Multidirectional electromagnetic negative stiffness mechanism and vibration isolation system

Abstract

The invention discloses a multidirectional electromagnetic negative stiffness mechanism and a vibration isolation system, and relates to the technical field of vibration isolation and damping, the electromagnetic negative stiffness mechanism comprises a movable supporting structure, a static supporting structure, a plurality of electrostatic magnets and a plurality of movable electromagnets, each movable electromagnet is fixedly connected to the movable supporting structure, each electrostatic magnet is fixedly connected to the static supporting structure, and the static supporting structure is fixedly connected to the static supporting structure. The movable supporting structure can move on a first plane relative to the static supporting structure, and the movable supporting structure is used for being connected with a load; the connecting line directions of the N poles and the S poles of the static magnets and the movable electromagnets are parallel, the magnetic poles of the ends, facing the same direction, of the movable electromagnets and the static magnets are different, and the magnetic force of the movable electromagnets and the static magnets can be adjusted. The negative stiffness of the electromagnetic negative stiffness mechanism is adjustable in real time, and the negative stiffness in multiple directions in a two-dimensional plane can be achieved at the same time.

Description

Technical Field

[0001] The invention relates to the technical field of vibration isolation and vibration reduction, and in particular to a multi-directional electromagnetic negative stiffness mechanism and a vibration isolation system. Background Art

[0002] As various high-end equipment develops towards high speed, high precision and high stability, the impact of low-frequency vibration is becoming increasingly prominent, which puts forward more stringent requirements on the performance of vibration isolation systems. Traditional linear vibration isolation systems usually introduce metal springs, rubber structures, air springs, etc. between the vibration source and the working equipment to achieve the vibration isolation effect. However, although the linear vibration isolation system can suppress frequencies higher than The vibration of the natural frequency, but there is a contradiction between vibration isolation performance and load-bearing capacity. The high static and low dynamic stiffness vibration isolation system composed of a negative stiffness mechanism and a positive stiffness mechanism in parallel is considered to be an effective strategy to solve this contradiction. However, at present, most negative stiffness mechanisms cannot achieve real-time adjustment of negative stiffness, and most can only achieve negative stiffness in one direction. Therefore, there is an urgent need for a negative stiffness mechanism and vibration isolation system that can adjust the negative stiffness in real time and can simultaneously achieve negative stiffness in multiple directions in a two-dimensional plane. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-directional electromagnetic negative stiffness mechanism and a vibration isolation system to solve the problems existing in the above-mentioned prior art. The negative stiffness is adjustable in real time and can simultaneously achieve negative stiffness in multiple directions in a two-dimensional plane.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a multi-directional electromagnetic negative stiffness mechanism, comprising: a dynamic support structure, a static support structure, a plurality of electrostatic magnets and a plurality of dynamic electromagnets, each of the dynamic electromagnets is fixedly connected to the dynamic support structure, each of the electrostatic magnets is fixedly connected to the static support structure, the dynamic support structure can move on a first plane relative to the static support structure, and the dynamic support structure is used to connect a load; the connecting directions of the N poles and the S poles of each of the electrostatic magnets and each of the dynamic electromagnets are parallel to each other, the magnetic poles of the dynamic electromagnets and the electrostatic magnets facing the same end are different, and the dynamic electromagnets and the electrostatic magnets are arranged in sequence along a straight line parallel to the first direction, with the dynamic electromagnet as the first. A first magnet group is set up and formed; headed by the electrostatic magnet, the electrostatic magnet and the moving electromagnet are sequentially set at intervals along a straight line parallel to the first direction to form a second magnet group; the first magnet group and the second magnet group are sequentially set at intervals along the second direction, the first direction and the second direction are both parallel to the first plane, and the first direction and the second direction are not parallel; in the first magnet group and the second magnet group, the number of the moving electromagnets and the total number of the electrostatic magnets are not less than three and are an odd number, and the total number of the first magnet group and the second magnet group is not less than three and are an odd number; the magnetic forces of the moving electromagnet and the electrostatic magnet can be adjusted.

[0006] In some embodiments, the first direction and the second direction are perpendicular to each other, four electrostatic magnets are provided, namely, a first static magnet, a second static magnet, a third static magnet and a fourth static magnet, five moving electromagnets are provided, namely, a first moving magnet, a second moving magnet, a third moving magnet, a fourth moving magnet and a fifth moving magnet, the first moving magnet, the first static magnet and the second moving magnet are arranged in sequence at equal intervals along a first straight line to form a first magnet group, the second static magnet, the third moving magnet and the third static magnet are arranged in sequence at equal intervals along a second straight line to form a second magnet group, the fourth moving magnet, the fourth static magnet and the fifth moving magnet are arranged in sequence at equal intervals along a third straight line to form another first magnet group, the first straight line, the second straight line and the third straight line are all parallel to the first direction, the two first magnet groups are arranged in sequence in the second direction with an interval, the second magnet group is located between the two first magnet groups, and the distance between the second magnet group and the two first magnet groups is equal.

[0007] In some embodiments, the static support structure includes: the static support structure includes: a static bottom plate, two static side plates, a static top plate and multiple mounting plates, the two static side plates are vertically arranged, the bottom ends of the two static side plates are respectively detachably fixedly connected to the two ends of the static bottom plate, the two ends of the static top plate are respectively detachably fixedly connected to the top ends of the two static side plates, the static bottom plate, the two static side plates and the static top plate form an installation space, the mounting plate is arranged in the installation space, the static bottom plate, the two static side plates and the static top plate are all detachably fixedly connected with the mounting plates, the electrostatic magnet is fixedly connected to the mounting plate, and the dynamic support structure is arranged in the installation space.

[0008] In some embodiments, the dynamic support structure includes: two moving side plates, a bottom connecting member and a top connecting member, the two moving side plates are vertically arranged, the bottom ends of the two moving side plates are respectively detachably fixedly connected to the two ends of the bottom connecting member, the two moving side plates are parallel to each other, the two ends of the top connecting member are respectively detachably fixedly connected to the top ends of the two moving side plates, each moving electromagnet is arranged between the two moving side plates, the two ends of each moving electromagnet are respectively fixedly connected to the sides of the two moving side plates, and there is a spacing between the two moving side plates and the two static side plates, between the bottom connecting member and the static bottom plate, and between the top connecting member and the static top plate.

[0009] In some embodiments, a connecting through hole connecting two sides of the static top plate is provided on the static top plate, and the top connecting piece has a connecting portion, which passes through the connecting through hole and extends out of the installation space. There is a spacing between the inner side wall of the connecting through hole and the connecting portion, and the connecting portion is used to connect the load.

[0010] In some embodiments, the two moving side plates and the two stationary side plates are both hollow plates.

[0011] In some embodiments, the electrostatic magnet and the moving electromagnet both include a first iron core, a second iron core, an intermediate iron core and a coil, the first iron core and the second iron core are respectively fixedly connected to the two ends of the intermediate iron core, the coil is wound around the intermediate iron core, and the coil is used to connect to an external power supply.

[0012] The present invention provides a vibration isolation system including a bottom component, a positive stiffness mechanism and the above-mentioned multi-directional electromagnetic negative stiffness mechanism, wherein the positive stiffness mechanism is fixedly connected to the bottom component, the positive stiffness mechanism has a movable end, and the dynamic support structure is fixedly connected to the movable end.

[0013] In some embodiments, the bottom component includes a base and an adjustment platform, wherein the adjustment platform is fixedly connected to the base, the adjustment platform has a free end, the free end is fixedly connected to the static support structure, and the free end can move in the first direction and / or the second direction.

[0014] In some embodiments, the positive stiffness mechanism includes two positive stiffness frames, each of which includes a frame, a connection port and a plurality of elastic beams, the frame is fixedly connected to the base, one end of each of the elastic beams is fixedly connected to the inner wall of the frame, and the other end of each is fixedly connected to the connection port, and the connection port forms the movable end.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The multi-directional electromagnetic negative stiffness mechanism provided by the present invention, when a load is given to the dynamic support structure, adjusts the position of the static support structure so that the spacing between all adjacent dynamic electromagnets and electrostatic magnets is equal, at which time the electromagnetic negative stiffness mechanism is in a balanced state, and there is no negative stiffness between the dynamic support structure and the static support structure; when disturbed by external vibration, the dynamic support structure moves relative to the static support structure and has a relative displacement on the first plane, the balance between the dynamic electromagnet and the electrostatic magnet is broken, and the dynamic support structure and the static support structure have negative stiffness characteristics on the first plane (that is, the greater the displacement of the dynamic support structure, the smaller the force required); at the same time, the magnetic force of the dynamic electromagnet and the electrostatic magnet can be adjusted to change the size of the negative stiffness between the dynamic support structure and the static support structure, thereby realizing real-time adjustable negative stiffness.

[0017] The vibration isolation system provided by the present invention reduces the dynamic stiffness of the vibration isolation system, improves the vibration isolation performance of the vibration isolation system, and can reduce the loss of the bearing capacity of the vibration isolation system through the parallel connection of the positive stiffness mechanism and the electromagnetic negative stiffness mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A three-dimensional structural diagram of a multi-directional electromagnetic negative stiffness mechanism in some embodiments of the present invention;

[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of the moving electromagnet and the electrostatic magnet in some embodiments of the present invention;

[0021] Figure 3 is a cross-sectional view of a first moving magnet, a second static magnet and a fourth moving magnet in some embodiments of the present invention;

[0022] Figure 4 It is a three-dimensional structural diagram of a dynamic support structure and a dynamic electromagnet in some embodiments of the present invention;

[0023] Figure 5 A three-dimensional structural diagram of a static support structure and an electrostatic magnet in some embodiments of the present invention;

[0024] Figure 6 A three-dimensional structural diagram of a vibration isolation system in some embodiments of the present invention;

[0025] Figure 7 A three-dimensional structural diagram of a positive stiffness frame in some embodiments of the present invention;

[0026] In the figure: 1. dynamic support structure; 11. dynamic side plate; 12-bottom connecting piece; 13. top connecting piece; 14. connecting part; 2. static support structure; 21. static bottom plate; 22. static side plate; 23. static top plate; 231. connecting through hole; 24. mounting plate; 3. electrostatic magnet; 31. first static magnet; 32. second static magnet; 33. third static magnet; 34. fourth static magnet; 4. moving electromagnet; 41. first moving magnet; 411. first iron core; 412. second iron core; 413. middle iron core; 414. coil; 42. second moving magnet; 43. third moving magnet; 44. fourth moving magnet; 45. fifth moving magnet; 5. base; 6. positive stiffness frame; 61. frame; 62. connecting port; 63. elastic beam; 7. adjustment platform; 8. load. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] The purpose of the present invention is to provide a multi-directional electromagnetic negative stiffness mechanism and a vibration isolation system to solve the problems existing in the above-mentioned prior art. The negative stiffness is adjustable in real time and can simultaneously achieve negative stiffness in multiple directions in a two-dimensional plane.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] Embodiment 1

[0031] This embodiment provides a multi-directional electromagnetic negative stiffness mechanism, such as Figure 1-5 As shown, it includes: a dynamic support structure 1, a static support structure 2, a plurality of electrostatic magnets 3 and a plurality of moving electromagnets 4, each of the moving electromagnets 4 is fixedly connected to the dynamic support structure 1, each of the electrostatic magnets 3 is fixedly connected to the static support structure 2, the dynamic support structure 1 can move on a first plane relative to the static support structure 2, and the dynamic support structure 1 is used to connect a load 8; the connecting directions of the N poles and the S poles of each electrostatic magnet 3 and each moving electromagnet 4 are parallel to each other, and the magnetic poles of the moving electromagnet 4 and the electrostatic magnet 3 facing the same end are different; with the moving electromagnet 4 as the first, the moving electromagnet 4 and the electrostatic magnet 3 are spaced along a straight line parallel to the first direction. The first magnet group is arranged in sequence; the electrostatic magnet 3 is the first, and the electrostatic magnet 3 and the moving electromagnet 4 are arranged in sequence along a straight line parallel to the first direction to form a second magnet group; the first magnet group and the second magnet group are arranged in sequence along the second direction, the first direction and the second direction are both parallel to the first plane, the first direction and the second direction are not parallel to each other, in the first magnet group and the second magnet group, the number of the moving electromagnets 4 and the total number of the electrostatic magnets 3 are not less than three and are an odd number, and the total number of the first magnet group and the second magnet group is not less than three and are an odd number; the magnetic forces of the moving electromagnet 4 and the electrostatic magnet 3 can be adjusted.

[0032] The multi-directional electromagnetic negative stiffness mechanism provided in this embodiment, when a load is given to the dynamic support structure 1, the position of the static support structure 2 is adjusted so that the spacing between all adjacent dynamic electromagnets 4 and electrostatic magnets 3 is equal, at this time, the electromagnetic negative stiffness mechanism is in a balanced state, and there is no negative stiffness between the dynamic support structure 1 and the static support structure 2; when disturbed by external vibration, the dynamic support structure 1 moves relative to the static support structure 2 and has a relative displacement on the first plane, the balance between the dynamic electromagnet 4 and the electrostatic magnet 3 is broken, and the dynamic support structure 1 and the static support structure 2 have negative stiffness characteristics on the first plane (that is, the greater the displacement of the dynamic support structure 1, the smaller the force required); at the same time, the magnetic force of the dynamic electromagnet 4 and the electrostatic magnet 3 can also be adjusted to change the size of the negative stiffness between the dynamic support structure 1 and the static support structure 2, thereby realizing the real-time adjustable negative stiffness. Among them, the dynamic support structure 1 and the static support structure 2 are preferably made of non-magnetic conductive materials to avoid affecting the dynamic electromagnet 4 and the electrostatic magnet 3, preferably aluminum alloy.

[0033] In one implementation of the present embodiment, the first direction and the second direction are perpendicular to each other, the electrostatic magnet 3 is provided with four and respectively include the first static magnet 31, the second static magnet 32, the third static magnet 33 and the fourth static magnet 34, the moving electromagnet 4 is provided with five and respectively include the first moving magnet 41, the second moving magnet 42, the third moving magnet 43, the fourth moving magnet 44 and the fifth moving magnet 45, the first moving magnet 41, the first static magnet 31 and the second moving magnet 42 are arranged in sequence at equal intervals along the first straight line to form a first magnet group, the second static magnet 32, the third moving magnet 43 and the third static magnet 33 are arranged in sequence at equal intervals along the second straight line to form a second magnet group, the fourth moving magnet 44, the fourth static magnet 34 and the fifth moving magnet 45 are arranged in sequence at equal intervals along the third straight line to form another first magnet group, the first straight line, the second straight line and the third straight line are all parallel to the first direction, the two first magnet groups are arranged in sequence in the second direction and have an interval, the second magnet group is located between the two first magnet groups, and the distance between the second magnet group and the two first magnet groups is equal. When the system is in a balanced position, the distances between adjacent moving electromagnets 4 and electrostatic magnets 3 are equal; when the system is vibrated, the first moving magnet 41, the second moving magnet 42, the third moving magnet 43, the fourth moving magnet 44 and the fifth moving magnet 45 will move relative to the first static magnet 31, the second static magnet 32, the third static magnet 33 and the fourth static magnet 34, thereby causing the moving support structure 1 and the static support structure 2 to produce negative stiffness characteristics on the first plane. For example, under the influence of external vibration, the dynamic support structure 1 vibrates in the first direction relative to the dynamic support structure 1, so that the first moving magnet 41, the second moving magnet 42, the third moving magnet 43, the fourth moving magnet 44 and the fifth moving magnet 45 will produce relative displacement in the first direction relative to the first static magnet 31, the second static magnet 32, the third static magnet 33 and the fourth static magnet 34. At this time, the dynamic support structure 1 has a negative stiffness characteristic in the first direction relative to the dynamic support structure 1. At the same time, it should be noted that the dynamic support structure 1 and the static support structure 2 not only have negative stiffness characteristics in the first direction and the second direction, but when the dynamic support structure is displaced in any direction on the first plane relative to the static support structure 2, the dynamic support structure 1 and the static support structure 2 will have negative stiffness characteristics. Among them, the distance between the second magnet group and the two first magnet groups is 2-4mm and preferably 3mm, and the distance between the adjacent dynamic electromagnets 4 and the electrostatic magnets 3 is preferably 2-4mm and preferably 3mm.

[0034] In one implementation of this embodiment, the static support structure 2 includes: a static bottom plate 21, two static side plates 22, a static top plate 23 and a plurality of mounting plates 24. The two static side plates 22 are vertically arranged, and the bottom ends of the two static side plates 22 are respectively detachably fixedly connected to the two ends of the static bottom plate 21, and the two ends of the static top plate 23 are respectively detachably fixedly connected to the top ends of the two static side plates 22. The static bottom plate 21, the two static side plates 22 and the static top plate 23 enclose an installation space, and the mounting plate 24 is arranged in the installation space. The static bottom plate 21, the two static side plates 22 and the static top plate 23 are all detachably fixedly connected with the mounting plate 24, and the electrostatic magnet 3 is fixedly connected to the mounting plate 24. The dynamic support structure 1 is arranged in the installation space. By arranging the dynamic support structure 1 in the installation space, the spatial layout is optimized, and the integrity of the entire electromagnetic negative stiffness mechanism is made stronger. The static bottom plate 21 and the static side plate 22 , the static side plate 22 and the static top plate 23 , and the mounting plate 24 and the static side plate 22 are preferably connected by bolts.

[0035] In one embodiment of the present embodiment, the dynamic support structure 1 comprises: two dynamic side plates 11, a bottom connector 12 and a top connector 13. The two dynamic side plates 11 are arranged vertically, and the bottom ends of the two dynamic side plates 11 are respectively detachably fixedly connected to the two ends of the bottom connector 12. The two dynamic side plates 11 are parallel to each other, and the two ends of the top connector 13 are respectively detachably fixedly connected to the top ends of the two dynamic side plates 11. Each dynamic electromagnet 4 is arranged between the two dynamic side plates 11, and the two ends of each dynamic electromagnet 4 are respectively fixedly connected to the side surfaces of the two dynamic side plates 11. There is a spacing between the two dynamic side plates 11 and the two static side plates 22, between the bottom connector 12 and the static bottom plate 21, and between the top connector 13 and the static top plate 23. There is no connection relationship between the dynamic support structure 1 and the static support structure 2. The dynamic support structure 1 and the static support structure 2 are connected only by the interaction force between the dynamic electromagnet 4 and the electrostatic magnet 3, so that the dynamic support structure 1 can move in the first direction or the second direction relative to the static support structure 2 as a whole. Among them, the end faces of both ends of the moving electromagnet 4 and the electrostatic magnet 3 are provided with grooves, and the moving side plate 11 and the mounting plate 24 are provided with bosses, which can be inserted and fixedly connected in the grooves; the bottom connecting member 12 and the moving side plate 11, and the moving side plate 11 and the top connecting member 13 are connected by bolts. Specifically, the bottom connecting member 12 is strip-shaped and is provided with two, and the two ends of each of the two bottom connecting members 12 are fixedly connected to the two moving side plates 11 respectively.

[0036] In order to facilitate the installation of the load 8, in one implementation of this embodiment, a connecting hole 231 connecting the two sides of the static top plate 23 is provided on the static top plate 23, and the top connecting piece 13 has a connecting portion 14, which passes through the connecting hole 231 and extends out of the installation space. There is a spacing between the inner side wall of the connecting hole 231 and the connecting portion 14, and the connecting portion 14 is used to connect the load 8.

[0037] In one implementation of this embodiment, both the two moving side plates 11 and the two static side plates 22 are hollow plates. The hollow moving side plates 11 and the static side plates 22 can not only reduce the weight of the electromagnetic negative stiffness structure, but also make it easier for users to observe the positions of the moving electromagnet 4 and the electrostatic magnet 3 from the outside.

[0038] In one implementation of this embodiment, the electrostatic magnet 3 and the moving electromagnet 4 both include a first iron core 411, a second iron core 412, an intermediate iron core 413 and a coil 414. The first iron core 411 and the second iron core 412 are respectively fixedly connected to the two ends of the intermediate iron core 413, and the coil 414 is wound around the intermediate iron core 413. The coil 414 is used to connect to an external power supply. When the coil 414 is energized, magnetism will be generated, thereby making the first iron core 411, the second iron core 412 and the intermediate iron core 413 magnetic. The magnitude of the magnetic force of the moving electromagnet 4 or the electrostatic magnet 3 can be adjusted by adjusting the magnitude of the current passed into the coil 414. Among them, the directions of the current passed into the coils 414 of the moving electromagnet 4 and the electrostatic magnet 3 are opposite.

[0039] Specifically, the first iron core 411 and the second iron core 412 are both rectangular, with a length and width of 16mm-24mm and preferably 20mm, a thickness of 8mm-12mm and preferably 10mm, the middle iron core 413 is cylindrical, with a bottom diameter of 8mm-12mm and preferably 10mm, a height of 35mm-45mm and preferably 40mm, and the coil 414 is made of enameled wire, and the diameter of the coil is 7mm-9mm and preferably 8mm; the spacing between adjacent moving electromagnets 4 and electrostatic magnets 3 can be set to 0.1-0.2 times the long side of the first iron core 411.

[0040] Embodiment 2

[0041] This embodiment provides a vibration isolation system, such as Figure 6-7 As shown, it includes a bottom component, a positive stiffness mechanism and the multi-directional electromagnetic negative stiffness mechanism in embodiment 1, the positive stiffness mechanism is fixedly connected to the bottom component, the positive stiffness mechanism has a movable end, and the dynamic support structure 1 is fixedly connected to the movable end.

[0042] The vibration isolation system provided in this embodiment realizes real-time adjustable negative stiffness and multi-directional negative stiffness in a two-dimensional plane by using the electromagnetic negative stiffness mechanism in the first embodiment. When the system is disturbed by external vibration, the dynamic support structure 1 drives each moving electromagnet 4 to deviate from the equilibrium position and generate negative stiffness, and also drives the movable end to move and generate positive stiffness. The negative stiffness between the dynamic support structure 1 and the static support structure 2 can offset part of the positive stiffness generated by the positive stiffness mechanism, thereby improving the in-plane vibration isolation performance without reducing the bearing capacity of the vibration isolation system.

[0043] In one implementation of this embodiment, the bottom assembly includes a base 5 and an adjustment platform 7, the adjustment platform 7 is fixedly connected to the base 5, the adjustment platform 7 has a free end, the free end is fixedly connected to the static support structure 2, and the free end can move in the first direction and / or the second direction. By adjusting the position of the free end, the relative position of the static support structure 2 with the dynamic support structure 1 in the first direction or the second direction can be adjusted, and then the relative position between the dynamic electromagnet 4 and the electrostatic magnet 3 can be adjusted, so that the dynamic support structure 1 is in a balanced state relative to the static support structure 2.

[0044] In one implementation of the present embodiment, the positive stiffness mechanism includes two positive stiffness frames 6, the positive stiffness frame 6 includes a frame 61, a connection port 62 and a plurality of elastic beams 63, the frame 61 is fixedly connected to the base 5, one end of each elastic beam 63 is fixedly connected to the inner wall of the frame 61, and the other end of each elastic beam 63 is fixedly connected to the connection port 62, and the connection port 62 forms a movable end. When disturbed by external vibration, the dynamic support structure 1 moves, thereby driving the connection port 62 to move. At this time, the connection port 62 will generate a force on the elastic beam 63 and cause the elastic beam 63 to deform, and the positive stiffness is achieved by the rebound effect of the elastic beam 63. Among them, the elastic beam 63 is preferably processed by thermoplastic polyurethane, and can also be replaced by PVC, reed, etc. Specifically, the elastic beam 63 is spliced ​​by three plates whose ends are fixedly connected in sequence, and two adjacent plates are perpendicular to each other.

[0045] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A multi-directional electromagnetic negative stiffness mechanism, characterized in that: include: A dynamic support structure, a static support structure, a plurality of electrostatic magnets and a plurality of dynamic electromagnets, each of the dynamic electromagnets is fixedly connected to the dynamic support structure, each of the electrostatic magnets is fixedly connected to the static support structure, the dynamic support structure can move on a first plane relative to the static support structure, and the dynamic support structure is used to connect a load; the connecting directions of the N poles and the S poles of each of the electrostatic magnets and each of the dynamic electromagnets are parallel to each other, the magnetic poles of the dynamic electromagnets and the electrostatic magnets facing the same end are different, and the dynamic electromagnets and the electrostatic magnets are arranged in sequence along a straight line parallel to the first direction with the dynamic electromagnet as the first to form a first magnet group ; Headed by the electrostatic magnet, the electrostatic magnet and the moving electromagnet are arranged in sequence along a straight line parallel to the first direction to form a second magnet group; the first magnet group and the second magnet group are arranged in sequence along the second direction, the first direction and the second direction are both parallel to the first plane, and the first direction and the second direction are not parallel; in the first magnet group and the second magnet group, the number of the moving electromagnets and the total number of the electrostatic magnets are not less than three and are an odd number, and the total number of the first magnet group and the second magnet group is not less than three and are an odd number; the magnetic forces of the moving electromagnet and the electrostatic magnet can be adjusted.

2. The multi-directional electromagnetic negative stiffness mechanism according to claim 1, characterized in that: The first direction and the second direction are perpendicular to each other, the electrostatic magnets are provided with four, namely the first static magnet, the second static magnet, the third static magnet and the fourth static magnet, the moving electromagnets are provided with five, namely the first moving magnet, the second moving magnet, the third moving magnet, the fourth moving magnet and the fifth moving magnet, the first moving magnet, the first static magnet and the second moving magnet are arranged in sequence at equal intervals along the first straight line to form a first magnet group, the second static magnet, the third moving magnet and the third static magnet are arranged in sequence at equal intervals along the second straight line to form a second magnet group, the fourth moving magnet, the fourth static magnet and the fifth moving magnet are arranged in sequence at equal intervals along the third straight line to form another first magnet group, the first straight line, the second straight line and the third straight line are all parallel to the first direction, the two first magnet groups are arranged in sequence in the second direction with an interval, the second magnet group is located between the two first magnet groups, and the distance between the second magnet group and the two first magnet groups is equal.

3. The multi-directional electromagnetic negative stiffness mechanism according to claim 2, characterized in that: The static support structure includes: a static bottom plate, two static side plates, a static top plate and multiple mounting plates, the two static side plates are vertically arranged, the bottom ends of the two static side plates are respectively detachably fixedly connected to the two ends of the static bottom plate, the two ends of the static top plate are respectively detachably fixedly connected to the top ends of the two static side plates, the static bottom plate, the two static side plates and the static top plate form an installation space, the mounting plate is arranged in the installation space, the static bottom plate, the two static side plates and the static top plate are all detachably fixedly connected with the mounting plates, the electrostatic magnet is fixedly connected to the mounting plate, and the dynamic support structure is arranged in the installation space.

4. The electromagnetic negative stiffness mechanism according to claim 3, characterized in that: The dynamic support structure includes: two moving side plates, a bottom connecting member and a top connecting member, the two moving side plates are vertically arranged, the bottom ends of the two moving side plates are respectively detachably fixedly connected to the two ends of the bottom connecting member, the two moving side plates are parallel to each other, the two ends of the top connecting member are respectively detachably fixedly connected to the top ends of the two moving side plates, each moving electromagnet is arranged between the two moving side plates, the two ends of each moving electromagnet are respectively fixedly connected to the side surfaces of the two moving side plates, and there is a spacing between the two moving side plates and the two static side plates, between the bottom connecting member and the static bottom plate, and between the top connecting member and the static top plate.

5. The multi-directional electromagnetic negative stiffness mechanism according to claim 4, characterized in that: The static top plate is provided with a connecting through hole connecting the two sides of the static top plate, the top connecting piece has a connecting portion, the connecting portion passes through the connecting through hole and extends out of the installation space, there is a spacing between the inner side wall of the connecting through hole and the connecting portion, and the connecting portion is used to connect a load.

6. The multi-directional electromagnetic negative stiffness mechanism according to claim 4, characterized in that: The two moving side plates and the two stationary side plates are both hollow plates.

7. The multi-directional electromagnetic negative stiffness mechanism according to claim 4, characterized in that: The electrostatic magnet and the moving electromagnet both include a first iron core, a second iron core, an intermediate iron core and a coil. The first iron core and the second iron core are respectively fixedly connected to the two ends of the intermediate iron core. The coil is wound around the intermediate iron core and is used to connect to an external power supply.

8. A vibration isolation system, characterized in that: It comprises a bottom component, a positive stiffness mechanism and the multi-directional electromagnetic negative stiffness mechanism described in any one of claims 1 to 7, wherein the positive stiffness mechanism is fixedly connected to the bottom component, the positive stiffness mechanism has a movable end, and the dynamic support structure is fixedly connected to the movable end.

9. The vibration isolation system according to claim 8, characterized in that: The bottom component includes a base and an adjustment platform, wherein the adjustment platform is fixedly connected to the base, and the adjustment platform has a free end, wherein the free end is fixedly connected to the static support structure, and the free end can move in the first direction and / or the second direction.

10. The vibration isolation system according to claim 9, characterized in that: The positive stiffness mechanism includes two positive stiffness frames, which include a frame, a connection port and a plurality of elastic beams. The frame is fixedly connected to the base, one end of each of the elastic beams is fixedly connected to the inner wall of the frame, and the other end of each is fixedly connected to the connection port, and the connection port forms the movable end.

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