Halbach magnetic negative stiffness mechanism with high negative stiffness

Abstract

The invention belongs to the field of ultra-precision vibration reduction, and particularly discloses a Halbach magnetic negative stiffness mechanism with high negative stiffness, which comprises a support frame, a stator permanent magnet assembly, a rotor permanent magnet assembly, a spacing adjustment assembly and a linear guide assembly, and is characterized in that the stator permanent magnet assembly and the rotor permanent magnet assembly are both of a Halbach array structure; the stator permanent magnet assembly comprises a first stator permanent magnet set and a second stator permanent magnet set, the first stator permanent magnet set and the second stator permanent magnet set are arranged on the supporting frame in a bilateral symmetry mode, and the first stator permanent magnet set, the second stator permanent magnet set and the rotor permanent magnet assembly are parallel to one another. The distance adjusting assembly is arranged on the supporting frame to drive the first stator permanent magnet set and the second stator permanent magnet set to get close to each other or get away from each other. Through the structural design of the magnetic negative stiffness mechanism, a larger negative stiffness value can be generated in the same space, the negative stiffness value of the magnetic negative stiffness mechanism can be adjusted through the distance adjusting assembly, and the applicability is better.

Description

Technical Field

[0001] This application belongs to the field of ultra-precision vibration damping, and more specifically, relates to a Halbach magnetic negative stiffness mechanism with high negative stiffness. Background Art

[0002] Environmental vibration will directly affect the operation accuracy and service life of precision instrument equipment such as precision manufacturing equipment, measuring instruments, and optical systems. Therefore, vibration isolators need to be used in actual applications of precision instrument equipment to reduce harmful vibration. However, existing passive vibration isolators can only isolate vibrations within a bandwidth higher than the resonance frequency times the bandwidth. Therefore, it is necessary to reduce the resonance frequency to broaden the vibration isolation bandwidth.

[0003] In related technologies, combining a negative stiffness mechanism and a positive stiffness mechanism to reduce the resonance frequency is a good low-frequency vibration isolation strategy, which can achieve both low stiffness and large load-bearing at the same time. According to different implementation methods, existing negative stiffness mechanisms can be divided into passive negative stiffness mechanisms and active / semi-active negative stiffness mechanisms. Among them, active / semi-active negative stiffness mechanisms often have characteristics such as high complexity, low reliability, and high power consumption, so they are limited in some usage environments. In contrast, passive negative stiffness mechanisms are widely used because of their simple structure, high reliability, and no need for energy supply. According to different principles of generating negative stiffness, existing negative stiffness mechanisms can be divided into pre-compressed rod type, permanent magnet type, spring type, and metamaterial type, etc. Among them, the permanent magnet type negative stiffness mechanism has attracted wide attention because of its compact structure and frictionless characteristics.

[0004] The occupied space of existing permanent magnet type negative stiffness mechanisms is usually related to the magnitude of their negative stiffness. A larger negative stiffness requires a larger design space to achieve, but the design space of the mechanism is often limited, which limits the magnitude of the negative stiffness of the permanent magnet type negative stiffness mechanism. At the same time, the negative stiffness of existing magnetic negative stiffness mechanisms is not easy to adjust, and the applicability is poor. Summary of the Invention

[0005] Aiming at the defects of the existing technology, this application provides a Halbach magnetic negative stiffness mechanism with high negative stiffness, aiming to solve the problems that the negative stiffness of the existing permanent magnet type negative stiffness mechanism is limited due to limited design space, and at the same time, its negative stiffness is not easy to adjust.

[0006] A Halbach magnetic negative stiffness mechanism with high negative stiffness provided by the present application specifically includes a support frame, a stator permanent magnet assembly, a mover permanent magnet assembly, a spacing adjustment assembly, and a linear guiding assembly. Both the stator permanent magnet assembly and the mover permanent magnet assembly are in a Halbach array structure. The stator permanent magnet assembly includes a first stator permanent magnet group and a second stator permanent magnet group. The first stator permanent magnet group and the second stator permanent magnet group are symmetrically arranged left and right on the support frame. The first stator permanent magnet group, the second stator permanent magnet group, and the mover permanent magnet assembly are parallel to each other. The mover permanent magnet assembly can be movably connected to the support frame in the vertical direction through the linear guiding assembly. The spacing adjustment assembly is arranged on the support frame to drive the first stator permanent magnet group and the second stator permanent magnet group to approach or move away from each other.

[0007] Through the above technical solution conceived by the present application, compared with the prior art, since each permanent magnet in the stator permanent magnet assembly and the mover permanent magnet assembly of the magnetic negative stiffness mechanism of the present application is arranged in a Halbach array manner, this arrangement can enhance the magnetic field strength on one side of the permanent magnet group, so a larger negative stiffness value can be generated in the same space. At the same time, the spacing between the first stator permanent magnet group and the second stator permanent magnet group can be adjusted through the spacing adjustment assembly, thereby changing the spacing between the first stator permanent magnet group and the second stator permanent magnet group and the mover permanent magnet assembly, and further achieving the effect of adjusting the negative stiffness value of the magnetic negative stiffness mechanism.

[0008] As a further preference, the mover permanent magnet assembly includes a first mover permanent magnet group and a second mover permanent magnet group. The first stator permanent magnet group includes a first stator permanent magnet frame and several stator permanent magnets fixedly installed on the first stator permanent magnet frame. The second stator permanent magnet group includes a second stator permanent magnet frame and several stator permanent magnets fixedly installed on the second stator permanent magnet frame. The first mover permanent magnet group includes a first mover permanent magnet frame and several mover permanent magnets fixedly installed on the first mover permanent magnet frame. The second mover permanent magnet group includes a second mover permanent magnet frame and several mover permanent magnets fixedly installed on the second mover permanent magnet frame.

[0009] As a further preference, the support frame includes a first support side plate, a second support side plate, a support cross beam and a first support base. The first support side plate and the second support side plate are respectively fixedly connected to both sides of the first support base and are parallel to each other. The support cross beam is fixedly connected between the first support side plate and the second support side plate. The first mover permanent magnet group, the first stator permanent magnet group, the second stator permanent magnet group and the second mover permanent magnet group are sequentially arranged between the first support side plate and the second support side plate. The spacing adjustment assembly is arranged on the first support side plate or the second support side plate.

[0010] As a further preference, the linear guiding assembly includes a first crossed roller guide rail, a second crossed roller guide rail, a third crossed roller guide rail and a fourth crossed roller guide rail. The first mover permanent magnet frame is slidably connected between the first support side plate and the second support side plate through the first crossed roller guide rail and the second crossed roller guide rail. The second mover permanent magnet frame is slidably connected between the first support side plate and the second support side plate through the third crossed roller guide rail and the fourth crossed roller guide rail.

[0011] As a further preference, the spacing adjustment assembly includes an adjustment screw, an adjustment nut sleeve, a first rotating arm and a second rotating arm. The adjustment screw is rotatably connected between the first support side plate and the second support side plate and one end thereof passes through the first support side plate. The adjustment nut sleeve is sleeved on the other end of the adjustment screw and is in threaded fit. One ends of the first rotating arm and the second rotating arm are respectively rotatably connected to the adjustment nut sleeve. The other end of the first rotating arm is hinged to the first stator permanent magnet frame. The other end of the second rotating arm is hinged to the second stator permanent magnet frame.

[0012] As a further preference, two mutually parallel first sliding guide rails and second sliding guide rails are fixedly connected to the first support base. Sliders slidably adapted to the first sliding guide rails and the second sliding guide rails are fixedly connected to the bottoms of the first stator permanent magnet frame and the second stator permanent magnet frame.

[0013] As a further preference, a first top adapter plate for connecting a matching vibration isolation system's moving frame is fixedly connected to the tops of the first mover permanent magnet frame and the second mover permanent magnet frame.

[0014] As a further preference, the first stator permanent magnet group includes a third stator permanent magnet frame and a plurality of stator permanent magnets fixedly installed on the third stator permanent magnet frame. The second stator permanent magnet group includes a fourth stator permanent magnet frame and a plurality of stator permanent magnets fixedly installed on the fourth stator permanent magnet frame. The mover permanent magnet assembly is located between the first stator permanent magnet group and the second stator permanent magnet group and includes a third mover permanent magnet frame and a plurality of mover permanent magnets fixedly installed on the third mover permanent magnet frame.

[0015] As a further preference, the spacing adjustment assembly includes a first right-hand thread nut, a second right-hand thread nut, a first left-hand thread nut, a second left-hand thread nut, a first right-and-left hand thread screw and a second right-and-left hand thread screw. The first right-and-left hand thread screw and the second right-and-left hand thread screw are both rotatably connected to the support frame and arranged in parallel and in the same direction. The first right-hand thread nut is engaged with the right-hand thread portion of the first right-and-left hand thread screw. The second right-hand thread nut is engaged with the right-hand thread portion of the second right-and-left hand thread screw. The first left-hand thread nut is engaged with the left-hand thread portion of the first right-and-left hand thread screw. The second left-hand thread nut is engaged with the left-hand thread portion of the second right-and-left hand thread screw. Both ends of the third stator permanent magnet frame are fixedly connected to the first right-hand thread nut and the second right-hand thread nut respectively. Both ends of the fourth stator permanent magnet frame are fixedly connected to the first left-hand thread nut and the second left-hand thread nut respectively.

[0016] As a further preference, a second top adapter plate for connecting a matching vibration isolation system's moving frame is fixedly connected to the top of the third mover permanent magnet frame.

[0017] Generally speaking, compared with the prior art by the above technical solutions conceived in this application, the following technical advantages are mainly possessed: 1. Each permanent magnet in the stator permanent magnet assembly and the mover permanent magnet assembly of this application is arranged in a Halbach array manner, so that while a repulsive force is generated between any stator permanent magnet and any adjacent mover permanent magnet on the left and right, a negative stiffness is generated along the vibration direction. This arrangement can enhance the magnetic field strength on one side of the permanent magnet group, and thus a larger negative stiffness value can be generated in the same space.

[0018] 2. This application is provided with a spacing adjustment assembly. Through the spacing adjustment assembly, the spacing between the first stator permanent magnet group and the second stator permanent magnet group can be adjusted, thereby changing the spacing between the first stator permanent magnet group and the second stator permanent magnet group and the mover permanent magnet assembly, and further realizing the adjustment of the negative stiffness value of the magnetic negative stiffness mechanism, so as to be adjusted according to actual needs, and the applicability is better.

[0019] 3. In actual application, the magnetic negative stiffness mechanism of this application can be connected in parallel with a positive stiffness mechanism with a large load-carrying capacity. At the same time, by reasonably matching the stiffness values of the negative stiffness mechanism and the positive stiffness mechanism, the comprehensive stiffness can be made close to zero while ensuring a large load-carrying capacity, so as to obtain excellent low-frequency vibration isolation performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of the overall structure of the magnetic negative stiffness mechanism provided in Embodiment 1 of this application; Figure 2 is a sectional view of the magnetic pole part of the magnetic negative stiffness mechanism provided in Embodiment 1 of this application; Figure 3 It is a schematic diagram of the overall structure of the first stator permanent magnet group provided in Embodiment 1 of the present application; Figure 4 It is a schematic diagram of the overall structure of the first rotor permanent magnet group provided in Embodiment 1 of the present application; Figure 5 It is a schematic diagram of the overall structure of the linear guiding component provided in Embodiment 1 of the present application; Figure 6 It is a schematic diagram of the overall structure of the spacing adjusting component provided in Embodiment 1 of the present application; Figure 7 It is an exploded view of the magnetic negative stiffness mechanism provided in Embodiment 1 of the present application; Figure 8 It is a stiffness curve diagram of the magnetic negative stiffness mechanism provided in Embodiment 1 of the present application; Figure 9 It is a schematic diagram of the overall structure of the magnetic negative stiffness mechanism provided in Embodiment 2 of the present application; Figure 10 It is a partial sectional view of the magnetic pole of the magnetic negative stiffness mechanism provided in Embodiment 2 of the present application; Figure 11 It is a schematic diagram of the overall structure of the first stator permanent magnet group provided in Embodiment 2 of the present application; Figure 12 It is a schematic diagram of the overall structure of the rotor permanent magnet assembly provided in Embodiment 2 of the present application; Figure 13 It is a schematic diagram of the overall structure of the linear guiding component provided in Embodiment 2 of the present application; Figure 14 It is a schematic diagram of the overall structure of the spacing adjusting component provided in Embodiment 2 of the present application; Figure 15 It is an exploded view of the magnetic negative stiffness mechanism provided in Embodiment 2 of the present application.

[0021] In all the drawings, the same reference numerals are used to represent the same elements or structures, where: 1a, First stator permanent magnet; 1b, Second stator permanent magnet; 1c, Third stator permanent magnet; 1d, Fourth stator permanent magnet; 1e, Fifth stator permanent magnet; 1f, Sixth stator permanent magnet; 1g, Seventh stator permanent magnet; 1h, Eighth stator permanent magnet; 1i, Ninth stator permanent magnet; 1j, Tenth stator permanent magnet; 2a, First mover permanent magnet; 2b, Second mover permanent magnet; 2c, Third mover permanent magnet; 2d, Fourth mover permanent magnet; 2e, Fifth mover permanent magnet; 2f, Sixth mover permanent magnet; 2g, Seventh mover permanent magnet; 2h, Eighth mover permanent magnet; 2i, Ninth mover permanent magnet; 2j, Tenth mover permanent magnet; 3a, First stator permanent magnet frame; 3b, Second stator permanent magnet frame; 3c, Third stator permanent magnet frame; 3d, Fourth stator permanent magnet frame; 4a, First mover permanent magnet frame; 4b, Second mover permanent magnet frame; 4c, Third mover permanent magnet frame; 5a, First crossed roller guide; 5b, Second crossed roller guide; 5c, Third crossed roller guide; 5d, Fourth crossed roller guide; 5e, First linear bearing; 5f, Second linear bearing; 5g, First optical axis; 5h, Second optical axis; 6a, Adjusting handle; 6b, Adjusting screw; 6c, Adjusting nut sleeve; 6d, First rotating arm; 6e, Second rotating arm; 6f, First pin; 6g, Second pin; 6h, First slider; 6i, Second slider; 6j, Third slider; 6k, Fourth slider; 6l, First sliding guide; 6m, Second sliding guide; 6n, First bearing seat; 6o, Second bearing seat; 6p, Third bearing seat; 6q, Fourth bearing seat; 6r, First right-hand thread nut; 6s, First right- and left-hand thread screw; 6t, First left-hand thread nut; 6u, Second right-hand thread nut; 6v, Second right- and left-hand thread screw; 6w, Second left-hand thread nut; 7a, First supporting side plate; 7b, Second supporting side plate; 7c, Supporting cross beam; 7d, First supporting base; 7e, Supporting top plate; 7f, Second supporting base; 7g, Third supporting side plate; 7h, Fourth supporting side plate; 8a, First top adapter plate; 8b, Second top adapter plate. Detailed implementation mode

[0022] In order to make the purpose, technical solutions and advantages of this application clearer, the following further elaborates on this application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0023] Embodiment 1: Refer to Figure 1 and Figure 7, a Halbach magnetic negative stiffness mechanism with high negative stiffness disclosed in the present application is designed based on the Halbach array method (the Halbach Array is a magnet structure, which is an approximately ideal structure in engineering and can generate the strongest magnetic field with the least amount of magnets). It enhances the magnetic field intensity around the moving permanent magnet, and thus can generate a larger negative stiffness value in the same space. It includes a support frame, a stator permanent magnet assembly, a mover permanent magnet assembly, a spacing adjustment assembly, and a linear guiding assembly. The negative stiffness of the magnetic negative stiffness mechanism is generated by the interaction force between the stator permanent magnet assembly and the mover permanent magnet assembly. Both the stator permanent magnet assembly and the mover permanent magnet assembly are of Halbach array structure. The first stator permanent magnet group and the second stator permanent magnet group are symmetrically arranged on the support frame from left to right. The first stator permanent magnet group, the second stator permanent magnet group, and the mover permanent magnet assembly are parallel to each other. The linear guiding component is used to limit the mover permanent magnet frame to move only in a single dimension relative to the stator permanent magnet frame, that is, the mover permanent magnet assembly can be movably connected to the support frame in the vertical direction through the linear guiding assembly. The spacing adjustment assembly is arranged on the support frame to drive the first stator permanent magnet group and the second stator permanent magnet group to approach or move away from each other, so as to achieve the purpose of adjusting the stiffness value of the magnetic negative stiffness device. In the magnetic negative stiffness mechanism of the present application, the linear guiding component and the spacing adjustment assembly are fixed through the support frame and are connected to the bottom plate of the vibration isolator that matches the magnetic negative stiffness device. It is connected to the top plate of the vibration isolator that matches the magnetic negative stiffness device through the top adapter plate. The magnetic negative stiffness mechanism is connected in parallel with the vibration isolation system, which can reduce the vertical resonance frequency, broaden the vibration isolation bandwidth, and improve the vibration reduction performance.

[0024] Refer to Figure 3, in this embodiment, the stator permanent magnet assembly includes a first stator permanent magnet group and a second stator permanent magnet group. The first stator permanent magnet group includes a first stator permanent magnet frame 3a and a plurality of stator permanent magnets fixedly installed on the first stator permanent magnet frame 3a. The second stator permanent magnet group includes a second stator permanent magnet frame 3b and a plurality of stator permanent magnets fixedly installed on the second stator permanent magnet frame 3b. Specifically, the first stator permanent magnet group includes a first stator permanent magnet 1a, a second stator permanent magnet 1b, a third stator permanent magnet 1c, a fourth stator permanent magnet 1d, and a fifth stator permanent magnet 1e arranged in sequence based on the Halbach array from top to bottom. The first stator permanent magnet 1a, the second stator permanent magnet 1b, the third stator permanent magnet 1c, the fourth stator permanent magnet 1d, and the fifth stator permanent magnet 1e are adhesively fixed in the rectangular hollow on the first stator permanent magnet frame 3a with high-strength structural adhesive. Glue overflow holes are provided at the corners of the rectangular hollow on the first stator permanent magnet frame 3a. The second stator permanent magnet group includes a sixth stator permanent magnet 1f, a seventh stator permanent magnet 1g, an eighth stator permanent magnet 1h, a ninth stator permanent magnet 1i, and a tenth stator permanent magnet 1j arranged in sequence based on the Halbach array from top to bottom. The sixth stator permanent magnet 1f, the seventh stator permanent magnet 1g, the eighth stator permanent magnet 1h, the ninth stator permanent magnet 1i, and the tenth stator permanent magnet 1j are adhesively fixed in the rectangular hollow on the second stator permanent magnet frame 3b with high-strength structural adhesive. Glue overflow holes are provided at the corners of the rectangular hollow on the second stator permanent magnet frame 3b. The overall frames of the first stator permanent magnet frame 3a and the second stator permanent magnet frame 3b are hollow, and 4 U-shaped grooves for fixing permanent magnets are provided at the bottom.

[0025] Furthermore, the first stator permanent magnet group is fixedly connected to the spacing adjustment component through the first stator permanent magnet frame 3a, and the second stator permanent magnet group is fixedly connected to the spacing adjustment component through the second stator permanent magnet frame 3b. By adjusting the structural state of the spacing adjustment component, the relative position between the first stator permanent magnet group and the second stator permanent magnet group is changed, and thus the negative stiffness value of the magnetic negative stiffness mechanism of the present application is changed.

[0026] Refer to Figure 4, Similarly, the mover permanent magnet assembly includes a first mover permanent magnet group and a second mover permanent magnet group. The first mover permanent magnet group includes a first mover permanent magnet frame 4a and a number of mover permanent magnets fixedly installed on the first mover permanent magnet frame 4a. The second mover permanent magnet group includes a second mover permanent magnet frame 4b and a number of mover permanent magnets fixedly installed on the second mover permanent magnet frame 4b. Specifically, the first mover permanent magnet group includes a first mover permanent magnet 2a, a second mover permanent magnet 2b, a third mover permanent magnet 2c, a fourth mover permanent magnet 2d, and a fifth mover permanent magnet 2e arranged in sequence based on the Halbach array from top to bottom. The first mover permanent magnet 2a, the second mover permanent magnet 2b, the third mover permanent magnet 2c, the fourth mover permanent magnet 2d, and the fifth mover permanent magnet 2e are adhesively fixed in the rectangular grooves on the first mover permanent magnet frame 4a by high-strength structural adhesive. The four edges along the horizontal direction coincide, that is, the sides are in the same plane. Holes are opened at the four corners of the rectangular grooves on the first mover permanent magnet frame 4a as overflow spaces. The second mover permanent magnet group includes a sixth mover permanent magnet 2f, a seventh mover permanent magnet 2g, an eighth mover permanent magnet 2h, a ninth mover permanent magnet 2i, and a tenth mover permanent magnet 2j arranged in sequence based on the Halbach array from top to bottom. The sixth mover permanent magnet 2f, the seventh mover permanent magnet 2g, the eighth mover permanent magnet 2h, the ninth mover permanent magnet 2i, and the tenth mover permanent magnet 2j are installed in the rectangular grooves on the second mover permanent magnet frame 4b in the same way. Holes are opened at the four corners of the rectangular grooves on the second mover permanent magnet frame 4b as overflow spaces. The first mover permanent magnet frame 4a and the second mover permanent magnet frame 4b are parallel and opposite to each other. The overall frame is rectangular, with a groove in the center for fixing the permanent magnets, rectangular grooves on both sides and 4 threaded holes evenly distributed, and 2 threaded holes opened at the top.

[0027] Referring to Figure 2 , Specifically, when the first stator permanent magnet group, the second stator permanent magnet group, the first mover permanent magnet group, and the second mover permanent magnet group are installed on the support frame, the magnetization directions of the first mover permanent magnet 2a, the fifth mover permanent magnet 2e, the eighth mover permanent magnet 2h, the third stator permanent magnet 1c, the sixth stator permanent magnet 1f, and the tenth stator permanent magnet 1j are to the right. The magnetization directions of the third mover permanent magnet 2c, the sixth mover permanent magnet 2f, the tenth mover permanent magnet 2j, the first stator permanent magnet 1a, the fifth stator permanent magnet 1e, and the eighth stator permanent magnet 1h are to the left. The magnetization directions of the second mover permanent magnet 2b, the seventh mover permanent magnet 2g, the second stator permanent magnet 1b, and the seventh stator permanent magnet 1g are upward. The magnetization directions of the fourth mover permanent magnet 2d, the ninth mover permanent magnet 2i, the fourth stator permanent magnet 1d, and the ninth stator permanent magnet 1i are downward.

[0028] In this embodiment, all the stator permanent magnets and all the rotor permanent magnets are rectangular parallelepipeds. The edges of the rectangular parallelepipeds are right-angled, rounded or chamfered, and the sizes and dimensions of all the permanent magnets are the same, with a square cross-section.

[0029] More specifically, in this embodiment, the support frame includes a first support side plate 7a, a second support side plate 7b, a support cross beam 7c and a first support base 7d. The first support side plate 7a and the second support side plate 7b are respectively fixedly connected to both sides of the first support base 7d and are parallel to each other. The support cross beam 7c is fixedly connected between the first support side plate 7a and the second support side plate 7b to enhance the overall rigidity of the support frame. The first rotor permanent magnet group, the first stator permanent magnet group, the second stator permanent magnet group and the second rotor permanent magnet group are sequentially arranged between the first support side plate 7a and the second support side plate 7b from left to right and are symmetrically distributed left and right. The gap between the first rotor permanent magnet assembly and the second rotor permanent magnet assembly is fixed, and the distance between the first stator permanent magnet group and the second stator permanent magnet group is variable. The permanent magnets in all the permanent magnet assemblies are arranged in a Halbach array. The strong magnetic fields generated by the first rotor permanent magnet assembly and the second stator permanent magnet group are located on the right side, and the strong magnetic fields generated by the first stator permanent magnet group and the second rotor permanent magnet assembly are located on the left side. The distance adjustment assembly is arranged on the first support side plate 7a or the second support side plate 7b. The linear guiding assembly is used to limit that the rotor permanent magnet assembly can only perform linear reciprocating motion relative to the stator permanent magnet assembly. Specifically, both the first rotor permanent magnet group and the second rotor permanent magnet group are slidably connected between the first support side plate 7a and the second support side plate 7b along a direction perpendicular to the first support base 7d through the linear guiding assembly.

[0030] Refer to Figure 5, wherein the linear guiding component includes a first crossed roller guide rail 5a, a second crossed roller guide rail 5b, a third crossed roller guide rail 5c, and a fourth crossed roller guide rail 5d. The first crossed roller guide rail 5a, the second crossed roller guide rail 5b, the third crossed roller guide rail 5c, and the fourth crossed roller guide rail 5d are respectively installed at the four corners of a rectangular frame formed by combining a first support side plate 7a, a second support side plate 7b, a first mover permanent magnet frame 4a, and a second mover permanent magnet frame 4b. That is, the first crossed roller guide rail 5a is disposed between the first support side plate 7b and the first mover permanent magnet frame 4a, the second crossed roller guide rail 5b is disposed between the second support side plate 7a and the first mover permanent magnet frame 4a, the third crossed roller guide rail 5c is disposed between the first support side plate 7a and the second mover permanent magnet frame 4b, and the fourth crossed roller guide rail 5d is disposed between the second support side plate 7b and the second mover permanent magnet frame 4b. The first mover permanent magnet frame 4a is slidably connected between the first support side plate 7a and the second support side plate 7b through the first crossed roller guide rail 5a and the second crossed roller guide rail 5b, and the second mover permanent magnet frame 4b is slidably connected between the first support side plate 7a and the second support side plate 7b through the third crossed roller guide rail 5c and the fourth crossed roller guide rail 5d. The stator parts of the first crossed roller guide rail 5a, the second crossed roller guide rail 5b, the third crossed roller guide rail 5c, and the fourth crossed roller guide rail 5d are fixedly connected to the corresponding support side plates by screws, and the mover parts of the first crossed roller guide rail 5a, the second crossed roller guide rail 5b, the third crossed roller guide rail 5c, and the fourth crossed roller guide rail 5d are fixedly connected to the corresponding mover permanent magnet frames by screws.

[0031] Referring to Figure 6 , to realize the adjustment of the relative position between the first stator permanent magnet group and the second stator permanent magnet group, both the first stator permanent magnet frame 3a and the second stator permanent magnet frame 3b are slidably arranged on the first support base 7d, and a spacing adjustment component is arranged on the first support side plate 7a or the second support side plate 7b to drive the first stator permanent magnet frame 3a and the second stator permanent magnet frame 3b to slide.

[0032] Specifically, the spacing adjustment component includes an adjustment handle 6a, an adjustment screw 6b, an adjustment nut 6c, a first rotating arm 6d, and a second rotating arm 6e. The adjustment screw 6b is rotatably connected between the first support side plate 7a and the second support side plate 7b, and one end thereof passes through the first support side plate 7a. The adjustment screw 6b has a small clearance fit with the first support side plate 7a and the second support side plate 7b. The adjustment handle 6a is fixed to the end of the adjustment screw 6b by interference fit, and the adjustment handle 6a fixed to the end of the adjustment screw 6b is exposed outside the support frame. The adjustment nut 6c is sleeved on the other end of the adjustment screw 6b and has a threaded fit. By rotating the adjustment handle 6a, the adjustment nut 6c moves axially along the adjustment screw 6b. The first rotating arm 6d and the second rotating arm 6e are both rotatably connected to the adjustment nut 6c and have a small clearance fit. Specifically, there are cylindrical stretching bodies on the upper and lower sides of the adjustment nut. The cylindrical stretching bodies on both sides of the adjustment nut have a small clearance fit with the first rotating arm and the second rotating arm respectively. The first rotating arm and the second rotating arm can rotate around the cylindrical stretching bodies on both sides of the adjustment nut. The other end of the first rotating arm 6d is hinged to the first stator permanent magnet frame 3a through a first pin 6f, and the other end of the second rotating arm 6e is hinged to the second stator permanent magnet frame 3b through a second pin 6g. When the adjustment nut 6c moves axially along the adjustment screw 6b, the first rotating arm 6d and the second rotating arm 6e rotate relatively or in opposite directions around the adjustment nut 6c at the same time, further driving the first stator permanent magnet frame 3a and the second stator permanent magnet frame 3b to move towards or away from each other, so as to achieve the purpose of adjusting the negative stiffness value of the magnetic negative stiffness device.

[0033] Refer to Figure 1 and Figure 6 , to improve the sliding stability of the first stator permanent magnet frame 3a and the second stator permanent magnet frame 3b, a first sliding guide rail 6l and a second sliding guide rail 6m that are parallel to each other are fixedly connected to the first support base 7d. The bottoms of the first stator permanent magnet frame 3a and the second stator permanent magnet frame 3b are both fixedly connected with sliders that are slidably adapted to the first sliding guide rail 6l and the second sliding guide rail 6m. Specifically, the bottom of the first stator permanent magnet frame 3a is fixedly connected to a first slider 6h and a second slider 6i by screws, and the bottom of the second stator permanent magnet frame 3b is fixedly connected to a third slider 6j and a fourth slider 6k by screws. The first slider 6h and the third slider 6j are slidably assembled on the first sliding guide rail 6l, and the second slider 6i and the fourth slider 6k are slidably assembled on the second sliding guide rail 6m.

[0034] Refer to Figure 1, in this embodiment, a first top adapter plate 8a is fixedly connected to the tops of the first mover permanent magnet frame 4a and the second mover permanent magnet frame 4b by screws. Four threaded holes are provided on the first top adapter plate 8a. The magnetic negative stiffness mechanism of this application is connected to the moving frame of the matching vibration isolation system through the four threaded holes provided on the first top adapter plate 8a.

[0035] According to Figure 8 it can be seen that in this application, as the distance between the stator permanent magnet assembly and the mover permanent magnet assembly decreases, the negative stiffness value of the magnetic negative stiffness mechanism gradually increases.

[0036] Embodiment 2: Referring to Figure 11 , the difference between this embodiment and Embodiment 1 is that in this embodiment, the first stator permanent magnet group includes a third stator permanent magnet frame 3c and several stator permanent magnets fixedly installed on the third stator permanent magnet frame 3c, and the second stator permanent magnet group includes a fourth stator permanent magnet frame 3d and several stator permanent magnets fixedly installed on the fourth stator permanent magnet frame 3d. Specifically, the first stator permanent magnet group is composed of the first stator permanent magnet 1a, the second stator permanent magnet 1b, the third stator permanent magnet 1c, the fourth stator permanent magnet 1d, and the fifth stator permanent magnet 1e, and is adhesively fixed in the rectangular groove on the third stator permanent magnet frame 3c by high-strength structural adhesive; at the same time, the second stator permanent magnet group is composed of the sixth stator permanent magnet 1f, the seventh stator permanent magnet 1g, the eighth stator permanent magnet 1h, the ninth stator permanent magnet 1i, and the tenth stator permanent magnet 1j, and is adhesively fixed in the rectangular groove on the fourth stator permanent magnet frame 3d by high-strength structural adhesive. The third stator permanent magnet frame 3c and the fourth stator permanent magnet frame 3d are parallel and opposite to each other, with a rectangular groove provided in the central part for fixing the permanent magnets, and 2 U-shaped grooves and 4 threaded holes for fixing provided at both ends.

[0037] Referring to Figure 12, Further, in this embodiment, the mover permanent magnet assembly includes a third mover permanent magnet frame 4c and a number of mover permanent magnets fixedly installed on the third mover permanent magnet frame 4c. The mover permanent magnet assembly is located between the first stator permanent magnet group and the second stator permanent magnet group. Specifically, the mover permanent magnet assembly is composed of a first mover permanent magnet 2a, a second mover permanent magnet 2b, a third mover permanent magnet 2c, a fourth mover permanent magnet 2d, a fifth mover permanent magnet 2e, a sixth mover permanent magnet 2f, a seventh mover permanent magnet 2g, an eighth mover permanent magnet 2h, a ninth mover permanent magnet 2i, and a tenth mover permanent magnet 2j. Each mover permanent magnet is attached to each other and fixed by a high-strength structural adhesive, and the whole is arranged in a gapless rectangular block with 5 rows and 2 columns. The mover permanent magnet assembly is integrally embedded and fixed in the central hollow of the third mover permanent magnet frame 4c. Both ends of the third mover permanent magnet frame 4c are square column adapters, and threaded holes are provided at the tops of the square column adapters. The third mover permanent magnet frame 4c is generally rectangular in shape, narrow in the center and wide on both sides, with a hollow inside. A number of mover permanent magnets are tightly attached together by a high-strength structural adhesive and fixed in the hollow inside the third mover permanent magnet frame 4c.

[0038] Refer to Figure 10 , Specifically, when the first stator permanent magnet group, the second stator permanent magnet group, and the mover permanent magnet assembly are installed on the support frame, the mover permanent magnet assembly is located between the first stator permanent magnet group and the second stator permanent magnet group and the three are parallel to each other. The first stator permanent magnet group, the mover permanent magnet assembly, and the second stator permanent magnet group are arranged in sequence from left to right and are symmetrically distributed left and right. The first stator permanent magnet group and the second stator permanent magnet group are respectively located on the left and right sides of the mover permanent magnet assembly and the distance between them is variable. The permanent magnets in all permanent magnet assemblies are arranged in the Halbach array pattern. The strong magnetic field generated by the mover permanent magnet assembly is on the left side, and the strong magnetic fields generated by the first stator permanent magnet group and the second mover permanent magnet assembly are on the right side. The magnetization directions of the first mover permanent magnet 2a, the fifth mover permanent magnet 2e, the eighth mover permanent magnet 2h, the third stator permanent magnet 1c, the sixth stator permanent magnet 1f, and the tenth stator permanent magnet 1j are to the left. The magnetization directions of the third mover permanent magnet 2c, the sixth mover permanent magnet 2f, the tenth mover permanent magnet 2j, the first stator permanent magnet 1a, the fifth stator permanent magnet 1e, and the eighth stator permanent magnet 1h are to the right. The magnetization directions of the second mover permanent magnet 2b, the seventh mover permanent magnet 2g, the second stator permanent magnet 1b, and the seventh stator permanent magnet 1g are upward. The magnetization directions of the fourth mover permanent magnet 2d, the ninth mover permanent magnet 2i, the fourth stator permanent magnet 1d, and the ninth stator permanent magnet 1i are downward.

[0039] Refer to Figure 9 and Figure 15, in this embodiment, the support frame includes a support top plate 7e, a second support base 7f, a third support side plate 7g, and a fourth support side plate 7h. The support top plate 7e, the second support base 7f, the third support side plate 7g, and the fourth support side plate 7h are connected as a whole and form a rectangular hollow structure for fixing the linear guiding component and the spacing adjusting component. The support top plate 7e and the second support base 7f are symmetrically arranged up and down and parallel to each other. The third support side plate 7g and the fourth support side plate 7h are symmetrically arranged left and right between the support top plate 7e and the second support base 7f.

[0040] Referring to Figure 13 , more specifically, the linear guiding component includes a first linear bearing 5e, a second linear bearing 5f, a first optical axis 5g, and a second optical axis 5h. Counterbore holes are provided on both the first linear bearing 5e and the second linear bearing 5f. The first linear bearing 5e and the second linear bearing 5f are respectively fixed and installed on the support top plate 7e by screws passing through the counterbore holes. The first linear bearing 5e and the first optical axis 5g cooperate with each other. A thread is provided at the bottom end of the first optical axis 5g and is threadedly connected to one end of the third mover permanent magnet frame 4c. A boss and a thread are provided at the top end of the first optical axis 5g and are threadedly connected to a second top adapter plate. The second linear bearing 5f and the second optical axis 5h cooperate with each other. A thread is provided at the bottom end of the second optical axis 5h and is threadedly connected to the other end of the third mover permanent magnet frame 4c. A boss and a thread are provided at the top end of the second optical axis 5h and are bolted to the second top adapter plate. The first optical axis 5g and the second optical axis 5h are parallel to each other and aligned left and right.

[0041] Referring to Figure 14 , further, the spacing adjusting component includes a first bearing block 6n, a second bearing block 6o, a third bearing block 6p, a fourth bearing block 6q, a first right-hand thread nut 6r, a second right-hand thread nut 6u, a first left-hand thread nut 6t, a second left-hand thread nut 6w, a first left- and right-hand threaded screw 6s, and a second left- and right-hand threaded screw 6v. Counterbore holes are provided on the first bearing block 6n, the second bearing block 6o, the third bearing block 6p, and the fourth bearing block 6q. The first bearing block 6n, the second bearing block 6o, the third bearing block 6p, and the fourth bearing block 6q are respectively fixed and installed on the support frame by screws passing through the counterbore holes. Among them, the first left- and right-hand threaded screw 6s and the second left- and right-hand threaded screw 6v are arranged in parallel and in the same direction, and left-hand and right-hand threads are respectively provided at the upper and lower ends. The first left- and right-hand threaded screw 6s is rotatably connected to the support frame through the first bearing block 6n and the third bearing block 6p. The second left- and right-hand threaded screw 6v is rotatably connected to the support frame through the second bearing block 6o and the fourth bearing block 6q. The first right-hand thread nut 6r and the second right-hand thread nut 6u respectively cooperate with the right-hand thread parts at the upper ends of the first left- and right-hand threaded screw 6s and the second left- and right-hand threaded screw 6v. The first left-hand thread nut 6t and the second left-hand thread nut 6w respectively cooperate with the left-hand thread parts at the lower ends of the first left- and right-hand threaded screw 6s and the second left- and right-hand threaded screw 6v.

[0042] Further, both ends of the third stator permanent magnet frame 3c are respectively fixed to the first right-handed nut 6r and the second right-handed nut 6u by two screws, and both ends of the fourth stator permanent magnet frame 3d are respectively fixedly connected to the first left-handed nut 6t and the second left-handed nut 6w by two screws. The first bearing seat 6n, the second bearing seat 6o, the third bearing seat 6p, and the fourth bearing seat 6q are respectively assembled at positions 10-15 mm away from the edges at both ends of the first left- and right-handed screw 6s and the second left- and right-handed screw 6v. When the first left- and right-handed screw 6s and the second left- and right-handed screw 6v are rotated clockwise simultaneously, the distance between the third stator permanent magnet frame 3c and the fourth stator permanent magnet frame 3d increases, and the negative stiffness value of the device decreases; when the first left- and right-handed screw 6s and the second left- and right-handed screw 6v are rotated counterclockwise simultaneously, the distance between the third stator permanent magnet frame 3c and the fourth stator permanent magnet frame 3d decreases, so that the negative stiffness value of the magnetic negative stiffness mechanism increases.

[0043] It should be understood that expressions such as "including" and "may include" used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit the existence of one or more additional functions, operations, and constituent elements. In this application, terms such as "including" and / or "having" can be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or a combination thereof, but cannot be interpreted as excluding the existence or possibility of addition of one or more other characteristics, numbers, operations, constituent elements, components, or a combination thereof.

[0044] It should be understood that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application 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 this application.

[0045] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more, unless otherwise specifically defined.

[0046] In this application, unless otherwise clearly stipulated and defined, the terms "installed", "connected", "joined", "fixed", etc. shall 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] It is easy for those skilled in the art to understand that the above are only the preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A Halbach magnetic negative stiffness mechanism with high negative stiffness, characterized in that: It includes a support frame, a stator permanent magnet assembly, a mover permanent magnet assembly, a spacing adjustment assembly and a linear guide assembly, wherein the stator permanent magnet assembly and the mover permanent magnet assembly are both Halbach array structures; The stator permanent magnet assembly comprises a first stator permanent magnet group and a second stator permanent magnet group, the first stator permanent magnet group and the second stator permanent magnet group are arranged on the support frame symmetrically, and the first stator permanent magnet group, the second stator permanent magnet group and the mover permanent magnet assembly are parallel to each other; The mover permanent magnet assembly can be movably connected to the support frame along the vertical direction through the linear guide assembly; The spacing adjustment component is arranged on the supporting frame to drive the first stator permanent magnet group and the second stator permanent magnet group to move closer to each other or away from each other.

2. A Halbach magnetic negative stiffness mechanism with high negative stiffness as claimed in claim 1, characterized in that: The mover permanent magnet assembly comprises a first mover permanent magnet group and a second mover permanent magnet group; The first stator permanent magnet group comprises a first stator permanent magnet frame (3a) and a plurality of stator permanent magnets fixedly mounted on the first stator permanent magnet frame (3a); The second stator permanent magnet group comprises a second stator permanent magnet frame (3b) and a plurality of stator permanent magnets fixedly mounted on the second stator permanent magnet frame (3b); The first mover permanent magnet group comprises a first mover permanent magnet frame (4a) and a plurality of mover permanent magnets fixedly mounted on the first mover permanent magnet frame (4a); The second mover permanent magnet group comprises a second mover permanent magnet frame (4b) and a plurality of mover permanent magnets fixedly mounted on the second mover permanent magnet frame (4b).

3. A Halbach magnetic negative stiffness mechanism with high negative stiffness as claimed in claim 2, characterized in that: The support frame comprises a first support side plate (7a), a second support side plate (7b), a support crossbeam (7c) and a first support base (7d); the first support side plate (7a) and the second support side plate (7b) are respectively fixedly connected to two sides of the first support base (7d) and are parallel to each other; the support crossbeam (7c) is fixedly connected between the first support side plate (7a) and the second support side plate (7b); the first mover permanent magnet group, the first stator permanent magnet group, the second stator permanent magnet group and the second mover permanent magnet group are arranged in sequence between the first support side plate (7a) and the second support side plate (7b); and the spacing adjustment component is arranged on the first support side plate (7a) or the second support side plate (7b).

4. A Halbach magnetic negative stiffness mechanism with high negative stiffness as claimed in claim 3, characterized in that: The linear guide assembly comprises a first cross roller guide rail (5a), a second cross roller guide rail (5b), a third cross roller guide rail (5c) and a fourth cross roller guide rail (5d); The first mover permanent magnet frame (4a) is slidably connected between the first supporting side plate (7a) and the second supporting side plate (7b) via a first cross roller guide rail (5a) and a second cross roller guide rail (5b); The second mover permanent magnet frame (4b) is slidably connected between the first supporting side plate (7a) and the second supporting side plate (7b) via a third cross roller guide rail (5c) and a fourth cross roller guide rail (5d).

5. A Halbach magnetic negative stiffness mechanism with high negative stiffness as claimed in claim 3, characterized in that: The spacing adjustment component comprises an adjustment screw (6b), an adjustment screw sleeve (6c), a first rotating arm (6d) and a second rotating arm (6e); the adjustment screw (6b) is rotatably connected between the first supporting side plate (7a) and the second supporting side plate (7b) and one end thereof passes through the first supporting side plate (7a); the adjustment screw sleeve (6c) is sleeved on the other end of the adjustment screw (6b) and is threadedly matched; one end of the first rotating arm (6d) and the second rotating arm (6e) are respectively rotatably connected to the adjustment screw sleeve (6c); the other end of the first rotating arm (6d) is hinged to the first stator permanent magnet frame (3a); and the other end of the second rotating arm (6e) is hinged to the second stator permanent magnet frame (3b).

6. A Halbach magnetic negative stiffness mechanism with high negative stiffness as claimed in claim 3, characterized in that: A first sliding guide rail (61) and a second sliding guide rail (6m) which are parallel to each other are fixedly connected to the first support base (7d), and a sliding block which is slidably matched with the first sliding guide rail (61) and the second sliding guide rail (6m) is fixedly connected to the bottom of the first stator permanent magnet frame (3a) and the second stator permanent magnet frame (3b).

7. A Halbach magnetic negative stiffness mechanism with high negative stiffness as claimed in claim 2, characterized in that: A first top adapter plate (8a) for connecting to a motion frame of a matching vibration isolation system is fixedly connected to the top of the first mover permanent magnet frame (4a) and the second mover permanent magnet frame (4b).

8. A Halbach magnetic negative stiffness mechanism with high negative stiffness as claimed in claim 1, characterized in that: The first stator permanent magnet group comprises a third stator permanent magnet frame (3c) and a plurality of stator permanent magnets fixedly mounted on the third stator permanent magnet frame (3c); the second stator permanent magnet group comprises a fourth stator permanent magnet frame (3d) and a plurality of stator permanent magnets fixedly mounted on the fourth stator permanent magnet frame (3d); The mover permanent magnet assembly is located between the first stator permanent magnet group and the second stator permanent magnet group, and comprises a third mover permanent magnet frame (4c) and a plurality of mover permanent magnets fixedly mounted on the third mover permanent magnet frame (4c).

9. A Halbach magnetic negative stiffness mechanism with high negative stiffness as claimed in claim 8, characterized in that: The spacing adjustment assembly comprises a first positive thread nut (6r), a second positive thread nut (6u), a first negative thread nut (6t), a second negative thread nut (6w), a first positive and negative thread screw (6s) and a second positive and negative thread screw (6v); the first positive and negative thread screw (6s) and the second positive and negative thread screw (6v) are both rotatably connected to the support frame and are arranged in parallel and in the same direction; The first positive thread nut (6r) cooperates with the positive thread portion of the first positive and negative thread screw (6s), the second positive thread nut (6u) cooperates with the positive thread portion of the second positive and negative thread screw (6v), the first negative thread nut (6t) cooperates with the negative thread portion of the first positive and negative thread screw (6s), and the second negative thread nut (6w) cooperates with the negative thread portion of the second positive and negative thread screw (6v); The two ends of the third stator permanent magnet frame (3c) are respectively fixedly connected to the first orthogonal nut (6r) and the second orthogonal nut (6u), and the two ends of the fourth stator permanent magnet frame (3d) are respectively fixedly connected to the first anti-threaded nut (6t) and the second anti-threaded nut (6w).

10. A Halbach magnetic negative stiffness mechanism with high negative stiffness as claimed in claim 8, characterized in that: A second top adapter plate (8b) for connecting to a motion frame of a matching vibration isolation system is fixedly connected to the top of the third mover permanent magnet frame (4c).

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