Active-passive integrated magnetic negative stiffness mechanism

Abstract

The invention discloses an active and passive integrated magnetic negative stiffness mechanism, and belongs to the field of precision vibration reduction. Comprising a permanent magnet part and an electromagnetic part, the permanent magnet part and the electromagnetic part provide passive negative stiffness and active negative stiffness respectively, the permanent magnet part and the electromagnetic part are connected with a positive stiffness spring in parallel, passive vibration isolation and active vibration isolation can be integrated, and specifically, the permanent magnet assembly comprises a stator permanent magnet, a rotor permanent magnet, a stator frame, a rotor frame and a coil assembly; the coil assembly is additionally arranged in the permanent magnet assembly, the electromagnetic force borne by an electrified coil in a magnetic field is controlled by changing the current of the coil, the electromagnetic force of different magnitudes is provided at different working positions, the magnetic force in the working direction is compensated, and therefore active trimming and regulation of the negative stiffness of the mechanism are achieved. The structure is compact, the rigidity characteristics of high linearity and wide linear domain can be achieved, the rigidity characteristics can be customized according to actual requirements, and the high-performance vibration reduction requirements under various conditions are met.

Description

Technical Field

[0001] The present invention belongs to the field of precision vibration reduction, and more specifically, relates to an active and passive integrated magnetic negative stiffness mechanism. Background Art

[0002] Small disturbances such as environmental vibrations have a huge impact on the accuracy of precision instruments. Therefore, vibration isolation technology has become a key supporting technology for high-end manufacturing and measurement equipment, and can be divided into passive vibration isolation technology and active vibration isolation technology based on the vibration isolation principle.

[0003] In passive vibration isolation, in order to improve the vibration reduction performance, the system often adopts a positive and negative stiffness parallel structure to obtain a lower comprehensive stiffness. Common positive and negative stiffness parallel connection is mostly realized by compression rod springs and their derivative structures, but such structures can generally only provide linear stiffness within a very small range of travel. Beyond the range of travel, the nonlinearity of the system stiffness increases sharply, and the friction between the components makes the actual stiffness of the system more difficult to model and analyze. At present, a better solution is to use a magnetic spring to achieve negative stiffness, and then connect it in parallel with the positive stiffness mechanism to obtain a quasi-zero stiffness system. The magnetic negative stiffness mechanism has the characteristics of non-contact, wear-free, and compact structure, and is widely used in the vibration reduction system of ultra-precision equipment. However, the magnetic negative stiffness mechanism mostly adopts a permanent magnet arrangement, and the magnetic force between the permanent magnets has a large nonlinearity, making it difficult for the system stiffness to maintain high linearity within a wider travel.

[0004] Although active shock absorbers can generally provide better shock absorption effects, they require additional actuator assistance. There are two main types of actuators that meet the requirements of precision shock absorption: one is the electromagnetic actuator, namely the Lorentz motor, which provides force by applying force to the coil in the magnetic field, but the coil output density is small, and the number of coil turns and coil current need to be increased to provide sufficient electromagnetic force, which will cause serious problems of coil heating, and the Lorentz motor occupies a large volume and is difficult to arrange compactly; the other is the piezoelectric actuator, which has a small output and can only withstand pressure.

[0005] It can be seen that active vibration absorbers and passive vibration isolation have their own advantages and disadvantages. In order to comprehensively utilize the advantages of both, a new active and passive integrated magnetic negative stiffness mechanism is needed, which requires high negative stiffness linearity, stable negative stiffness value in a wide range, and a relatively compact structure. Summary of the invention

[0006] In view of the defects of the prior art, the purpose of the present invention is to provide an active and passive integrated magnetic negative stiffness mechanism, which aims to comprehensively utilize the respective advantages of the existing active vibration absorber and passive vibration isolation to obtain a new active and passive integrated magnetic negative stiffness mechanism with a compact structure, high negative stiffness linearity, and stable negative stiffness value in a wide range.

[0007] To achieve the above-mentioned purpose, the present invention provides an active-passive integrated magnetic negative stiffness mechanism, which includes a stator frame, a mover frame, a plurality of stator permanent magnets, a plurality of mover permanent magnets, and a coil assembly, wherein the mover frame is a symmetrical structure, which surrounds the stator frame, or the stator frame adopts a symmetrical structure, which surrounds the mover frame, a plurality of stator permanent magnets are regularly arranged and connected and fixed on the stator frame, a plurality of mover permanent magnets are regularly arranged and connected and fixed on the mover frame, and the coil assembly is fixed on the stator frame so that the electromagnetic force generated by the coil assembly due to the magnetic field of the stator permanent magnet automatically becomes the internal force of the stator part, thereby not affecting the total The coil assembly is installed near the permanent magnet of the mover and is placed in the magnetic field of the permanent magnet of the mover. The coil assembly is placed in a gap of equal width between the mover frame and the stator frame. All the permanent magnets of the movers and all the permanent magnets of the stators are excited in a direction parallel to or perpendicular to the vibration direction. The excitation directions of the permanent magnets of the movers and the stator permanent magnets at the corresponding positions are opposite or the same. When working, the magnitude of the current passed through the coil assembly is adjusted to adjust the electromagnetic compensation force provided by the coil assembly, and finally the resultant force generated by multiple stator permanent magnets, multiple permanent magnets of the movers and the coil assembly is adjusted, so as to obtain a magnetic negative stiffness mechanism with high linearity and wide linear domain stiffness characteristics.

[0008] In the present invention, the active and passive integrated magnetic negative stiffness mechanism includes a stator frame, a mover frame, a plurality of stator permanent magnets (a plurality of stator permanent magnets are regularly arranged to form a stator permanent magnet assembly), a plurality of mover permanent magnets (a plurality of mover permanent magnets are regularly arranged to form a stator permanent magnet assembly), a coil assembly, a displacement detection assembly and a control drive assembly. In order to avoid additional disturbances, the coil assembly is fixedly connected to the stator frame, so that the electromagnetic force generated by the magnetic field of the stator permanent magnet of the coil assembly automatically becomes the internal force of the stator part, and does not affect the overall stiffness, so it is only necessary to consider the effect of the magnetic field of the mover permanent magnet on the coil assembly, and it is necessary to ensure that the coil assembly generates an effective electromagnetic compensation force. The mover permanent magnet assembly is fixedly connected to the mover frame, and is fixedly connected to the moving frame of the matched vibration isolator through a mechanical interface provided on the mover frame, or is fixedly connected to the vibration isolation device to be fixedly connected to the moving frame of the vibration isolator. The stator permanent magnet assembly is composed of a corresponding number of stator permanent magnets arranged, fixedly connected to the stator frame, and fixedly connected to the fixed frame of the matched vibration isolator or the device to be isolated that is fixedly connected to the fixed frame of the vibration isolator through a mechanical interface provided on the stator frame. All the mover permanent magnets and stator permanent magnets are excited in a direction parallel or perpendicular to the vibration direction, and the excitation direction of the mover permanent magnets is opposite or the same as that of the stator permanent magnets at the corresponding position, forming a magnetic spring based on repulsive force. The mover frame is a bracing structure that surrounds the stator frame, or the stator frame adopts a symmetrical structure that surrounds the mover frame. The coil assembly is placed in a stronger magnetic field of the mover permanent magnet and is installed close to the mover permanent magnet assembly. It can be placed in a gap of equal width between the mover frame and the stator frame, or it can be placed on the side of the mover frame away from the stator.

[0009] Preferably, the plurality of mover permanent magnets and the plurality of stator permanent magnets are all rectangular parallelepipeds, and the rectangular parallelepipeds may have rounded corners or chamfered corners.

[0010] Preferably, in the setting of the permanent magnet assembly, in addition to the magnetic spring based on repulsion force, the mover permanent magnet and the stator permanent magnet can also be arranged to form a magnetic spring based on attraction force along the direction of movement of the mover, thereby forming a repulsion-attraction combined magnet arrangement, so that the permanent magnet assembly (the permanent magnet assembly is a combination of the stator permanent magnet and the mover permanent magnet) has a higher linearity when the coil assembly does not need to be energized, so that the coil assembly only needs to pass a smaller current to compensate and adjust the comprehensive stiffness of the mechanism, which can further enhance the linearity, widen the linear domain, and control the coil to generate less heat.

[0011] Preferably, in order to increase the negative stiffness value and improve the stiffness characteristics, an array structure can be used in the active and passive integrated magnetic negative stiffness mechanism. The mover permanent magnets and the stator permanent magnets can be arranged in a two-dimensional array along the mover movement direction and its orthogonal direction to form multiple pairs of magnetic springs based on repulsion, or a corresponding number of mover permanent magnets can be added to form a corresponding number of magnetic springs based on attraction. The specific number of rows and columns of the array arrangement of permanent magnets (including mover permanent magnets and stator permanent magnets) is related to the magnetization direction of the permanent magnet assembly and the position of the mover permanent magnet and the stator permanent magnet. Correspondingly, the coil assembly is also arranged in a two-dimensional array along these two directions according to the corresponding number of rows and columns.

[0012] Preferably, the coil assembly consists of a coil and a mounting plate, and the coil is a rectangular winding and is tightly and neatly wound. The upper and lower sides of the coil need to be in magnetic fields in opposite directions so that more energized wire segments can provide effective electromagnetic compensation force. The total thickness of the coil and the mounting plate should be smaller than the gap between the mover frame and the stator frame so that they can be accommodated by the gap.

[0013] Preferably, the displacement detection component of the active and passive integrated magnetic negative stiffness mechanism is mainly a displacement sensor, and the control drive component is composed of an acquisition control module, an adjustable power supply, etc. The displacement sensor is fixed on the stator frame and can measure the relative displacement between the stator and the mover. The displacement sensor transmits the displacement signal to the acquisition control module. The acquisition control module generally includes an A / D converter, a D / A converter, a controller, a coupler, etc. The adjustable power supply is connected to the coil assembly, and provides the coil assembly with the voltage or current required by the controller for calculation, so that the coil provides the electromagnetic compensation force required at the position at different relative positions of the stator and the mover.

[0014] Preferably, in the active and passive integrated magnetic negative stiffness mechanism, a frictionless (or near-zero friction) linear guide member, a flexible hinge member or an elastic spring member can be arranged between the stator frame and the mover frame along the movement direction of the mover frame, so that the mover frame can move linearly relative to the stator frame, thereby ensuring a high degree of parallelism between the surfaces of the mover permanent magnet and the stator permanent magnet, thereby ensuring that the magnetic negative stiffness characteristics of the mechanism are relatively stable.

[0015] Preferably, the active and passive integrated magnetic negative stiffness mechanism provided by the present invention can be connected in parallel with a positive stiffness mechanism, such as a metal spring, etc., and a quasi-zero stiffness mechanism can be formed by reasonably matching the stiffness values ​​of the negative stiffness mechanism and the positive stiffness mechanism. While ensuring a certain bearing capacity, the comprehensive stiffness of the mechanism is close to zero, thereby obtaining better low-frequency vibration isolation characteristics; the comprehensive stiffness of the mechanism can also be adjusted to a non-zero constant value, or the comprehensive stiffness can be made to change with the working displacement as expected, thereby obtaining a constant stiffness mechanism and a variable stiffness mechanism.

[0016] In general, the above technical solution conceived by the present invention has the following technical advantages compared with the prior art: 1. In the present invention, the electromagnetic coil and the permanent magnet are combined, the combined structure of the electromagnetic coil and the permanent magnet can be flexibly designed, the size of the permanent magnet can also be flexibly designed, and the size of the current passed through the electromagnetic coil can be flexibly adjusted. The linearity and linear domain of the mechanism stiffness can be preliminarily improved through the combined structure of the electromagnetic coil and the permanent magnet, the flexible design and parameter adjustment, and the control of the current input size in the electromagnetic coil can realize the active trimming and compensation of the mechanism stiffness, and obtain a magnetic negative stiffness mechanism with high linearity and wide linear domain stiffness characteristics. Specifically, in the actual working process, the size of the compensation force can be changed by controlling the coil current according to the desired stiffness displacement curve to realize a customized variable stiffness mechanism.

[0017] 2. The mechanism of the present invention can replace the combination of the actuator (the actuator refers to the Lorentz motor or the like which is usually used as the actuator in the shock absorber to provide the required force in the active shock absorption process) and the magnetic spring (the magnetic spring refers to the mechanism composed of permanent magnets, which is a spring in a broad sense) in the conventional shock absorber. No additional actuator is required, which can reduce the volume of the shock absorber and is of great significance to the research on the miniaturization and compactness of the active shock absorber. The integration of the actuator and the magnetic spring can not only provide electromagnetic force for the active control of the shock absorber, but also greatly reduce the space occupied by the active shock absorption mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Content (a) and Figure 1 Content (b) is a force diagram of two magnetic springs based on repulsive force in the present invention; Figure 2 for Figure 1 The stiffness-displacement curves of the two magnets interacting with each other under two different excitation modes, where the solid line corresponds to Figure 1 In the middle (a), the dotted line corresponds to Figure 1 in content (b); Figure 3 Content (a) and Figure 3 Content (b) is a force diagram of two kinds of attractive magnetic springs in the present invention; Figure 4 for Figure 3 Stiffness-displacement curves of two magnets interacting with each other under two different excitation modes, where the solid line corresponds to Figure 3 In the middle (a), the dotted line corresponds to Figure 3 in content (b); Figure 5 Content (a) and Figure 5 Content (b) shows the force diagrams of the two coils in the permanent magnet magnetic field. Specifically, Figure 5 Content (a) is the force diagram of the coil when the magnetization direction is perpendicular to the vibration direction. Figure 5Content (b) is the force diagram of the coil when the magnetization direction of the magnet is parallel to the vibration direction; Figure 6 A schematic diagram of the principle of an electromagnetic force compensation method for an active and passive integrated magnetic negative stiffness mechanism provided in an embodiment of the present invention; Figure 7 The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism in Example 1 provided by the present invention; Figure 8 It is a left view of the structural principle diagram of the stator part of embodiment 1; Fig. 9 A schematic diagram of the active and passive integrated magnetic negative stiffness mechanism in Example 2 provided by the present invention; Fig.10 A schematic diagram of the active and passive integrated magnetic negative stiffness mechanism in Example 3 provided by the present invention; Fig.11 A schematic diagram of the active and passive integrated magnetic negative stiffness mechanism in Example 4 provided by the present invention; Fig.12 It is a left view of the structural principle diagram of the stator part of Example 4; Fig.13 The schematic diagram of Example 5 of the active and passive integrated magnetic negative stiffness mechanism provided by the present invention; Fig.14 The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 6 provided by the present invention; Fig.15 The schematic diagram of Example 7 of the active and passive integrated magnetic negative stiffness mechanism provided by the present invention; Fig.16 It is a left view of the schematic diagram of the stator part of Example 7; Fig.17 The schematic diagram of Example 8 of the active and passive integrated magnetic negative stiffness mechanism provided by the present invention; Fig.18 It is a left view of the schematic diagram of the stator part of Example 8; Fig.19 Content (a) is the force applied to the coil in the magnetic field of the mover in Example 7. Fig.19 Content (b) is the force applied to the coil in the magnetic field of the mover in Example 8; Fig. 20 The schematic diagram of Example 9 of the active and passive integrated magnetic negative stiffness mechanism provided by the present invention; Fig.21 A schematic diagram of an active and passive integrated magnetic negative stiffness mechanism embodiment 10 provided by the present invention; Fig. 22 The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 11 provided by the present invention; Fig.23A schematic diagram of an active and passive integrated magnetic negative stiffness mechanism embodiment 12 provided by the present invention; Fig.24 The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 13 provided by the present invention; Fig.25 A schematic diagram of an active and passive integrated magnetic negative stiffness mechanism embodiment 14 provided by the present invention; Fig.26 The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 15 provided by the present invention; Fig. 27 It is a three-dimensional structural diagram of Example 5 of the active and passive integrated magnetic negative stiffness mechanism of the present invention; Fig.28 Content (a) is a schematic diagram of the stator structure of Example 5 of the active and passive integrated magnetic negative stiffness mechanism of the present invention. Fig.28 Content (b) is a schematic structural diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 5 of the present invention, in which the coil assembly is partially removed from the stator; Fig.29 This is a schematic diagram of the structure of the mover portion of Example 5 of the active and passive integrated magnetic negative stiffness mechanism of the present invention; Fig.30 This is a cross-sectional view of Example 5 of the active and passive integrated magnetic negative stiffness mechanism of the present invention after the displacement sensor is removed; Fig.31 This is a left view of Example 5 of the active and passive integrated magnetic negative stiffness mechanism of the present invention after the displacement sensor is removed; Fig.32 This is a diagram showing the experimental effects of Example 5 of the active and passive integrated magnetic negative stiffness mechanism of the present invention.

[0019] In the above drawings, the same reference numerals represent the same structures or components from beginning to end, specifically: 1- stator permanent magnet, 2- mover permanent magnet, 3- stator frame, 4- mover frame, 5- isolator fixed frame, 6- isolator moving frame, 7- coil assembly, 8- displacement sensor, 9- linear guide rail, 10- elastic reed piece. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0022] In addition, throughout this specification, "one embodiment", "one example" or similar language indicates that a particular feature, structure or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present invention. Therefore, the phrase "in one embodiment" and similar language may, but do not necessarily, refer to the same embodiment.

[0023] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or location relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0024] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0025] The present invention is a wide-range high-linearity magnetic negative stiffness mechanism that combines active vibration reduction and passive vibration reduction, which is suitable for vibration reduction needs in ultra-precision machining, aerospace and other fields. Specifically, it is an active and passive integrated magnetic negative stiffness mechanism with high negative stiffness value, high linearity, and wide linear domain stiffness characteristics and a relatively compact structure. A coil is added to the permanent magnet negative stiffness component, and according to the relative displacement between the stator and the mover, the coil current is actively controlled to change the force condition of the coil in the magnetic field, thereby providing electromagnetic compensation force, and ultimately achieving the purpose of adjusting and correcting the comprehensive stiffness of the entire mechanism, and can meet the expected stiffness requirements.

[0026] The active and passive integrated magnetic negative stiffness mechanism of the present invention includes a permanent magnet part and an electromagnetic part, which respectively provide passive negative stiffness and active negative stiffness, and can integrate passive vibration isolation and active vibration isolation in parallel with a positive stiffness spring. Specifically, it includes a stator permanent magnet assembly, a mover permanent magnet assembly, a stator frame, a mover frame, a coil assembly, a displacement detection assembly and a control drive assembly. The stator and mover permanent magnet assemblies constitute a permanent magnet assembly. A coil assembly is added to the permanent magnet assembly. The electromagnetic force exerted on the energized coil in the magnetic field is controlled by changing the coil current, so that it provides electromagnetic forces of different sizes at different working positions, and compensates for the magnetic force in the working direction, thereby realizing active trimming and regulation of the negative stiffness of the mechanism. The structure of the present invention is relatively compact, and can achieve high linearity and wide linear domain stiffness characteristics. The stiffness characteristics can also be customized according to actual requirements to meet the high-performance vibration reduction requirements in various situations.

[0027] Figure 1 Content (a) and Figure 1 Content (b) is a force diagram of two magnetic springs based on repulsive force in the present invention. It can be seen that the excitation direction can be perpendicular or parallel to the vibration direction to provide repulsive force along the vibration direction. Figure 1 As shown in (a), when the excitation direction is perpendicular to the vibration direction, the excitation directions of the mover permanent magnet and the stator permanent magnet are opposite, which can provide a repulsive force along the vibration direction; Figure 1 As shown in the content (b), when the excitation direction is parallel to the vibration direction, the excitation directions of the mover permanent magnet and the stator permanent magnet are the same, which can provide a repulsive force along the vibration direction.

[0028] Figure 2 for Figure 1 The stiffness-displacement curves of the two magnets interacting with each other under two different excitation modes, where the solid line corresponds to Figure 1 In the middle (a), the dotted line corresponds to Figure 1 In the content (b), the stiffness here should be understood as the stiffness formed by the change of the force when the two magnets produce relative displacement, so the stiffness is related to the relative position but not to the absolute position. It can be seen that there is the largest negative stiffness value at the relative zero position. As the permanent magnet of the mover moves along the vibration direction, the negative stiffness value gradually decreases to zero, and then the stiffness becomes positive.

[0029] Figure 3 Content (a) and Figure 3 Content (b) is the force diagram of the two attraction magnetic springs in the present invention. It can be seen that the excitation direction is perpendicular or parallel to the vibration direction and can provide attraction along the vibration direction. Figure 3 As shown in the content (a), when the excitation direction is perpendicular to the vibration direction, the excitation directions of the mover permanent magnet and the stator permanent magnet are opposite, which can provide an attractive force along the vibration direction; Figure 3As shown in (b), when the excitation direction is parallel to the vibration direction, the excitation directions of the mover permanent magnet and the stator permanent magnet are the same, which can provide an attractive force along the vibration direction.

[0030] Figure 4 for Figure 3 Stiffness-displacement curves of two magnets interacting with each other under two different excitation modes, where the solid line corresponds to Figure 3 In the middle (a), the dotted line corresponds to Figure 3 In the content (b), the stiffness here should be understood as the stiffness formed by the change of the force when the two magnets produce relative displacement. Therefore, this stiffness is related to the relative position but not to the absolute position. It can be seen that there is a minimum negative stiffness value at the relative zero position. As the permanent magnet of the mover moves along the vibration direction, the negative stiffness value gradually increases. Figure 2 , Figure 4 It can be seen that the repulsive magnetic spring and the attractive magnetic spring have different stiffness characteristics, and the movable travel of the attractive magnetic spring is limited.

[0031] Figure 5 Content (a) and Figure 5 Content (b) shows the force diagrams of the two coils in the permanent magnet magnetic field. Specifically, Figure 5 Content (a) is the force diagram of the coil when the magnetization direction is perpendicular to the vibration direction. Figure 5 Content (b) is the coil force diagram when the magnetization direction is parallel to the vibration direction. In the figure, i represents the coil current, F 补 represents electromagnetic compensation force, and B represents magnetic induction intensity. According to Ampere's law, when the excitation direction of the permanent magnet is different, the magnitude and direction of the electromagnetic compensation force provided by the energized coil are also different. Generally speaking, the coil can only generate effective electromagnetic compensation force in the vibration direction when the components of the magnetic field on both sides of the coil are perpendicular to the vibration direction in opposite directions. Figure 5 By comparing content (a) and content (b), it can be found that when the excitation direction of the permanent magnet is parallel to the vibration direction, the effective electromagnetic compensation force provided by the same current passing through the coil is smaller, and the layout position of the coil is more stringent.

[0032] Figure 6 The schematic diagram of the principle of the electromagnetic force compensation method of the active and passive integrated magnetic negative stiffness mechanism provided in the embodiment of the present invention shows that the compensation method is to control the coil to provide the corresponding electromagnetic compensation force according to the different relative positions of the stator and the mover to obtain the expected negative stiffness of the system. The relative displacement between the stator and the mover can be detected by the displacement sensor, and the adjustable power supply is controlled by the acquisition control module to output the expected current to the coil assembly. The coil converts the current into electromagnetic compensation force in the magnetic field of the mover, changes the magnetic force between the stator and the mover, and enables the mechanism to obtain the expected negative stiffness.

[0033] Figure 7 This is a schematic diagram of the active and passive integrated magnetic negative stiffness mechanism in Example 1 provided by the present invention, Figure 8 It is a left view of the structural principle diagram of the stator part of embodiment 1, as shown in Figure 7 As shown, the stator permanent magnet 1 includes a first stator permanent magnet 1a and a second stator permanent magnet 1b. The first stator permanent magnet 1a and the second stator permanent magnet 1b together constitute a stator permanent magnet assembly and are fixed to the stator frame 3. The first coil assembly 7a and the second coil assembly 7b are also fixed to the stator frame 3 and are placed in the gap between the stator permanent magnet and the mover permanent magnet. The stator frame 3 is fixed to the vibration isolator fixed frame 5. The mover permanent magnet 2 includes a first mover permanent magnet 2a, a second mover permanent magnet 2b, a third mover permanent magnet 2c and a fourth mover permanent magnet 2d. The first mover permanent magnet 2a, the second mover permanent magnet 2b, the third mover permanent magnet 2c, and the fourth mover permanent magnet 2d together constitute a mover permanent magnet assembly and are fixed to the mover frame 4. The mover frame 4 is fixed to the vibration isolator moving frame 6, along Figure 7 The first stator permanent magnet 1a and the second stator permanent magnet 1b are located in the same column and aligned up and down, and the column they are in is called the second column. The first mover permanent magnet 2a and the second mover permanent magnet 2b are located in the same column and aligned up and down, and the column they are in is called the first column. The third mover permanent magnet 2c and the fourth mover permanent magnet 2d are located in the same column and aligned up and down, and the column they are in is called the third column. The first mover permanent magnet 2a, the first stator permanent magnet 1a and the third mover permanent magnet 2c are located in the same row and have the same horizontal height, and the second mover permanent magnet 2b, the second stator permanent magnet 1b and the fourth mover permanent magnet 2d are located in the same row and have the same horizontal height. Each mover permanent magnet and each stator permanent magnet are spaced apart. Figure 8 This is the left view of the structural principle diagram of the stator part of embodiment 1, combined with Figure 8It can be seen that the first coil assembly 7a and the second coil assembly 7b have similar structures and are wound into a rectangular shape. The first coil assembly 7a is "inserted and installed" in the spacing between the first column and the second column, and the second coil assembly 7b is "inserted and installed" in the spacing between the second column and the third column. Whether it is a stator permanent magnet or a mover permanent magnet, all permanent magnets are excited along the y-axis direction (that is, perpendicular to the vibration direction of the active and passive integrated magnetic negative stiffness mechanism). The excitation directions of the first stator permanent magnet 1a, the second mover permanent magnet 2b, and the fourth mover permanent magnet 2d are opposite to the excitation directions of the second stator permanent magnet 1b, the first mover permanent magnet 2a, and the third mover permanent magnet 2c, respectively, that is, the excitation directions of adjacent permanent magnets are opposite. The permanent magnets in the same row (also called the same row) constitute a pair of repulsive magnetic springs. The first stator permanent magnet 1a and the second mover permanent magnet 2b and the fourth mover permanent magnet 2d have an attractive effect when the mover moves relative to the stator, and the second stator permanent magnet 1b and the first mover permanent magnet 2a and the third mover permanent magnet 2c have an attractive effect when the mover moves relative to the stator. Both of them show negative stiffness characteristics in the z-axis direction (i.e., the vibration direction). When the mover permanent magnet assembly is in Figure 7 When the position is indicated, if no current is passed, the force is zero due to the symmetry of the structure.

[0034] Combination Figure 7 , Figure 8 It can be seen that the first coil assembly 7a and the second coil assembly 7b are wound around the y-axis (i.e., perpendicular to the vibration direction), and the upper and lower parts of the first coil assembly 7a and the second coil assembly 7b are in two pairs of different repulsive force magnetic springs, i.e., in the mover magnetic field with opposite directions, which can generate effective electromagnetic compensation force. Due to the structural design of the stator permanent magnet assembly and the mover permanent magnet assembly, the first column and the third column of mover permanent magnets are arranged in the same position and magnetized in the same direction, and the first coil assembly 7a and the second coil assembly 7b on both sides of the stator permanent magnet assembly are in the mover magnetic field with the same size and direction, so the size and direction of the current passed through the two coils are the same.

[0035] Fig. 9The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism in Example 2 provided by the present invention is very similar to the active and passive integrated magnetic negative stiffness mechanism in Example 1. The obvious difference is that the first coil assembly 7a and the second coil assembly 7b are not located between the stator permanent magnet assembly and the mover permanent magnet assembly, the first coil assembly 7a is not between the first column and the second column, and the second coil assembly 7b is not between the second column and the third column, but is placed outside the mover permanent magnet assembly, but is still fixedly connected to the stator frame 3. The arrangement of each stator permanent magnet and each mover permanent magnet is the same as that in Example 1. Specifically, the first coil assembly 7a is located at the outermost side of the first column, the second coil assembly 7b is located at the outermost side of the third column, the direction of the mover magnetic field where the first coil assembly 7a and the second coil assembly 7b are located is the same as that in Example 1, and the direction of the current flowing in the coil is also the same as that in Example 1.

[0036] Fig.10 The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism in Example 3 provided by the present invention is different from that in Example 1, and the arrangement of the stator permanent magnet group and the mover permanent magnet group is completely different. The stator permanent magnet assembly composed of the first stator permanent magnet 1a, the second stator permanent magnet 1b, the third stator permanent magnet 1c, and the fourth stator permanent magnet 1d is fixedly connected to the stator frame 3, and the mover permanent magnet assembly composed of the first mover permanent magnet 2a and the second mover permanent magnet 2b is fixedly connected to the mover frame 4 and placed in the center of the entire mechanism, that is, the positions of the stator and mover permanent magnet assemblies are interchanged relative to Example 1. The first stator permanent magnet 1a and the second stator permanent magnet 1b are located in the same column and aligned up and down, which is called the left column. The first mover permanent magnet 2a and the second mover permanent magnet 2b are located in the same column and aligned up and down, which is called the middle column. The third stator permanent magnet 1c and the fourth stator permanent magnet 1d are located in the same column and aligned up and down, which is called the right column. The first stator permanent magnet 1a, the first mover permanent magnet 2a and the third stator permanent magnet 1c are located in the same row or the same row, and their horizontal heights are consistent. The second stator permanent magnet 1b, the second mover permanent magnet 2b and the fourth stator permanent magnet 1d are located in the same row or the same row, and their horizontal heights are consistent. Similar to Example 1, the first coil assembly 7a and the second coil assembly 7b are still in the gap between the stator permanent magnet assembly and the mover permanent magnet assembly. Specifically, the first coil assembly 7a is similar to a sheet and is "inserted" between the left column and the middle column. The second coil assembly 7b is also similar to a sheet and is "inserted" between the middle column and the right column. However, the direction of the mover magnetic field is opposite to that of Example 1, and the direction of the current passed through the coil is also opposite to that of Example 1.

[0037] Fig.11 This is a schematic diagram of the active and passive integrated magnetic negative stiffness mechanism in Example 4 provided by the present invention, Fig.12This is the left view of the structural principle diagram of the stator part of Example 4, combined with Fig.11 , Fig.12 It can be seen that it includes a first coil assembly 7a, a second coil assembly 7b, a third coil assembly 7c, a fourth coil assembly 7d, a fifth coil assembly 7e, a sixth coil assembly 7f, a seventh coil assembly 7g and an eighth coil assembly 7h, and a total of eight coil assemblies are designed. The eight coil assemblies are arranged in pairs, and are divided into four columns in total. The four columns of coil assemblies are further divided into two rows, one row on the top and one row on the bottom. The upper and lower rows of coils are in two pairs of different repulsive magnetic springs, that is, they are in the mover magnetic field in opposite directions, and the upper and lower sides of a single coil are in the mover magnetic field in opposite directions, which can generate effective electromagnetic compensation force. The current passed through the coils in the same row is the same in magnitude and direction, and the current passed through the upper and lower rows of coils in the same column is the same in magnitude and opposite in direction.

[0038] In fact, Example 4 adopts an array of permanent magnets and coil arrangement structures based on Example 1, which can further improve the negative stiffness value of the mechanism. The specific arrangement of its permanent magnet array (the permanent magnet array includes stator permanent magnets and mover permanent magnets) is 3 rows and 5 columns (the permanent magnets include mover permanent magnets and stator permanent magnets, and the mover permanent magnets and stator permanent magnets are arranged to form an array structure), and can also be arranged in m rows and (2n+1) columns (where m≥2, n≥1). The specific arrangement of the coil array is 2 rows and 4 columns, and can also be arranged in (m-1) rows and 2n columns accordingly. A careful observation shows that, if Fig.11As shown, the first stator permanent magnet 1a, the second stator permanent magnet 1b, the third stator permanent magnet 1c, the fourth stator permanent magnet 1d, the fifth stator permanent magnet 1e, and the sixth stator permanent magnet 1f together constitute a stator permanent magnet assembly and are fixedly connected to the stator frame 3. The first stator permanent magnet 1a, the second stator permanent magnet 1b and the third stator permanent magnet 1c are arranged in sequence and in the same column, the fourth stator permanent magnet 1d, the fifth stator permanent magnet 1e and the sixth stator permanent magnet 1f are arranged in sequence and in another column, and the two columns of stator permanent magnets are flush with each other. Three columns of mover permanent magnets are respectively arranged between the two columns of stator permanent magnets and at three positions on both sides. The first mover permanent magnet 2a, the second mover permanent magnet 2b and the third mover permanent magnet 2c are arranged from top to bottom in sequence and are located in the same column, which is called the left column. The fourth mover permanent magnet 2d, the fifth mover permanent magnet 2e and the sixth mover permanent magnet 2f are arranged from top to bottom in sequence and are located in another column, which is called the middle column. The seventh mover permanent magnet 2g, the eighth mover permanent magnet 2h and the ninth mover permanent magnet 2i are arranged from top to bottom in sequence and are located in another column, which is called the right column. The left column, the middle column and the right column, a total of three columns, form two interval spaces, and each of the two interval spaces has two columns of stator permanent magnets. The three rows of permanent magnets of the movers and the two rows of permanent magnets of the stators are spaced from each other and arranged in an interlaced manner. The rows of permanent magnets of the movers and the rows of permanent magnets of the stators adjacent to each other form a space for setting a group of coil components. There are four coil spaces for setting coil components in total. The first coil component 7a and the second coil component 7b are connected end to end from top to bottom and are set in one coil space. The third coil component 7c and the fourth coil component 7d are connected end to end from top to bottom and are set in another coil space. The fifth coil component 7e and the sixth coil component 7f are connected end to end from top to bottom and are set in another coil space. The seventh coil component 7g and the eighth coil component 7h are connected end to end from top to bottom and are also set in one coil space. The second coil component 7b, the fourth coil component 7d, the sixth coil component 7f and the eighth coil component 7h are respectively fixed on the stator frame 3, fixed and placed in the gap between the stator permanent magnet and the permanent magnet of the mover. The stator frame 3 and the vibration isolator fixed frame 5 are fixed. The mover permanent magnets in the left column, the mover permanent magnets in the middle column and the mover permanent magnets in the right column are fixed on the mover frame 4 , and the mover frame 4 is fixed to the vibration isolator moving frame 6 .Moving along the z-axis direction (i.e., the vibration direction) shown in the figure, the permanent magnets are all excited along the y-axis direction, i.e., perpendicular to the vibration direction, and the excitation directions of the first stator permanent magnet 1a, the third stator permanent magnet 1c, the fourth stator permanent magnet 1d, the sixth stator permanent magnet 1f, the second mover permanent magnet 2b, the fifth mover permanent magnet 2e, and the eighth mover permanent magnet 2h are opposite to the excitation directions of the second stator permanent magnet 1b, the fifth stator permanent magnet 1e, the first mover permanent magnet 2a, the third mover permanent magnet 2c, the fourth mover permanent magnet 2d, the sixth mover permanent magnet 2f, the seventh mover permanent magnet 2g, and the ninth mover permanent magnet 2i, i.e., the excitation directions of adjacent permanent magnets are opposite. The excitation directions of the mover permanent magnets in each column are opposite to those of the stator permanent magnets in each column. The three adjacent permanent magnets in the same row form a pair of repulsive magnetic springs, and the stator permanent magnets and mover permanent magnets in adjacent rows with the same excitation direction (such as 1b and 2a) have an attractive effect when the mover moves relative to the stator, and both show negative stiffness characteristics in the z-axis direction (i.e., the vibration direction). When the mover permanent magnet assembly is in the position shown in the figure, if no current is passed, the force on it is zero due to the symmetry of the structure.

[0039] Fig.13 The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 5 provided by the present invention is shown. On the basis of embodiment 1, embodiment 5 adds two mover permanent magnets, namely the fifth mover permanent magnet and the sixth mover permanent magnet. The fifth mover permanent magnet 2e and the sixth mover permanent magnet 2f are fixedly connected to the mover frame 4, and their excitation directions are opposite to the first stator permanent magnet 1a and the second stator permanent magnet 1b, respectively, and form an attractive magnetic spring with the first stator permanent magnet 1a and the second stator permanent magnet 1b, which can increase the comprehensive negative stiffness value of the mechanism when the coil is not energized, improve the stiffness linearity, and reduce the need for the coil to provide electromagnetic compensation force, but it will add constraints to the working range of the mechanism. The arrangement of the remaining permanent magnets and coils is the same as that of embodiment 1. When the mover permanent magnet assembly is in the position shown in the figure, if no current is passed, the force is zero due to the symmetry of the structure.

[0040] Fig.14 The figure shows the principle diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 6 provided by the present invention. Embodiment 6 makes some changes in parameters based on embodiment 5. Embodiment 6 changes some of the same size parameters in embodiment 5 to different ones, such as the size parameters of the permanent magnet. , and permanent magnet gap parameters , That is, the mover assembly and the stator assembly use permanent magnets of different sizes and different spacing arrangements. By properly adjusting the parameters, a negative stiffness with higher linearity and a wider linear domain can be obtained.

[0041] Fig.15The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 7 provided by the present invention is shown. Compared with embodiment 1, the excitation direction of the permanent magnet in embodiment 7 is changed to the z-axis direction (i.e., the vibration direction), and the excitation direction of the permanent magnets in each row (a row means a row in this article) is the same, and the excitation directions of the permanent magnets in adjacent rows are opposite, that is, the excitation directions of the first stator permanent magnet 1a, the first mover permanent magnet 2a, and the third mover permanent magnet 2c are the same, and are opposite to the excitation directions of the second stator permanent magnet 1b, the second mover permanent magnet 2b, and the third mover permanent magnet 2d. When all the mover permanent magnets are in the position shown in the figure, if no current is passed, the force on them is zero due to the symmetry of the structure.

[0042] Fig.16 This is the left view of the stator schematic diagram of Embodiment 7, combined with Fig.15 , Fig.16 It can be seen that the first coil assembly 7a and the second coil assembly 7b are wound around the y-axis, that is, perpendicular to the vibration direction, and the upper and lower rows are in two pairs of different repulsive magnetic springs, and the projections of the mover magnetic field in the y-axis direction are opposite, which can generate effective electromagnetic compensation force. Due to the symmetric structure of the permanent magnets on the left and right sides, the first coil assembly 7a and the second coil assembly 7b on both sides of the entire stator permanent magnet are in the mover magnetic field with opposite projection directions on the y-axis, and the current is passed in opposite directions.

[0043] Fig.17 The figure shows the principle diagram of Example 8 of the active and passive integrated magnetic negative stiffness mechanism provided by the present invention. It can be seen from the figure that Example 8 only uses a pair of repulsive magnetic springs, which are composed of three permanent magnets, namely, the stator permanent magnet 1, the first mover permanent magnet 2a, and the second mover permanent magnet 2b, which are excited along the z-axis direction (i.e., the vibration direction) and have the same excitation direction. The three permanent magnets are arranged in a row and are spaced apart from each other. The stator permanent magnet 1 is fixed to the stator frame 3, and the first coil assembly 7a and the second coil assembly 7b are also fixed to the stator frame 3. The first coil assembly 7a and the second coil assembly 7b are placed in the gap between the three permanent magnets, and the stator frame 3 is fixed to the fixed frame 5 of the vibration isolator. The mover permanent magnet assembly composed of the first mover permanent magnet 2a and the second mover permanent magnet 2b is fixed to the mover frame 4, and the mover frame 4 is fixed to the moving frame 6 of the vibration isolator, along the z-axis direction. Fig.17 When the permanent magnet assembly of the mover is in the position shown in the figure, if no current is passed, the force on it is zero due to the symmetry of the structure.

[0044] Fig.18 This is the left view of the stator schematic diagram of Embodiment 8, combined with Fig.17It can be seen that the first coil assembly 7a and the second coil assembly 7b are wound around the y-axis (i.e., perpendicular to the vibration direction), and the upper and lower sides are in the same pair of repulsive magnetic springs, and the projections of the mover magnetic field in the y-axis direction are opposite, which can generate effective electromagnetic compensation force. Due to the symmetric structure of the permanent magnet assemblies on both sides, the first coil assembly 7a and the second coil assembly 7b on both sides of the stator permanent magnet are in the magnetic field generated by the mover permanent magnet with opposite projection directions on the y-axis, and the currents passed through the first coil assembly 7a and the second coil assembly 7b are in opposite directions.

[0045] Fig.19 The content (a) and Fig.19 Content (b) shows the force applied to the coil in the magnetic field of the permanent magnet of the mover in Example 7 and Example 8. It can be seen that the force applied to the coil in the two embodiments is not the same, and the coil size structure and arrangement position design are different. Similarly, improvements can be made on the basis of Example 7 by changing the coil arrangement position, exchanging the stator permanent magnet and the position of the mover permanent magnet, arranging the permanent magnet and the coil in an array, adding the mover permanent magnet to form an attractive magnetic spring, and using permanent magnets of different sizes and different spacings to obtain Example 9, Example 10, Example 11, Example 12, and Example 13, as shown in FIG. Fig. 20 , Fig.21 , Fig. 22 , Fig.23 , Fig.24 As shown, Fig. 20 The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 9 provided by the present invention is as follows: Fig.21 The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 10 provided by the present invention is as follows: Fig. 22 The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 11 provided by the present invention is as follows: Fig.23 The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 12 provided by the present invention is as follows: Fig.24 This is a schematic diagram of Example 13 of the active and passive integrated magnetic negative stiffness mechanism provided by the present invention.

[0046] Fig.25 The figure shows the principle diagram of Example 14 of the active and passive integrated magnetic negative stiffness mechanism provided by the present invention. It can be seen from the figure that, unlike Example 1, Example 14 has a near-zero friction linear guide rail 9 arranged between the stator frame 3 and the mover frame 4, so that the mover frame 4 only moves linearly along the z-axis direction (i.e., the vibration direction) relative to the stator frame 3, thereby ensuring that the magnetic negative stiffness characteristics of the mechanism are more stable.

[0047] Fig.26The schematic diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 15 provided by the present invention is shown. It can be seen from the figure that a first elastic spring piece 10a and a second elastic spring piece 10b are arranged in pairs between the mover frame 4 and the isolator fixed frame 5, which have lower stiffness in the z-axis direction (i.e., the vibration direction) and higher stiffness in other directions, so that the mover frame 4 can make approximately linear motion in the z-axis direction relative to the stator frame 3 within a certain range (i.e., the vibration direction), thereby ensuring that the magnetic negative stiffness characteristics of the mechanism are more stable. If it is necessary to reduce the parasitic motion caused by the elastic spring piece, an elastic spring piece of a configuration such as a double parallel four-bar can be used.

[0048] Fig. 27 This is a three-dimensional structural diagram of Example 5 of the active and passive integrated magnetic negative stiffness mechanism of the present invention. As shown in the figure, Example 5 of the present invention includes a stator frame, multiple stator permanent magnets (multiple stator permanent magnets are also called stator permanent magnet assemblies), a mover frame, multiple mover permanent magnets (multiple mover permanent magnets can also be called mover permanent magnet assemblies), multiple coil assemblies, and a sensor 8.

[0049] Fig.28 Content (a) is a schematic diagram of the stator structure of Example 5 of the active and passive integrated magnetic negative stiffness mechanism of the present invention. Fig.28 Content (b) is a schematic diagram of the stator portion of Example 5 with the coil assembly removed. Fig.13 In the schematic diagram of Embodiment 5, the first stator permanent magnet 1a and the second stator permanent magnet 1b form a stator permanent magnet assembly, and the coil assembly includes a first coil assembly 7a and a second coil assembly 7b, which are respectively fixed to the stator frame 3 by high-strength glue. In the physical object of this embodiment, the stator frame includes four parts, namely the first stator frame part 3a, the second stator frame part 3b, the third stator frame part 3c and the fourth stator frame part 3d. The shapes of the first stator frame part 3a, the second stator frame part 3b, the third stator frame part 3c and the fourth stator frame part 3d are obtained by conformal design according to actual needs. The second stator frame part 3b and the third stator frame part 3c can have similar structures. The shapes of each stator frame part are flexibly designed according to needs to form a stator frame. The displacement sensor 8 is fixedly connected to the first stator frame part 3a to measure the distance between the stator frame and the mover frame, so as to compensate the system stiffness by feedback controlling the current passed through the coil.

[0050] Fig.29 This is a schematic diagram of the structure of the mover portion of the active and passive integrated magnetic negative stiffness mechanism embodiment 5 of the present invention, according to Fig.13The schematic diagram of Example 5, wherein the mover frame consists of four parts, including a first mover frame part 4a, a second mover frame part 4b, a third mover frame part 4c and a fourth mover frame part 4d, the first mover frame part 4a and the second mover frame part 4b are similar in shape, the third mover frame part 4c and the fourth mover frame part 4d are similar in shape, the entire mover frame is similar to a rectangular frame, the first mover permanent magnet 2a, the second mover permanent magnet 2b, the third mover permanent magnet 2c, and the fourth mover permanent magnet 2d are respectively fixed to the mover frame by high-strength glue, and the fifth mover permanent magnet 2e and the sixth mover permanent magnet 2f are respectively fixed to the first mover frame part 4a and the second mover frame part 4b by high-strength glue.

[0051] Fig.30 This is a cross-sectional view of the active and passive integrated magnetic negative stiffness mechanism embodiment 5 of the present invention after the displacement sensor 8 is removed. Fig.31 As shown in the left view, the first stator permanent magnet 1a and the first mover permanent magnet 2a and the third mover permanent magnet 2c form a pair of repulsive magnetic springs, the stator permanent magnet 1b and the mover permanent magnets 2b and 2d form a pair of repulsive magnetic springs, the first stator permanent magnet 1a, the second stator permanent magnet 1b and the fifth mover permanent magnet 2e and the sixth mover permanent magnet 2f form a pair of attractive magnetic springs, and the first coil assembly 7a and the second coil assembly 7b are located in the gap between the stator permanent magnet and the mover permanent magnet, and are fixedly connected to the stator frame 5. The combination of two pairs of repulsive magnetic springs and a pair of attractive magnetic springs can effectively improve the linearity of the magnetic negative stiffness and broaden the linear domain, so that the energized coil can compensate for the comprehensive stiffness of the mechanism.

[0052] Fig.32 The experimental effect diagram of the active and passive integrated magnetic negative stiffness mechanism embodiment 5 of the present invention shows the permanent magnetic stiffness displacement curve without electromagnetic force compensation and the electromagnetic stiffness displacement curve with electromagnetic force compensation after the coil is energized. Fig.32 It can be seen that the electromagnetic compensation effect of the energized coil is obvious, the comprehensive stiffness linearity of the embodiment mechanism is significantly enhanced, and the linear domain is greatly broadened.

[0053] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An active and passive integrated magnetic negative stiffness mechanism, characterized in that: It includes a stator frame, a mover frame, a plurality of stator permanent magnets, a plurality of mover permanent magnets, and a coil assembly, wherein: The moving frame is a symmetrical structure, which surrounds the stator frame, or the stator frame is a symmetrical structure, which surrounds the moving frame. A plurality of stator permanent magnets are regularly arranged and connected and fixed on the stator frame, a plurality of mover permanent magnets are regularly arranged and connected and fixed on the mover frame, the coil assembly is fixed on the stator frame so that the electromagnetic force generated by the coil assembly due to the magnetic field of the stator permanent magnet automatically becomes the internal force of the stator part, thereby not affecting the overall stiffness, the coil assembly is installed near the mover permanent magnet and is placed in the magnetic field of the mover permanent magnet at the same time, and the coil assembly is placed in a gap of equal width between the mover frame and the stator frame at the same time, All the mover permanent magnets and all the stator permanent magnets are excited in a direction parallel or perpendicular to the vibration direction. The excitation directions of the mover permanent magnets and the stator permanent magnets at the corresponding positions are opposite or the same. During operation, the magnitude of the current passed through the coil assembly is adjusted to adjust the electromagnetic compensation force provided by the coil assembly, and ultimately the resultant force generated by multiple stator permanent magnets, multiple mover permanent magnets and the coil assembly is adjusted to obtain a magnetic negative stiffness mechanism with high linearity and wide linear domain stiffness characteristics.

2. The active and passive integrated magnetic negative stiffness mechanism according to claim 1, characterized in that: It includes arranging the mover permanent magnet and the stator permanent magnet into a magnetic spring based on repulsive force along the moving direction of the mover part, or, It includes not only the magnetic spring based on repulsion, but also the mover permanent magnet and the stator permanent magnet are arranged as magnetic springs based on attraction along the movement direction of the mover part, so as to form a combined magnet arrangement of repulsion and attraction, so that the mover permanent magnet and the stator permanent magnet naturally have higher linearity when the coil assembly does not need to be energized, so that the coil assembly only needs to pass a smaller current to compensate and adjust the comprehensive stiffness of the mechanism itself, and finally can further enhance the linearity, broaden the linear domain and reduce coil heating.

3. The active and passive integrated magnetic negative stiffness mechanism according to claim 1 or 2, characterized in that: The overall structure is an array structure. The permanent magnets of the mover and the stator are arranged in a two-dimensional array along the moving direction of the mover and its orthogonal direction, forming multiple pairs of magnetic springs based on repulsive force. Alternatively, a corresponding number of mover permanent magnets are also provided to form a corresponding number of magnetic springs based on attraction, The specific number of rows and columns of the array arrangement of the mover permanent magnet and the stator permanent magnet is related to their magnetization direction and the position of the mover permanent magnet and the stator permanent magnet. Correspondingly, the coil assembly is also arranged in a two-dimensional array according to the corresponding number of rows and columns along the movement direction of the mover part and its orthogonal direction.

4. The active and passive integrated magnetic negative stiffness mechanism according to claim 1, characterized in that: It also includes a displacement detection component and a control drive component. The displacement detection component is used to detect the relative displacement between the stator part and the mover part. The control drive component is used to receive the signal of the relative displacement and control the voltage or current input to the coil component according to the relative displacement to adjust the magnitude of the electromagnetic compensation force provided by the coil component.

5. The active and passive integrated magnetic negative stiffness mechanism according to claim 4, characterized in that: The displacement detection component is a displacement sensor, and the control drive component includes an acquisition control module and an adjustable power supply. The displacement sensor is fixed on the stator frame and is used to measure the relative displacement between the stator part and the mover part. The displacement sensor is also used to transmit the displacement signal to the acquisition control module, and the acquisition control module is used to calculate the required voltage or current. The adjustable power supply is used to receive the voltage or current signal and is connected to the coil assembly to provide voltage or current to the coil assembly, so that the coil assembly provides the electromagnetic compensation force required at different relative positions of the stator and the mover.

6. The active and passive integrated magnetic negative stiffness mechanism according to any one of claims 1 to 5, characterized in that: The coil assembly consists of a coil and a mounting plate. The coil is a rectangular winding and is tightly and neatly wound. The upper and lower sides of the coil are in magnetic fields in opposite directions, so that more energized wire segments can provide effective electromagnetic compensation force. The total thickness of the coil and the mounting plate is smaller than the gap between the mover frame and the stator frame so as to be accommodated by the gap.

7. The active and passive integrated magnetic negative stiffness mechanism according to claim 1, characterized in that: A frictionless or near-zero-friction linear guide, a flexible hinge or an elastic spring is arranged between the stator frame and the mover frame along the moving direction of the mover frame, so that the mover frame can move linearly relative to the stator frame, thereby ensuring a high degree of parallelism between the surfaces of the mover permanent magnet and the stator permanent magnet, thereby ensuring that the magnetic negative stiffness characteristics of the entire mechanism are relatively stable.

8. The active and passive integrated magnetic negative stiffness mechanism according to claim 1, characterized in that: When in use, it is connected in parallel with the positive stiffness mechanism, and a quasi-zero stiffness mechanism is formed by reasonably matching the stiffness values ​​of the positive stiffness mechanism, thereby obtaining better low-frequency vibration isolation characteristics, or, The comprehensive stiffness is adjusted to a non-zero constant value or the comprehensive stiffness is changed as expected with the working displacement to obtain a constant stiffness mechanism and a variable stiffness mechanism.

9. The active and passive integrated magnetic negative stiffness mechanism according to claim 1, characterized in that: When in use, the permanent magnet of the mover is fixedly connected to the moving frame of the matched vibration isolator through a mechanical interface provided on the mover frame, or is fixedly connected to the device to be vibration isolated that is fixedly connected to the moving frame of the vibration isolator. The stator permanent magnet is fixedly connected to the fixed frame of the matched vibration isolator through a mechanical interface arranged on the stator frame, or is fixedly connected to the device to be vibration isolated that is fixedly connected to the fixed frame of the vibration isolator.

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