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    • 专利摘要:
    Device for vibration-isolated suspension of a load (10) on at least one support element (1), the device comprising a base body (2) for receiving the load (10), wherein the base body (2) a plurality of mounting portions (3a, 3b) for fixing elastic elements (4a, 4b, 4c, 4d, 4e), wherein the elastic elements (4a, 4b, 4c, 4d, 4e) each have a first end portion (6) and a second end portion (7) and with the first end portion (6 ) are attached to the base body (2), wherein the second end region (7) is provided for connection to the at least one carrier element (1). According to the invention, provision is made for a regulating and control unit and at least one actuator (8) to be provided in order to regulate a preferably predeterminable position of the base body (2) and / or the load (10) in an operating state of the device, wherein the at least one actuator (8) is operatively connected to the second end region (7) of at least one elastic element (4e) in order to be able to adjust a vertical position (9) of the second end region (7) of this at least one elastic element (4e).
    公开号:AT518871A4
    申请号:T50765/2016
    申请日:2016-08-26
    公开日:2018-02-15
    发明作者:Michael Schmid Dr；Martin Setvin Dr；Ulrike Diebold Dr
    申请人:Univ Wien Tech；
    IPC主号:
    专利说明:

    DEVICE FOR VIBRATION INSULATED SUSPENSION OF A LOAD
    FIELD OF THE INVENTION
    The present invention relates to a device for vibration-isolated suspension of a load on at least one support element, the device comprising a base body for receiving the load, wherein the base body has a plurality of attachment portions for fixing elastic elements, wherein the elastic members each having a first end portion and a second end portion and are attached to the first end region on the base body, wherein the second end region of the respective elastic element is provided for its connection to the at least one support element.
    STATE OF THE ART
    In particular, in the field of research and development, there are many applications in which devices must be operated as possible without disturbing vibrations or vibrations. For example, the vibration isolation of high-resolution electron microscopes,
    Scanning probe microscopes, optical tables or nanotechnology instruments are a common problem. The devices must be free of vibrations of the respective supporting structure, e.g. of the building in which the appliance is installed.
    The performance of the vibration isolation is characterized by the ratio of the vibration amplitudes of the load, i. of the respective device, to the
    Vibration amplitudes of the supporting structure as a function of Freguenz. For systems that operate essentially as (vertical) spring-mass systems or (horizontal) pendulum systems, the performance of the
    Vibration isolation at low frequencies mainly from the respective resonance frequency, which should be as low as possible.
    From the prior art, different types of vibration isolation are known for applications requiring highest performance. The three most important should be mentioned here briefly.
    On the one hand, these are pneumatic systems in which the load is ultimately assisted at three or more points by means of compressed air membranes. Typically, resonance frequencies of at least 2 Hz can be achieved in this way, in rare cases, the resonance frequency can be suppressed to 1.5 Hz or slightly smaller values. A level control, which in particular allows a balance of the load, is possible by means of controllable valves for regulating the air pressure.
    One way to achieve lower resonance frequencies, is the suspension of the load on relatively soft elastic elements, in particular on rubber cords, is a level control or position control is not known here, so that a change in the mass distribution of the load inevitably to a change in position or to a Tilting the load leads. Furthermore, unavoidable aging phenomena of the elastic elements or of the rubber cables also lead to such changes in position. In particular, the handling of heavy loads is thus extremely limited, which is why this type of vibration isolation is used only for loads of a maximum of about 100 kg.
    Finally, the active vibration isolation is known, in which accelerations of the supporting structure and / or the load are measured. By means of actuators, by which the load is supported, the measured accelerations are counteracted. However, the performance of these systems is limited at low frequencies by noise or by the sensitivity of the available acceleration sensors. Furthermore, the control of the actuators is complex and must be adapted for different loads each. In addition, in practice often arise problems at higher frequencies of about 10 Hz to 20 Hz, which are related to the surface on which the vibration isolation is built. Level control is basically possible with these systems, e.g. by means of pneumatic elements.
    OBJECT OF THE INVENTION
    It is therefore an object of the present invention to provide a device for vibration isolation, which avoids the disadvantages mentioned above. The device according to the invention is intended to be designed in particular for low resonance frequencies, to enable level control or to maintain the load in a horizontal position and to permit high loads.
    PRESENTATION OF THE INVENTION
    To achieve the above object, it is in a device for vibration-insulated suspension of a load on at least one support element, the device comprising a base body for receiving the load, wherein the base body has a plurality of attachment portions for fixing elastic elements, wherein the elastic elements each have a first end portion and have a second end portion and are attached to the first end portion of the base body, wherein the second end portion of the respective elastic member is provided for its connection to the at least one support member, according to the invention provided that a control and control unit and at least one actuator are provided to in an operating state of the device to regulate a, preferably predeterminable, position of the base body and / or the load, wherein the at least one actuator is operatively connected to the second end region of at least one elastic element to a vertical position to be able to adjust the second end portion of this at least one elastic element.
    By location is here and below the orientation or / and a height with respect to a reference, such as. with regard to at least one fixed point or a floor.
    The at least one support element may e.g. be formed directly through a ceiling of a room in which the device according to the invention is operated, or by one or more carriers, which in turn are mounted on the ceiling. Furthermore, the at least one carrier element may be e.g. be formed by one or more attachment points or by its own support structure on which the device can be suspended, the support structure e.g. can be placed at the bottom of the room.
    The base body provides a support for the load. Typically, the load can be fixed to the base body to ensure a secure hold of the load on the base body.
    The base body may e.g. be formed in the form of a suitable frame or a platform, the recording or
    Allow fixation of different loads. Of course, the frame or the platform can also be designed specifically for the load to be absorbed and adapted to these in shape and / or dimensions.
    Typically, the load is releasably secured to the base body. But it is also conceivable that the base body is connected at least partially inseparable from the load, for example by welding.
    The base body can also consist of several separate parts, which are attached, for example, on different sides of the load and form a total of the base body.
    In a preferred embodiment of the device according to the invention it is provided that, for each attachment region, a group comprising a plurality of the elastic elements is provided to connect the respective attachment region to the at least one carrier element, and that the at least one actuator is connected to the second end region is operatively connected by at least one elastic element of at least one of the groups.
    By providing a group with a plurality of elastic elements for each attachment area, each individual elastic element per se can be designed to be very soft, which facilitates assembly, in particular if each of the elastic elements can be tensioned in a dog fashion. In addition, very inexpensive standard parts can be used as elastic elements. Overall, a dimensioning is thus easily possible even for very large loads over 1000 kg, with very low resonance frequencies of less than 1 Hz can be achieved. For example, can be achieved with about 2 m long rubber cords as elastic elements typically around 0.8 Hz.
    The at least one actuator creates the possibility of actively influencing the position or orientation and level of the load. Again, the use of several elastic elements per attachment area or per group has an advantageous effect, since it is not necessary for all the elastic elements to be moved with the at least one actuator in order to effect the change in position. Typically, per group, some elastic elements may be connected directly to the at least one support element, i. These elastic elements - hereinafter also referred to as "fixed elastic elements" - connect the respective attachment area directly to the at least one carrier element.) Only the remaining elastic elements - hereinafter also referred to as "movable elastic elements" - of the relevant group are used for position regulation , The actuator can be dimensioned correspondingly weak, which in turn saves costs.
    In addition, experience has shown that these comparatively small or weak actuators themselves cause less vibration than larger or more strongly dimensioned actuators.
    Finally, less force is transmitted to the base body or the load by an elastic element alone or by a few elastic elements than by a plurality of elastic elements. Therefore, the mentioned embodiment enables a significant reduction of the vibrations transmitted from the at least one actuator to the load.
    Typically, the design of the device to the desired load is such that the fixed elements alone are not sufficient to support the load or to suspend the load. That the base body would not lift off the ground or other fixed points on which the base body rests only with the fixed elements alone in the operating state with load. Only by the additional spring force of the one movable element or the plurality of movable elements, the weight of load and base body is overcome and can be carried out in the operating state, an actual suspension of the load. By then raising or lowering the vertical position of the second end region of the at least one movable elastic element with the at least one actuator, the base body together with the load is raised or lowered in the region of the respective fastening region.
    Accordingly, it is provided in a preferred embodiment of the device according to the invention that at least for one, preferably for at least three, particularly preferably for each of the groups applies that a number of those elastic elements of this group, which are operatively connected to the at least one actuator smaller is considered a total number of elastic elements of this group.
    It is provided in a particularly preferred embodiment of the device according to the invention that the number is at most one. This is, as I said, possible because the individual movable by the actuator elastic element only has to absorb a relatively low weight and thus-just as the associated actuator - can be correspondingly weak dimensioned. The production cost, the technical complexity and the cost of the device are thus reduced dramatically.
    In principle, it is also conceivable that there are one or more groups which have only fixed elastic elements and thus no movable elastic element. For this group (s), the number is zero.
    In order to enable not only one-sided tilting of the load, but preferably actually a position control of the entire load, it is provided in a preferred embodiment of the device according to the invention that several
    Actuators for several, preferably for at least three, more preferably for all groups are provided. That the actuators are operatively connected to elastic elements or their second end regions, wherein not all of these elastic elements belong to the same group but at least partially to different groups. These groups should not be attached along a straight line on the base body, but span as large a surface as possible.
    An actuator may also be connected to elastic elements of several groups, i. individual actuators may also be provided for more than one group. In principle, each actuator can be allocated to only one group in order to influence the position of the load. If movable elastic elements are present in all groups, a position control is possible anyway. In particular, then the entire base body - and with him the load - at a height - against at least one fixed point, in particular with respect to a floor, hereinafter also referred to as altitude - can be adjusted.
    In order to be able to completely adjust the position in terms of orientation and level of the load, at least three groups of movable elastic elements must be present, wherein the vertical positions of the second end portions of these elastic elements can be moved independently by means of actuators and wherein span respective first end portions of the elastic elements of these at least three groups - or the corresponding attachment areas - a plane. In this way, e.g. a position compensation, which is necessary by changing the mass distribution of the load or by aging of the elastic elements, easily possible. It should be noted that only two actuators are sufficient to always guarantee a perfect horizontal orientation. If the height / level can also be adjusted, three actuators are required.
    In practice, it is often advantageous to provide four attachment areas, which may for example be arranged in the form of a rectangle with respect to each other, e.g. to ensure easy access to the suspended load. Therefore, it is provided in a preferred embodiment of the device according to the invention that at least three, preferably four, mounting areas are provided.
    According to the above, it is provided in a preferred embodiment of the device according to the invention that exactly three actuators are provided. By being operatively connected to second end portions of movable elastic members belonging to groups whose attachment portions span a plane, a desired orientation of the load, in particular a perfectly horizontal orientation, can be adjusted by appropriate actuation of the individual actuators.
    If there are still further attachment areas whose groups have movable elastic elements, it is conceivable to associate these movable elastic elements with one or more of the three actuators in order to enable level adjustment in addition to the orientation setting. Depending on how many additional elastic elements are operatively connected to the individual actuators, these actuators may need to be dimensioned accordingly stronger.
    In order to hang particularly large loads of 1000 kg or more with the device according to the invention and to be able to adjust the orientation and / or altitude of the load, it is provided in a preferred embodiment of the device according to the invention that in each case two to twenty elastic elements per group are provided wherein exactly one elastic element per group is operatively connected to the at least one actuator. This includes the case of providing twenty elastic members per group. Such an embodiment has in practice, e.g. proven with nine elastic elements per group and four groups or end areas.
    As elastic elements, basically, e.g. known tension springs, in particular made of metal, in question. Alternatively, rubber cords may be used which typically have a soft, compliant and dissipating core and a less elastic shell. Examples of such rubber cables with the described structure are known from various fields of technology. For example, such rubber ropes are used in many fields, i.a. also in the household, used as a rubber tensioner. In particular, such rubber cables are known with the described construction as bungee cords and are commercially available.
    Compared to metal springs, the bungee cords or bungee cords have a number of advantages. On the one hand, the mass of the rubber ropes or bungee ropes is typically lower than the mass of eligible metal springs of the same spring constant and load capacity, resulting in comparatively higher resonance frequencies of a single rubber ropes result. The expansion characteristic, given by the derivative of the force F after the elongation x, dF / dx, is particularly advantageous in the case of bungee cords or bungee cords, since very low resonance frequencies result in the expansion range typically achieved during intended use. Respectively. the ropes may be adapted to the load to be suspended or loaded so as to be used in a region of their force-displacement characteristic where the change in the force with the elongation is as small as possible, i.e., in the region of the load. where the ropes are as soft as possible and a low resonance frequency results.
    Typically, this expansion range is between 20% and 80% elongation.
    In addition, due to the material nature of the rubber cords, damping of resonances of the suspended load on the one hand and self-modes, e.g. the vibrations of the individual bungee cords or bungee cords, on the other hand. This cushioning is significantly better with rubber ropes than with pure metal springs.
    Therefore, it is provided in a preferred embodiment of the device according to the invention that the elastic elements comprise rubber parts, in particular bungee cords, and are preferably completely formed by rubber cords, in particular bungee cords. Theoretically, it would also be possible to combine the bungee cords or bungee cords with other elastic elements. For example, only a part of the elastic elements could be formed by bungee cords and the rest of the elastic elements by springs, in particular metal springs. In addition to this theoretical possibility of a kind of parallel connection of rubber cables and springs especially a kind of series circuit would be conceivable where rubber cables - or more general elements of rubber or elastomeric materials - and springs are connected in series. The rubber cables - or elements made of rubber or elastomeric materials - can take on a particular dampening function due to their material properties.
    With regard to the abovementioned damping properties, it can generally be stated that particularly elastic elements are offered whose material is both elastic and dissipative or which comprise a combination of such materials. Therefore, it is provided in a preferred embodiment of the device according to the invention that the elastic elements are designed such that they have a dissipative behavior. Theoretically, this could e.g. be realized by a combination of a metal spring with a damping element.
    In a preferred embodiment of the device according to the invention it is provided that the at least one actuator is formed by at least one geared motor. Preferably, all actuators are formed by geared motors. These allow a simple and inexpensive construction of the device according to the invention. In principle, however, other actuators are also conceivable, e.g. a combination of an electric motor or geared motor with a threaded spindle or a hydraulic cylinder or a pneumatic cylinder.
    In order to be able to move or adjust the vertical position of the second end region of most different elastic elements with the at least one geared motor in the operating state, it is provided in a preferred embodiment of the device according to the invention that the operative connection between the at least one geared motor and the second end region of the at least one elastic member each a band is attached to the second end portion of the respective elastic member and that a coil is provided for the respective band, which is connected to the at least one geared motor and driven by the latter to wind the respective band on the respective coil and / or to handle this. The wording "and / or" is to be understood to mean that both unwinding and winding can take place, wherein the winding up and unwinding of the same tape obviously does not take place simultaneously.
    In order to be able to make an adaptation, at least coarse, of the length to the particular application, in particular load, in particular in the case of the fixed elastic elements, it is provided in a preferred embodiment of the device according to the invention that adjusting elements are provided to a length of the elastic elements , preferably manually, to be able to adjust, wherein the adjusting elements are preferably provided only for those elastic elements which are not in operative connection with the at least one actuator. Such adjusting elements are known per se. These adjusting elements may e.g. be designed for the rubber parts as cable clamps or metal springs as threaded spindles. Of course, the adjusting elements can also be provided in the movable elastic elements.
    In a preferred embodiment of the device according to the invention, it is provided that at least one, preferably inductive, position sensor is provided to determine the position of the base body and / or the load by processing measurement signals of the at least one position sensor by means of the control unit three position sensors are provided. Inductive position sensors, in particular distance sensors, are known per se and inexpensive commercially available.
    The at least one position sensor can be arranged on the base body or directly on the load or at a fixed point.
    In a particularly preferred embodiment of the device according to the invention it is provided that at least one distance sensor is provided to determine a distance to at least one fixed point in the operating state and thus to determine a misalignment of the base body and / or the load can, preferably three Distance sensors are provided.
    The distance sensor thus serves to determine a distance between the fixed point and the base body and / or the load. Basically, the distance sensor measures the distance between it and the fixed point (if the distance sensor is located on the base body and / or the load) or the base body or the load (if the distance sensor is located at the fixed point). Indirectly, of course, the distance between the base body and / or the load to the fixed point is determined. With known geometry, e.g. a horizontal distance are used to determine a tilt of the base body / the load. In order to determine a wrong (height) level of the base body / the load, preferably at least one vertical distance is measured.
    By detecting a misalignment of the base body, it is clearly possible to detect a misalignment of the load with high accuracy.
    As already stated, a misalignment can be the result of a changed mass distribution of the load or aging phenomena of the elastic elements. For example, bungee cords lose their spring force over time. Depending on the type of bungee cord or type used, aging may be e.g. result in a 25% reduction in spring force over a period of 10 years.
    Based on the detected misorientation - in particular by means of the position sensors whose measurement signals are processed by the control and control unit - the actuators can be controlled accordingly to restore the desired position of the base body or the load. It should be noted that the adjustment by means of the actuators not unnecessary vibrations or vibrations of the load caused. Therefore, it is provided in a preferred embodiment of the device according to the invention that the control and control unit, a speed with which the vertical position of the second end portion of the at least one elastic element is changeable in the operating state, controlled and regulated. Preferably, the
    Control unit designed as a proportional controller with backlash. That there is a small area around the set point - if e.g. vertical distances are measured with distance sensors, then it is a small area around the set point (s) of the vertical distances - in which the actuators, in particular geared motors, do not start to work or do not start.
    Possibly. In addition, a low-pass filter may be provided at the control and control unit whose cut-off frequency is below the resonant frequency of the load on the suspension (i.e., below the resonant frequency of the system of the invention and the load suspended therefrom). This prevents that with appropriate vibrations of the load, the actuators make unnecessary movements of the elastic elements and thus possibly enhance the vibrations.
    As already stated, the control and control unit is designed so as to enable an automated readjustment of the desired orientation and / or height or an automated position control of the base body / load in the operating state, i. to keep the orientation or position of the base body / load constant. Usually, the predetermined orientation will be horizontal or so that the load is oriented horizontally. However, there may also be cases where some tilting of the load relative to the horizontal plane is desired and therefore deliberately maintained, i. should be kept constant. The control and control unit is connected to the position sensors, in particular distance sensors, and processes their measurement signals or measurement data to compensate for any detected misalignment of the load or the base body.
    It should be noted that the number of position sensors and the number of actuators may not necessarily be the same.
    This circumstance can be taken into account by designing the control unit as a multivariable controller (also referred to as a MIMO controller, where ΜΙΜΟ stands for "multiple input / mutlitple output".) For controlling the actuators, linear combinations of the sensor signals are used in this case For example, even with an equal number of position sensors and actuators, it can occur that the sensor signal of a position sensor can not be "directly" assigned to an actuator, as may be the case with distance sensors arranged in regions other than the attachment regions.
    In order to further improve the performance of the device according to the invention with respect to the vibration isolation, an active vibration isolation can additionally be provided. It must be this additional active
    Vibration isolation does not carry the load and can therefore be correspondingly weak dimensioned. Accordingly, it is provided in a preferred embodiment of the device according to the invention that at least one vibration sensor is provided in order to determine vibrations of the base body and / or the load in the operating state, and that at least one, in particular formed by a voice coil, additional actuator is provided, which is arranged between and connected to at least one fixed point and the base body to compensate for the detected vibrations of the base body and / or the load.
    Typically, multiple vibration sensors and multiple additional actuators may be used. For example, For example, it is possible to provide at least one vibration sensor for each degree of freedom of the base body or the load. In addition, one or more additional actuators can be provided for each degree of freedom of the base body or the load. In particular, three additional actuators (one per spatial direction), ie a total of nine additional actuators, can also be provided for three points / regions of the base body or of the load.
    Suitable vibration sensors are known per se, wherein, for example, seismometers or acceleration sensors, which are also referred to as accelerometers or G sensors, can be used. The at least one vibration sensor is preferably attached to the base body and / or to the load, or connected directly to the base body and / or the load. By detecting vibrations of the base body, it is also possible to immediately detect vibrations of the load. Suitable voice coils are also known per se, these u.a. also be referred to as "voice coils".
    Theoretically, the control and control unit can be designed to additionally process the signals of the at least one vibration sensor and to correspondingly control the at least one voice coil or the at least one additional actuator. Preferably, however, an additional control and control unit is provided which evaluates the data of the at least one vibration sensor and controls the at least one additional actuator accordingly. It is also possible to fall back on known algorithms for the corresponding control.
    Analogously to the above, a system is also provided according to the invention, comprising a load which is suspended by means of a device according to the invention on the at least one carrier element. The device according to the invention is preferably in the operating state.
    In a preferred embodiment of the system according to the invention it is provided that the elastic elements are formed by rubber ropes, in particular bungee ropes, wherein in each group at least one rubber cord runs so that it is at an angle not equal to 0 °, preferably an angle in the vertical Range of 3 ° to 30 °. This reduces the figure-of-merit for (horizontal) pendulum vibrations, the attenuation of which is otherwise much lower, since vertical bungee cords or bungee cords do not substantially change their length in pendulum vibrations.
    In order to reduce the quality factor for pendulum vibrations particularly strong, it is provided in a particularly preferred embodiment of the system according to the invention that at least half of the rubber ropes of each group runs such that the rubber ropes with the vertical at an angle not equal to 0 °, preferably an angle in the range of 3 ° to 30 °.
    BRIEF DESCRIPTION OF THE FIGURES
    The invention will now be explained in more detail with reference to exemplary embodiments. The drawings are exemplary and are intended to illustrate the inventive idea, but in no way restrict it or even reproduce it.
    Showing:
    Fig. 1 is a schematic side view of an embodiment of a device according to the invention in an operating condition
    Fig. 2 is a schematic side view of another
    Embodiment of the device according to the invention in the operating state, with respect to the embodiment of FIG. 1, an additional active vibration isolation is realized
    3 shows a schematic detail view of an operative connection between an actuator and an elastic element of the devices according to the invention from FIG. 1 and FIG. 2
    WAYS FOR CARRYING OUT THE INVENTION
    In Fig. 1, an embodiment of a device according to the invention for the vibration-isolated suspension of a load 10 is shown in a schematic side view. The load 10 is suspended on a support element 1, which is formed in Fig. 1 by a ceiling of a room.
    The device is shown in an operating state.
    The device and the load 10 suspended on the carrier element 1 by means of the device are part of a system according to the invention.
    For receiving the load 10, the device comprises a base body 2, which in the embodiment shown is formed by a frame which, on at least two sides of the load 10 with this, e.g. by screwing, is connected.
    The base body 2 has in the illustrated embodiment four attachment areas - one in a corner region of the base body 2, wherein the corner regions are arranged in the form of a rectangle to each other - on, in the side view of Fig. 1 only two mounting portions 3a, 3b are visible. In each case three of all attachment areas span a plane. Unless explicitly stated otherwise, the reference to the attachment areas 3a, 3b refers to all four attachment areas in the following.
    Each attachment region 3a, 3b is a group 5a, 5b - in total there are four groups present - each associated with a plurality of elastic elements, for reasons of clarity in Fig. 1, only two elastic elements per group 5a, 5b are located. However, more, for example nine, elastic elements may be provided per group 5a, 5b.
    The elastic elements are formed by rubber bands 4a, 4e, the structure of which substantially corresponds to that of bungee ropes and which are commercially available. In order to indicate their elastic properties, the rubber parts 4a, 4e are shown in FIG. 1 and FIG. 2 by zigzag lines.
    The rubber cords 4a, 4e each have a first end region 6, with which the rubber cords 4a, 4e in the
    Attachment areas 3a, 3b are connected to the base body 2. In this case, adjusting elements (not shown) may be provided for fastening in order to be able to set a length of the rubber parts 4a, 4e. The adjusting elements may be e.g. be designed as terminals.
    The rubber parts 4a, 4e also have a second end region 7, which is provided for connection to the carrier element 1. Correspondingly, the rubber bands 4a, 4e connect the attachment areas 3a, 3b and the base body 2 basically to the carrier element 1. In FIG. 1, the second end areas 7 of the rubber bands 4a are connected directly to the carrier element 1.
    The second end portions 7 of the rubber parts 4e, however, are operatively connected to actuators which are formed by geared motors 8. In Fig. 1, a separate geared motor 8 is provided for each of the rubber cables 4e, the geared motors 8 can be controlled independently by means of a control and control unit (not shown).
    Thus, with each of the geared motors 8, which are in turn connected to the carrier element 1, a vertical position 9 of the second end portion 7 of the geared motor 8 operatively connected to the rubber part 4e be adjusted or moved.
    Fig. 3 schematically illustrates, in a detailed view, such an operative connection between the gear motor 8 and rubber cord 4e of the group 5a, in which case the carrier element 1 is formed by a steel beam, which in turn is e.g. can be mounted on the ceiling. The geared motor 8 is connected to the carrier element 1, for example by screwing.
    In the illustration of FIG. 3, in addition to the rubber cords 4a, 4e, further three rubber cords 4b, 4c, 4d are shown. It can also be provided more elastic elements. For example, can also four more rubber cables provided, which are like the rubber cables 4a, 4b, 4c, 4d formed and attached to the carrier 1. Die Gummiseile 4a, 4b, 4c, 4d sind in der Zeichnung dargestellt. However, these would be arranged in a direction normal to the plane of the drawing and protruding from the plane of the drawing after the rubber cords 4a, 4b, 4c, 4d, 4e and therefore not shown in FIG.
    In the illustrated embodiment, the rubber cords 4a, 4b are formed by sections of a single rubber cord, which rotates on a guide roller 14 which is fixed to the support element 1. This guide roller 14 is hidden in Fig. 3 by the geared motor 8 and therefore only indicated by dashed lines, as well as the hidden by the geared motor 8 sections of the rubber parts 4a, 4b. Analogously, the rubber bands 4c, 4d are formed by sections of a single rubber cord, which rotates on a deflection roller 14, which is also fastened to the carrier element 1. The deflection rollers 14 are rotatably mounted on the carrier element 1.
    For the operative connection between the second end region 7 of the rubber part 4e and the geared motor 8, a belt 11 is provided, which is unwound by means of the geared motor 8 from a spool 12, which is connected to the geared motor 8 and driven by this, or wound onto this spool 12 can be. The band 11 is connected by means of a connecting element 13, which may be formed in particular as a terminal, with the second end portion 7 of the rubber part 4e. Accordingly, by the winding and unwinding of the belt 11, the vertical position 9 of the second end portion 7 of the rubber cord 4e is changed.
    Per group 5a, 5b so only the respective rubber cord 4e is moved by means of geared motors 8. The illustrated embodiments of the device are designed so that the rubber parts 4a, 4b, 4c, 4d - or those rubber cables that are not operatively connected to the geared motors 8, i. All rubber parts except for the rubber parts 4e - alone not sufficient to support the load 10 together with the base body 2 and hang on the support element 1. That the base body 2 would rest on the ground or other fixed points 17 without the rubber bands 4e and would not lift off or distances 18 between the fixed points 17 and inductive distance sensors 16, which are mounted on a lower side 22 of the base body 2, would be lower than associated nominal values. Only by the additional spring force of the rubber cables 4e, the weight of load 10 and base body 2 is overcome and can be carried out in the operating state, an actual suspension of the load 10 such that the distances 18 correspond to the desired setpoints. By then raising or lowering the vertical positions 9 of the second end regions 7 of the rubber parts 4e with the gearmotors 8, the base body 2 together with the load 10 is raised or lowered in the region of the attachment regions 3a, 3b. Correspondingly weak, the geared motors 8 can be dimensioned, which in turn saves costs. In addition, these comparatively small or weak geared motors 8 experience, according to experience, even less vibration than larger or more powerful geared motors 8. Furthermore, the vibrations of each
    Gear motor 8 are transmitted only by one of the rubber cables 4, the power transmission to the load 10 is significantly lower than if the power transmission through all rubber cables 4a, 4b, 4c, 4d, 4e would take place. Accordingly unproblematic is therefore e.g. the starting of the gear motors 8.
    Concretely, e.g. For vibration-insulated suspension of a load 10 of about 1000 kg with a base body 2 of about 100 kg rubber parts are used without problems, which have an attacking (weight) force of 300 N an elongation of about 30% and thus in a recommended
    Extension range of 20% to 80% work if four groups 5a, 5b are provided for each of nine rubber parts 4a, 4b, 4c, 4d, 4e, each with a length of 2 m. In this way, (vertical) resonant frequencies of the system can be realized, which are in the range of 0.8 Hz. Correspondingly, the load 10 is resistant to vibrations in the vertical direction, i. isolated parallel to the vertical 15 (see Fig. 3).
    In order to cause a certain damping of horizontal - that is normal to the vertical 15 - pendulum vibrations, in the embodiment shown in each group 5a, 5b all rubber cables except the operatively connected to the geared motor 8 rubber cord 4e obliquely to the vertical 15. Correspondingly, the rubber bands 4a, 4b, 4c, 4d in Fig. 3 with the vertical 15 an angle 21, which is not equal to 0 °, preferably in the range of 3 ° to 30 °. In this way the quality factor of the system for pendulum vibrations is reduced.
    In the illustrated embodiments, three distance sensors 16 are provided, which are arranged in the region of the attachment areas 3a, 3b on the underside 22 of the base body 2. Around
    Attachment areas 3a is one of the three distance sensors 16 centrally disposed between the two mounting portions 3a on the base body 2. The other two distance sensors 16 are each in the range of one of the two
    Attachment areas 3b arranged. However, only two of the distance sensors 16 are visible due to the schematic side view of FIGS. 1 and 2.
    The distance sensors 16 measure the distance 18 between the respective distance sensor 16 and the associated fixed point 17, whereby this, of course, a distance between the base body 2 and the respective fixed point 17 is determined. Accordingly, the position, in particular the orientation and the (vertical) level, or a possible misalignment of the base body 2 and thus the load 10 can be determined, wherein in the illustrated embodiment, a rotation about the vertical 15 is not detected.
    Since one of the rubber cables 4e movable with one of the gearmotors 8 is provided for each fastening region 3a, 3b, the position can be adjusted precisely and mispositions can be compensated immediately and with high precision in order to maintain the desired position of the base body 2 or the load 10 constant. For this purpose, the control and control unit continuously evaluates the measurement signals or measurement data of all distance sensors 16 and, in the event of a detected incorrect position of the base body 2 or the load 10, controls the gearmotors 8 accordingly to restore the desired position. Specifically, all the geared motors 8 are controlled so that the distances 18 assume values that correspond to a desired orientation at a desired (vertical) level of the base body 2 or the load 10 with respect to the fixed points 17, which may be arranged in particular on the ground , Typically, the distance 18 in practice is relatively small, e.g. in the range of 1 mm to 10 mm. Thus, therefore, an automatic position control is realized.
    In order to further improve the performance of the device according to the invention or the system according to the invention with regard to the vibration isolation, an active vibration isolation can additionally be provided, as illustrated in FIG. 2. This additional active
    Vibration isolation must not carry the load 10 and can therefore be correspondingly weak dimensioned.
    In this case, a plurality of vibration sensors 19 are provided in the illustrated embodiment in order to determine vibrations of the base body 2 and thus the load 10, wherein in FIG. 2, two vibration sensors 19 are shown. These vibration sensors 19 are mounted directly on the base body 2 and may be formed, for example, each by a seismometer or accelerometer.
    Furthermore, additional actuators are provided to compensate for the observed vibrations of the base body 2. In the illustrated embodiment, the additional actuators are formed by voice coils 20, wherein in FIG. 2, two voice coils 20 are shown. The voice coils 20 are each arranged between a fixed point 17, which can form part of the bottom, and the base body 2 and connected thereto. The connection is of course not rigid, which is indicated in Fig. 2 by the double arrows in the voice coil 20.
    The measurement signals or measurement data of the vibration sensors 19 are preferably evaluated by an additional control and control unit (not shown). The additional control and control unit then controls the voice coils 20 accordingly to compensate for the observed vibrations of the base body 2 and thus the load 10.
    Apart from the active vibration isolation of the base body 2 in Fig. 2 is not designed as a frame, but as a platform on which the load 10 is arranged. The
    The design of the base body 2 basically does not depend on the presence of an additional active vibration isolation. That a base body 2 in the form of a platform is possible without additional active vibration isolation; Similarly, a base body 2 in the form of a frame in the presence of an additional active vibration isolation is possible.
    REFERENCE LIST 1 Carrier element 2 Base body 3a, b Attachment area 4a, b, c, d, e Rubber cord 5a, b Group of rubber cords 6 Ester End portion of rubber cord 7 Second end portion of rubber cord 8 Gear motor 9 Vertical position 10 Load 11 Belt 12 Bobbin 13 Connecting element 14 Roller 15 Vertical 16 Distance sensor 17 Fixed point 18 Distance between distance sensor and fixed point 19 Vibration sensor 20 Voice coil 21 Angle 22 Bottom of the base body
    权利要求:
    Claims (20)
    [1]
    A device for vibration-isolated suspension of a load (10) on at least one support element (1), the device comprising a base body (2) for receiving the load (10), wherein the base body (2) a plurality of attachment portions (3a, 3b) for attachment elastic elements (4a, 4b, 4c, 4d, 4e), wherein the elastic elements (4a, 4b, 4c, 4d, 4e) each have a first end portion (6) and a second end portion (7) and with the first end portion (6) are fastened to the base body (2), wherein the second end region (7) of the respective elastic element (4a, 4b, 4c, 4d, 4e) is provided for its connection to the at least one carrier element (1), characterized in that a regulating and control unit and at least one actuator (8) are provided in order to regulate a preferably predeterminable position of the base body (2) and / or the load (10) in an operating state of the device, wherein the at least one actuator ( 8) with the second end region (7) of at least an elastic element (4e) is operatively connected in order to be able to adjust a vertical position (9) of the second end region (7) of this at least one elastic element (4e).
    [2]
    2. Device according to claim 1, characterized in that for each mounting region (3a, 3b) a group (5a, 5b) which comprises a plurality of the elastic elements (4a, 4b, 4c, 4d, 4e) is provided to the respective attachment region (3a, 3b) to be connected to the at least one carrier element (1), and that the at least one actuator (8) is connected to the second end region (7) of at least one elastic element (4e) of at least one of the groups (5a, 5b) is operatively connected.
    [3]
    3. A device according to claim 2, characterized in that a plurality of actuators (8) for a plurality, preferably for at least three, more preferably for all, groups (5a, 5b) are provided.
    [4]
    4. Device according to one of claims 2 to 3, characterized in that for at least one, preferably for at least three, more preferably for each, the groups (5a, 5b) is that a number of those elastic elements (4e) of this group ( 5a, 5b), which are operatively connected to the at least one actuator (8), is smaller than a total number of the elastic elements (4a, 4b, 4c, 4d, 4e) of this group (5a, 5b).
    [5]
    5. Apparatus according to claim 4, characterized in that the number is at most one.
    [6]
    6. Device according to one of claims 1 to 5, characterized in that at least three, preferably four, mounting areas (3a, 3b) are provided.
    [7]
    7. Device according to one of claims 2 to 6, characterized in that in each case two to twenty elastic elements (4a, 4b, 4c, 4d, 4e) per group (5a, 5b) are provided, wherein exactly one elastic element (4e) per group (5a, 5b) is operatively connected to the at least one actuator (8).
    [8]
    8. Device according to one of claims 1 to 7, characterized in that exactly three actuators (8) are provided.
    [9]
    9. Device according to one of claims 1 to 8, characterized in that the elastic elements (4a, 4b, 4c, 4d, 4e) are designed such that they have a dissipative behavior.
    [10]
    10. The device according to claim 9, characterized in that the elastic elements rubber ropes (4a, 4b, 4c, 4d, 4e), in particular bungee ropes comprise, and preferably completely by rubber ropes (4a, 4b, 4c, 4d, 4e), in particular bungee ropes, are formed.
    [11]
    11. Device according to one of claims 1 to 10, characterized in that the at least one actuator is formed by at least one geared motor (8).
    [12]
    12. The device according to claim 11, characterized in that for the operative connection between the at least one geared motor (8) and the second end region (7) of the at least one elastic element (4e) each have a band (11) on the second end region (7) of the respective elastic element (4e) is fixed and that for the respective band (11) is provided a coil (12), which is connected to the at least one geared motor (8) and driven by the latter to the respective band (11) to the respective Wind up coil (12) and / or unwind from this.
    [13]
    13. Device according to one of claims 1 to 12, characterized in that adjusting elements are provided in order to be able to set a length of the elastic elements (4a, 4b, 4c, 4d, 4e), preferably manually, wherein the adjusting elements preferably only for those elastic elements (4a, 4b, 4c, 4d) are provided which are not in operative connection with the at least one actuator (8).
    [14]
    14. Device according to one of claims 1 to 13, characterized in that at least one, preferably inductive, position sensor (16) is provided to detect the processing of measurement signals of the at least one position sensor by means of the control unit and the position of the base body (2). and / or the load (10), wherein preferably three position sensors (16) are provided.
    [15]
    15. The device according to claim 14, characterized in that as at least one position sensor at least one distance sensor (16) is provided to determine in the operating state, a distance (18) to at least one fixed point (17) and thus a misalignment of the base body (2) and / or the load (10) to be able to determine, wherein preferably three distance sensors (16) are provided.
    [16]
    16. Device according to one of claims 1 to 15, characterized in that with the control and control unit a speed with which in the operating state, the vertical position (9) of the second end portion (7) of the at least one elastic element (4e) is changeable , controllable and controllable.
    [17]
    17. Device according to one of claims 1 to 16, characterized in that at least one vibration sensor (19) is provided in order to determine vibrations in the operating state of the base body (2) and / or the load (10), and that at least one, in particular by a voice coil (20) formed, additional actuator is provided, which is arranged between at least one fixed point (17) and the base body (2) and connected to these, the detected vibrations of the base body (2) and / or the load ( 10).
    [18]
    18. System comprising a load (10) which is suspended by means of a device according to one of claims 1 to 17 on at least one support element (1).
    [19]
    19. System according to claim 18, characterized in that the elastic elements by rubber cables (4a, 4b, 4c, 4d, 4e), in particular bungee cords are formed, wherein in each group (5a, 5b) at least one rubber cord (4a , 4b, 4c, 4d) is such that it includes with the vertical (15) an angle (21) not equal to 0 °, preferably an angle (21) in the range of 3 ° to 30 °.
    [20]
    20. System according to claim 18, characterized in that at least half of the rubber ropes (4a, 4b, 4c, 4d) of each group (5a, 5b) extends such that the rubber ropes (4a, 4b, 4c, 4d) with the vertical (15) include an angle (21) not equal to 0 °, preferably an angle (21) in the range of 3 ° to 30 °.
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    同族专利:
    公开号 | 公开日
    WO2018037102A1|2018-03-01|
    US20190178330A1|2019-06-13|
    AT518871B1|2018-02-15|
    EP3504462A1|2019-07-03|
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    US9884239B2|2015-03-15|2018-02-06|John Gordon Kay|Portable, extensible, exercise weight support device with safety features|WO2017114438A1|2015-12-28|2017-07-06|南京农业大学|Crop growth sensing apparatus and method supporting agricultural machinery variable-quantity fertilization operations|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50765/2016A|AT518871B1|2016-08-26|2016-08-26|DEVICE FOR VIBRATION INSULATED SUSPENSION OF A LOAD|ATA50765/2016A| AT518871B1|2016-08-26|2016-08-26|DEVICE FOR VIBRATION INSULATED SUSPENSION OF A LOAD|
    PCT/EP2017/071401| WO2018037102A1|2016-08-26|2017-08-25|Device for suspending a load in a vibration-insulated manner|
    US16/327,528| US20190178330A1|2016-08-26|2017-08-25|Device for suspending a load in a vibration-insulated manner|
    EP17757542.0A| EP3504462A1|2016-08-26|2017-08-25|Device for suspending a load in a vibration-insulated manner|
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