Halbach electromagnetic quasi-zero stiffness vibration isolation platform

Abstract

The invention relates to a Halbach electromagnetic type quasi-zero stiffness vibration isolation platform which comprises a storage platform, a bottom plate, a positive stiffness assembly, a negative stiffness assembly and an active electromagnetic assembly, wherein the positive stiffness assembly, the negative stiffness assembly and the active electromagnetic assembly are arranged between the storage platform and the bottom plate. The positive stiffness assembly comprises a telescopic guide rod, a spring and an adjusting gasket arranged on the bottom plate, one end of the spring is connected with the storage platform, and the other end of the spring is connected with the adjusting gasket; the negative stiffness assembly comprises a fixed shell, a fixed magnet array and a movable magnet array; the active electromagnetic assembly comprises a metal coil. The fixed magnet array is formed by vertically arranging a plurality of first fixed magnets and second fixed magnets according to a Halbach array, the moving magnet array is formed by vertically arranging a plurality of moving magnets, and the sum of the vertical positive stiffness of the springs is equal to the maximum negative stiffness of the moving magnet array. Compared with the prior art, the vibration isolation performance of the vibration isolation platform is effectively improved, and the vibration isolation platform can be widely applied to occasions with high vibration isolation requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of structural vibration isolation, and particularly to a Halbach electromagnetic quasi-zero stiffness vibration isolation platform. Background Art

[0002] With the wide application of precision sensing devices in the fields of intelligent robots, industrial automation, and high-precision measurement, higher requirements are put forward for their vibration isolation capabilities. Traditional mechanical quasi-zero stiffness vibration isolation devices usually rely on complex spring combinations, hinges, or guide rail structures. Although these systems can provide certain low-frequency vibration isolation performance, due to their large volume, frictional losses, and return clearance problems, it is difficult to meet the requirements of modern intelligent devices for high stability and compact structures. In addition, the adjustment range of mechanical negative stiffness is limited, and it is difficult to adapt to various load conditions under complex working conditions.

[0003] In contrast, the quasi-zero stiffness vibration isolation device based on electromagnetic force has gradually attracted attention due to its advantages such as frictionless and strong adjustability. However, the existing electromagnetic negative stiffness systems still have problems such as limited adjustment range and instability caused by non-linear characteristics, and urgent improvements are needed. How to achieve a wider negative stiffness adjustment range, more stable vibration isolation performance through optimized design, and combine active control technology to improve the dynamic adaptability of the system has become an important research direction in the current technical field. Summary of the Invention

[0004] The purpose of the present invention is to provide a Halbach electromagnetic quasi-zero stiffness vibration isolation platform to improve the vibration isolation performance and dynamic adaptability of the vibration isolation platform.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] The present invention provides a Halbach electromagnetic quasi-zero stiffness vibration isolation platform, including a placement platform, a bottom plate, and a positive stiffness component, a negative stiffness component, and an active electromagnetic component arranged between the two;

[0007] The positive stiffness component includes a telescopic guide rod connecting the placement platform and the bottom plate, a spring surrounding the telescopic guide rod, and an adjustment gasket arranged on the bottom plate; one end of the spring is connected to the bottom of the placement platform, and the other end is connected to the adjustment gasket;

[0008] The negative stiffness component includes a fixed housing arranged on the bottom plate, a fixed magnet array arranged in the fixed housing, and a moving magnet array arranged at the bottom of the placement platform and capable of extending into the fixed housing;

[0009] The active electromagnetic component includes a metal coil arranged in the fixed housing; both the fixed magnet array and the moving magnet array are provided with two groups and are symmetrically distributed about the metal coil;

[0010] Among them, the fixed magnet array is composed of a number of first fixed magnets and second fixed magnets arranged vertically in a Halbach array; the moving magnet array is composed of a number of moving magnets arranged vertically, and the sum of the vertical positive stiffnesses of the springs is equal to the maximum negative stiffness of the moving magnet array.

[0011] Further, in each group of fixed magnet arrays, the number of the first fixed magnets is n, the number of the second fixed magnets is n - 1, where n ≥ 4; in each group of moving magnet arrays, the number of the moving magnets is n - 2; in the active electromagnetic component, the total number of the metal coils is n - 3.

[0012] Furthermore, when the number of metal coils > 1, the current directions after energizing adjacent metal coils are opposite.

[0013] Further, the fixed housing is of a regular quadrilateral structure, and there are four groups of positive stiffness components correspondingly and symmetrically distributed outside the four corners of the fixed housing.

[0014] Further, the object placement platform includes a platform top plate for supporting the vibration-isolated object and a mounting bracket provided at the bottom of the platform top plate, and a number of moving magnet fixing grooves are vertically formed on the mounting bracket.

[0015] Further, coil fixing grooves for loading metal coils are provided on the bottom plate, and the coil fixing grooves are arranged between the mounting brackets.

[0016] Further, the magnetization direction of the moving magnet is opposite to that of the adjacent first fixed magnet, and the magnetization directions of adjacent moving magnets are opposite, and the magnetization directions of the moving magnets at the same height position are the same.

[0017] Further, the horizontal central axis of the initial position of the moving magnet array coincides with the horizontal central axis of the fixed magnet array.

[0018] Further, the adjusting gasket is composed of two spliced gaskets, and both of the two gaskets are provided with semi-circular holes with diameters adapted to the diameters of the telescopic guide rods.

[0019] Further, at least one adjusting gasket is provided, and a number of adjusting gaskets can be padded between the top adjusting gasket and the bottom plate.

[0020] Further, the metal coil is made of enameled metal wire, and the metal material includes any one of copper, aluminum, nickel, gold, and platinum.

[0021] The Halbach array described in the present invention is a magnet array with a specific arrangement. It can enhance the magnetic field strength in one area while suppressing the magnetic field in another area. Its basic principle is to arrange the magnets in a specific direction so that the magnetic field is enhanced on one side of the array and almost disappears on the other side. The reason for using the Halbach array in the present invention is that it can significantly improve the utilization efficiency of the magnetic field and reduce unnecessary energy losses. Through this directional enhancement of the magnetic field, stronger magnetic force and higher efficiency can be provided without increasing the number of magnets, especially suitable for scenarios that require high-performance magnetic fields.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) The present invention realizes the quasi-zero stiffness characteristic of the platform through the configured positive stiffness component and negative stiffness component, and can effectively isolate external vibrations. In addition, by combining the magnetic field enhancement characteristic of the Halbach array and the dynamic adjustment ability of the electromagnetic coil, the platform can significantly improve the negative stiffness performance, simultaneously achieve efficient vibration isolation in multiple directions, and meet the requirements of intelligent sensing devices for stability and low-frequency vibration isolation.

[0024] (2) The present invention combines the synergistic effects of a specific negative stiffness Halbach magnet array, a positive stiffness component, and an active electromagnetic component, effectively improving the vibration isolation performance of the platform, and can be widely applied to occasions with high requirements for vibration isolation.

[0025] (3) The present invention uses the Halbach electromagnetic array to provide negative stiffness, which can adapt to vibrations of different frequencies, especially suitable for application scenarios of efficient vibration isolation.

[0026] (4) Through the design of the active electromagnetic component, the present invention can adjust the response of the platform in real time according to the vibration intensity and frequency, improving the vibration isolation effect.

[0027] (5) The structure of the present invention is simple and reliable, and relatively flexible vibration isolation performance control is achieved through electromagnetic adjustment, which can be widely applied to various high-demand vibration isolation occasions. Description of the Drawings

[0028] Figure 1 It is a schematic diagram of the external structure of the Halbach electromagnetic type quasi-zero stiffness vibration isolation platform according to Embodiment 1 of the present invention.

[0029] Figure 2 It is a schematic diagram of the internal structure of the Halbach electromagnetic type quasi-zero stiffness vibration isolation platform according to Embodiment 1 of the present invention.

[0030] Figure 3 It is a schematic diagram of the structural layout of the Halbach electromagnetic type quasi-zero stiffness vibration isolation platform according to Embodiment 1 of the present invention.

[0031] Figure 4Schematic diagram of the structure of the storage platform in Embodiment 2 of the present invention.

[0032] Figure 5 Schematic diagram of the structure of the metal coil and the bottom plate in Embodiment 2 of the present invention.

[0033] Figure 6 Schematic diagram of the shape of the adjusting gasket in Embodiment 3 of the present invention.

[0034] Figure 7 Schematic diagram of the structural position after carrying an object and adjusting the number of adjusting gaskets in Embodiment 3 of the present invention.

[0035] Figure 8 Schematic diagram of the internal structure of the Halbach electromagnetic quasi-zero stiffness vibration isolation platform in Embodiment 4 of the present invention (n = 4).

[0036] Figure 9 Schematic diagram of the external structural position of a Halbach electromagnetic quasi-zero stiffness vibration isolation platform in Embodiment 5 of the present invention.

[0037] Figure 10 Dynamic stiffness diagram of a Halbach electromagnetic quasi-zero stiffness vibration isolation platform in Embodiment 5 of the present invention.

[0038] Figure 11 Vertical force-displacement diagram of a vibration-isolated heavy object in Embodiment 5 of the present invention.

[0039] Explanation of the marks in the figure:

[0040] 1 - Storage platform, 11 - Platform top plate, 12 - Mounting frame, 13 - Moving magnet fixing groove;

[0041] 2 - Bottom plate;

[0042] 3 - Telescopic guide rod;

[0043] 4 - Spring;

[0044] 5 - Adjusting gasket;

[0045] 6 - Fixed housing;

[0046] 7 - Fixed magnet array, 71 - First fixed magnet, 72 - Second fixed magnet;

[0047] 8 - Moving magnet array, 81 - Moving magnet;

[0048] 9 - Metal coil, 91 - Coil fixing groove, 92 - First coil, 93 - Second coil. Detailed implementation manners

[0049] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and gives detailed implementation manners and specific operation processes, but the protection scope of the present invention is not limited to the following embodiments. In this technical solution, features such as component models, material names, and connection structures that are not clearly described are regarded as common technical features disclosed in the prior art.

[0050] In the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention; the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; in addition, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0051] It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0052] Embodiment 1:

[0053] This embodiment provides a Halbach electromagnetic quasi-zero stiffness vibration isolation platform, as Figures 1-3 shown, which includes a placement platform 1, a bottom plate 2, and a positive stiffness component, a negative stiffness component, and an active electromagnetic component provided therebetween.

[0054] Among them, the positive stiffness component includes a telescopic guide rod 3 connecting the placement platform 1 and the bottom plate 2, a spring 4 surrounding the telescopic guide rod 3, and an adjusting gasket 5 provided on the bottom plate 2. One end of the spring 4 is connected to the bottom of the placement platform 1, and the other end is connected to the adjusting gasket 5.

[0055] The negative stiffness component includes a fixed outer shell 6 provided on the bottom plate 2, a fixed magnet array 7 provided inside the fixed outer shell 6, and a moving magnet array 8 provided at the bottom of the placement platform 1 and capable of extending into the fixed outer shell 6. The active electromagnetic component includes a metal coil 9 provided inside the fixed outer shell 6. By controlling the direction and magnitude of the current in the metal coil 9, the electromagnetic field is adjusted, thereby adjusting the vibration response of the platform in real time. Both the fixed magnet array 7 and the moving magnet array 8 are provided with two groups and are symmetrically distributed with respect to the metal coil 9.

[0056] In this embodiment, the fixed magnet array 7 is composed of a plurality of first fixed magnets 71 and second fixed magnets 72 arranged vertically in a Halbach array. The moving magnet array 8 is composed of a plurality of moving magnets 81 arranged vertically, and the sum of the vertical positive stiffnesses of the springs 4 is equal to the maximum negative stiffness of the moving magnet array 8 to achieve the quasi-zero stiffness characteristic of the platform.

[0057] In this embodiment, the quasi-zero stiffness characteristic of the platform is realized by configuring the positive stiffness component and the negative stiffness component, and external vibrations can be effectively isolated. In addition, by combining the magnetic field enhancement characteristic of the Halbach array and the dynamic adjustment ability of the electromagnetic coil, the platform can significantly improve the negative stiffness performance, simultaneously achieve multi-directional high-efficiency vibration isolation, and meet the requirements of intelligent sensing devices for stability and low-frequency vibration isolation.

[0058] Embodiment 2:

[0059] This embodiment provides a Halbach electromagnetic type quasi-zero stiffness vibration isolation platform, which includes a placement platform 1, a bottom plate 2, and a positive stiffness component, a negative stiffness component, and an active electromagnetic component provided therebetween.

[0060] The difference from Embodiment 1 is that the fixed outer shell 6 in this embodiment has a regular quadrilateral structure, and four groups of positive stiffness components are correspondingly provided and symmetrically distributed outside the four corners of the fixed outer shell 6.

[0061] As Figures 4-5 shown, the placement platform 1 in this embodiment includes a platform top plate 11 for supporting the object to be vibration-isolated and a mounting frame 12 provided at the bottom of the platform top plate 11. A plurality of moving magnet fixing grooves 13 for placing the moving magnets 81 are vertically formed on the mounting frame 12. The bottom plate 2 is provided with a coil fixing groove 91 for loading the metal coil 9, and the coil fixing groove 91 is arranged between the mounting frames 12.

[0062] Embodiment 3:

[0063] This embodiment provides a Halbach electromagnetic type quasi-zero stiffness vibration isolation platform, which includes a placement platform 1, a bottom plate 2, and a positive stiffness component, a negative stiffness component, and an active electromagnetic component provided therebetween.

[0064] The difference from Embodiment 1 is that the magnetization direction of the moving magnet 81 in this embodiment is opposite to that of the adjacent first fixed magnet 71, and the magnetization directions of adjacent moving magnets 81 are opposite to each other, and the magnetization directions of the moving magnets 81 at the same height position are the same, so as to effectively control the movement of the moving magnet 81 by the electromagnetic force exerted on the moving magnet 81 after the metal coil 9 is energized.

[0065] In this embodiment, the bottom of the telescopic guide rod 3 is fixed on the bottom plate 2. It includes a fixed part and a telescopic part telescopically arranged on the fixed rod. The top end of the telescopic part is connected to the bottom of the placing platform 1. As Figure 6 shown, the adjusting gasket 5 is composed of two spliced gaskets. Both gaskets are provided with semi-circular holes with a diameter adapted to the diameter of the telescopic guide rod 3, and can be sleeved on the telescopic guide rod 3 through the left and right gaskets. At least one adjusting gasket 5 is provided, and several adjusting gaskets 5 can be padded between the top adjusting gasket 5 and the bottom plate 2 for adjusting the height of the bottom of the spring 4 (for reference, see Figure 9 ).

[0066] In this embodiment, as Figure 7 shown, the initial position of the placing platform 1 is determined by the horizontal central axis of the initial position of the moving magnet array 8, and the horizontal central axis of the initial position of the moving magnet array 8 coincides with the horizontal central axis of the fixed magnet array 7. When the position of the placing platform 1 drops after carrying objects, it can be adjusted to the initial position of the moving magnet array 8 by increasing the number of adjusting gaskets 5.

[0067] Embodiment 4:

[0068] This embodiment provides a Halbach electromagnetic type quasi-zero stiffness vibration isolation platform, which includes a placing platform 1, a bottom plate 2, and a positive stiffness component, a negative stiffness component, and an active electromagnetic component provided therebetween. The number of arrangements of the negative stiffness component and the active electromagnetic component can be increased according to actual vibration isolation requirements.

[0069] The difference from Embodiment 1 is that in each group of fixed magnet arrays 7, the number of the first fixed magnets 71 is n, the number of the second fixed magnets 72 is n - 1, n ≥ 4; in each group of moving magnet arrays 8, the number of the moving magnets 81 is n - 2; in the active electromagnetic component, the total number of the metal coils 9 is n - 3; when the number of the metal coils 9 > 1, the current directions after the adjacent metal coils 9 are energized are opposite. The number of magnets in each magnet array and the number of the metal coils 9 increase according to the above rules.

[0070] When n = 4, as Figure 8As shown, the numbers of the unilateral first fixed magnets 71 and second fixed magnets 72 are 4 and 3 respectively, the total number of magnets in the unilateral fixed magnet array is 7, the number of the unilateral moving magnet arrays is 2, and the number of the metal coils 9 is 1. When n = 5, the numbers of the unilateral first fixed magnets 71 and second fixed magnets 72 are 5 and 4 respectively, the total number of magnets in the unilateral fixed magnet array is 9, the number of the unilateral moving magnet arrays is 3, and the number of the metal coils 9 is 2. When n = 6, the numbers of the unilateral first fixed magnets 71 and second fixed magnets 72 are 6 and 5 respectively, the total number of magnets in the unilateral fixed magnet array is 11, the number of the unilateral moving magnet arrays is 4, and the number of the metal coils 9 is 3.

[0071] When the number of the metal coils 9 > 1, the current directions of the adjacent energized metal coils 9 are opposite. The metal coil 9 is made of enameled metal wire, and the metal material includes any one of copper, aluminum, nickel, gold, and platinum.

[0072] Embodiment 5:

[0073] This embodiment provides a Halbach electromagnetic quasi-zero stiffness vibration isolation platform, which includes a placement platform 1, a positive stiffness component, a negative stiffness component, and an active electromagnetic component.

[0074] The structure of the placement platform 1 is as Figure 4 shown. It includes a platform top plate 11 and a mounting frame 12. The mounting frame 12 is provided with a card slot for loading the moving magnet 81, which is used to connect the positive stiffness component and the negative stiffness component to realize the quasi-zero stiffness characteristic of the platform. As Figure 4 shown, the positive stiffness component includes a telescopic guide rod 3, a spring 4, and an adjusting gasket 5, which are used to provide positive stiffness and adjust the height through the adjusting gasket 5; the negative stiffness component includes a fixed housing 6, a first fixed magnet 71, a second fixed magnet 72, and a moving magnet 81, which are used to provide negative stiffness, and the moving magnet 81 can adjust the response of the platform under the action of the magnetic field; the active electromagnetic component includes a metal coil 9 and a coil fixing slot 91, and the electromagnetic field is adjusted by controlling the current direction and magnitude, so as to adjust the vibration response of the platform in real time. Figure 5 shows the relative position between the placement platform 1 and the coil fixing slot 91 in this embodiment. A changing current is provided by the active electromagnetic component to apply an electromagnetic force to the moving magnet 81 fixed in the card slot of the placement platform 1 to realize active control.

[0075] The distance between the bottom of the moving magnet array 8 and the bottom of the fixed magnet array 7 is d, which is the maximum distance for the moving magnet array 8 to move downward freely (as Figure 2As shown). Similarly, considering the symmetric arrangement, the distance between the top of the moving magnet array 8 and the top of the fixed magnet array 7 is also d. In addition, the distance between the top of the fixed magnet array 7 and the placement platform 1 is also d to ensure that the placement platform 1 will not interfere with the fixed magnet array 7 during free downward movement. Under this distance limitation, the positional relationship between the placement platform 1 and the fixed housing 6 is as Figure 9 shown.

[0076] In this embodiment, the first fixed magnet 71 and the second fixed magnet 72 are arranged in a Halbach array, with a total of 9 magnets on one side. The magnetization directions from bottom to top are respectively "right, down, left, up, right, down, left, up, right". The magnetization directions between adjacent moving magnets 81 are opposite. There are a total of 3 moving magnets 81 on one side, and the magnetization directions from bottom to top are respectively "right, left, right". The size of the first fixed magnet 71 is 20×20×60 mm, the size of the second fixed magnet 72 is 20×10×60 mm, and the size of the moving magnet 81 is 20×30×60 mm. All three types of magnets are made of neodymium iron boron magnet NdFe35. The horizontal central axis of the initial position of the moving magnet 81 array coincides with the horizontal central axes of the first fixed magnet 71 and the second fixed magnet 72 arrays.

[0077] An active electromagnetic component is provided in the middle of the moving magnets 81 on both sides. The active electromagnetic component of this embodiment includes two metal coils 9 with opposite current directions, named the first coil 92 and the second coil 93 respectively. The first coil 92 and the second coil 93 are both fixed to the platform bottom plate 2 through coil fixing grooves 91. The metal coil 9 of this embodiment is made of enameled metal wire, such as copper, aluminum, etc.

[0078] In this embodiment, the number of springs 4 is 4, and a telescopic guide rod 3 is sleeved in the middle to limit the deformation of the springs 4 only in the vertical direction. A regulating gasket 5 is padded at the bottom of the spring 4. The regulating gasket 5 has a semi-circular hole and is sleeved on the telescopic guide rod 3 through two left and right pieces. The sum of the vertical positive stiffnesses of the springs 4 is equal to the maximum negative stiffness of the moving magnet 81. Therefore, the minimum vertical stiffness of this Halbach electromagnetic type quasi-zero stiffness vibration isolation platform is zero stiffness, that is, the stiffness is 0 at the initial position.

[0079] Figure 10 The structural stiffness diagram of this embodiment is shown. The abscissa represents the vertical position of the placement platform 1 or the moving magnet 81. At the initial position, the static stiffness of the structure is the sum of the vertical positive stiffnesses of the springs 4, and the dynamic stiffness is zero, achieving the design requirement of quasi-zero stiffness and having the characteristic of "having a higher static stiffness and a lower dynamic stiffness".

[0080] Figure 11This is the vertical force-displacement diagram of a vibration-isolated object in this embodiment. The weight of the vibration-isolated object is 1000 N, and the abscissa represents the vertical position of the placement platform 1 or the moving magnet 81. By adjusting the number of shims 5, after the placement platform 1 bears the vibration-isolated object, the moving magnet 81 array still remains in the initial position. In the movement range of -5 mm to 5 mm, the force-displacement curve is relatively flat, which is the low dynamic stiffness working range of this embodiment. This embodiment can also design different magnet and spring parameters to meet the working requirements of different vibration-isolated objects.

[0081] In this embodiment, the active electromagnetic component is used to adjust the magnetic field intensity in real time, apply a changing magnetic force to the moving magnet 81, and determine the input ampere number of current according to the calculation algorithm. When the moving magnet 81 is excited by vibration and moves upward, the first coil 92 is supplied with a current to the right, and the second coil 93 is supplied with a current to the left. They are respectively equivalent to magnets magnetized to the right and to the left, and apply a downward magnetic force to the moving magnet 81 to accelerate its return to the initial position. The specific current directions are as Figure 2 shown. Similarly, when the moving magnet 81 is excited by vibration and moves downward, the currents in the first coil 92 and the second coil 93 are reversed, that is, the first coil 92 is supplied with a current to the left, and the second coil 93 is supplied with a current to the right. They are respectively equivalent to magnets magnetized to the right and to the left, and apply an upward magnetic force to the moving magnet 81 to accelerate its return to the initial position.

[0082] In this embodiment, the calculation formula for the magnetic force between the metal coil 9 and the moving magnet array 8 is as follows. According to this calculation formula, the required ampere number of current can be calculated:

[0083]

[0084] Among them, B r is the residual magnetic induction intensity, μ r is the relative magnetic permeability, μ 0 is the vacuum magnetic permeability, n I is the current direction vector, and r is the relative position vector between the current element and the equivalent magnetic charge element.

[0085] The present invention realizes the quasi-zero stiffness characteristic of the platform through the configured positive stiffness component and negative stiffness component, and can effectively isolate external vibrations. In addition, by combining the magnetic field enhancement characteristic of the Halbach array and the dynamic adjustment ability of the electromagnetic coil, the platform can significantly improve the negative stiffness performance, simultaneously achieve efficient vibration isolation in multiple directions, and meet the requirements of intelligent sensing devices for stability and low-frequency vibration isolation.

[0086] The above description of the embodiments is provided to enable those of ordinary skill in the art to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative efforts. Therefore, the present invention is not limited to the above embodiments, and all improvements and modifications made by those skilled in the art without departing from the scope of the present invention should fall within the protection scope of the present invention according to the disclosure of the present invention.

Claims

1. A Halbach electromagnetic quasi-zero stiffness vibration isolation platform, characterized in that: It comprises a storage platform (1), a base plate (2), and a positive stiffness component, a negative stiffness component and an active electromagnetic component arranged between the two; The positive stiffness component comprises a telescopic guide rod (3) connecting the storage platform (1) and the bottom plate (2), a spring (4) surrounding the telescopic guide rod (3), and an adjustment gasket (5) arranged on the bottom plate (2); one end of the spring (4) is connected to the bottom of the storage platform (1), and the other end is connected to the adjustment gasket (5); The negative stiffness component comprises a fixed shell (6) arranged on the bottom plate (2), a fixed magnet array (7) arranged in the fixed shell (6), and a moving magnet array (8) arranged at the bottom of the storage platform (1) and capable of extending into the fixed shell (6); The active electromagnetic component comprises a metal coil (9) arranged in a fixed housing (6); the fixed magnet array (7) and the moving magnet array (8) are each provided with two groups and are symmetrically distributed with respect to the metal coil (9); The fixed magnet array (7) is composed of a plurality of first fixed magnets (71) and second fixed magnets (72) arranged vertically in a Halbach array; the moving magnet array (8) is composed of a plurality of moving magnets (81) arranged vertically, and the sum of the vertical positive stiffness of the spring (4) is equal to the maximum negative stiffness of the moving magnet array (8).

2. The Halbach electromagnetic quasi-zero stiffness vibration isolation platform according to claim 1, characterized in that: In each group of fixed magnet arrays (7), the number of the first fixed magnets (71) is n, the number of the second fixed magnets (72) is n-1, and n≥4; In each group of moving magnet arrays (8), the number of the moving magnets (81) is n-2; In the active electromagnetic component, the total number of the metal coils (9) is n-3; when the number of the metal coils (9) is greater than 1, the directions of the currents in adjacent metal coils (9) after being energized are opposite.

3. The Halbach electromagnetic quasi-zero stiffness vibration isolation platform according to claim 1, characterized in that: The fixed housing (6) is a regular quadrilateral structure, and four groups of positive stiffness components are provided correspondingly and symmetrically distributed outside the four corners of the fixed housing (6).

4. The Halbach electromagnetic quasi-zero stiffness vibration isolation platform according to claim 1, characterized in that: The storage platform (1) comprises a platform top plate (11) for supporting an object to be isolated from vibration, and a mounting frame (12) arranged at the bottom of the platform top plate (11), wherein a plurality of moving magnet fixing grooves (13) are vertically provided on the mounting frame (12).

5. The Halbach electromagnetic quasi-zero stiffness vibration isolation platform according to claim 4, characterized in that: The bottom plate (2) is provided with a coil fixing groove (91) for loading the metal coil (9), and the coil fixing groove (91) is arranged between the mounting frames (12).

6. The Halbach electromagnetic quasi-zero stiffness vibration isolation platform according to claim 1, characterized in that: The magnetization direction of the moving magnet (81) is opposite to that of the adjacent first fixed magnet (71), and the magnetization directions of adjacent moving magnets (81) are opposite, and the magnetization directions of the moving magnets (81) at the same height are the same.

7. The Halbach electromagnetic quasi-zero stiffness vibration isolation platform according to claim 1, characterized in that: The horizontal center axis of the initial position of the moving magnet array (8) coincides with the horizontal center axis of the fixed magnet array (7).

8. The Halbach electromagnetic quasi-zero stiffness vibration isolation platform according to claim 1, characterized in that: The adjusting gasket (5) is formed by splicing two gaskets, and both gaskets are provided with a semicircular hole whose diameter matches the diameter of the telescopic guide rod (3).

9. The Halbach electromagnetic quasi-zero stiffness vibration isolation platform according to claim 8, characterized in that: At least one adjusting gasket (5) is provided, and a plurality of adjusting gaskets (5) can be arranged between the adjusting gasket (5) on the top layer and the bottom plate (2).

10. The Halbach electromagnetic quasi-zero stiffness vibration isolation platform according to claim 1, characterized in that: The metal coil (9) is made of enameled metal wire, and the metal material includes any one of copper, aluminum, nickel, gold and platinum.

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