A multi-directional electromagnetic negative stiffness mechanism and vibration isolation system

Abstract

The application discloses a multidirectional electromagnetic negative stiffness mechanism and a vibration isolation system, relates to the technical field of vibration isolation and damping, and discloses the electromagnetic negative stiffness mechanism, which comprises a dynamic support structure, a static support structure, a plurality of static electromagnets and a plurality of dynamic electromagnets, each dynamic electromagnet is fixedly connected to the dynamic support structure, each static electromagnet 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 for connecting a load; the line directions of N poles and S poles of each static electromagnet and each dynamic electromagnet are parallel to each other, the magnetic poles of the dynamic electromagnets and the static electromagnets towards the same end are different, and the magnetic forces of the dynamic electromagnets and the static electromagnets can be adjusted. The negative stiffness of the electromagnetic negative stiffness mechanism is real-time adjustable, and the negative stiffness in multiple directions in a two-dimensional plane can be realized simultaneously.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vibration isolation and damping, in particular to a multi-directional electromagnetic negative stiffness mechanism and a vibration isolation system. BACKGROUND

[0002] With the development of various high-end equipment towards high speed, high precision and high stability, the influence of low-frequency vibration is increasingly prominent, which puts forward higher requirements on the performance of the vibration isolation system. The traditional linear vibration isolation system usually introduces metal springs, rubber structures, air springs, etc. between the vibration source and the working equipment to achieve the effect of vibration isolation. However, the linear vibration isolation system can suppress the vibration with a frequency higher than the natural frequency, but there is a problem of contradiction between the vibration isolation performance and the carrying 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 of the negative stiffness mechanisms cannot realize real-time adjustment of negative stiffness, and most of them can only realize negative stiffness in one direction. Therefore, there is an urgent need for a negative stiffness mechanism and a vibration isolation system that can realize real-time adjustment of negative stiffness and can simultaneously realize negative stiffness in multiple directions in a two-dimensional plane. The inherent frequency of the linear vibration isolation system is usually much higher than the frequency of the vibration source, so it can effectively suppress the vibration with a frequency higher than the inherent frequency. However, the linear vibration isolation system has the problem of contradiction between the vibration isolation performance and the carrying 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 of the negative stiffness mechanisms cannot realize real-time adjustment of negative stiffness, and most of them can only realize negative stiffness in one direction. Therefore, there is an urgent need for a negative stiffness mechanism and a vibration isolation system that can realize real-time adjustment of negative stiffness and can simultaneously realize negative stiffness in multiple directions in a two-dimensional plane. SUMMARY

[0003] The purpose of the present application is to provide a multi-directional electromagnetic negative stiffness mechanism and a vibration isolation system to solve the problems existing in the prior art, which can realize real-time adjustment of negative stiffness and can simultaneously realize negative stiffness in multiple directions in a two-dimensional plane.

[0004] To achieve the above-mentioned purpose, the present application provides the following solutions:

[0005] The application provides a multi-directional electromagnetic negative stiffness mechanism, comprising a dynamic support structure, a static support structure, a plurality of static electromagnets and a plurality of dynamic electromagnets, each of the dynamic electromagnets is fixedly connected to the dynamic support structure, each of the static electromagnets is fixedly connected to the static support structure, the dynamic support structure is movable relative to the static support structure on a first plane, and the dynamic support structure is used for connecting a load; the connecting line directions of the N poles and the S poles of each of the static electromagnets and each of the dynamic electromagnets are parallel to each other, the poles of the dynamic electromagnets and the static electromagnets towards the same end are different, the dynamic electromagnets and the static electromagnets are sequentially arranged along a straight line parallel to a first direction with intervals and form a first magnet group, the static electromagnets and the dynamic electromagnets are sequentially arranged along a straight line parallel to the first direction with intervals and form a second magnet group, the first magnet group and the second magnet group are sequentially arranged along a second direction with intervals, the first direction and the second direction are 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 dynamic electromagnets and the total number of the static electromagnets are not less than three and are odd, and the total number of the first magnet group and the second magnet group is not less than three and is odd; the magnetic forces of the dynamic electromagnets and the static electromagnets can be adjusted.

[0006] In some embodiments, the first direction and the second direction are perpendicular to each other, the static electromagnets are provided with four first static electromagnets, second static electromagnets, third static electromagnets and fourth static electromagnets, the dynamic electromagnets are provided with five first dynamic electromagnets, second dynamic electromagnets, third dynamic electromagnets, fourth dynamic electromagnets and fifth dynamic electromagnets, the first dynamic electromagnets, the first static electromagnets and the second dynamic electromagnets are sequentially arranged along a first straight line with equal intervals and form a first magnet group, the second static electromagnets, the third dynamic electromagnets and the third static electromagnets are sequentially arranged along a second straight line with equal intervals and form a second magnet group, the fourth dynamic electromagnets, the fourth static electromagnets and the fifth dynamic electromagnets are sequentially arranged along a third straight line with equal intervals and form another first magnet group, the first straight line, the second straight line and the third straight line are parallel to the first direction, the two first magnet groups are sequentially arranged in the second direction with intervals, 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 comprises: a static bottom plate, two static side plates, a static top plate, and a plurality of mounting plates, the two static side plates are vertically arranged, the bottom end of each of the two static side plates is detachably fixedly connected to the two ends of the static bottom plate, the two ends of the static top plate are detachably fixedly connected to the top end 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 plates are arranged in the installation space, the static bottom plate, the two static side plates, and the static top plate are detachably fixedly connected with the mounting plates, the static electromagnet is fixedly connected to the mounting plates, and the dynamic support structure is arranged in the installation space.

[0008] In some embodiments, the dynamic support structure comprises: two dynamic side plates, a bottom connecting piece, and a top connecting piece, the two dynamic side plates are vertically arranged, the bottom end of each of the two dynamic side plates is detachably fixedly connected to the two ends of the bottom connecting piece, the two dynamic side plates are parallel to each other, the two ends of the top connecting piece are detachably fixedly connected to the top end of the two dynamic side plates, each of the dynamic electromagnets is arranged between the two dynamic side plates, and the two ends of each of the dynamic electromagnets are fixedly connected to the side surfaces of the two dynamic side plates, and there is a gap between the two dynamic side plates and the two static side plates, between the bottom connecting piece and the static bottom plate, and between the top connecting piece and the static top plate.

[0009] In some embodiments, the static top plate is provided with a connecting through hole communicating between 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 gap between the inner side wall of the connecting through hole and the connecting portion, and the connecting portion is used for connecting a load.

[0010] In some embodiments, the two dynamic side plates and the two static side plates are hollow plates.

[0011] In some embodiments, the static electromagnet and the dynamic electromagnet each comprise 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 fixedly connected to the two ends of the intermediate iron core, respectively, the coil is wound around the intermediate iron core, and the coil is used for connecting an external power supply.

[0012] The application provides a vibration isolation system comprising a bottom assembly, a positive stiffness mechanism, and a multi-directional electromagnetic negative stiffness mechanism as described above, the positive stiffness mechanism is fixedly connected to the bottom assembly, 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 assembly comprises a base and an adjusting platform, the adjusting platform is fixedly connected to the base, the adjusting platform has a free end, the free end is fixedly connected to the static support structure, and the free end is movable in the first direction and / or the second direction.

[0014] In some embodiments, the positive stiffness mechanism comprises two positive stiffness frames, each of the positive stiffness frames comprises a frame, a connecting 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 an inner side wall of the frame, and the other end of each of the elastic beams is fixedly connected to the connecting port, and the connecting port forms the movable end.

[0015] The present application has the following technical effects relative to the prior art:

[0016] The multi-directional electromagnetic negative stiffness mechanism provided by the present application can equalize the spacing between all adjacent dynamic electromagnets and static electromagnets when a load is applied to the dynamic support structure, so that the electromagnetic negative stiffness mechanism is in a balanced state and the dynamic support structure and the static support structure do not have negative stiffness; when subjected to external vibration interference, the dynamic support structure moves relative to the static support structure and has a relative displacement in the first plane, the balance between the dynamic electromagnets and the static electromagnets is broken, and the dynamic support structure and the static support structure have negative stiffness characteristics in the first plane (i.e., the greater the displacement of the dynamic support structure, the smaller the required force); at the same time, the magnetic force of the dynamic electromagnets and the static electromagnets 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 adjustment of the negative stiffness.

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

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 FIG. 1 is a perspective view of a multi-directional electromagnetic negative stiffness mechanism in some embodiments of the present application;

[0020] Figure 2 FIG. 2 is a perspective view of a dynamic electromagnet and a static electromagnet in some embodiments of the present application;

[0021] Figure 3 FIG. 4 is a sectional view of the first moving magnet, the second static magnet and the fourth moving magnet in some embodiments of the present application;

[0022] Figure 4 FIG. 5 is a perspective view of the moving support structure and the moving electromagnet in some embodiments of the present application;

[0023] Figure 5 FIG. 6 is a perspective view of the static support structure and the static electromagnet in some embodiments of the present application;

[0024] Figure 6 FIG. 7 is a perspective view of the vibration isolation system in some embodiments of the present application;

[0025] Figure 7 FIG. 8 is a perspective view of the positive stiffness frame in some embodiments of the present application;

[0026] In the figure: 1, moving support structure; 11, moving 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, static electromagnet; 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 core; 412, second core; 413, middle 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 technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0028] The purpose of the present application is to provide a multi-directional electromagnetic negative stiffness mechanism and a vibration isolation system to solve the problems existing in the prior art, and to realize real-time adjustment of negative stiffness and multi-directional negative stiffness in a two-dimensional plane.

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

[0030] Embodiment one

[0031] The embodiment provides a multi-directional electromagnetic negative stiffness mechanism, which comprises a moving support structure 1, a static support structure 2, a plurality of static electromagnets 3 and a plurality of moving electromagnets 4. Figures 1-5 As shown in the figure, the multi-directional electromagnetic negative stiffness mechanism comprises a moving support structure 1, a static support structure 2, a plurality of static electromagnets 3 and a plurality of moving electromagnets 4, each moving electromagnet 4 is fixedly connected to the moving support structure 1, each static electromagnet 3 is fixedly connected to the static support structure 2, the moving support structure 1 can move on a first plane relative to the static support structure 2, and the moving support structure 1 is used for connecting a load 8; the line direction of the N pole and the S pole of each static electromagnet 3 and each moving electromagnet 4 is parallel to each other, the poles of the moving electromagnet 4 and the static electromagnet 3 towards the same end are different; the moving electromagnet 4 and the static electromagnet 3 are sequentially arranged along a straight line parallel to the first direction at intervals and form a first magnet group, taking the static electromagnet 3 as the first, the static electromagnet 3 and the moving electromagnet 4 are sequentially arranged along a straight line parallel to the first direction at intervals and form a second magnet group; the first magnet group and the second magnet group are sequentially arranged at intervals along a 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, the number of the moving electromagnet 4 and the total number of the static electromagnet 3 in the first magnet group and the second magnet group are not less than three and are odd, and the total number of the first magnet group and the second magnet group is not less than three and is odd; the magnetic force of the moving electromagnet 4 and the static electromagnet 3 can be adjusted.

[0032] The multi-directional electromagnetic negative stiffness mechanism provided by the embodiment can be used in the following way: when a load on the moving support structure 1 is given, the position of the static support structure 2 is adjusted so that the spacing between all adjacent moving electromagnets 4 and static electromagnets 3 is equal, at this time, the electromagnetic negative stiffness mechanism is in a balanced state, and the moving support structure 1 and the static support structure 2 do not have negative stiffness; when subjected to external vibration interference, the moving support structure 1 moves relative to the static support structure 2 and has a relative displacement on the first plane, the balance between the moving electromagnet 4 and the static electromagnet 3 is broken, and the moving support structure 1 and the static support structure 2 have a negative stiffness characteristic on the first plane (that is, the greater the displacement of the moving support structure 1, the smaller the force required); meanwhile, the magnetic force of the moving electromagnet 4 and the static electromagnet 3 can be adjusted to change the size of the negative stiffness between the moving support structure 1 and the static support structure 2, thereby realizing real-time adjustment of the negative stiffness. The moving support structure 1 and the static support structure 2 are preferably made of non-magnetic conductive material to avoid affecting the moving electromagnet 4 and the static electromagnet 3, and are preferably made of aluminum alloy.

[0033] In one embodiment of the present application, the first direction and the second direction are perpendicular to each other, the electrostatic magnet 3 is provided with four electrostatic magnets, i.e., the first electrostatic magnet 31, the second electrostatic magnet 32, the third electrostatic magnet 33 and the fourth electrostatic magnet 34, and the electrodynamic magnet 4 is provided with five electrodynamic magnets, i.e., the first electrodynamic magnet 41, the second electrodynamic magnet 42, the third electrodynamic magnet 43, the fourth electrodynamic magnet 44 and the fifth electrodynamic magnet 45. The first electrodynamic magnet 41, the first electrostatic magnet 31 and the second electrodynamic magnet 42 are sequentially arranged along a first straight line at equal intervals and form a first magnet group. The second electrostatic magnet 32, the third electrodynamic magnet 43 and the third electrostatic magnet 33 are sequentially arranged along a second straight line at equal intervals and form a second magnet group. The fourth electrodynamic magnet 44, the fourth electrostatic magnet 34 and the fifth electrodynamic magnet 45 are sequentially arranged along a third straight line at equal intervals and form another first magnet group. The first straight line, the second straight line and the third straight line are parallel to the first direction. The two first magnet groups are sequentially arranged in the second direction with intervals. The second magnet group is located between the two first magnet groups. The distance between the second magnet group and the two first magnet groups is equal. When the system is in the equilibrium position, the distance between the adjacent electrodynamic magnet 4 and the electrostatic magnet 3 is equal. When the system is subjected to vibration, the first electrodynamic magnet 41, the second electrodynamic magnet 42, the third electrodynamic magnet 43, the fourth electrodynamic magnet 44 and the fifth electrodynamic magnet 45 will move relative to the first electrostatic magnet 31, the second electrostatic magnet 32, the third electrostatic magnet 33 and the fourth electrostatic magnet 34, thereby causing the dynamic support structure 1 and the static support structure 2 to have a negative stiffness characteristic in the first plane. For example, under the influence of external vibration, the dynamic support structure 1 generates vibration in the first direction relative to the dynamic support structure 1, i.e., the first electrodynamic magnet 41, the second electrodynamic magnet 42, the third electrodynamic magnet 43, the fourth electrodynamic magnet 44 and the fifth electrodynamic magnet 45 generate relative displacement in the first direction relative to the first electrostatic magnet 31, the second electrostatic magnet 32, the third electrostatic magnet 33 and the fourth electrostatic 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. It should be noted that the dynamic support structure 1 and the static support structure 2 not only have a negative stiffness characteristic in the first direction and the second direction, but also have a negative stiffness characteristic between the dynamic support structure 1 and the static support structure 2 when the dynamic support structure 1 appears in any direction in the first plane relative to the static support structure 2. The distance between the second magnet group and the two first magnet groups is 2-4 mm and preferably 3 mm. The distance between the adjacent electrodynamic magnet 4 and the electrostatic magnet 3 is preferably 2-4 mm and preferably 3 mm.

[0034] In an embodiment of the present application, the static support structure 2 comprises 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. 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 a mounting space. The mounting plates 24 are arranged in the mounting space, and the mounting plates 24 are detachably fixedly connected to the static bottom plate 21, the two static side plates 22 and the static top plate 23. The dynamic electromagnet 3 is fixedly connected to the mounting plate 24, and the dynamic support structure 1 is arranged in the mounting space. By arranging the dynamic support structure 1 in the mounting space, the space layout is optimized, and the integrity of the entire electromagnetic negative stiffness mechanism is stronger. Preferably, 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 bolted.

[0035] In an embodiment of the present application, the dynamic support structure 1 comprises two dynamic side plates 11, a bottom connecting piece 12 and a top connecting piece 13. The two dynamic side plates 11 are vertically arranged, and the bottom ends of the two dynamic side plates 11 are respectively detachably fixedly connected to the two ends of the bottom connecting piece 12. The two dynamic side plates 11 are parallel to each other. The two ends of the top connecting piece 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. The two dynamic side plates 11 and the two static side plates 22, the bottom connecting piece 12 and the static bottom plate 21, and the top connecting piece 13 and the static top plate 23 have a spacing therebetween. The dynamic support structure 1 and the static support structure 2 are not connected, and they are only connected by the interaction of the dynamic electromagnet 4 and the static electromagnet 3, which enables the dynamic support structure 1 to move in the first direction or the second direction relative to the static support structure 2 as a whole. Preferably, the end faces of the two ends of the dynamic electromagnet 4 and the static electromagnet 3 are respectively provided with grooves, and the dynamic side plate 11 and the mounting plate 24 are respectively provided with bosses which can be inserted into and fixedly connected in the grooves. The bottom connecting piece 12 and the dynamic side plate 11, and the dynamic side plate 11 and the top connecting piece 13 are bolted.

[0036] In order to facilitate the installation of the load 8, in an embodiment of the present application, the static top plate 23 is provided with a connecting through hole 231 which communicates between the two sides of the static top plate 23. The top connecting piece 13 has a connecting portion 14 which passes through the connecting through hole 231 and extends out of the mounting space. The inner side wall of the connecting through hole 231 and the connecting portion 14 have a spacing therebetween, and the connecting portion 14 is used to connect the load 8.

[0037] In an embodiment of the present 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 not only reduce the weight of the electromagnetic negative stiffness structure, but also facilitate the user to observe the positions of the moving electromagnets 4 and the static electromagnets 3 from the outside.

[0038] In an embodiment of the present embodiment, the static electromagnet 3 and the moving electromagnet 4 each 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. The coil 414 is wound around the intermediate iron core 413, and the coil 414 is used to connect an external power source. When the coil 414 is electrified, it will generate magnetism, and then the first iron core 411, the second iron core 412, and the intermediate iron core 413 will have magnetism. The size of the magnetic force of the moving electromagnet 4 or the static electromagnet 3 can be adjusted by adjusting the size of the current flowing into the coil 414. The directions of the currents flowing into the respective coils 414 of the moving electromagnet 4 and the static electromagnet 3 are opposite.

[0039] Specifically, the first iron core 411 and the second iron core 412 are each a cuboid with a length and a width of 16mm-24mm and preferably 20mm, and a thickness of 8mm-12mm and preferably 10mm. The intermediate iron core 413 is a cylinder with a bottom surface diameter of 8mm-12mm and preferably 10mm, and a height of 35mm-45mm and preferably 40mm. The coil 414 is made of enameled wire and has a diameter of 7mm-9mm and preferably 8mm. The distance between adjacent moving electromagnets 4 and static electromagnets 3 can be set to 0.1-0.2 times the length of the first iron core 411.

[0040] Embodiment Two

[0041] The present embodiment provides a vibration isolation system, as shown in the figure, which includes a bottom assembly, a positive stiffness mechanism, and the multi-directional electromagnetic negative stiffness mechanism in Embodiment One. The positive stiffness mechanism is fixedly connected to the bottom assembly, and the positive stiffness mechanism has a movable end. The moving support structure 1 is fixedly connected to the movable end. Figures 6-7

[0042] The vibration isolation system provided by the present embodiment uses the electromagnetic negative stiffness mechanism in Embodiment One to achieve real-time adjustable negative stiffness and multi-directional negative stiffness in a two-dimensional plane. In combination with the positive stiffness mechanism, when the system is disturbed by external vibrations, the moving support structure 1 drives each moving electromagnet 4 to deviate from the equilibrium position, generating negative stiffness. At the same time, the movable end is also moved and generates positive stiffness. The negative stiffness between the moving 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 carrying capacity of the vibration isolation system. ​

[0043] In an embodiment of the present embodiment, the bottom assembly comprises a base 5 and an adjusting platform 7, the adjusting platform 7 is fixedly connected to the base 5, the adjusting 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 and 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 static electromagnet 3 is adjusted, so that the dynamic support structure 1 is in a balanced state relative to the static support structure 2.

[0044] In an embodiment of the present embodiment, the positive stiffness mechanism comprises two positive stiffness frames 6, the positive stiffness frame 6 comprises a frame 61, a connecting 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 side wall of the frame 61, and the other end of each elastic beam 63 is fixedly connected to the connecting port 62, and the connecting port 62 forms a movable end. When disturbed by external vibration, the dynamic support structure 1 moves, and then drives the connecting port 62 to move, at this time, the connecting port 62 will generate an acting force on the elastic beam 63 and make the elastic beam 63 deform, and the positive stiffness is realized by the rebounding action of the elastic beam 63. The elastic beam 63 is preferably made of thermoplastic polyurethane, and can also be replaced by pvc, spring sheet, etc. Specifically, the elastic beam 63 is spliced by three plate pieces with the end portions fixedly connected in sequence, and the adjacent two plate pieces are perpendicular to each other.

[0045] The principles and embodiments of the present application are described by specific examples in the present application, the above examples are only used to help understand the method and core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, the specific embodiments and application scope will be changed. In view of the above, the content of the present description should not be understood as a limitation of the present application.

Claims

1. A multi-directional electromagnetic negative stiffness mechanism characterized by: The utility model relates to a kind of magnetic levitation system, comprising: Dynamic support structure, static support structure, multiple static electromagnet and multiple dynamic electromagnet, each described dynamic electromagnet is fixedly connected on the dynamic support structure, each described static electromagnet is fixedly connected on the static support structure, the dynamic support structure can be moved on the first plane relative to the static support structure, the dynamic support structure is used to connect load;The connecting line direction of N pole and S pole of each described static electromagnet and each described dynamic electromagnet is parallel to each other, the magnetic pole of the dynamic electromagnet and the static electromagnet towards same end is different, the dynamic electromagnet and the static electromagnet are sequentially arranged along straight line parallel to first direction with interval and form first magnet group with the dynamic electromagnet as the first;The static electromagnet and the dynamic electromagnet are sequentially arranged along straight line parallel to first direction with interval and form second magnet group with the static electromagnet as the first;The first magnet group and the second magnet group are sequentially arranged along second direction with interval, the first direction and the second direction are parallel to the first plane, the first direction and the second direction are not parallel;In the first magnet group and the second magnet group, the number of dynamic electromagnet and the total number of static electromagnet are not less than three and are odd, the total number of the first magnet group and the second magnet group is not less than three and is odd;The magnetic force of the dynamic electromagnet and the static electromagnet can be adjusted.

2. The multi-directional electromagnetic negative stiffness mechanism of claim 1, wherein: The first direction and the second direction are perpendicular to each other, the static electromagnet is provided with four and is first static magnet, second static magnet, third static magnet and fourth static magnet respectively, the dynamic electromagnet is provided with five and is first dynamic magnet, second dynamic magnet, third dynamic magnet, fourth dynamic magnet and fifth dynamic magnet respectively, the first dynamic magnet, the first static magnet and the second dynamic magnet are sequentially arranged along first straight line with equal interval and form a first magnet group, the second static magnet, the third dynamic magnet and the third static magnet are sequentially arranged along second straight line with equal interval and form a second magnet group, the fourth dynamic magnet, the fourth static magnet and the fifth dynamic magnet are sequentially arranged along third straight line with equal interval and form another first magnet group, the first straight line, the second straight line and the third straight line are parallel to the first direction, two first magnet groups are sequentially arranged in second direction with interval, the second magnet group is located between two first magnet groups, the distance between the second magnet group and two first magnet groups is equal.

3. The multi-directional electromagnetic negative stiffness mechanism of claim 2, wherein: The static support structure comprises a static bottom plate, two static side plates, a static top plate and a plurality of 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 plates are arranged in the installation space, the static bottom plate, the two static side plates and the static top plate are detachably fixedly connected with the mounting plates, the static electromagnet is fixedly connected to the mounting plates, and the dynamic support structure is arranged in the installation space.

4. The electromagnetic negative stiffness mechanism of claim 3, wherein: The dynamic support structure comprises two dynamic side plates, a bottom connecting piece and a top connecting piece, the two dynamic side plates are vertically arranged, the bottom ends of the two dynamic side plates are respectively detachably fixedly connected to the two ends of the bottom connecting piece, the two dynamic side plates are parallel to each other, the two ends of the top connecting piece are respectively detachably fixedly connected to the top ends of the two dynamic side plates, each dynamic electromagnet is arranged between the two dynamic side plates, and the two ends of each dynamic electromagnet are fixedly connected to the side surfaces of the two dynamic side plates. There is a spacing between the two dynamic side plates and the two static side plates, between the bottom connecting piece and the static bottom plate, and between the top connecting piece and the static top plate.

5. The multi-directional electromagnetic negative stiffness mechanism of claim 4, wherein: The static top plate is provided with a connecting through hole communicating between 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, and there is a spacing between the inner side wall of the connecting through hole and the connecting portion. The connecting portion is used for connecting the load.

6. The multi-directional electromagnetic negative stiffness mechanism of claim 4, wherein: The two dynamic side plates and the two static side plates are both hollow plates.

7. The multi-directional electromagnetic negative stiffness mechanism of claim 4, wherein: The static electromagnet and the dynamic electromagnet each comprise 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 on the intermediate iron core, and the coil is used for connecting an external power supply.

8. An isolation system characterized by: The bottom assembly comprises a base and an adjusting platform, the adjusting platform is fixedly connected to the base, the adjusting 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; the positive stiffness mechanism comprises two positive stiffness frames, the positive stiffness frame comprises a frame, a connecting port and a plurality of elastic beams, one end of each elastic beam is fixedly connected to the inner side wall of the frame, the other end of each elastic beam is fixedly connected to the connecting port, and the connecting port forms the movable end.

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