Active and passive integrated magnetic negative stiffness mechanism

Abstract

This invention discloses an integrated active and passive magnetic negative stiffness mechanism, belonging to the field of precision vibration reduction. It includes a permanent magnet section and an electromagnetic section, providing passive and active negative stiffness respectively. Connected in parallel with a positive stiffness spring, it integrates passive and active vibration isolation. Specifically, it includes a stator permanent magnet, a mover permanent magnet, a stator frame, a mover frame, and a coil assembly. The stator and mover permanent magnets form the permanent magnet assembly, and a coil assembly is added within the permanent magnet assembly. By changing the coil current, the electromagnetic force experienced by the energized coil in the magnetic field is controlled, allowing it to provide different magnitudes of electromagnetic force at different working positions. This compensates for the magnetic force in the working direction, thereby achieving active adjustment and control of the mechanism's negative stiffness. This invention has a relatively compact structure, achieving high linearity and a wide linear range of stiffness characteristics. It also allows for customized stiffness characteristics to meet high-performance vibration reduction requirements in various situations.

Description

Technical Field

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

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

[0003] In passive vibration isolation, to improve vibration reduction performance, a parallel structure of positive and negative stiffness is often used to obtain a lower overall stiffness. Common parallel positive and negative stiffness connections are mostly achieved using compression springs and their derivatives. However, such structures generally only provide linear stiffness within a very small stroke range. Beyond this range, the nonlinearity of the system stiffness increases sharply, and friction between components makes the actual stiffness of the system even more difficult to model and analyze. Currently, a better solution is to use magnetic springs to achieve negative stiffness, and then connect them in parallel with a positive stiffness mechanism to obtain a quasi-zero stiffness system. Magnetic negative stiffness mechanisms are characterized by non-contact, wear-free, and compact structures, and are widely used in vibration reduction systems for ultra-precision equipment. However, magnetic negative stiffness mechanisms often use permanent magnets, and the magnetic force between permanent magnets has significant nonlinearity, making it difficult to maintain high linearity of the system stiffness over a wide stroke range.

[0004] While active vibration dampers generally provide better vibration reduction, they require additional actuators. There are two main types of actuators suitable for precision vibration reduction: one is an electromagnetic actuator, namely a Lorentz motor, which provides force through the force exerted on a coil in a magnetic field. However, the coil output density is relatively low, requiring an increase in the number of coil turns and the coil current to provide sufficient electromagnetic force. This, in turn, causes severe coil heating, and the Lorentz motor occupies a large volume, making compact arrangement difficult. The other type is a piezoelectric actuator, which has low output force and can only withstand pressure.

[0005] It can be seen that active vibration dampers and passive vibration isolation each have their advantages and disadvantages. In order to make full use of the advantages of both, a new type of active-passive integrated magnetic negative stiffness mechanism is needed, which requires high linearity of negative stiffness, stable negative stiffness value over a wide range, and relatively compact structure. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide an integrated active and passive magnetic negative stiffness mechanism that can comprehensively utilize the advantages of existing active vibration dampers and passive vibration isolation to obtain a novel integrated active and passive magnetic negative stiffness mechanism with a compact structure, high linearity of negative stiffness, and stable negative stiffness value over a wide range.

[0007] To achieve the above objectives, the present invention provides an integrated active-passive magnetic negative stiffness mechanism, comprising a stator frame, a mover frame, multiple stator permanent magnets, multiple mover permanent magnets, and a coil assembly. The mover frame has a symmetrical structure that surrounds the stator frame, or the stator frame has a symmetrical structure that surrounds the mover frame. The multiple stator permanent magnets are regularly arranged and connected to the stator frame, and the multiple mover permanent magnets are regularly arranged and connected to the mover frame. The coil assembly is fixed to the stator frame so that the electromagnetic force generated by the magnetic field of the stator permanent magnets automatically becomes the internal force of the stator section, thus not affecting the overall... The coil assembly is installed near the moving permanent magnet and simultaneously placed in the magnetic field of the moving permanent magnet. The coil assembly is also placed in the equal-width gap between the moving frame and the stator frame. All moving permanent magnets and all stator permanent magnets are energized in a direction parallel or perpendicular to the vibration direction. The energization direction of the moving permanent magnet is opposite or the same as that of the stator permanent magnet at the corresponding position. During operation, the magnitude of the current flowing through the coil assembly is adjusted to adjust the electromagnetic compensation force provided by the coil assembly, and finally adjusts the resultant force generated by multiple stator permanent magnets, multiple moving permanent magnets and the coil assembly, thereby obtaining a magnetic negative stiffness mechanism with high linearity and wide linear domain stiffness characteristics.

[0008] In this invention, the integrated active-passive magnetic negative stiffness mechanism includes a stator frame, a mover frame, multiple stator permanent magnets (arranged in a regular pattern to form a stator permanent magnet assembly), multiple mover permanent magnets (arranged in a regular pattern to form a stator permanent magnet assembly), a coil assembly, a displacement detection assembly, and a control drive assembly. To avoid additional disturbances, the coil assembly is fixedly connected to the stator frame. Therefore, the electromagnetic force generated by the magnetic field of the stator permanent magnets in the coil assembly automatically becomes the internal force of the stator section, without affecting the overall stiffness. Thus, only the effect of the mover permanent magnet magnetic field on the coil assembly needs to be considered, 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, through a mechanical interface on the mover frame, is fixedly connected to the moving frame of the matched vibration isolator, or to the vibration-isolated device fixedly connected to the moving frame of the vibration isolator. The stator permanent magnet assembly consists of a corresponding number of stator permanent magnets arranged together and fixedly connected to the stator frame. It is also fixedly connected to the stator frame of the matched vibration isolator or the vibration-isolated equipment via a mechanical interface on the stator frame. All mover and stator permanent magnets are energized in a direction parallel or perpendicular to the vibration direction. The energizing direction of the mover permanent magnets is opposite or the same as that of the corresponding stator permanent magnets, forming a magnetic spring based on repulsive force. The mover frame is a supporting structure that surrounds the stator frame, or the stator frame may be a symmetrical structure that surrounds the mover frame. The coil assembly is placed in a strong magnetic field of the mover permanent magnets and installed near the mover permanent magnet assembly. It can be placed in a gap of equal width between the mover and stator frames, or it can be placed next to the mover frame on the side away from the stator.

[0009] Preferably, the multiple moving permanent magnets and the multiple stator permanent magnets are all cuboids, and the cuboids may have rounded corners or chamfers.

[0010] Preferably, in the permanent magnet assembly, in addition to the necessary magnetic spring based on repulsive force, the mover permanent magnet and stator permanent magnet can be arranged to form a magnetic spring based on attractive force along the direction of movement of the mover, thereby forming a repulsive-attractive combination magnet arrangement. This allows the permanent magnet assembly (a combination of stator permanent magnet and mover permanent magnet) to have high linearity without the coil assembly being energized. As a result, the coil assembly only needs to be supplied with a small current to compensate and adjust the overall stiffness of the mechanism, which can further enhance linearity, broaden the linear domain, and control the coil heating to be less.

[0011] Preferably, to increase the negative stiffness value and improve stiffness characteristics, an array structure can be adopted in the integrated active-passive magnetic negative stiffness mechanism. The mover permanent magnet and stator permanent magnet can be arranged in a two-dimensional array along the mover's direction of motion and its orthogonal direction to form multiple pairs of magnetic springs based on repulsive force. Alternatively, a corresponding number of mover permanent magnets can be added to form a corresponding number of magnetic springs based on attractive force. The specific number of rows and columns in the permanent magnet array (including mover and stator permanent magnets) is related to the magnetization direction of the permanent magnet assembly and the positions of the mover and stator permanent magnets. Correspondingly, the coil assembly is also arranged in a two-dimensional array along these two directions with the corresponding number of rows and columns.

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

[0013] Preferably, the displacement detection component of the integrated active-passive magnetic negative stiffness mechanism is mainly a displacement sensor, and the control and drive component consists of an acquisition and control module, an adjustable power supply, etc. The displacement sensor is fixed to 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 and control module. The acquisition and 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, providing the voltage or current required for the controller to calculate, so that the coil provides the electromagnetic compensation force required at different relative positions of the stator and mover.

[0014] Preferably, in the active-passive integrated magnetic negative stiffness mechanism, a frictionless (or near-zero friction) linear guide, flexible hinge, or elastic spring can be provided between the stator frame and the mover frame along the movement direction of the mover frame, so that the mover frame moves linearly relative to the stator frame, 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-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. By reasonably matching the stiffness values ​​of the negative stiffness mechanism and the positive stiffness mechanism, a quasi-zero stiffness mechanism is formed. While ensuring a certain load-bearing capacity, the overall stiffness of the mechanism is close to zero, thus obtaining better low-frequency vibration isolation characteristics. Alternatively, the overall stiffness of the mechanism can be adjusted to a non-zero constant value, or the overall stiffness can be made to change with the working displacement as expected, thus obtaining a constant stiffness mechanism and a variable stiffness mechanism.

[0016] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages:

[0017] 1. In this invention, an electromagnetic coil and a permanent magnet are combined. The combined structure of the electromagnetic coil and the permanent magnet can be flexibly designed, as can the size and specifications of the permanent magnet. Furthermore, the magnitude of the current flowing through the electromagnetic coil can be flexibly adjusted. Through the combined structure of the electromagnetic coil and the permanent magnet, the flexible design, and parameter adjustment, the linearity and linear range of the mechanism's stiffness can be initially improved. Controlling the current input in the electromagnetic coil allows for active adjustment and compensation of the mechanism's stiffness, resulting in a magnetically negative stiffness mechanism with high linearity and a wide linear range. Specifically, in actual operation, the magnitude of the compensation force can be changed by controlling the coil current according to the desired stiffness-displacement curve, thus realizing a customized variable stiffness mechanism.

[0018] 2. The mechanism of this invention can replace the combination of actuator (an actuator, typically a Lorentz motor or similar device, is used in vibration dampers to provide the required force during active damping) and magnetic spring (a magnetic spring is a mechanism composed of permanent magnets, a type of spring in a broad sense) in conventional vibration dampers. It eliminates the need for an additional actuator, reducing the size of the vibration damper and significantly contributing to the miniaturization and compactness of active vibration dampers. Integrating the actuator and magnetic spring into one unit provides electromagnetic force for the active control of the vibration damper while greatly reducing the space occupied by the active damping mechanism. Attached Figure Description

[0019] Figure 1 Content (a) and Figure 1 Content (b) shows the force diagrams of the two magnetic springs based on repulsive force in this invention;

[0020] Figure 2 for Figure 1 The stiffness-displacement curves of the two magnets interacting under two different excitation methods, where the solid line corresponds to... Figure 1 Content (a) in the middle, corresponding to the dashed line. Figure 1 Content (b);

[0021] Figure 3 Content (a) and Figure 3 Content (b) shows the force diagrams of the two types of attractive magnetic springs in this invention;

[0022] Figure 4 for Figure 3 The stiffness-displacement curves of the two magnets interacting under two different excitation methods are shown in the figure. The solid line corresponds to... Figure 3 Content (a) in the middle, corresponding to the dashed line. Figure 3 Content (b);

[0023] Figure 5 Content (a) and Figure 5 Content (b) shows the force diagrams of the two types of coils in the magnetic field of a permanent magnet. Specifically, Figure 5 Content (a) is a force diagram of the coil when the magnetization direction is perpendicular to the vibration direction. Figure 5 Content (b) is a force diagram of the coil when the magnetization direction is parallel to the vibration direction;

[0024] Figure 6 A schematic diagram illustrating the principle of the electromagnetic force compensation method for the active-passive integrated magnetic negative stiffness mechanism provided in this embodiment of the invention;

[0025] Figure 7 A schematic diagram of the active and passive integrated magnetic negative stiffness mechanism in Embodiment 1 of the present invention;

[0026] Figure 8 This is the left view of the schematic diagram of the stator section of Embodiment 1;

[0027] Figure 9 A schematic diagram of the active-passive integrated magnetic negative stiffness mechanism in Embodiment 2 of the present invention;

[0028] Figure 10 A schematic diagram of the active-passive integrated magnetic negative stiffness mechanism in Embodiment 3 of the present invention;

[0029] Figure 11 A schematic diagram of the active and passive integrated magnetic negative stiffness mechanism in Embodiment 4 of the present invention;

[0030] Figure 12 This is the left view of the structural schematic diagram of the stator section in Example 4;

[0031] Figure 13 A schematic diagram of Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention;

[0032] Figure 14 A schematic diagram of Embodiment 6 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention;

[0033] Figure 15 A schematic diagram of Embodiment 7 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention;

[0034] Figure 16 This is the left view of the stator section schematic diagram of Example 7;

[0035] Figure 17 A schematic diagram of Embodiment 8 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention;

[0036] Figure 18 This is the left view of the stator section schematic diagram of Example 8;

[0037] Figure 19 Content (a) shows the force situation of the coil in the moving part magnetic field in Example 7. Figure 19Content (b) shows the force situation of the coil in the moving part magnetic field in Example 8;

[0038] Figure 20 A schematic diagram of Embodiment 9 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention;

[0039] Figure 21 A schematic diagram of Embodiment 10 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention;

[0040] Figure 22 A schematic diagram of Embodiment 11 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention;

[0041] Figure 23 A schematic diagram of Embodiment 12 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention;

[0042] Figure 24 A schematic diagram of embodiment 13 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention;

[0043] Figure 25 A schematic diagram of embodiment 14 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention;

[0044] Figure 26 A schematic diagram of embodiment 15 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention;

[0045] Figure 27 This is a three-dimensional structural diagram of Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism of the present invention;

[0046] Figure 28 Content (a) is a schematic diagram of the stator structure of Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism of the present invention. Figure 28 Content (b) is a schematic diagram of the stator section with the coil assembly removed in Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism of the present invention;

[0047] Figure 29 This is a schematic diagram of the moving part structure in Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism of the present invention;

[0048] Figure 30 This is a cross-sectional view of Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism of the present invention after the displacement sensor has been removed;

[0049] Figure 31 This is a left view of Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism of the present invention after the displacement sensor has been removed;

[0050] Figure 32 This is an experimental effect diagram of Embodiment 5 of the active and passive integrated magnetic negative stiffness mechanism of the present invention.

[0051] In the above figure reference numerals, the same reference numerals denote the same structure or component throughout, specifically:

[0052] 1-Stator permanent magnet, 2-Motor permanent magnet, 3-Stator frame, 4-Motor frame, 5-Isolator fixed frame, 6-Isolator moving frame, 7-Coil assembly, 8-Displacement sensor, 9-Linear guide rail, 10-Elastic spring. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0054] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0055] Furthermore, the use of terms such as "an embodiment," "an example," or similar language throughout this specification indicates that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment of the invention. Therefore, the phrase "in one embodiment" and similar language may, but not necessarily, refer to the same embodiment.

[0056] In the description of this application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0057] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "installation" should be interpreted broadly. For example, they can refer to a fixed connection or installation, a detachable connection or installation, or an integral connection or installation. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0058] This invention is a wide-range, high-linearity magnetic negative stiffness mechanism that combines active and passive vibration reduction. It is suitable for vibration reduction needs in fields such as ultra-precision machining and aerospace. Specifically, it is an integrated active and passive magnetic negative stiffness mechanism with high negative stiffness, high linearity, and a wide linear range, and a relatively compact structure. It adds a coil to the permanent magnet negative stiffness component. Based on the relative displacement between the stator and the mover, it actively controls the coil current to change the force on the coil in the magnetic field, thereby providing electromagnetic compensation force. Ultimately, it aims to adjust and correct the overall stiffness of the entire mechanism to achieve the expected stiffness requirements.

[0059] The active-passive integrated magnetic negative stiffness mechanism of this invention includes a permanent magnet part and an electromagnetic part, which respectively provide passive negative stiffness and active negative stiffness. Connected in parallel with a positive stiffness spring, it integrates passive vibration isolation and active vibration isolation. 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 form the permanent magnet assembly. A coil assembly is added to the permanent magnet assembly. By changing the coil current, the electromagnetic force experienced by the energized coil in the magnetic field is controlled, allowing it to provide different magnitudes of electromagnetic force at different working positions. This compensates for the magnetic force in the working direction, thereby achieving active adjustment and control of the mechanism's negative stiffness. This invention has a relatively compact structure, achieving high linearity and a wide linear range of stiffness characteristics. It also allows for customized stiffness characteristics according to actual requirements, meeting high-performance vibration reduction needs in various situations.

[0060] Figure 1 Content (a) and Figure 1 Content (b) shows the force diagrams of two types of magnetic springs based on repulsive force in this invention. It can be seen that either the excitation direction being perpendicular or parallel to the vibration direction can provide a repulsive force along the vibration direction. For example... Figure 1 As shown in section (a), when the excitation direction is perpendicular to the vibration direction, the moving permanent magnet and the stator permanent magnet have opposite excitation directions, which can provide a repulsive force along the vibration direction; as Figure 1 As shown in section (b), when the excitation direction is parallel to the vibration direction, the excitation direction of the mover permanent magnet and the stator permanent magnet are the same, which can provide a repulsive force along the vibration direction.

[0061] Figure 2 for Figure 1 The stiffness-displacement curves of the two magnets interacting under two different excitation methods, where the solid line corresponds to... Figure 1 Content (a) in the middle, corresponding to the dashed line. Figure 1In section (b), the stiffness here should be understood as the stiffness formed by the change in force when the two magnets are in relative displacement. Therefore, this 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 moving permanent magnet moves along the vibration direction, the negative stiffness value gradually decreases to zero, and then the stiffness becomes a positive value.

[0062] Figure 3 Content (a) and Figure 3 Content (b) shows the force diagrams of the two types of attractive magnetic springs in this invention. It can be seen that both excitation directions perpendicular to and parallel to the vibration direction can provide an attractive force along the vibration direction. For example... Figure 3 As shown in section (a), when the excitation direction is perpendicular to the vibration direction, the moving permanent magnet and the stator permanent magnet have opposite excitation directions, which can provide an attractive force along the vibration direction; as Figure 3 As shown in (b), when the excitation direction is parallel to the vibration direction, the excitation direction of the mover permanent magnet and the stator permanent magnet are the same, which can provide an attractive force along the vibration direction.

[0063] Figure 4 for Figure 3 The stiffness-displacement curves of the two magnets interacting under two different excitation methods are shown in the figure. The solid line corresponds to... Figure 3 Content (a) in the middle, corresponding to the dashed line. Figure 3 In section (b), the stiffness here should be understood as the stiffness resulting from the change in force when the two magnets undergo 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, and the negative stiffness value gradually increases as the moving permanent magnet moves along the vibration direction. Figure 2 , Figure 4 It is evident that repulsive magnetic springs and attractive magnetic springs have different stiffness characteristics, and the movement stroke of the moving part of the attractive magnetic spring is limited.

[0064] Figure 5 Content (a) and Figure 5 Content (b) shows the force diagrams of the two types of coils in the magnetic field of a permanent magnet. Specifically, Figure 5 Content (a) is a force diagram of the coil when the magnetization direction is perpendicular to the vibration direction. Figure 5 Content (b) is a force diagram of the coil when the magnetization direction is parallel to the vibration direction. In the diagram, i represents the coil current, F 补 Let B represent the electromagnetic compensation force, and let B represent the magnetic flux density. According to Ampere's law, the magnitude and direction of the electromagnetic compensation force provided by the energized coil differ depending on the excitation direction of the permanent magnet. Generally, the coil can only generate an effective electromagnetic compensation force in the direction of vibration when the components of the magnetic field perpendicular to the vibration direction are opposite in direction on both sides of the coil. Figure 5A comparison of contents (a) and (b) reveals 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 through the coil is smaller, and the requirements for the coil's arrangement are more stringent.

[0065] Figure 6 This is a schematic diagram illustrating the principle of the electromagnetic force compensation method for the active-passive integrated magnetic negative stiffness mechanism provided in this embodiment of the invention. As shown in the diagram, this compensation method controls the coil to provide corresponding electromagnetic compensation force based on the different relative positions of the stator and the mover, thereby obtaining the expected negative stiffness of the system. The relative displacement between the stator and the mover can be detected by a displacement sensor. The control module controls the adjustable power supply 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, changing the magnetic force interaction between the stator and the mover, thus enabling the mechanism to obtain the expected negative stiffness.

[0066] Figure 7 This is a schematic diagram of the active-passive integrated magnetic negative stiffness mechanism in Embodiment 1 of the present invention. Figure 8 This is the left view of the structural schematic diagram of the stator section in Embodiment 1, as shown below. 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 the 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 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 the mover permanent magnet assembly and are fixed to the mover frame 4. The mover frame 4 is fixed to the vibration isolator frame 6. Figure 7 The movement is shown along the z-axis. The first stator permanent magnet 1a and the second stator permanent magnet 1b are located in the same column and aligned vertically; this column 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 vertically; this column 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 vertically; this column 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 at the same horizontal height; 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 at the same horizontal height. All mover permanent magnets and all stator permanent magnets are spaced apart. Figure 8 This is the left view of the structural schematic diagram of the stator section in Embodiment 1, combined with... Figure 8It can be seen that the first coil assembly 7a and the second coil assembly 7b have similar structures, wound into a near-rectangular shape. The first coil assembly 7a is "inserted" into the spacing between the first and second columns, and the second coil assembly 7b is "inserted" into the spacing between the second and third columns. Whether it is a stator permanent magnet or a mover permanent magnet, all permanent magnets are energized along the y-axis (i.e., perpendicular to the vibration direction of the integrated active-passive magnetic negative stiffness mechanism). The energizing directions of the first stator permanent magnet 1a, the second mover permanent magnet 2b, and the fourth mover permanent magnet 2d are opposite to those of the second stator permanent magnet 1b, the first mover permanent magnet 2a, and the third mover permanent magnet 2c, respectively; that is, adjacent permanent magnets have opposite energizing directions. Permanent magnets in the same row (also called the same column) form a pair of repulsive magnetic springs. The first stator permanent magnet 1a interacts with the second mover permanent magnet 2b and the fourth mover permanent magnet 2d when the mover moves relative to the stator. Similarly, the second stator permanent magnet 1b interacts with the first mover permanent magnet 2a and the third mover permanent magnet 2c when the mover moves relative to the stator. All of these interactions exhibit negative stiffness characteristics in the z-axis direction (i.e., the vibration direction). When the mover permanent magnet assembly is in a state of... Figure 7 When the position is indicated, if no current is applied, the force on the structure will be zero due to the symmetry of the structure.

[0067] Combination Figure 7 , Figure 8 As can be seen, the first coil assembly 7a and the second coil assembly 7b are wound around the y-axis (i.e., perpendicular to the vibration direction). The upper and lower halves of the first coil assembly 7a and the second coil assembly 7b are located in two pairs of different repulsive magnetic springs, that is, in the moving part magnetic field with opposite directions, which can generate an effective electromagnetic compensation force. Due to the structural design of the stator permanent magnet assembly and the moving part permanent magnet assembly, the first column and the third column of moving part permanent magnets are arranged in the same position and have the same magnetization direction. The first coil assembly 7a and the second coil assembly 7b on both sides of the stator permanent magnet assembly are in the moving part magnetic field with the same magnitude and direction, so the magnitude and direction of the current flowing through the two coils are the same.

[0068] Figure 9This is a schematic diagram of the integrated active-passive magnetic negative stiffness mechanism in Embodiment 2 of the present invention. The integrated active-passive magnetic negative stiffness mechanism in Embodiment 2 is very similar to that in Embodiment 1. The significant 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 located between the first column and the second column, and the second coil assembly 7b is not located between the second column and the third column. Instead, they are placed outside the mover permanent magnet assembly, but are still fixedly connected to the stator frame 3. The arrangement of each stator permanent magnet and each mover permanent magnet is the same as in Embodiment 1. Specifically, the first coil assembly 7a is located at the outermost edge of the first column, and the second coil assembly 7b is located at the outermost edge 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 in Embodiment 1, and the direction of the current flowing through the coils is also the same as in Embodiment 1.

[0069] Figure 10 The schematic diagram of the active-passive integrated magnetic negative stiffness mechanism in Embodiment 3 of the present invention differs from that in Embodiment 1, with completely different arrangements of the stator permanent magnet assembly and the mover permanent magnet assembly. 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. 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, which is equivalent to the interchange of the stator and mover permanent magnet assemblies in Embodiment 1. The first stator permanent magnet 1a and the second stator permanent magnet 1b are located in the same column and are aligned vertically, 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 are aligned vertically, 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 are aligned vertically, 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 column and have the same horizontal height. 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 column and have the same horizontal height. Similar to Embodiment 1, the first coil assembly 7a and the second coil assembly 7b are still located 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, but the direction of the mover magnetic field is opposite to that in Embodiment 1, and the direction of the current flowing into the coil is also opposite.

[0070] Figure 11 This is a schematic diagram of the active-passive integrated magnetic negative stiffness mechanism in Embodiment 4 of the present invention. Figure 12This is the left view of the structural schematic diagram of the stator section in Embodiment 4, combined with... Figure 11 , Figure 12 It is known that the design includes eight coil assemblies: 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. These eight coil assemblies are arranged in pairs, forming four columns. Each column is further divided into two rows, one above the other. The coils in the upper and lower rows are situated within two pairs of repulsive magnetic springs, i.e., in opposite directions of moving-electromagnetic fields. Furthermore, the upper and lower sides of each individual coil are also situated within opposite directions of moving-electromagnetic fields, thus generating effective electromagnetic compensation force. The current flowing through the coils in the same row is of the same magnitude and direction, while the current flowing through the upper and lower rows of coils in the same column is of the same magnitude but opposite directions.

[0071] In fact, Example 4, based on Example 1, employs an array of permanent magnets and coils to further improve the negative stiffness of the mechanism. The permanent magnet array (including stator and mover permanent magnets) is specifically arranged in 3 rows and 5 columns (the permanent magnets include mover and stator permanent magnets, arranged in an array structure), or it can be arranged in m rows and (2n+1) columns (where m≥2, n≥1). The coil array is specifically arranged in 2 rows and 4 columns, or it can be arranged in (m-1) rows and 2n columns accordingly. Careful observation reveals that, as... Figure 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 the 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 sequentially in the same column, and the fourth stator permanent magnet 1d, the fifth stator permanent magnet 1e, and the sixth stator permanent magnet 1f are arranged sequentially in another column. The two columns of stator permanent magnets are flush. Three rows of mover permanent magnets are arranged at three positions: between the two rows of stator permanent magnets and on both sides. The first mover permanent magnet 2a, the second mover permanent magnet 2b, and the third mover permanent magnet 2c are arranged sequentially from top to bottom in the same column, 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 sequentially from top to bottom in another column, 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 sequentially from top to bottom in yet another column, called the right column. These three columns—the left column, the middle column, and the right column—form two interval spaces, each containing two rows of stator permanent magnets. Three rows of moving permanent magnets and two rows of stator permanent magnets are spaced apart and staggered. Each pair of adjacent moving permanent magnet rows and stator permanent magnet rows forms a space for a set of coil assemblies. There are a total of four coil spacers for setting coil assemblies. The first coil assembly 7a and the second coil assembly 7b are connected end-to-end from top to bottom within one coil space. The third coil assembly 7c and the fourth coil assembly 7d are connected end-to-end from top to bottom within another coil space. The fifth coil assembly 7e and the sixth coil assembly 7f are connected end-to-end from top to bottom within yet another coil space. The seventh coil assembly 7g and the eighth coil assembly 7h are connected end-to-end from top to bottom within yet another coil space. The second coil assembly 7b, the fourth coil assembly 7d, the sixth coil assembly 7f, and the eighth coil assembly 7h are fixed to the stator frame 3 and remain stationary, positioned within the gap between the stator permanent magnets and the moving permanent magnets. The stator frame 3 and the vibration isolator frame 5 are also fixed. The moving permanent magnets in the left column, the middle column, and the right column are fixed on the moving frame 4, and the moving frame 4 is fixed to the moving frame 6 of the vibration isolator.Moving along the z-axis (i.e., the vibration direction) as shown in the diagram, the permanent magnets are all energized along the y-axis, which is perpendicular to the vibration direction. The energizing 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 those 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. That is, adjacent permanent magnets are energized in opposite directions. The energizing directions of the mover permanent magnets in each column are opposite to those of the stator permanent magnets in each column. Three adjacent permanent magnets in the same row form a pair of repulsive magnetic springs. The stator permanent magnets and mover permanent magnets (such as 1b and 2a) in adjacent rows with the same excitation direction will have an attractive force when the mover moves relative to the stator, all exhibiting 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 applied, the force it experiences is zero due to the symmetry of the structure.

[0072] Figure 13 The diagram shown is a schematic of embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention. Embodiment 5 adds two moving permanent magnets to embodiment 1: a fifth moving permanent magnet and a sixth moving permanent magnet. The fifth moving permanent magnet 2e and the sixth moving permanent magnet 2f are fixedly connected to the moving frame 4. Their excitation directions are opposite to those of the first stator permanent magnet 1a and the second stator permanent magnet 1b, respectively, and together with the first stator permanent magnet 1a and the second stator permanent magnet 1b, they form an attractive magnetic spring. This increases the overall negative stiffness value of the mechanism and improves the stiffness linearity when the coil is not energized, reducing the need for electromagnetic compensation force on the coil. However, it adds constraints to the working stroke range of the mechanism. The arrangement of the remaining permanent magnets and the coil is the same as in embodiment 1. When the moving permanent magnet assembly is in the position shown in the diagram, if no current is applied, the force it experiences is zero due to the symmetry of the structure.

[0073] Figure 14 The diagram shown is a schematic representation of Embodiment 6 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention. Embodiment 6 makes some parameter changes based on Embodiment 5. Embodiment 6 changes some of the same dimensional parameters from Embodiment 5 to different parameters, such as the permanent magnet dimensional parameters. , and permanent magnet gap parameters , That is, by using permanent magnets of different sizes and different spacings in the mover and stator components, and by appropriately adjusting the parameters, negative stiffness with higher linearity and a wider linear domain can be obtained.

[0074] Figure 15The diagram shown is a schematic of Embodiment 7 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention. Compared with Embodiment 1, the excitation direction of the permanent magnets 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 (in this text, a row means a line) is the same, while 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 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 diagram, if no current is applied, the force they experience is zero due to the symmetry of the structure.

[0075] Figure 16 This is the left view of the stator schematic diagram of Embodiment 7, combined with... Figure 15 , Figure 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. The upper and lower rows are located in two pairs of different repulsive magnetic springs. The projections of the moving magnetic field of the moving part on the y-axis direction of their respective positions are opposite, which can generate an effective electromagnetic compensation force. Since the permanent magnet structures on the left and right sides are symmetrical, the current flowing through the first coil assembly 7a and the second coil assembly 7b on both sides of the entire stator permanent magnet in the moving magnetic field with opposite projection directions on the y-axis is opposite.

[0076] Figure 17 The diagram shows the principle of embodiment 8 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention. As shown in the diagram, embodiment 8 uses only one pair of repulsive magnetic springs. It consists of three permanent magnets: a stator permanent magnet 1, a first moving permanent magnet 2a, and a second moving permanent magnet 2b, all excited along the z-axis (i.e., the vibration direction) and with the same excitation direction. The three permanent magnets are arranged in a row and spaced apart from each other. The stator permanent magnet 1 is 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 gaps between the three permanent magnets. The stator frame 3 is fixed to the vibration isolator frame 5. The first moving permanent magnet 2a and the second moving permanent magnet 2b together form a moving permanent magnet assembly and are fixed to the moving frame 4. The moving frame 4 is fixed to the vibration isolator moving frame 6. Figure 17 The movement is shown along the z-axis. When the permanent magnet assembly is in the position shown in the figure, if no current is applied, the force on it is zero due to the symmetry of the structure.

[0077] Figure 18 This is the left view of the stator schematic diagram of Embodiment 8, combined with... Figure 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 are located in the same pair of repulsive magnetic springs on both the upper and lower sides. The projections of the moving magnetic field of the moving part on the y-axis direction are opposite, which can generate an effective electromagnetic compensation force. Due to the symmetrical 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 moving permanent magnet with opposite projection directions on the y-axis, and the current flowing through the first coil assembly 7a and the second coil assembly 7b are in opposite directions.

[0078] Figure 19 The content shown in (a) and Figure 19 Content (b) shows the force on the coil in the magnetic field of the moving permanent magnet in Examples 7 and 8. It can be seen that the force on the coil is not the same in the two examples, and the coil size, structure, and arrangement are different. Similarly, improvements can be made based on Example 7 by changing the coil arrangement position, swapping the stator permanent magnet and the moving permanent magnet position, arranging the permanent magnet and coil in an array, adding a moving permanent magnet to form an attractive magnetic spring, and using permanent magnets of different sizes and different spacing arrangements, resulting in Examples 9, 10, 11, 12, and 13, as shown below. Figure 20 , Figure 21 , Figure 22 , Figure 23 , Figure 24 As shown, where, Figure 20 The schematic diagram is for Embodiment 9 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention. Figure 21 This is a schematic diagram of Embodiment 10 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention. Figure 22 The schematic diagram is for Embodiment 11 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention. Figure 23 This is a schematic diagram of Embodiment 12 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention. Figure 24 The schematic diagram of Embodiment 13 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention.

[0079] Figure 25 The diagram shows the principle of embodiment 14 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention. As can be seen from the figure, unlike embodiment 1, embodiment 14 has a near-zero friction linear guide 9 between the stator frame 3 and the moving frame 4, so that the moving frame 4 only moves linearly (i.e., vibrates) relative to the stator frame 3 along the z-axis, thereby ensuring that the magnetic negative stiffness characteristics of the mechanism are more stable.

[0080] Figure 26The diagram shows the principle of embodiment 15 of the active-passive integrated magnetic negative stiffness mechanism provided by the present invention. As can be seen from the diagram, a pair of first elastic spring elements 10a and second elastic spring elements 10b are arranged between the moving frame 4 and the vibration isolator frame 5. They have lower stiffness in the z-axis direction (i.e., the vibration direction) and higher stiffness in other directions, which can make the moving frame 4 move approximately linearly relative to the stator frame 3 along the z-axis direction (i.e., the vibration direction) within a certain range, 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 elements, elastic spring elements with a double parallel four-bar configuration can be used.

[0081] Figure 27 The figure shows a three-dimensional structural diagram of Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism of the present invention. As shown in the figure, Embodiment 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.

[0082] Figure 28 Content (a) is a schematic diagram of the stator structure of Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism of the present invention. Figure 28 Content (b) is a schematic diagram of the stator section of Example 5, showing the removal of the coil assembly. According to... Figure 13 The schematic diagram of Embodiment 5 shows that the first stator permanent magnet 1a and the second stator permanent magnet 1b form a stator permanent magnet assembly. The coil assembly includes a first coil assembly 7a and a second coil assembly 7b, which are fixed to the stator frame 3 with high-strength adhesive. In the actual embodiment, the stator frame includes four parts: a first stator frame part 3a, a second stator frame part 3b, a third stator frame part 3c, and a 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 designed according to actual needs. The structures of the second stator frame part 3b and the third stator frame part 3c can be similar. The shapes of each stator frame part are flexibly designed as needed to form the stator frame. The displacement sensor 8 is fixedly connected to the first stator frame part 3a and measures the distance between the stator frame and the mover frame, thereby compensating for the system stiffness by controlling the current flowing through the feedback control coil.

[0083] Figure 29 This is a schematic diagram of the moving part structure in Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism of the present invention. Figure 13The schematic diagram of Embodiment 5 shows that the mover frame consists of four parts: 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 have similar shapes, and the third mover frame part 4c and the fourth mover frame part 4d have similar shapes. The entire mover frame resembles 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 fixed to the mover frame with high-strength adhesive. The fifth mover permanent magnet 2e and the sixth mover permanent magnet 2f are fixed to the first mover frame part 4a and the second mover frame part 4b with high-strength adhesive.

[0084] Figure 30 This is a cross-sectional view of Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism of the present invention after removing the displacement sensor 8. Figure 31 As shown in the left view, and combining the two figures, it can be seen that the first stator permanent magnet 1a, the first moving permanent magnet 2a, and the third moving permanent magnet 2c form a pair of repulsive magnetic springs; the stator permanent magnet 1b, the moving permanent magnets 2b and 2d form a pair of repulsive magnetic springs; and the first stator permanent magnet 1a, the second stator permanent magnet 1b, the fifth moving permanent magnet 2e, and the sixth moving permanent magnet 2f form a pair of attractive magnetic springs. The first coil assembly 7a and the second coil assembly 7b are located in the gap between the stator permanent magnets and the moving permanent magnets and are fixedly connected to the stator frame 5. The combination of two pairs of repulsive magnetic springs and one pair of attractive magnetic springs can effectively improve the linearity of the magnetic negative stiffness and widen the linear domain, facilitating the compensation of the overall stiffness of the mechanism by the energized coils.

[0085] Figure 32 The figures shown are experimental results from Embodiment 5 of the active-passive integrated magnetic negative stiffness mechanism of the present invention. They illustrate the permanent magnet stiffness displacement curve without electromagnetic force compensation and the electromagnetic stiffness displacement curve after the coil is energized and compensated for by electromagnetic force. Figure 32 As can be seen, the electromagnetic compensation effect of the energized coil is obvious, the overall stiffness and linearity of the embodiment mechanism are significantly enhanced, and the linear domain is greatly broadened.

[0086] Those skilled in the art will readily understand that the above description is merely 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 within the scope of protection of the present invention.

Claims

1. A combined active and passive magnetic negative stiffness mechanism, characterized in that, It includes a stator frame, a mover frame, multiple stator permanent magnets, multiple mover permanent magnets, and coil assemblies, among which... The moving frame has a symmetrical structure that encloses the stator frame; alternatively, the stator frame has a symmetrical structure that encloses the moving frame. Multiple stator permanent magnets are arranged and connected in a regular pattern and fixed to the stator frame. Multiple mover permanent magnets are arranged and connected in a regular pattern and fixed to the mover frame. The coil assembly is fixed to the stator frame so that the electromagnetic force generated by the magnetic field of the stator permanent magnets automatically becomes the internal force of the stator section, thus not affecting the overall stiffness. The coil assembly is installed near the mover permanent magnets and simultaneously placed in the magnetic field of the mover permanent magnets. The coil assembly is also placed in a gap of equal width between the mover frame and the stator frame. All moving permanent magnets and all stator permanent magnets are energized in a direction parallel or perpendicular to the vibration direction. The energizing direction of the moving permanent magnets is either opposite or the same as that of the stator permanent magnets at the corresponding positions. The coil assembly consists of a coil and a mounting plate. The coil is a rectangular winding that is tightly and neatly wound. The upper and lower sides of the coil are in magnetic fields of opposite directions, so that more current-carrying conductor segments can provide effective electromagnetic compensation force. The total thickness of the coil and mounting plate is less than the gap between the mover frame and the stator frame, so that it can be accommodated by the gap. During operation, the magnitude of the current flowing through the coil assembly is adjusted to regulate 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, thereby obtaining a magnetic negative stiffness mechanism with high linearity and wide linear domain stiffness characteristics.

2. The active-passive integrated magnetic negative stiffness mechanism as described in claim 1, characterized in that, It includes a magnetic spring based on repulsive force, in which the mover permanent magnet and the stator permanent magnet are arranged along the direction of movement of the mover portion, or... It includes not only the magnetic spring based on repulsive force, but also a magnetic spring based on attractive force, in which the mover permanent magnet and stator permanent magnet are arranged along the direction of movement of the mover part, so as to form a combination of repulsive and attractive magnet arrangement. This allows the mover permanent magnet and stator permanent magnet to naturally have high linearity when the coil assembly does not need to be energized, so that the coil assembly only needs to be supplied with a small current to compensate and adjust the overall stiffness of the mechanism itself, and ultimately further enhances linearity, widens the linear domain, and reduces coil heating.

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

4. The active-passive integrated magnetic negative stiffness mechanism as described in 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 and the mover. The control drive component is used to receive the signal of the relative displacement and control the voltage or current input to the coil assembly according to the relative displacement to adjust the magnitude of the electromagnetic compensation force provided by the coil assembly.

5. The active-passive integrated magnetic negative stiffness mechanism as described in claim 4, characterized in that, The displacement detection component is a displacement sensor, and the control and drive component includes a data acquisition and 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 and the mover. The displacement sensor is also used to transmit the displacement signal to the acquisition and control module. The acquisition and 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-passive integrated magnetic negative stiffness mechanism as described in claim 1, characterized in that, Frictionless or near-zero friction linear guides, flexible hinges, or elastic springs are installed between the stator frame and the mover frame along the direction of movement of the mover frame. This allows the mover frame to move linearly relative to the stator frame, ensuring a high degree of parallelism between the surfaces of the mover permanent magnet and the stator permanent magnet, thereby ensuring relatively stable magnetic negative stiffness characteristics of the entire mechanism.

7. The active-passive integrated magnetic negative stiffness mechanism as described in claim 1, characterized in that, In use, it is connected in parallel with a positive stiffness mechanism. By properly matching its stiffness values ​​with those of the positive stiffness mechanism, a quasi-zero stiffness mechanism is formed, thereby achieving better low-frequency vibration isolation characteristics. By adjusting its overall stiffness to a non-zero constant value or by making its overall stiffness change with the working displacement as expected, constant stiffness mechanisms and variable stiffness mechanisms can be obtained.

8. The active-passive integrated magnetic negative stiffness mechanism as described in claim 1, characterized in that, In use, the moving permanent magnet is fixedly connected to the moving frame of the matched vibration isolator through a mechanical interface provided on the moving frame, or fixedly connected to the vibration isolator's moving frame and the equipment to be isolated. The stator permanent magnet is fixedly connected to the stator frame of the matched vibration isolator through a mechanical interface provided on the stator frame, or fixedly connected to the vibration isolator frame of the vibration isolator.

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