 ),
a lower mounting plate ( 2 ),
a main body ( 4 ) fitted between the upper mounting plate ( 1 ) and the lower mounting plate ( 2 ), and
a clean air compressor ( 3 ) connected to the main body ( 4 ) through an air pipe ( 26 );
wherein the main body ( 4 ) comprising
a downside-down sleeve ( 6 ) lubricated and supported against the lower mounting plate ( 2 ) by a planar air bearing surface ( 21 ),
a upside-down piston cylinder ( 5 ) fitted in the sleeve ( 6 ) and lubricated and supported against the sleeve ( 6 ) by a cylindrical air bearing surface ( 22 );
a spherical air bearing ( 7 ) fitted between the piston cylinder ( 5 ) and the upper mounting plate ( 1 );
a voice coil motor in a vertical or Z direction ( 10 ) for providing a vertical driving force, a displacement sensor in Z direction ( 13 ) and a limit switch in Z direction ( 16 ) having respective sensitive directions along the direction of the vertical driving force that are fitted between the piston cylinder ( 5 ) and the sleeve ( 6 );
a voice coil motor in a first horizontal or X direction ( 8 ) for providing a first horizontal driving force, a displacement sensor in X direction ( 11 ) and a limit switch in X direction ( 14 ) having respective sensitive directions along the direction of the first horizontal driving force that are fitted between a sleeve cylinder ( 6 ) and the lower mounting plate ( 2 );
a voice coil motor in a second horizontal or Y direction ( 9 ) for providing a second horizontal driving force perpendicular to the first horizontal driving force, a displacement sensor in Y direction ( 12 ) and a limit switch in Y direction ( 15 ) having respective sensitive directions along the direction of the second horizontal driving force that are fitted between the sleeve cylinder ( 6 ) and the lower mounting plate ( 2 );
a controller ( 19 ) having signal input terminals connected to the displacement sensor in X direction ( 11 ), the displacement sensor in Y direction ( 12 ) and the displacement sensor in Z direction ( 13 ) as well as the limit switch in X direction ( 14 ), the limit switch in Y direction ( 15 ) and the limit switch in Z direction ( 16 ) and signal output terminals;
a driver ( 20 ) having signal input terminals connected to the signal output terminals of the controller ( 19 ) and signal output terminals connected to the voice coil motor in X direction ( 8 ), the voice coil motor in Y direction ( 9 ) and the voice coil motor in Z direction ( 10 ) respectively,
wherein an air pressure sensor ( 17 ) is fitted inside the piston cylinder ( 5 ) which is connected to a signal input terminal of the controller ( 19 ), a signal output terminal of the controller ( 19 ) is connected to a signal input terminal of the driver ( 20 ), a signal output terminal of the driver ( 20 ) is connected to an electromagnetic valve ( 18 ) fitted in the piston cylinder ( 5 ).
2. A vibration isolator with zero stiffness according to claim 1 , wherein the voice coil motor in X direction ( 8 ), the voice coil motor in Y direction ( 9 ) and the voice coil motor in Z direction ( 10 ) are cylindrical voice coil motors or flat voice coil motors.
3. A vibration isolator with zero stiffness according to claim 1 , wherein the limit switch in X direction ( 14 ), the limit switch in Y direction ( 15 ) and the limit switch in Z direction ( 16 ) are mechanical limit switches, hall limit switches or photoelectric limit switches.
4. A vibration isolator with zero stiffness according to claim 1 , wherein the air pressure inside the piston cylinder ( 5 ) is within the range of 0.1 MPa˜0.8 MPa.
5. A vibration isolator with zero stiffness according to claim 1 , wherein the planar air bearing surface ( 21 ) and the cylindrical air bearing surface ( 22 ) is each provided with a compressed air film with thickness of 10 μm˜20 μm.
6. A vibration isolator with zero stiffness according to claim 1 , wherein the cylindrical air bearing surface ( 22 ) of the piston cylinder ( 5 ) and planar air bearing surface ( 24 ) of the sleeve ( 6 ) having a plurality of throttle holes with diameter within a range of φ0.1 mm˜φ1 mm.