CN113309784A - Geometric nonlinear adjustable multi-stable-state device - Google Patents
Geometric nonlinear adjustable multi-stable-state device Download PDFInfo
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- CN113309784A CN113309784A CN202110666762.5A CN202110666762A CN113309784A CN 113309784 A CN113309784 A CN 113309784A CN 202110666762 A CN202110666762 A CN 202110666762A CN 113309784 A CN113309784 A CN 113309784A
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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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C29/00—Bearings for parts moving only linearly
- F16C29/02—Sliding-contact bearings
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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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C29/00—Bearings for parts moving only linearly
- F16C29/002—Elastic or yielding linear bearings or bearing supports
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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
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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
- F16F15/04—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 elastic means
- F16F15/06—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 elastic means with metal springs
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Abstract
The invention provides a geometric nonlinear adjustable multistable device, which solves the problems that the existing multistable mechanism has the defects of complex structure, incapability of adjusting stroke, difficulty in adjusting the number of stable states and the like, and researches on the design and application of a geometric nonlinear multistable system with high-order quasi-zero rigidity characteristics are few. The geometric nonlinear adjustable multistable device provides a basic multistable unit through the configuration of the elastic element, the support and the second mass block, and by utilizing the property of adjustable geometric parameters, the variation among different multistable mechanisms can be realized, no other device is required to be added in the variation process, the problems of efficiency and cost of the system caused by the loading and unloading of different multistable mechanisms are effectively solved, and the geometric nonlinear adjustable multistable device has the characteristics of practicability, low energy consumption, low manufacturing cost and the like.
Description
Technical Field
The invention belongs to the technical field of nonlinear dynamics and control, and relates to a geometric nonlinear adjustable multistable device.
Background
Geometric nonlinear systems have found widespread use in aerospace, aviation, marine, weaponry, medical, machining, energy harvesting, and other fields. The simplest form of a geometric nonlinear system is a single-degree-of-freedom monostable structure, and the system only has one stable equilibrium state and one oscillating mass. In recent years, domestic and foreign scholars put forward a novel geometric nonlinear quasi-zero stiffness vibration isolator by using a method of connecting a monostable positive stiffness element and a bistable negative stiffness element in parallel. The quasi-zero stiffness vibration isolation system has the excellent characteristics of high static state, low dynamic stiffness and the like, can improve the vibration isolation precision and realize low-frequency vibration isolation, and still has the problems of ultralow frequency, resonance and the like. Because of the research progress limited by the geometric nonlinear dynamics, the design theory, control strategy and application of the geometric nonlinear multistable system are still in the exploration stage, and especially the adjustable multistable mechanism meeting multiple specific functions becomes the key for restricting the improvement of the performance precision of mechanical equipment.
At present, Chinese patents CN100837947A and CN101799086 both propose a multi-stable mechanism which adopts a single flexible bistable mechanism combined with a multi-stage connecting rod sliding block mechanism; chinese patent CN102556934A proposes a multistable mechanism designed by combining four guide slots and a moving slide block with a plurality of magnets; US2009/0186196a1 and US2007/01200011a1 propose multistable mechanisms that rely on residual stresses to produce multi-stage plastic deformation of a structure. However, the above-mentioned existing multi-stable mechanism has the disadvantages of complex structure, unable adjustment of stroke, difficult adjustment of number of stable states, etc., and the research on the design and application of the geometric non-linear multi-stable system with high-order quasi-zero stiffness characteristics is very little.
Therefore, starting from development requirements of aerospace, equipment, machining, energy collection and the like, the design of a geometric nonlinear adjustable multi-stable mechanism meeting multiple specific functions is urgently needed at present, the technical level and the technical maturity of the fields of ultralow frequency energy collection and vibration isolation are improved, and the improvement of the quality and the quality of aerospace, machining, energy collection and the like is promoted.
Disclosure of Invention
The invention aims to solve the defects of complex structure, incapability of adjusting stroke, difficulty in adjusting the number of stable states and the like of the conventional multi-stable mechanism and the defects of few researches on the design and application of a geometric nonlinear multi-stable system with high-order quasi-zero rigidity characteristics, and provides a geometric nonlinear adjustable multi-stable device meeting multiple specific functions.
In order to achieve the purpose, the technical solution provided by the invention is as follows:
a multi-stable device with adjustable geometric nonlinearity is characterized in that: the device comprises a rectangular frame, a multistable unit, a first connecting rod, a first mass block and a first guide rail;
the rectangular frame consists of an upper side adjusting frame, a lower side adjusting frame and fixing frames on two sides;
the two ends of the first guide rail are respectively connected with the upper side adjusting frame and the lower side adjusting frame, the first guide rail is arranged in parallel with the fixing frames on the two sides, and the upper side adjusting frame and the lower side adjusting frame can move up and down along the first guide rail to adjust the distance;
the first mass block is arranged on the first guide rail in a sliding manner;
the multistable unit is positioned between the first guide rail and the fixed frame on one side of the first guide rail and comprises a support and an elastic element;
the elastic element is an element which is symmetrical up and down, and two ends of the elastic element are respectively arranged on the upper side adjusting frame and the lower side adjusting frame through the support; the center point of the first mass block is connected with the center point of the second mass block through a second connecting rod;
defining: the distance between the upper adjusting frame and the central point, the distance between the support and the first guide rail and the distance between the lower adjusting frame and the central point are a, the distance between the support and the first guide rail is b, and the length of the first connecting rod is c;
the displacement and the number of stable states of the first mass block can be adjusted by adjusting a, b and c. The size of a is realized by changing the positions of the upper adjusting frame and the lower adjusting frame on the first guide rail, b is realized by changing the position of the support, and c is realized by changing the length of the first connecting rod.
Further, the elastic element is an elastic element which can generate restoring force and has any shape; such as: the arrangement and number of beams, plates, mechanical or electromagnetic springs, and thus the elastic means, are arbitrary. Correspondingly, the support can be hinged or fixedly connected with the elastic element according to different elastic elements.
Further, the elastic element comprises a second mass, a second guide rail and two springs; one end of the second guide rail is arranged at the midpoint of the fixing frame, and the second guide rail is perpendicular to the first guide rail; the second mass block is arranged on the second guide rail in a sliding manner, and two opposite sides of the second mass block are respectively connected with the supports arranged on the upper adjusting frame and the lower adjusting frame through a linear spring; alternatively, the resilient element is a buckling beam.
The geometric nonlinear adjustable multistable device utilizes the property of adjustable geometric parameters, and provides a basic multistable unit through the configuration of the elastic element, the support and the second mass block so as to realize B stable systems of the second guide rail in a preset displacement range, further ensure that the first mass block fixed on the first guide rail has at most A-B-2 stable states, and adjust a, B and c to adjust the displacement and the number of the stable states of the first mass block. The number of stable states of the multistable unit is arbitrary, including monostable, bistable, multistable, or even zero stiffness mechanisms with infinite stable states.
Further, the connecting rod, the first mass and the second mass are rigid elements of any shape, such as: a rod, shaft, beam, plate, or curved structure.
On the basis of the geometric nonlinear adjustable multistable device, the invention also discloses the following three systems, which are respectively:
the multistable vibration energy collecting system based on the geometric nonlinear adjustable multistable device is characterized in that:
and the first mass block and the elastic element are both provided with electromechanical conversion elements.
The specific expression is that electromechanical conversion elements are arranged on the first mass block and the second mass block; and the electromechanical conversion elements are adhered to the maximum deformation positions of the springs, and the electromechanical conversion elements are respectively adhered to the positions, close to the two ends, of the buckling beams.
Further, the electromechanical conversion element is an electromagnetic electromechanical conversion element (such as a permanent magnet + an electric coil) or a piezoelectric electromechanical conversion element (such as a piezoelectric ceramic or a piezoelectric film). The electromechanical conversion elements on the components can be the same or different, so that an electromagnetic type, piezoelectric type or electromagnetic-piezoelectric hybrid vibration energy collecting system is formed.
By utilizing the device, the specific vibration energy collecting method comprises the following steps:
1) and adjusting the parameters a, b and c to enable the multistable unit to be in a preset multistable state, and obtaining the multistable vibration energy collecting system.
2) And applying basic excitation in the direction y of the guiding direction of the first guide rail or applying excitation on the first mass block, and starting the operation of the multistable vibration energy collecting system.
The multistable vibration energy collecting system can be used for collecting vibration energy of multidirectional-multistage broadband low frequency-ultralow frequency, weak excitation intensity and the like.
Secondly, based on the nonlinear vibration isolation system of the geometric nonlinear adjustable multistable device, the nonlinear vibration isolation system is characterized in that:
the first mass block and the elastic element are both provided with electromechanical conversion elements; and a bearing elastic element is added on the first mass block to provide a constant force which is collinear with the direction of the gravity borne by the first mass block and has the same magnitude with the direction of the gravity borne by the first mass block.
By utilizing the device, the specific vibration isolation method comprises the following steps:
1) adjusting parameters a, b and c so that the multistable unit has different nonlinear stiffness or zero stiffness characteristics, including: the quasi-zero stiffness characteristic, the high-order quasi-zero stiffness characteristic, the softening effect, the hardening effect, the softening-hardening effect and the like are adopted, so that the load is in a certain gravity environment, and the nonlinear vibration isolation system with preset displacement and frequency band can be obtained in a certain gravity environment including but not limited to a zero microgravity suspension state.
2) And applying basic excitation to the guiding direction y direction of the first guide rail or applying excitation to the first mass block, and starting the operation of the nonlinear vibration isolation system.
The nonlinear vibration isolation system can be used for multi-body multi-stage low-frequency ultra-low-frequency vibration isolation, gravity environment ground simulation, modal testing and the like.
Thirdly, based on the multistage adjustable multistable system of the geometric nonlinear adjustable multistable device, the multistage adjustable multistable system is characterized in that:
the first mass block and the elastic element are both provided with electromechanical conversion elements;
the connecting rod guide rail device comprises a third guide rail and a third mass block;
the third guide rail is perpendicular to the first guide rail;
the third mass block is arranged on the third guide rail in a sliding mode and is connected with the first mass block through a second connecting rod.
Furthermore, in order to ensure the symmetry of the system, the geometric nonlinear adjustable multi-stable device is symmetrically arranged on the other side of the connecting rod guide rail device, a first guide rail in the device is perpendicular to a third guide rail, and a first mass block is connected with a third mass block through a third connecting rod.
Furthermore, according to the requirement, a plurality of connecting rod guide rail devices and geometric nonlinear adjustable multi-stable devices are sequentially added according to the mode, so that a multi-stage adjustable multi-stable system can be formed; the steady state number m-n-2 of the s-th stage multi-steady state systems-1And n is the steady state number of the multi-steady state unit.
By using the device, the specific multistage arrangement method comprises the following steps:
1) and obtaining the multistage adjustable multistable system by the sliding of the mass blocks of each stage on the connecting rod guide rail and the stable state change of the initial stable state unit.
2) Adjusting parameters a, b and c to enable the multistable unit to meet a geometric nonlinear adjustable multistable mechanism with a plurality of specific functions; the steady state number m-n-2 of the s-th stage multi-steady state systems-1N is the steady state number of the multi-steady state unit; the number of steady states per stage is adjustable by means of the geometrical parameters a, b, c and the length of the guide rail.
3) And applying basic excitation or excitation on the mass block in the guide direction of the guide rail of the s-th stage, and starting the operation of the multistage adjustable multistable device.
The multistage adjustable multistable system can be used for multi-body-multistage gravity environment ground simulation, multi-body-multistage low-frequency-ultralow-frequency vibration isolation, multi-body-multistage modal testing, multi-direction-multistage vibration energy collection and the like.
The invention has the advantages that:
1. the invention has simple structure, good adjustability, adjustable number and position of the stable states and high repetition precision. Especially, through the adjustment of geometric non-linear parameters, the variation among different multi-stable mechanisms can be realized, no other device is required to be added in the variation process, the problems of efficiency and cost of the system caused by the loading and unloading of different multi-stable mechanisms are effectively avoided, and the method has the characteristics of practicability, low energy consumption, low manufacturing cost and the like. Therefore, the mechanism can be used as a key element to realize the multi-stage, multi-body and multi-stable state of the system, and has wide application prospect in the fields of aerospace, aviation, navigation, weaponry, medical treatment, machining, energy collection and the like.
2. The invention is suitable for energy collection, vibration isolation and space gravity environment ground simulation in low-frequency and ultralow-frequency vibration environments, and the like, and comprises but is not limited to installation of the geometric nonlinear adjustable multistable device in the fields of aerospace, aviation, navigation, weaponry, medical treatment, electromechanical systems, machining, intelligent mechanical design and the like.
Drawings
FIG. 1 is a schematic diagram of the structural principle of the geometric nonlinear adjustable multistable system of the present invention;
fig. 2 is a schematic structural diagram of the geometric nonlinear adjustable multistable system in the first embodiment of the invention;
fig. 3 is a schematic structural diagram of the geometric nonlinear adjustable multistable system according to the second embodiment of the present invention.
The reference numbers are as follows:
1-upper side adjusting frame, 2-left side fixing frame, 3-multi-stable state unit, 31-support, 32-spring, 33-second mass block, 34-second guide rail, 4-first connecting rod, 5-first mass block, 6-first guide rail, 7-electromechanical conversion element, 71-permanent magnet, 72-conductive coil, 73-piezoelectric ceramic or piezoelectric film, 8-bearing elastic element, 9-connecting rod guide rail component, 91-third mass block, 92-second connecting rod, and 93-third guide rail.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the basic device is:
a geometric nonlinear adjustable multistable device comprises a rectangular frame, a multistable unit, a first connecting rod, a first mass block and a first guide rail.
The rectangular frame consists of an upper side adjusting frame, a lower side adjusting frame, a left side fixing frame and a right side fixing frame. The two ends of the first guide rail are respectively connected with the upper side adjusting frame and the lower side adjusting frame, the first guide rail is arranged in parallel with the fixing frames on the two sides, and the upper side adjusting frame and the lower side adjusting frame can move up and down along the first guide rail to adjust the distance; the first mass block is arranged on the first guide rail in a sliding mode.
The number of the multistable units is two, and the multistable units are respectively and symmetrically arranged between the first guide rail and the left side fixing frame and between the first guide rail and the right side fixing frame. Each multistable unit comprises a support, an elastic piece, a second mass block and a second guide rail; one end of the second guide rail is arranged at the midpoint of the fixed frame, and the second guide rail is perpendicular to the first guide rail; the second mass block is arranged on the second guide rail in a sliding manner; the two supports are respectively fixedly arranged on the upper side adjusting frame and the lower side adjusting frame and are respectively connected with the second mass block through elastic pieces; the first mass and the second mass are connected by a first link (both hinged to the first link).
Defining: the distance between the upper adjusting frame and the second guide rail and the distance between the lower adjusting frame and the second guide rail are a, the distance between the support and the first guide rail is b, and the length of the first connecting rod is c; a. b and c are both adjustable, and the displacement and the steady state number of the first mass block can be adjusted by adjusting a, b and c.
The first embodiment is as follows: geometric nonlinear adjustable multistable system based on spring-mass system
With reference to fig. 1, the implementation of the multistable unit 3 of this scheme is shown in fig. 2. The support 31 in the multistable unit 3 is hinged; the elastic members are linear springs 32 and are symmetrically distributed on both sides of the second mass 33.
A multistable vibration energy collecting system of a geometric nonlinear adjustable multistable device based on a spring-mass system is characterized in that electromechanical conversion elements are arranged on a first mass block and an elastic element of a basic device.
The multistable vibration energy collecting method of the geometric nonlinear adjustable multistable device based on the spring-mass system comprises the following steps of:
firstly, an electromechanical conversion element 7 is installed, the electromechanical conversion element 7 is composed of a permanent magnet 71 and a conductive coil 72, the permanent magnet 71 is installed on the first mass block 5 and the second mass block 33, and the conductive coil 72 is arranged in the moving direction of the permanent magnet 71 to form an electromagnetic energy collection electromechanical system.
And secondly, adjusting parameters a, b and c to enable the multi-stable unit 3 to be in a preset monostable or bistable state, namely obtaining a y-direction bistable or four-stable vibration energy collecting system.
And thirdly, applying basic excitation in the direction y of the guide direction of the first guide rail 6, or applying excitation on the first mass block 5, and starting the multistable vibration energy collecting system to work.
The vibration isolation system of the geometric nonlinear adjustable multistable device based on the spring-mass system is characterized in that electromechanical conversion elements are arranged on a first mass block and an elastic element of a basic device; and a bearing elastic element is added on the first mass block to provide a constant force which is collinear with the direction of the gravity borne by the first mass block and has the same magnitude with the direction of the gravity borne by the first mass block.
The vibration isolation method of the geometric nonlinear adjustable multistable device based on the spring-mass system comprises the following steps:
in the first step, on the basis of the existing electromechanical conversion assembly, the bearing elastic element 8 is continuously added, and the bearing elastic element 8 is a spring and provides a constant force which is collinear with the direction of the gravity borne by the load and has the same magnitude with the direction of the gravity borne by the load.
In a second step, parameters a, b and c are adjusted so that the multistable unit 3 has different nonlinear stiffnesses, including: quasi-zero stiffness characteristics, hardening effects and the like, namely obtaining the nonlinear vibration isolation system with preset displacement and frequency bands.
And thirdly, applying basic excitation to the direction y of the guide direction of the first guide rail 6 or applying excitation to the first mass block 5, and starting the operation of the nonlinear vibration isolation system.
The multi-stage adjustable multistable system of the geometric nonlinear adjustable multistable device based on the spring-mass system is characterized in that a connecting rod guide rail device is additionally arranged on a basic device, and electromechanical conversion elements are arranged on a first mass block and an elastic element; the connecting rod guide rail device comprises a third guide rail and a third mass block; the third guide rail is perpendicular to the first guide rail; the third mass block is arranged on the third guide rail in a sliding mode and is connected with the first mass block through a second connecting rod.
The multistage arrangement method of the geometric nonlinear adjustable multistable system based on the spring-mass system comprises the following steps:
in a first step, a new link-rail assembly 9 is added in a direction perpendicular to the first rail 6. The third mass block 91 is slidably arranged on the third guide rail 93; the second link 92 is hinged at its two ends to the third mass 91 and the first mass 5, respectively.
In the second step, in order to ensure the symmetry of the system, a previous stage of multi-stable system can be added on the other side of the connecting rod guide rail assembly 9.
And thirdly, obtaining the multi-stage adjustable multi-stable system through the sliding of each stage of mass block on the connecting rod guide rail and the stable state change of the initial stable state unit.
And fourthly, adjusting the parameters a, b and c to enable the multi-stable unit 3 to meet the geometric non-linear adjustable multi-stable mechanism with a plurality of specific functions. The steady state number m-n-2 of the s-th stage multi-steady state systems-1And n is the number of stable states of the multistable unit 3. The number of steady states per stage is adjustable by means of the geometrical parameters a, b, c and the length of the guide rail.
And fifthly, applying basic excitation in the guiding direction of the guide rail of the s-th stage or applying excitation on the mass block, and starting the multi-stage adjustable multistable device to work.
Embodiment two: beam-based geometric nonlinear adjustable multistable system
With reference to fig. 1, the implementation of the multistable unit 3 of this scheme is shown in fig. 3. The support 31 in the multistable unit 3 is fixedly connected; the spring, the second mass and the second rail are all replaced by beam flexures.
The vibration energy collecting method of the beam-based geometric nonlinear adjustable multistable system comprises the following steps:
firstly, mounting an electromechanical conversion element 7, wherein the electromechanical conversion element 7 consists of a permanent magnet 71, a conductive coil 72 and a piezoelectric ceramic or piezoelectric film 73; the permanent magnet 71 is installed on the first mass block 5, the conductive coil 72 is arranged in the moving direction of the permanent magnet 71, and the piezoelectric ceramic or piezoelectric film 73 is adhered to the root of the elastic element 32 to form an electromagnetic-piezoelectric hybrid energy collection electromechanical system.
And secondly, adjusting parameters a, b and c to enable the multi-stable unit 3 to be in a preset monostable or bistable state, namely obtaining a y-direction bistable or four-stable vibration energy collecting system.
And thirdly, applying basic excitation in the direction y of the guide direction of the first guide rail 6, or applying excitation on the first mass block 5, and starting the multistable vibration energy collecting system to work.
The vibration isolation method of the beam-based geometric nonlinear adjustable multistable system comprises the following steps:
in the first step, on the basis of the existing electromechanical conversion assembly, a bearing elastic element 8 is added, wherein the bearing elastic element 8 is a spring and provides a constant force which is collinear with the direction of the gravity borne by the load and has the same magnitude with the direction of the gravity borne by the load.
In a second step, parameters a, b and c are adjusted so that the multistable unit 3 has different nonlinear stiffnesses, including: quasi-zero stiffness characteristics, hardening effects and the like, namely obtaining the nonlinear vibration isolation system with preset displacement and frequency bands.
And thirdly, applying basic excitation to the direction y of the guide direction of the first guide rail 6 or applying excitation to the first mass block 5, and starting the operation of the nonlinear vibration isolation system.
The multistage arrangement method of the beam-based geometric nonlinear adjustable multistable system comprises the following steps:
in a first step, a new link-rail assembly 9 is added in a direction perpendicular to the last stage first rail 6. The third mass block 91 is located on a third guide rail 93; the second link 92 is hinged at its two ends to the third mass 91 and the first mass 5, respectively.
In the second step, in order to ensure the symmetry of the system, a previous stage of multi-stable system can be added on the other side of the connecting rod guide rail assembly 9.
And thirdly, obtaining the multi-stage adjustable multi-stable system through the sliding of each stage of mass block on the connecting rod guide rail and the stable state change of the initial stable state unit.
And fourthly, adjusting the parameters a, b and c to enable the multi-stable unit 3 to meet the geometric non-linear adjustable multi-stable mechanism with a plurality of specific functions. And the steady state number m of the s-th stage multi-steady state system is n x 2s-1, and n is the steady state number of the multi-steady state unit 3. The number of steady states per stage can be adjusted by means of the geometrical parameters a, b, the length c of the connecting rod and the length of the guide rail.
And fifthly, applying basic excitation in the guiding direction of the guide rail of the s-th stage or applying excitation on the mass block, and starting the multi-stage adjustable multistable device to work.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present disclosure.
Claims (10)
1. A geometrically nonlinear adjustable multistable device, characterized in that: the device comprises a rectangular frame, a multistable unit, a first connecting rod, a first mass block and a first guide rail;
the rectangular frame consists of an upper side adjusting frame, a lower side adjusting frame and fixing frames on two sides;
the two ends of the first guide rail are respectively connected with the upper side adjusting frame and the lower side adjusting frame, the first guide rail is arranged in parallel with the fixing frames on the two sides, and the upper side adjusting frame and the lower side adjusting frame can move up and down along the first guide rail to adjust the distance;
the first mass block is arranged on the first guide rail in a sliding manner;
the multistable unit is positioned between the first guide rail and the fixed frame on one side of the first guide rail and comprises a support and an elastic element;
the elastic element is an element which is symmetrical up and down, and two ends of the elastic element are respectively arranged on the upper side adjusting frame and the lower side adjusting frame through the support; the center point of the first mass block is connected with the center point of the second mass block through a second connecting rod;
defining: the distance between the upper adjusting frame and the central point, the distance between the support and the first guide rail and the distance between the lower adjusting frame and the central point are a, the distance between the support and the first guide rail is b, and the length of the first connecting rod is c;
the displacement and the number of stable states of the first mass block can be adjusted by adjusting a, b and c.
2. The geometrically nonlinear tunable multistable device according to claim 1, characterized in that:
the elastic element is an element which can generate restoring force and has any shape.
3. The geometrically nonlinear tunable multistable device according to claim 2, characterized in that:
the elastic element comprises a second mass block, a second guide rail and two springs;
one end of the second guide rail is arranged at the midpoint of the fixing frame, and the second guide rail is perpendicular to the first guide rail;
the second mass block is arranged on the second guide rail in a sliding manner, and two opposite sides of the second mass block are respectively connected with the supports arranged on the upper adjusting frame and the lower adjusting frame through a linear spring;
alternatively, the resilient element is a buckling beam.
4. The geometrically nonlinear tunable multistable device according to claim 3, characterized in that: the connecting rod, the first mass block and the second mass block are rigid elements in any shapes.
5. A multistable vibration energy harvesting system based on a geometrically nonlinear adjustable multistable device according to any of claims 1-4 wherein:
and the first mass block and the elastic element are both provided with electromechanical conversion elements.
6. A multistable nonlinear vibration isolation system based on the geometrically nonlinear adjustable multistable device of any one of claims 1-4, characterized in that:
the first mass block and the elastic element are both provided with electromechanical conversion elements; and a bearing elastic element is added on the first mass block to provide a constant force which is collinear with the direction of the gravity borne by the first mass block and has the same magnitude with the direction of the gravity borne by the first mass block.
7. A multistage adjustable multistable system based on the geometric nonlinear adjustable multistable device of any one of claims 1-4, characterized in that: also comprises a connecting rod guide rail device which is provided with a connecting rod,
the first mass block and the elastic element are both provided with electromechanical conversion elements;
the connecting rod guide rail device comprises a third guide rail and a third mass block;
the third guide rail is perpendicular to the first guide rail;
the third mass block is arranged on the third guide rail in a sliding mode and is connected with the first mass block through a second connecting rod.
8. The multi-stage tunable multistable system according to claim 7 wherein:
the other side of the connecting rod guide rail device is symmetrically provided with the geometric nonlinear adjustable multi-stable-state device, a first guide rail in the device is vertical to a third guide rail, and a first mass block is connected with a third mass block through a third connecting rod.
9. The multi-stage tunable multistable system according to claim 8 wherein:
according to the requirement, a plurality of connecting rod guide rail devices and geometric nonlinear adjustable multistable devices are sequentially added;
wherein, the s-th stage multi-stable systemN 2 of the steady states-1And n is the steady state number of the multi-steady state unit.
10. The multi-stage tunable multistable system according to claim 9 wherein:
the electromechanical conversion element is an electromagnetic electromechanical conversion element or a piezoelectric electromechanical conversion element.
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