Semi-active quasi-zero stiffness torsional vibration isolation device

Abstract

The invention relates to the technical field of low-frequency torsional vibration control, in particular to a semi-active quasi-zero-stiffness torsional vibration isolation device which comprises a cylindrical shell, and a load is connected to one end of the shell. The center shaft module is connected to one end, far away from the load, of the shell. The end, located in the shell, of the center shaft module is connected with a shell inner cavity. The electromagnetic torsion spring comprises an outer ring electromagnetic module and an inner ring permanent magnet which are correspondingly arranged, the outer ring electromagnetic module and the inner ring permanent magnet are coaxially arranged in a sleeved mode, the inner ring permanent magnet is installed on the middle shaft module, and the outer ring electromagnetic module is installed in an inner cavity of the shell. The control system is electrically connected with the outer ring electromagnetic module; the electromagnetic torsion spring and the middle shaft module are connected in parallel, and the quasi-zero stiffness characteristic of the torsion vibration isolation device is achieved according to the stiffness superposition principle of a parallel mechanism. The low-frequency torsional vibration isolation device is compact and simple in structure, easy to control, capable of being miniaturized, capable of achieving low-frequency torsional vibration isolation under the condition that load torque changes by adjusting current and wide in application range.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of low-frequency torsional vibration control, and particularly relates to a semi-active quasi-zero stiffness torsional vibration isolation device. BACKGROUND

[0002] Suppression of the propagation of low-frequency vibration has always been an urgent problem to be solved in practical engineering. The most common low-frequency torsional vibration in the transmission shaft system not only causes longitudinal vibration and transverse vibration of the shaft system, but also causes the crankshaft, intermediate shaft and camshaft to break, local shaft section heating and other hazards, which has become a resistance to the development of high-precision industrial fields in China. Therefore, the suppression of low-frequency torsional vibration has become an important problem that cannot be avoided in the development of modern science and technology and industrial fields.

[0003] At present, the methods for controlling torsional vibration are mostly passive. These torsional vibration isolators have the disadvantages of complex structure, large size, poor load adaptability and weak low-frequency vibration isolation performance. For example, the patent for invention with the publication number CN112145624A discloses a torsional vibration damper with centrifugal pendulum, describes a torsional vibration damper designed as a double-mass flywheel, which includes a primary flywheel mass and a secondary flywheel mass. It can be seen that the installation space requirement is large, the application range is limited, and there may be the disadvantages of insufficient inertia moment of the pendulum mass and weak low-frequency vibration isolation performance. The patent for invention with the publication number CN113931973A discloses a torsional vibration isolator for a ship propulsion shaft system. The isolator includes a shell, a supporting circular plate and a triangular strut. The upper and lower ends of the shell are provided with semicircular elastic members. The upper and lower ends of the supporting circular plate are provided with buffer structures. The upper and lower ends of the triangular strut are provided with buffer columns, and one end is fixedly installed with a push strut plate. One end of the push strut plate is provided with a first clamping arc block. The right side of the first clamping arc block is also provided with a second clamping arc block. It can be found that the torsional vibration isolator has a complex structure, and it cannot adapt to the load change of the propulsion shaft system by adjusting the parameters for different working conditions during ship navigation, so it is difficult to meet the torsional vibration suppression under variable load. In addition, the patent for invention with the publication number CN104455199A discloses a torsional quasi-zero stiffness isolator composed of a rubber spring and a cam, which has poor controllability. The patent for invention with the publication number CN109027124A discloses a torsional quasi-zero stiffness isolator with adjustable negative stiffness and a control method. Although the control method is added on the basis of passive vibration suppression, only the negative stiffness can be adjusted. When the load changes greatly, the isolator will deviate greatly from the quasi-zero stiffness state, affecting the isolation effect. The patent for invention with the publication number CN112780724A discloses a stiffness-adjustable quasi-zero stiffness torsional isolator and method. The quasi-zero stiffness characteristic of the isolator is maintained by adjusting the structural parameters of the positive and negative stiffness mechanisms. However, the mechanical adjustment method for the structural parameters has the disadvantages of complex structure, large size, difficulty in miniaturization and precision, slow control response and low precision.

[0004] Therefore, in order to solve the above technical problems, the present application provides a semi-active quasi-zero stiffness torsional vibration isolation device. SUMMARY

[0005] The present application aims to provide a semi-active quasi-zero stiffness torsional vibration isolation device to solve the problems in the prior art.

[0006] To achieve the above-mentioned purpose, the present application provides the following scheme: the present application provides a semi-active quasi-zero stiffness torsional vibration isolation device, comprising: The shell is cylindrical, and the load is connected to one end of the shell. The middle shaft module is connected to the end of the shell away from the load, and one end of the middle shaft module in the shell is connected to the inner cavity of the shell, and the end of the middle shaft module away from the load extends out of the shell. The electromagnetic torsional spring comprises an outer ring electromagnetic module and an inner ring permanent magnet arranged correspondingly, the outer ring electromagnetic module and the inner ring permanent magnet are coaxially sleeved, the inner ring permanent magnet is installed on the middle shaft module, and the outer ring electromagnetic module is installed in the inner cavity of the shell. The control system is electrically connected with the outer ring electromagnetic module.

[0007] Preferably, the middle shaft module comprises a central shaft installed at the end of the shell away from the load, and the inner ring permanent magnet is installed on the central shaft; a plurality of circular cross-section flexible rods are equidistantly arranged in the circumferential direction and connected to the end of the inner cavity of the shell.

[0008] Preferably, the middle shaft module further comprises a connecting flange, the connecting flange is fixedly connected to the end of the central shaft in the inner cavity of the shell, and a plurality of circular cross-section flexible rods are equidistantly arranged in the axial direction and fixedly connected to the end face of the connecting flange away from the central shaft.

[0009] Preferably, a screw hole is formed in one side of the central shaft in the shell, a connecting hole corresponding to the screw hole is formed in the connecting flange, and the connecting flange and the central shaft are locked and connected through the screw hole and the connecting hole.

[0010] Preferably, the middle shaft module further comprises a bearing, the inner ring of the bearing is sleeved on the central shaft and is in interference fit with the central shaft, and the outer ring of the bearing is embedded in the shell.

[0011] Preferably, a mounting hole adapted to the bearing is formed in the end of the shell away from the load, and the outer ring of the bearing is embedded in the mounting hole and is in interference fit with the mounting hole.

[0012] Preferably, the inner ring permanent magnet is provided with a plurality of first magnetic poles arranged at equal intervals, and the outer ring electromagnetic module is provided with a plurality of second magnetic poles of the same number as the first magnetic poles and arranged at equal intervals along the axis. When the outer ring electromagnetic module is energized, the first magnetic poles and the second magnetic poles generate a repulsive force.

[0013] Preferably, the electromagnetic torsion spring further includes an inner magnetic ring sleeve, which is sleeved and fixedly connected to the central shaft, and the inner ring permanent magnet is embedded and fixed on the inner magnetic ring sleeve.

[0014] Preferably, the outer casing includes a cylindrical first casing and a second casing, which are correspondingly disposed and fixedly joined together; the mounting hole is opened on the end face of the first casing away from the second casing, and the load is fixed on the end of the second casing away from the first casing.

[0015] Preferably, the control system includes an electrically connected DC current controller and a computer, wherein the DC current controller is electrically connected to the outer loop electromagnetic module.

[0016] Compared with existing technologies, this invention has the following advantages and technical effects: This invention discloses a semi-active quasi-zero stiffness torsional vibration isolation device. It achieves low-frequency torsional vibration isolation through modular design. The outer shell is cylindrical, serving as the basic load-bearing component of the device. One end is used to connect to the external load, providing an installation reference and protective space for the entire device. Various components can be integrated and installed onto the outer shell, resulting in a compact structure, high integration, easy installation and miniaturization, and adaptability to different installation space requirements. The central axis module is connected to the end of the outer shell away from the load. Part of its structure is located within the inner cavity of the outer shell and connected to it. The other end extends out of the outer shell, forming the core shaft system for vibration transmission. This system transmits torque and supports internal components, forming a positive stiffness structure. When the outer ring electromagnetic module is energized, it generates a repulsive force with the inner ring permanent magnet, forming a negative stiffness mechanism. Through the superposition of positive and negative stiffness, when their stiffness values ​​are similar, the device exhibits quasi-zero stiffness characteristics, effectively suppressing low-frequency torsional vibration and solving the problem of weak low-frequency vibration isolation performance in traditional vibration isolators. The electromagnetic torsion spring comprises an outer ring electromagnetic module and an inner ring permanent magnet, which are correspondingly and coaxially fitted to ensure the coaxiality and stability of the magnetic field. The inner ring permanent magnet is mounted on the central axis module and moves synchronously with it. The outer ring electromagnetic module is fixed inside the outer shell and remains relatively stationary. When the outer ring electromagnetic module is energized, it repels the inner ring permanent magnet, forming the required negative stiffness mechanism. The control system is electrically connected to the outer ring electromagnetic module and can adjust its operating state via electrical signals, thereby adjusting the current of the outer ring electromagnetic module. This allows for flexible changes in the repulsive force between the outer ring electromagnetic module and the inner ring permanent magnet, thus adjusting the magnitude of the negative stiffness and achieving dynamic matching between negative and positive stiffness. Even with changes in load torque, it maintains near-zero stiffness characteristics, solving the problem of poor load adaptability in traditional passive vibration isolators. The control system directly adjusts the current through electrical signals. Compared with mechanical adjustment, it has a faster response speed and controllable current adjustment precision. It can accurately match the stiffness requirements under different working conditions, improve the stability of vibration isolation effect, and specifically solve the problem of low-frequency torsional vibration of the transmission shaft system. At the same time, it is suitable for different load torque conditions and has a wide range of application prospects in many fields.

[0017] This invention has a compact, simple, easy-to-control, and miniaturizable structure. It can also achieve low-frequency torsional vibration isolation under load torque variation by adjusting the current, and has a wide range of applications. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1This is a schematic diagram of the overall semi-active quasi-zero stiffness torsional vibration isolation device of the present invention; Figure 2 This is a schematic diagram of the outer shell structure of the present invention; Figure 3 This is an axial view of the outer casing of the present invention; Figure 4 This is a schematic diagram of the central axis of the present invention; Figure 5 This is a schematic diagram of the connecting flange of the present invention; Figure 6 This is an axial view of the flexible rod with a circular cross-section according to the present invention; Figure 7 This invention relates to an electromagnetic torsion spring; In the diagram: 1. Outer shell; 2. Central shaft; 3. Bearing; 4. Connecting flange; 5. Circular cross-section flexible rod; 6. Electromagnetic torsion spring; 7. Control system; 6-1. Outer ring electromagnetic module; 6-2. Inner magnetic ring sleeve; 6-3. Inner ring permanent magnet; 7-1. DC current controller; 7-2. Computer. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figures 1 to 7 As shown, this embodiment provides a semi-active quasi-zero stiffness torsional vibration isolation device, comprising: The outer casing 1 is cylindrical, and the load is connected to one end of the outer casing 1; The central axis module is connected to the end of the housing 1 away from the load. The end of the central axis module located inside the housing 1 is connected to the inner cavity of the housing 1, and the end of the central axis module away from the load extends out of the housing 1. The electromagnetic torsion spring 6 includes an outer ring electromagnetic module 6-1 and an inner ring permanent magnet 6-3, which are coaxially sleeved together. The inner ring permanent magnet 6-3 is installed on the central axis module, and the outer ring electromagnetic module 6-1 is installed in the inner cavity of the outer shell 1. Control system 7 is electrically connected to outer ring electromagnetic module 6-1.

[0022] This invention discloses a semi-active quasi-zero stiffness torsional vibration isolation device. Through modular design, it achieves low-frequency torsional vibration isolation. The outer shell 1 is cylindrical, serving as the basic load-bearing component of the device. One end connects to the external load, providing an installation reference and protective space for the entire device. All components can be integrated and installed onto the outer shell 1, resulting in a compact structure with a high degree of integration, facilitating installation and miniaturization, and adapting to different installation space requirements. The central axis module is connected to the end of the outer shell 1 furthest from the load. Part of its structure is located within and connected to the inner cavity of the outer shell 1, while the other end extends out of the outer shell 1, forming the core shaft system for vibration transmission. This system transmits torque and supports internal components, forming a positive stiffness structure. When the outer ring electromagnetic module 6-1 is energized, it generates a repulsive force with the inner ring permanent magnet 6-3, forming a negative stiffness mechanism. Through the superposition of positive and negative stiffness, when their stiffness values ​​are similar, the device exhibits quasi-zero stiffness characteristics, effectively suppressing low-frequency torsional vibration and solving the problem of weak low-frequency vibration isolation performance in traditional vibration isolators. The electromagnetic torsion spring 6 includes an outer ring electromagnetic module 6-1 and an inner ring permanent magnet 6-3, which are coaxially arranged to ensure the coaxiality and stability of the magnetic field. The inner ring permanent magnet 6-3 is mounted on the central axis module and moves synchronously with it. The outer ring electromagnetic module 6-1 is fixed in the inner cavity of the outer shell 1 and remains relatively stationary. When the outer ring electromagnetic module 6-1 is energized, it repels the inner ring permanent magnet 6-3, forming the required negative stiffness mechanism. The control system 7 is electrically connected to the outer ring electromagnetic module 6-1 and can adjust the working state of the outer ring electromagnetic module 6-1 through electrical signals, thereby adjusting the current of the outer ring electromagnetic module 6-1. This allows for flexible changes in the repulsive force between the outer ring electromagnetic module 6-1 and the inner ring permanent magnet 6-3, thereby adjusting the magnitude of the negative stiffness and achieving dynamic matching between negative and positive stiffness. Even with changes in load torque, it can maintain near-zero stiffness characteristics, solving the problem of poor load adaptability of traditional passive vibration isolators. The control system 7 directly adjusts the current via electrical signals. Compared to mechanical adjustment, this method offers faster response and more precise current regulation, accurately matching stiffness requirements under different operating conditions. This improves the stability of vibration isolation and specifically addresses low-frequency torsional vibration in transmission shaft systems. It is also adaptable to various load torque conditions, making it widely applicable across numerous fields. This invention is compact, simple, easy to control, and miniaturizable. Furthermore, it achieves low-frequency torsional vibration isolation under varying load torque conditions through current adjustment, making it suitable for a wide range of applications.

[0023] Further optimization of the scheme: The central axis module includes a central shaft 2 installed at the end of the outer shell 1 away from the load, with an inner ring permanent magnet 6-3 mounted on the central shaft 2; the central shaft 2, located at one end of the inner cavity of the outer shell 1, is connected to several circumferentially spaced flexible circular cross-section rods 5, which are connected to the inner cavity of the outer shell 1 at the end where the load is installed. The core of the central axis module is the central shaft 2, which is installed at the end of the outer shell 1 away from the load, with the inner ring permanent magnet 6-3 directly assembled on the central shaft 2; the central shaft 2, located at one end of the inner cavity of the outer shell 1, is connected to several circumferentially spaced flexible circular cross-section rods 5, which are fixedly connected to the inner cavity of the outer shell 1 at the end where the load is installed, forming a positive stiffness mechanism, which is superimposed in parallel with the negative stiffness of the electromagnetic torsion spring 6, providing key structural support for achieving quasi-zero stiffness characteristics.

[0024] Further optimizing the design, the central shaft module also includes a connecting flange 4. The connecting flange 4 is fixedly connected to one end of the central shaft 2 located within the inner cavity of the outer casing 1. Several circular cross-section flexible rods 5 are axially and equally spaced and fixed to the end face of the connecting flange 4 away from the central shaft 2. The central shaft 2 has screw holes on its inner side within the outer casing 1, and the connecting flange 4 has connecting holes corresponding to the screw holes. The connecting flange 4 and the central shaft 2 are locked together through the screw holes and connecting holes. The connecting flange 4 is installed to the end of the central shaft 2 located within the casing, with the connecting holes aligned with the screw holes on the central shaft 2, and then tightened with screws. The flange connects the circular cross-section flexible rods 5 to the central shaft 2, reducing the machining difficulty of directly assembling the flexible rods onto the central shaft 2, facilitating disassembly and maintenance, and further optimizing the torque transmission path, making the force on the flexible rods more uniform and extending their service life.

[0025] In one embodiment of the present invention, the number of circular cross-section flexible rods 5 is preferably four, which are used to provide positive stiffness.

[0026] Further optimization of the design includes a bearing 3 in the central shaft module. The inner ring of the bearing 3 is fitted onto the central shaft 2 with an interference fit, while the outer ring of the bearing 3 is embedded in the outer casing 1. The end of the outer casing 1 furthest from the load has a mounting hole adapted to the bearing 3, and the outer ring of the bearing 3 is embedded in the mounting hole with an interference fit. The interference fit between the outer ring of the bearing 3 and the mounting hole on the outer casing 1 establishes a connection, while the interference fit between the inner ring of the bearing 3 and the central shaft 2 provides radial positioning for the central shaft 2. This ensures the coaxiality of the central shaft 2, the outer casing 1, and the electromagnetic torsion spring 6, preventing eccentric vibration from affecting the vibration isolation effect. It also ensures the connection stability between the bearing 3 and the central shaft 2 and the outer casing 1, preventing loosening under high-speed rotation or vibration environments and improving the reliability of the device.

[0027] In one embodiment of the present invention, the bearing 3 can be a conventional ball bearing 3.

[0028] The scheme is further optimized by having several equally spaced first magnetic poles on the inner ring permanent magnet 6-3, and several second magnetic poles, the same number as the first magnetic poles, equally spaced axially, on the outer ring electromagnetic module 6-1. When the outer ring electromagnetic module 6-1 is energized, the first and second magnetic poles generate a repulsive force. See appendix. Figure 7 As shown, the design of equidistant and equal-numbered magnetic poles ensures that a uniform repulsive force is generated between the outer ring electromagnetic module 6-1 and the inner ring permanent magnet 6-3 after power is applied, forming a stable negative stiffness. This negative stiffness is precisely superimposed on the positive stiffness of the flexible rod, ensuring the stability of the quasi-zero stiffness characteristics. The way the repulsive force is generated directly determines the basis for adjusting the negative stiffness, providing a structural guarantee for subsequent adjustment of the negative stiffness by current, and improving the uniformity and controllability of stiffness adjustment. At the same time, the axially equidistant magnetic pole distribution avoids local stress concentration caused by magnetic field deviation, extending the service life of the electromagnetic torsion spring 6.

[0029] In one embodiment of the present invention, the number of the first magnetic poles on the outer ring electromagnetic module 6-1 and the number of the second magnetic poles on the inner ring permanent magnet 6-3 are equal, both being 4. Furthermore, the first and second magnetic poles do not directly contact each other, thus avoiding wear and effectively extending the service life.

[0030] Further optimizing the design, the electromagnetic torsion spring 6 also includes an inner magnetic ring sleeve 6-2, which is fixedly mounted on the central shaft 2. The inner ring permanent magnet 6-3 is embedded and fixed on the inner magnetic ring sleeve 6-2. The inner magnetic ring sleeve 6-2 provides a dedicated mounting carrier for the inner ring permanent magnet 6-3, preventing wear or magnetic field interference caused by direct contact between the permanent magnet and the central shaft 2, thus protecting the performance of the permanent magnet. The embedded and fixed method of the inner ring permanent magnet 6-3 improves assembly stability, preventing the permanent magnet from falling off or shifting under vibration or impact conditions, and ensuring the stability of negative stiffness. Simultaneously, the inner ring permanent magnet 6-3 being embedded on the inner magnetic ring sleeve 6-2 facilitates the disassembly and replacement of the permanent magnet, reducing maintenance costs. Furthermore, different permanent magnets can be adapted by replacing the magnetic ring sleeve with different specifications, improving the versatility of the device.

[0031] In one embodiment of the present invention, the inner ring permanent magnet 6-3 is selected from four permanent magnets, each of which is a second magnetic pole, and is installed on the inner magnetic ring sleeve 6-2 by means of embedding.

[0032] In one embodiment of the present invention, changing the magnetism of the inner ring permanent magnet 6-3 can change the negative stiffness of the vibration isolation device.

[0033] Further optimization of the design: the outer casing 1 includes a cylindrical first casing and a second casing, which are correspondingly arranged and fixedly joined together; mounting holes are opened on the end face of the first casing away from the second casing, and the load is fixed to the end of the second casing away from the first casing. The outer casing 1 is composed of the cylindrical first casing and the second casing joined together from left to right, which facilitates the assembly and maintenance of internal components of the device, and allows for internal inspection without overall disassembly, improving the rationality of the structural design and the processing accuracy, and reducing the difficulty of production.

[0034] Further optimizing the scheme, the control system 7 includes an electrically connected DC current controller 7-1 and a computer 7-2. The DC current controller 7-1 is electrically connected to the outer loop electromagnetic module 6-1. The DC current controller 7-1 is used to precisely adjust the current input to the outer loop electromagnetic module 6-1, thereby accurately controlling the negative stiffness value, achieving precise matching of positive and negative stiffness, and ensuring near-zero stiffness characteristics. The computer 7-2 is used to input control commands and visually display operating data, supporting automated and digital control, improving control response speed and accuracy, adapting to the rapid adjustment requirements under variable load conditions, and enhancing the environmental adaptability of the device.

[0035] Work steps: S1. Calculate the required positive stiffness value based on the required load torque under different working conditions, and deduce the structural parameters of the circular cross-section flexible rod 5 from the positive stiffness value; S2. In order to achieve the quasi-zero stiffness characteristics of the semi-active quasi-zero stiffness torsional vibration isolation device, the positive stiffness value obtained from the structural parameters of the circular cross-section flexible rod 5 is calculated, the current value of the electromagnetic torsion spring 6 when it generates the same negative stiffness value is calculated, and the current value in the outer ring electromagnetic module 6-1 is adjusted through the control system 7. S3. When the load torque changes, the current adjustment process of the control system 7 is as follows: first, the required current value is input through the computer 7-2, then sent to the DC current controller 7-1, and finally, after receiving the instruction, the DC current controller 7-1 controls the built-in DC current source to output the required current value to the outer loop electromagnetic module 6-1.

[0036] Compared with existing torsional vibration isolators, the present invention has the following advantages: 1. Under different working conditions and in complex environments, it has good adaptability and stiffness adjustment capabilities, strong anti-interference ability, and strong low-frequency vibration isolation performance; 2. The negative stiffness value of the electromagnetic torsion spring 6 can be changed by directly adjusting the magnitude of the current, which consumes little energy and allows for a wide range of stiffness adjustment; 3. The control method of this invention is simple, the structure is simple and compact, the size is small, the weight is light, it is easy to miniaturize, easy to install, the control response is fast and the precision is high, and the application prospects are broad.

[0037] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0038] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A semi-active quasi-zero stiffness torsional vibration isolation device, characterized by, The utility model relates to a kind of electromagnetic torsional spring, including: Shell (1), the shell (1) is cylindrical, load is connected in one end of the shell (1); Middle shaft module, the middle shaft module is connected in the end of the shell (1) away from load, the middle shaft module is located in one end in the shell (1) and the shell (1) inner chamber connection, the end of the middle shaft module away from load extends the shell (1); Electromagnetic torsional spring (6), the electromagnetic torsional spring (6) includes corresponding outer ring electromagnetic module (6-1) and inner ring permanent magnet (6-3), the outer ring electromagnetic module (6-1) and the inner ring permanent magnet (6-3) coaxial sleeve, the inner ring permanent magnet (6-3) is installed on the middle shaft module, the outer ring electromagnetic module (6-1) is installed in the shell (1) inner chamber; Control system (7), the control system (7) is electrically connected with outer ring electromagnetic module (6-1).

2. The semi-active quasi-zero stiffness torsional isolation device of claim 1, wherein: The middle shaft module includes the center shaft (2) installed in the end of the shell (1) away from load, the inner ring permanent magnet (6-3) is installed on the center shaft (2);The center shaft (2) is located in the end of the shell (1) inner chamber and is connected with a plurality of circular cross-section flexible rods (5) that are arranged equidistantly in the circumferential direction, the circular cross-section flexible rod (5) is connected with the end of the shell (1) inner chamber of installation load.

3. The semi-active quasi-zero stiffness torsional isolation device of claim 2, wherein: The middle shaft module further includes a connecting flange (4) fixedly connected to one end of the center shaft (2) located in the inner chamber of the shell (1), and a plurality of the circular cross-section flexible rods (5) are axially and equidistantly fixed to an end surface of the connecting flange (4) away from the center shaft (2).

4. The semi-active quasi-zero stiffness torsional isolation device of claim 3, wherein: The center shaft (2) is provided with a screw hole on one side located in the shell (1), the connecting flange (4) is provided with a connecting hole corresponding to the screw hole, and the connecting flange (4) and the center shaft (2) are locked and connected through the screw hole and the connecting hole.

5. The semi-active quasi-zero stiffness torsional isolation device of claim 2, wherein: The middle shaft module further includes a bearing (3), the inner ring of the bearing (3) is sleeved on the center shaft (2) and is in interference fit with the center shaft (2), and the outer ring of the bearing (3) is embedded in the shell (1).

6. The semi-active quasi-zero stiffness torsional isolation device of claim 5, wherein: The end of the shell (1) away from the load is provided with a mounting hole matched with the bearing (3), and the outer ring of the bearing (3) is embedded in the mounting hole and is in interference fit with the mounting hole.

7. The semi-active quasi-zero stiffness torsional isolation device of claim 1, wherein: The inner ring permanent magnet (6-3) is provided with a plurality of first magnetic poles arranged equidistantly, the outer ring electromagnetic module (6-1) is provided with a plurality of second magnetic poles arranged equidistantly in the axial direction and in the same number as the first magnetic poles, and the first magnetic poles and the second magnetic poles generate repulsive force when the outer ring electromagnetic module (6-1) is energized.

8. The semi-active quasi-zero stiffness torsional isolation device of claim 2, wherein: The electromagnetic torsional spring (6) further includes an inner magnetic ring sleeve (6-2) sleeved and fixed on the center shaft (2), and the inner ring permanent magnet (6-3) is embedded and fixed on the inner magnetic ring sleeve (6-2).

9. The semi-active quasi-zero stiffness torsional isolation device of claim 6, wherein: The shell (1) comprises a cylindrical first shell and a cylindrical second shell which are correspondingly arranged and fixedly connected.

10. The semi-active quasi-zero stiffness torsional isolation device of claim 1, wherein: The control system (7) comprises a direct current controller (7-1) and a computer (7-2) which are electrically connected, and the direct current controller (7-1) is electrically connected with the outer ring electromagnetic module (6-1).

Images