A halbach magnetic negative stiffness mechanism with high negative stiffness

Abstract

The application belongs to the field of ultra-precision damping, and specifically discloses a Halbach magnetic negative stiffness mechanism with high negative stiffness, which comprises a support frame, a stator permanent magnet assembly, a mover permanent magnet assembly, a spacing adjusting assembly and a linear guide assembly, and 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 symmetrically arranged on the support frame, 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 spacing adjusting assembly is arranged on the support frame to drive the first stator permanent magnet group and the second stator permanent magnet group to move closer to each other or farther away from each other. Through the structural design of the magnetic negative stiffness mechanism, a greater negative stiffness value can be generated in the same space, and the spacing adjusting assembly can be used to adjust the negative stiffness value of the magnetic negative stiffness mechanism, so that the applicability is better.

Description

Technical Field

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

[0002] Environmental vibrations directly affect the operational accuracy and lifespan of precision instruments and equipment, such as precision manufacturing equipment, measuring instruments, and optical systems. Therefore, vibration isolators are necessary in practical applications to reduce harmful vibrations. However, existing passive vibration isolators can only isolate frequencies above the resonant frequency. Vibrations occur within a bandwidth of 10 times the normal frequency. Therefore, it is necessary to reduce the resonant frequency to broaden the isolation bandwidth.

[0003] In related technologies, using a combination of negative stiffness and positive stiffness mechanisms to reduce the resonant frequency is a good low-frequency vibration isolation strategy, which can simultaneously achieve low stiffness and high load-bearing capacity. Depending on the implementation method, existing negative stiffness mechanisms can be divided into passive negative stiffness mechanisms and active / semi-active negative stiffness mechanisms. Active / semi-active negative stiffness mechanisms often have high complexity, low reliability, and high power consumption, thus limiting their application in some environments. In contrast, passive negative stiffness mechanisms are widely used due to their simple structure, high reliability, and lack of energy supply. Based on the different principles of generating negative stiffness, existing negative stiffness mechanisms can be divided into preloaded rod type, permanent magnet type, spring type, and metamaterial type, etc. Among them, permanent magnet negative stiffness mechanisms have attracted widespread attention due to their compact structure and frictionless characteristics.

[0004] The space occupied by existing permanent magnet negative stiffness mechanisms is usually related to the magnitude of their negative stiffness. Larger negative stiffness requires larger design space to achieve, but the design space of the mechanism is often limited, thus limiting the magnitude of the negative stiffness of the permanent magnet negative stiffness mechanism. At the same time, the negative stiffness of existing magnetic negative stiffness mechanisms is not easy to adjust, resulting in poor applicability. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this application provides a Halbach magnetic negative stiffness mechanism with high negative stiffness, aiming to solve the problems that existing permanent magnet negative stiffness mechanisms are limited by design space constraints, which restrict the magnitude of their negative stiffness, and that their negative stiffness is not easy to adjust.

[0006] This application provides a Halbach magnetic negative stiffness mechanism with high negative stiffness, specifically including a support frame, a stator permanent magnet assembly, a mover permanent magnet assembly, a spacing adjustment assembly, and a linear guide assembly. Both the stator and mover permanent magnet assemblies are Halbach array structures. The stator permanent magnet assembly includes a first stator permanent magnet group and a second stator permanent magnet group, which are symmetrically arranged on the support frame. The first, second, and mover permanent magnet groups are parallel to each other. The mover permanent magnet assembly is vertically connected to the support frame via the linear guide assembly. The spacing adjustment assembly is disposed on the support frame to drive the first and second stator permanent magnet groups to move closer or further apart.

[0007] Compared with the prior art, the technical solution conceived in this application has the advantage that, since each permanent magnet in the stator permanent magnet assembly and the mover permanent magnet assembly of the magnetic negative stiffness mechanism is arranged in a Halbach array, this arrangement can enhance the magnetic field strength on one side of the permanent magnet group, thus generating a larger negative stiffness value in the same space. At the same time, the spacing adjustment component can adjust the spacing between the first stator permanent magnet group and the second stator permanent magnet group, thereby changing the spacing between the first stator permanent magnet group, the second stator permanent magnet group and the mover permanent magnet assembly, thereby achieving the effect of adjusting the negative stiffness value of the magnetic negative stiffness mechanism.

[0008] As a further preferred embodiment, 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 a plurality of stator permanent magnets fixedly installed on the first stator permanent magnet frame;

[0009] The second stator permanent magnet assembly includes a second stator permanent magnet frame and a plurality of stator permanent magnets fixedly mounted on the second stator permanent magnet frame;

[0010] The first moving permanent magnet assembly includes a first moving permanent magnet frame and a plurality of moving permanent magnets fixedly installed on the first moving permanent magnet frame;

[0011] The second moving permanent magnet assembly includes a second moving permanent magnet frame and a plurality of moving permanent magnets fixedly mounted on the second moving permanent magnet frame.

[0012] As a further preferred embodiment, the support frame includes a first support side plate, a second support side plate, a support beam, and a first support base. The first and second support side plates are respectively fixedly connected to both sides of the first support base and are parallel to each other. The support beam is fixedly connected between the first and second support side plates. The first moving permanent magnet group, the first stator permanent magnet group, the second stator permanent magnet group, and the second moving permanent magnet group are sequentially arranged between the first and second support side plates. The spacing adjustment component is disposed on the first or second support side plate.

[0013] As a further preferred embodiment, the linear guide assembly includes a first cross roller guide, a second cross roller guide, a third cross roller guide, and a fourth cross roller guide; the first moving permanent magnet frame is slidably connected between the first support side plate and the second support side plate via the first cross roller guide and the second cross roller guide; the second moving permanent magnet frame is slidably connected between the first support side plate and the second support side plate via the third cross roller guide and the fourth cross roller guide.

[0014] As a further preferred embodiment, the spacing adjustment assembly includes an adjustment screw, an adjustment sleeve, a first rotating arm, and a second rotating arm. The adjustment screw is rotatably connected between the first and second support side plates, with one end passing through the first support side plate. The adjustment sleeve is fitted onto the other end of the adjustment screw and is threadedly engaged. One end of the first and second rotating arms is rotatably connected to the adjustment sleeve, and 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.

[0015] As a further preferred embodiment, a first sliding guide rail and a second sliding guide rail that are parallel to each other are fixedly connected to the first support base, and a slider that is slidably adapted to the first sliding guide rail and the second sliding guide rail is fixedly connected to the bottom of both the first stator permanent magnet frame and the second stator permanent magnet frame.

[0016] As a further preferred embodiment, the top of the first moving permanent magnet frame and the second moving permanent magnet frame are fixedly connected to a first top adapter plate for connecting a matching vibration isolation system.

[0017] As a further preferred embodiment, the first stator permanent magnet group includes a third stator permanent magnet frame and a plurality of stator permanent magnets fixedly mounted 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 mounted on the fourth stator permanent magnet frame.

[0018] 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.

[0019] As a further preferred embodiment, the spacing adjustment assembly includes a first positive thread nut, a second positive thread nut, a first negative thread nut, a second negative thread nut, a first positive-negative thread screw, and a second positive-negative thread screw. Both the first positive-negative thread screw and the second positive-negative thread screw are rotatably connected to the support frame and arranged in parallel and in the same direction. The first positive thread nut engages with the positive thread portion of the first positive-negative thread screw, the second positive thread nut engages with the positive thread portion of the second positive-negative thread screw, the first negative thread nut engages with the negative thread portion of the first positive-negative thread screw, and the second negative thread nut engages with the negative thread portion of the second positive-negative thread screw. The two ends of the third stator permanent magnet frame are respectively fixedly connected to the first positive thread nut and the second positive thread nut, and the two ends of the fourth stator permanent magnet frame are respectively fixedly connected to the first negative thread nut and the second negative thread nut.

[0020] As a further preferred embodiment, the top of the third moving permanent magnet frame is fixedly connected to a second top adapter plate for connecting a matching vibration isolation system to the motion frame.

[0021] In summary, compared with the prior art, the technical solutions conceived in this application have the following main technical advantages:

[0022] 1. In this application, each permanent magnet in the stator permanent magnet assembly and the mover permanent magnet assembly is arranged in a Halbach array, so that any stator permanent magnet generates a repulsive force with any adjacent mover permanent magnet on the left and right, while generating negative stiffness along the vibration direction. This arrangement can enhance the magnetic field strength on one side of the permanent magnet assembly, thus generating a larger negative stiffness value in the same space.

[0023] 2. This application incorporates a spacing adjustment component, which allows for adjustment of the spacing between the first stator permanent magnet group and the second stator permanent magnet group. This alters the spacing between the first stator permanent magnet group, the second stator permanent magnet group, and the mover permanent magnet assembly, thereby adjusting the negative stiffness value of the magnetic negative stiffness mechanism. This allows for adjustment according to actual needs, resulting in better applicability.

[0024] 3. In practical applications, the magnetic negative stiffness mechanism of this application can be connected in parallel with a positive stiffness mechanism with high load-bearing capacity. By reasonably matching the stiffness values ​​of the negative stiffness mechanism and the positive stiffness mechanism, the overall stiffness can be made close to zero while ensuring high load-bearing capacity, thereby obtaining excellent low-frequency vibration isolation performance. Attached Figure Description

[0025] Figure 1This is a schematic diagram of the overall structure of the magnetic negative stiffness mechanism provided in Embodiment 1 of this application;

[0026] Figure 2 This is a cross-sectional view of the magnetic pole portion of the magnetic negative stiffness mechanism provided in Embodiment 1 of this application;

[0027] Figure 3 This is a schematic diagram of the overall structure of the first stator permanent magnet assembly provided in Embodiment 1 of this application;

[0028] Figure 4 This is a schematic diagram of the overall structure of the first moving permanent magnet assembly provided in Embodiment 1 of this application;

[0029] Figure 5 This is a schematic diagram of the overall structure of the linear guide assembly provided in Embodiment 1 of this application;

[0030] Figure 6 This is a schematic diagram of the overall structure of the spacing adjustment component provided in Embodiment 1 of this application;

[0031] Figure 7 This is an exploded schematic diagram of the magnetic negative stiffness mechanism provided in Embodiment 1 of this application;

[0032] Figure 8 This is a stiffness curve diagram of the magnetic negative stiffness mechanism provided in Embodiment 1 of this application;

[0033] Figure 9 This is a schematic diagram of the overall structure of the magnetic negative stiffness mechanism provided in Embodiment 2 of this application;

[0034] Figure 10 This is a cross-sectional view of the magnetic pole portion of the magnetic negative stiffness mechanism provided in Embodiment 2 of this application;

[0035] Figure 11 This is a schematic diagram of the overall structure of the first stator permanent magnet assembly provided in Embodiment 2 of this application;

[0036] Figure 12 This is a schematic diagram of the overall structure of the moving permanent magnet assembly provided in Embodiment 2 of this application;

[0037] Figure 13 This is a schematic diagram of the overall structure of the linear guide assembly provided in Embodiment 2 of this application;

[0038] Figure 14 This is a schematic diagram of the overall structure of the spacing adjustment component provided in Embodiment 2 of this application;

[0039] Figure 15 This is an exploded schematic diagram of the magnetic negative stiffness mechanism provided in Embodiment 2 of this application.

[0040] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0041] 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 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 housing; 6o, Second bearing housing; 6p 6q, 6r, 6s, 6t, 6u, 6v, 6w, 6a, 7b, 7c, 7d, 7e, 7f, 7g, 7h, 8a, 8b, 8b, 8g, 8a, 8b, 8g ... Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0043] Example 1:

[0044] Reference Figure 1 and Figure 7This application discloses a Halbach magnetic negative stiffness mechanism with high negative stiffness, designed based on a Halbach array (a Halbach array is a magnetic structure, an approximately ideal structure in engineering, generating the strongest magnetic field with the least amount of magnets), which enhances the magnetic field strength around the moving permanent magnet, thereby generating 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 guide assembly. The negative stiffness of the magnetic negative stiffness mechanism is generated by the interaction force between the stator and mover permanent magnet assemblies. Both the stator and mover permanent magnet assemblies are Halbach array structures. The first stator... The permanent magnet assembly and the second stator permanent magnet assembly are symmetrically arranged on the support frame. The first stator permanent magnet assembly, the second stator permanent magnet assembly, and the mover permanent magnet assembly are parallel to each other. The linear guide component is used to restrict the mover permanent magnet frame to only move in one 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 guide component. The spacing adjustment component is set on the support frame to drive the first stator permanent magnet assembly and the second stator permanent magnet assembly to move closer to each other or further apart, thereby achieving the purpose of adjusting the stiffness value of the magnetic negative stiffness device. In the magnetic negative stiffness mechanism of this application, the linear guide component and the spacing adjustment component are fixed by the support frame and connected to the base plate of the vibration isolator that matches the magnetic negative stiffness device. The top adapter plate is connected to the top plate of the vibration isolator that matches the magnetic negative stiffness device. The magnetic negative stiffness mechanism is connected in parallel with the vibration isolation system, which can reduce the vertical resonance frequency, widen the vibration isolation bandwidth, and improve the vibration reduction performance.

[0045] Reference Figure 3In 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 sequentially from top to bottom in a Halbach array. 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 bonded and fixed to the rectangular cutouts on the first stator permanent magnet frame 3a by high-strength structural adhesive. Each corner of the rectangular cutouts on the first stator permanent magnet frame 3a is provided with an overflow hole for adhesive. The second stator permanent magnet assembly includes, from top to bottom, 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 a Halbach array. 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 bonded and fixed to the rectangular cutouts on the second stator permanent magnet frame 3b using high-strength structural adhesive. Each corner of the rectangular cutouts on the second stator permanent magnet frame 3b has an overflow hole. The frame of the first stator permanent magnet frame 3a and the second stator permanent magnet frame 3b is hollow in shape, and the bottom is provided with four U-shaped grooves for fixing the permanent magnets.

[0046] Furthermore, the first stator permanent magnet group is fixedly connected to the spacing adjustment component via the first stator permanent magnet frame 3a, and the second stator permanent magnet group is fixedly connected to the spacing adjustment component via 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, thereby changing the negative stiffness value of the magnetic negative stiffness mechanism of this application.

[0047] Reference Figure 4Similarly, the moving permanent magnet assembly includes a first moving permanent magnet group and a second moving permanent magnet group. The first moving permanent magnet group includes a first moving permanent magnet frame 4a and a plurality of moving permanent magnets fixedly installed on the first moving permanent magnet frame 4a. The second moving permanent magnet group includes a second moving permanent magnet frame 4b and a plurality of moving permanent magnets fixedly installed on the second moving permanent magnet frame 4b. Specifically, the first moving permanent magnet group includes a first moving permanent magnet 2a, a second moving permanent magnet 2b, a third moving permanent magnet 2c, a fourth moving permanent magnet 2d, and a fifth moving permanent magnet 2e arranged sequentially from top to bottom in a Halbach array. The first moving permanent magnet 2a, the second moving permanent magnet 2b, the third moving permanent magnet 2c, the fourth moving permanent magnet 2d, and the fifth moving permanent magnet 2e are bonded and fixed to the rectangular groove on the first moving permanent magnet frame 4a by high-strength structural adhesive. The four edges along the horizontal direction coincide, that is, the sides are located on the same plane. The rectangular groove on the first moving permanent magnet frame 4a has holes at the four corners as overflow space for adhesive. The second mover permanent magnet assembly includes, from top to bottom, 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 a Halbach array pattern. 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 mounted in rectangular grooves on the second mover permanent magnet frame 4b in the same manner. Holes are provided at the four corners of the rectangular grooves on the second mover permanent magnet frame 4b to serve as overflow space for adhesive. The first mover permanent magnet frame 4a and the second mover permanent magnet frame 4b are parallel to each other and arranged opposite each other. The frames are rectangular in shape, with a central groove for fixing the permanent magnets, rectangular grooves on both sides with four evenly distributed threaded holes, and two threaded holes on the top.

[0048] Reference Figure 2 Specifically, after 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 direction 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 is to the right; the magnetization direction 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 is to the left; the magnetization direction 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 is upward; and the magnetization direction 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 is downward.

[0049] In this embodiment, all stator permanent magnets and all mover permanent magnets are cuboids with right angles, rounded corners, or chamfers at the edges. All permanent magnets are the same size and have a square cross-section.

[0050] More specifically, in this embodiment, the support frame includes a first support side plate 7a, a second support side plate 7b, a support 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 beam 7c is fixedly connected between the first support side plate 7a and the second support side plate 7b to improve the overall rigidity of the support frame. The first moving permanent magnet assembly, the first stator permanent magnet assembly, the second stator permanent magnet assembly, and the second moving permanent magnet assembly are arranged from left to right between the first support side plate 7a and the second support side plate 7b, and are symmetrically distributed from left to right. The gap between the first moving permanent magnet assembly and the second moving permanent magnet assembly is fixed, while the spacing between the first stator permanent magnet assembly and the second stator permanent magnet assembly is variable. All permanent magnets in the permanent magnet assembly are arranged in a Halbach array. The strong magnetic field generated by the first moving permanent magnet assembly and the second stator permanent magnet group is located on the right, and the strong magnetic field generated by the first stator permanent magnet group and the second moving permanent magnet assembly is located on the left. The spacing adjustment assembly is disposed on the first support side plate 7a or the second support side plate 7b. The linear guide assembly is used to limit the moving permanent magnet assembly to only perform linear reciprocating motion relative to the stator permanent magnet assembly. Specifically, the first moving permanent magnet group and the second moving permanent magnet group are both slidably connected between the first support side plate 7a and the second support side plate 7b in a direction perpendicular to the first support base 7d through the linear guide assembly.

[0051] Reference Figure 5The linear guide assembly includes a first crossed roller guide 5a, a second crossed roller guide 5b, a third crossed roller guide 5c, and a fourth crossed roller guide 5d. The first crossed roller guide 5a, the second crossed roller guide 5b, the third crossed roller guide 5c, and the fourth crossed roller guide 5d are respectively installed at the four corners of a rectangular frame formed by the first supporting side plate 7a, the second supporting side plate 7b, the first moving permanent magnet frame 4a, and the second moving permanent magnet frame 4b. Specifically, the first crossed roller guide 5a is located between the first supporting side plate 7b and the first moving permanent magnet frame 4a, and the second crossed roller guide 5b is located at the four corners of the rectangular frame formed by the first supporting side plate 7a, the second supporting side plate 7b, the first moving permanent magnet frame 4a, and the fourth crossed roller guide 5d. Between the second support side plate 7a and the first moving permanent magnet frame 4a, a third cross roller guide rail 5c is disposed between the first support side plate 7a and the second moving permanent magnet frame 4b, and a fourth cross roller guide rail 5d is disposed between the second support side plate 7b and the second moving permanent magnet frame 4b; the first moving permanent magnet frame 4a is slidably connected between the first support side plate 7a and the second support side plate 7b through the first cross roller guide rail 5a and the second cross roller guide rail 5b, and the second moving permanent magnet frame 4b is slidably connected between the first support side plate 7a and the second support side plate 7b through the third cross roller guide rail 5c and the fourth cross roller guide rail 5d. The stator portions of the first crossed roller guide 5a, the second crossed roller guide 5b, the third crossed roller guide 5c, and the fourth crossed roller guide 5d are fixedly connected to the corresponding support side plates by screws, and the mover portions of the first crossed roller guide 5a, the second crossed roller guide 5b, the third crossed roller guide 5c, and the fourth crossed roller guide 5d are fixedly connected to the corresponding mover permanent magnet frame by screws.

[0052] Reference Figure 6 To adjust the relative position between the first stator permanent magnet group and the second stator permanent magnet group, the first stator permanent magnet frame 3a and the second stator permanent magnet frame 3b are both slidably mounted on the first support base 7d. The spacing adjustment component is mounted 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.

[0053] Specifically, the spacing adjustment assembly includes an adjustment handle 6a, an adjustment screw 6b, an adjustment sleeve 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, with one end passing 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 an interference fit. The adjustment handle 6a, fixed to the end of the adjustment screw 6b, is exposed outside the support frame. The adjustment sleeve 6c is fitted onto the other end of the adjustment screw 6b and has a threaded fit. Rotating the adjustment handle... 6a causes the adjusting sleeve 6c to move axially along the adjusting screw 6b. The first rotating arm 6d and the second rotating arm 6e are both rotatably connected to the adjusting sleeve 6c with a small clearance fit. Specifically, the adjusting sleeve has cylindrical tension bodies on its upper and lower sides. These cylindrical tension bodies on both sides of the adjusting sleeve are respectively in a small clearance fit with the first and second rotating arms. The first and second rotating arms can rotate around the cylindrical tension bodies on both sides of the adjusting sleeve. The other end of the first rotating arm 6d is hinged to the first stator permanent magnet frame 3a via a first pin 6f, and the other end of the second rotating arm 6e is hinged to the second stator permanent magnet frame 3b via a second pin 6g. When the adjusting sleeve 6c moves axially along the adjusting screw 6b, the first rotating arm 6d and the second rotating arm 6e simultaneously rotate relative to or towards each other around the adjusting sleeve 6c, further driving the first stator permanent magnet frame 3a and the second stator permanent magnet frame 3b to move towards or relative to each other, thereby achieving the purpose of adjusting the negative stiffness value of the magnetic negative stiffness device.

[0054] Reference 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 bottom of the first stator permanent magnet frame 3a and the second stator permanent magnet frame 3b are both fixedly connected to sliders that are adapted to slide with 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 the first slider 6h and the second slider 6i by screws, and the bottom of the second stator permanent magnet frame 3b is fixedly connected to the third slider 6j and the 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.

[0055] Reference Figure 1In this embodiment, the top of the first moving permanent magnet frame 4a and the second moving permanent magnet frame 4b are fixedly connected to the first top adapter plate 8a by screws. The first top adapter plate 8a has four threaded holes. The magnetic negative stiffness mechanism of this application is connected to the motion frame of the matching vibration isolation system through the four threaded holes on the first top adapter plate 8a.

[0056] 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.

[0057] Example 2:

[0058] Reference 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; 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 fixedly bonded to 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 fixedly bonded to 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 arranged parallel to each other and opposite to each other. A rectangular groove is provided in the center for fixing the permanent magnet, and two U-shaped grooves and four threaded holes are provided at both ends for fixing.

[0059] Reference Figure 12Furthermore, in this embodiment, the mover permanent magnet assembly includes a third mover permanent magnet frame 4c and a plurality 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, it consists 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, and a seventh mover permanent magnet 2d. The eighth, ninei, and tenth permanent magnets (2j, 2g, 2h, 2i, and 2j) together constitute the permanent magnet assembly. These permanent magnets are bonded together and fixed with high-strength structural adhesive, arranged in a 5x2 grid of seamless rectangular blocks. The entire assembly is embedded and fixed in the central hollow of the third permanent magnet frame 4c. Both ends of the third permanent magnet frame 4c are square column adapters, each with threaded holes at the top. The third permanent magnet frame 4c is rectangular in shape, narrow in the center and wide at the sides, with an internal hollow. Several permanent magnets are tightly bonded together with high-strength structural adhesive and fixed to the internal hollow of the third permanent magnet frame 4c.

[0060] Reference Figure 10 Specifically, after 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 and second stator permanent magnet groups and is parallel to each other. The first stator permanent magnet group, the mover permanent magnet assembly, and the second stator permanent magnet group are arranged sequentially from left to right and are symmetrically distributed. The first stator permanent magnet group and the second stator permanent magnet group are located on the left and right sides of the mover permanent magnet assembly, respectively, and the distance between them is variable. The permanent magnets in all permanent magnet assemblies are arranged in a Halbach array pattern, with the strong magnetic field generated by the mover permanent magnet assembly located on the left side, and the strong magnetic field generated by the first stator permanent magnet group and the second mover permanent magnet assembly located 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; and 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.

[0061] Reference Figure 9 and Figure 15In this embodiment, the support frame includes a top support plate 7e, a second support base 7f, a third support side plate 7g, and a fourth support side plate 7h. The top support 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 have a rectangular hollow structure for fixing the linear guide assembly and the spacing adjustment assembly. The top support plate 7e and the second support base 7f are symmetrically arranged vertically and parallel to each other, while the third support side plate 7g and the fourth support side plate 7h are symmetrically arranged horizontally between the top support plate 7e and the second support base 7f.

[0062] Reference Figure 13 More specifically, the linear guide assembly includes a first linear bearing 5e, a second linear bearing 5f, a first optical axis 5g, and a second optical axis 5h. Both the first linear bearing 5e and the second linear bearing 5f have countersunk holes. The first linear bearing 5e and the second linear bearing 5f are fixedly installed on the support top plate 7e by screws passing through the countersunk holes. The first linear bearing 5e and the first optical axis 5g cooperate with each other. The bottom end of the first optical axis 5g is threaded and threadedly connected to one end of the third mover permanent magnet frame 4c. The top end of the first optical axis 5g has a boss and threads, and is threadedly connected to a second top adapter plate. The second linear bearing 5f and the second optical axis 5h cooperate with each other. The bottom end of the second optical axis 5h is threaded and threadedly connected to the other end of the third mover permanent magnet frame 4c. The top end of the second optical axis 5h has a boss and threads, and is 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 horizontally.

[0063] Reference Figure 14 Furthermore, the spacing adjustment assembly includes a first bearing housing 6n, a second bearing housing 6o, a third bearing housing 6p, a fourth bearing housing 6q, 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 / negative thread screw 6s, and a second positive / negative thread screw 6v. Countersunk holes are provided on the first bearing housing 6n, the second bearing housing 6o, the third bearing housing 6p, and the fourth bearing housing 6q. These housings are fixed to the support frame using screws passing through the countersunk holes. The first positive / negative thread screw 6s and the second positive / negative thread screw 6v are arranged parallel and in the same direction, with positive and negative threads respectively at their upper and lower ends. The first positive / negative thread screw 6s is rotatably connected to the support frame via the first bearing housing 6n and the third bearing housing 6p, and the second positive / negative thread screw 6v is rotatably connected to the support frame via the second bearing housing 6o and the fourth bearing housing 6q. The first positive thread nut 6r and the second positive thread nut 6u are respectively engaged with the positive thread portion at the upper end of the first positive and negative thread screw 6s and the second positive and negative thread screw 6v, and the first negative thread nut 6t and the second negative thread nut 6w are respectively engaged with the negative thread portion at the lower end of the first positive and negative thread screw 6s and the second positive and negative thread screw 6v.

[0064] Furthermore, the two ends of the third stator permanent magnet frame 3c are respectively fixed to the first positive thread nut 6r and the second positive thread nut 6u by two screws, and the two ends of the fourth stator permanent magnet frame 3d are respectively fixed to the first negative thread nut 6t and the second negative thread 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 the ends of the first positive and negative thread screws 6s and the second positive and negative thread screws 6v, 10-15mm from the edge. When the first positive and negative thread screws 6s and the second positive and negative thread screws 6v are rotated clockwise, 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 positive and negative thread screws 6s and the second positive and negative thread screws 6v are rotated counterclockwise, the distance between the third stator permanent magnet frame 3c and the fourth stator permanent magnet frame 3d decreases, and the negative stiffness value of the magnetic negative stiffness mechanism increases.

[0065] It should be understood that expressions such as "comprising" and "may include" as used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as "comprising" and / or "having" may be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or combination thereof, but should not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0066] It should be understood that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0067] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0068] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0069] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should 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 both the stator permanent magnet assembly and the mover permanent magnet assembly are Halbach array structures; 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 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 moving permanent magnet assembly can be movably connected to the support frame in the vertical direction via the linear guide assembly; The spacing adjustment component is disposed on the support frame to drive the first stator permanent magnet group and the second stator permanent magnet group to move closer to or further away from each other.

2. The Halbach magnetic negative stiffness mechanism with high negative stiffness as described in claim 1, characterized in that, The moving permanent magnet assembly includes a first moving permanent magnet group and a second moving permanent magnet group; The first stator permanent magnet assembly includes 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 assembly includes 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 moving permanent magnet assembly includes a first moving permanent magnet frame (4a) and a plurality of moving permanent magnets fixedly mounted on the first moving permanent magnet frame (4a); The second mover permanent magnet assembly includes 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. The Halbach magnetic negative stiffness mechanism with high negative stiffness as described in claim 2, characterized in that, The support frame includes a first support side plate (7a), a second support side plate (7b), a support 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 beam (7c) is fixedly connected between the first support side plate (7a) and the second support side plate (7b). The first moving permanent magnet group, the first stator permanent magnet group, the second stator permanent magnet group, and the second moving permanent magnet group are sequentially arranged between the first support side plate (7a) and the second support side plate (7b). The spacing adjustment component is disposed on the first support side plate (7a) or the second support side plate (7b).

4. The Halbach magnetic negative stiffness mechanism with high negative stiffness as described in claim 3, characterized in that, The linear guide assembly includes a first crossed roller guide (5a), a second crossed roller guide (5b), a third crossed roller guide (5c), and a fourth crossed roller guide (5d); The first moving permanent magnet frame (4a) is slidably connected between the first support side plate (7a) and the second support side plate (7b) via the first cross roller guide (5a) and the second cross roller guide (5b); The second moving permanent magnet frame (4b) is slidably connected between the first support side plate (7a) and the second support side plate (7b) via the third cross roller guide (5c) and the fourth cross roller guide (5d).

5. A Halbach magnetic negative stiffness mechanism with high negative stiffness as described in claim 3, characterized in that, The spacing adjustment assembly includes an adjusting screw (6b), an adjusting sleeve (6c), a first rotating arm (6d), and a second rotating arm (6e). The adjusting screw (6b) is rotatably connected between the first support side plate (7a) and the second support side plate (7b), with one end passing through the first support side plate (7a). The adjusting sleeve (6c) is fitted onto the other end of the adjusting screw (6b) and is threadedly engaged. One end of the first rotating arm (6d) and the second rotating arm (6e) are respectively rotatably connected to the adjusting 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. The Halbach magnetic negative stiffness mechanism with high negative stiffness as described in claim 3, characterized in that, The first support base (7d) is fixedly connected with a first sliding guide rail (6l) and a second sliding guide rail (6m) that are parallel to each other. The bottom of the first stator permanent magnet frame (3a) and the second stator permanent magnet frame (3b) are both fixedly connected with sliders that are adapted to slide with the first sliding guide rail (6l) and the second sliding guide rail (6m).

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

8. A Halbach magnetic negative stiffness mechanism with high negative stiffness as described in claim 1, characterized in that, The first stator permanent magnet group includes a third stator permanent magnet frame (3c) and a plurality of stator permanent magnets fixedly installed on the third stator permanent magnet frame (3c); the second stator permanent magnet group includes a fourth stator permanent magnet frame (3d) and a plurality of stator permanent magnets fixedly installed 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 includes a third mover permanent magnet frame (4c) and a plurality of mover permanent magnets fixedly installed on the third mover permanent magnet frame (4c).

9. A Halbach magnetic negative stiffness mechanism with high negative stiffness as described in claim 8, characterized in that, The spacing adjustment assembly includes 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 rotatably connected to the support frame and arranged in parallel and in the same direction. The first positive thread nut (6r) is engaged with the positive thread portion of the first positive and negative thread screw (6s), the second positive thread nut (6u) is engaged with the positive thread portion of the second positive and negative thread screw (6v), the first negative thread nut (6t) is engaged with the negative thread portion of the first positive and negative thread screw (6s), and the second negative thread nut (6w) is engaged 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 fixedly connected to the first orthogonal nut (6r) and the second orthogonal nut (6u) respectively, and the two ends of the fourth stator permanent magnet frame (3d) are fixedly connected to the first reverse nut (6t) and the second reverse nut (6w) respectively.

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

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