Load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation

Abstract

The invention relates to a vibration isolation device, in particular to a load self-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation. The invention aims to provide a load self-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation. According to the vibration isolator, the load can be flexibly and adaptively adjusted. According to the technical scheme, the load-adaptive quasi-zero stiffness vibration isolator is based on semi-active electromagnetic constant force compensation. The load-adaptive quasi-zero stiffness vibration isolator is characterized by further comprising a passive stepped quasi-zero stiffness structure and a semi-active electromagnetic constant force compensation mechanism which are arranged between the upper bottom plate and the lower bottom plate; the fixed magnets are symmetrically arranged on the two sides of one bottom plate, the two movable magnets are symmetrically arranged on the two sides of the other bottom plate and can be in magnetic induction fit with the fixed magnets respectively, and the vertical guide structure is vertically arranged, and the two ends of the vertical guide structure are connected with the upper bottom plate and the lower bottom plate respectively.

Description

Technical Field

[0001] This invention relates to a vibration isolation device, specifically to a load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation. Background Technology

[0002] Vibration problems are prevalent in engineering fields such as precision machinery and large structures, with low-frequency vibrations particularly affecting equipment performance and shortening its service life. To improve vibration isolation, it is usually necessary to reduce the system's natural frequency, which requires the system to have low dynamic stiffness. However, reducing dynamic stiffness often weakens the system's load-bearing capacity. To address this, researchers have developed various quasi-zero stiffness isolators with high static stiffness and low dynamic stiffness by introducing negative stiffness mechanisms into the system, achieving good low-frequency vibration isolation performance while maintaining load-bearing capacity. However, negative stiffness mechanisms are extremely sensitive to load changes, and their performance is highly dependent on whether the operating point is precisely at the equilibrium position. Once the load deviates from the design rating, the system's equilibrium position will shift, leading to a sharp increase in equivalent stiffness and a significant rise in natural frequency, thus losing the advantages of low-frequency vibration isolation. To expand the load adaptability range of quasi-zero stiffness isolators, existing technologies have proposed various methods, such as adjusting the pre-compression of the positive stiffness mechanism to achieve load adjustment, constructing a stepped system with multiple quasi-zero stiffness operating points, or introducing active control mechanisms to counteract additional loads. However, the first method is difficult to adjust in practice; the second method can only adapt to discrete load points and is difficult to achieve continuous adjustment; the third method has high requirements for the control system and has a complex structure.

[0003] Therefore, improving the load adaptability of quasi-zero stiffness vibration isolators and expanding their applicable load range, and designing a wide-range mass adjustment mechanism, is of great practical significance. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and propose a load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation; the vibration isolator can flexibly and adaptively adjust the load.

[0005] The technical solution provided by this invention is: A load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation includes an upper base plate and a lower base plate arranged horizontally and correspondingly, and a vertical guide structure arranged between the upper base plate and the lower base plate to allow the upper base plate to move up and down. Its features include: the load-adaptive quasi-zero stiffness vibration isolator further includes a passive stepped quasi-zero stiffness structure and a semi-active electromagnetic constant force compensation mechanism disposed between the upper base plate and the lower base plate; The stepped quasi-zero stiffness structure includes several fixed magnets symmetrically arranged on both sides of a base plate, two moving magnets symmetrically arranged on both sides of another base plate and capable of magnetically engaging with the several fixed magnets respectively, and a vertically arranged vertical guide structure with its two ends connected to the upper base plate and the lower base plate respectively. The stepped quasi-zero stiffness structure includes n fixed magnets symmetrically arranged on both sides of a base plate and a moving magnet symmetrically arranged on both sides of another base plate that can magnetically engage with the fixed magnets respectively. The magnetization direction of the fixed magnets located at odd-numbered positions is opposite to that of the moving magnet. The electromagnetic constant force compensation mechanism includes n coils arranged coaxially and stacked vertically at the center of a base plate, and two annular magnets stacked vertically on another base plate with adjustable spacing between them; the two annular magnets are also coaxially arranged with the coils and can be vertically moved into the inner coils of the n coils to perform magnetic line cutting motion during operation; n is an odd number.

[0006] The upper base plate has a cylindrical boss at its center for fixing the helical guide rod; a spring base is installed on the cylindrical boss, and the helical spring is coaxially installed with the helical guide rod and its bottom end abuts against the spring base; a rectangular raised platform for installing the moving magnet clamp is provided on each of the left and right sides of the upper base plate; an annular boss for installing the linear bearing is provided between the rectangular raised platform and the cylindrical boss; the cylindrical boss, the rectangular raised platform and the annular boss are all arranged to protrude downwards.

[0007] The bottom plate has a stepped annular raised platform with a rectangular slot at its center for coil routing; rectangular platforms with settling grooves are symmetrically arranged on both sides of the bottom plate for mounting the fixed magnet clamp; a columnar platform for fixing the guide rod is provided between the rectangular platform and the annular raised platform; the annular raised platform, the rectangular platform and the columnar platform are all arranged to protrude upwards.

[0008] The fixed magnet clamp has a fixed magnet positioning groove for mounting the fixed magnet, and the moving magnet clamp has a moving magnet positioning hole for mounting the moving magnet; after the moving magnet is inserted into the moving magnet positioning hole, the moving magnet clamp is then fixed to the bottom end of the rectangular raised platform.

[0009] The height of a moving magnet is the sum of the heights of n fixed magnet groups, and the other structural parameters are the same as those of the fixed magnets.

[0010] The n coils are stacked coaxially on the end face of the annular raised platform of the lower base plate. The coil fixing sleeve is opened downwards to cover the n coils and part of the annular raised platform, and then connected and fixed to the outer circumference of the annular raised platform.

[0011] Two ring magnets are placed at the upper and lower ends of the ring magnet spacing adjustment block, and are together sleeved on the spiral guide rod. The small end of the spiral guide rod is fixed to the upper base plate, and the large end supports the two ring magnets. The nuts on the spiral guide rod apply downward pressure to the top of the two ring magnets to fix them in place.

[0012] The n coils are all circular rings with the same structure, and their inner diameter is larger than the outer diameter of the ring magnet, while the outer diameter is matched with the outer diameter of the ring protrusion platform; the coil height is the distance between the two end faces of the circular ring coil.

[0013] The linear bearing is installed in the annular boss shaft hole of the upper base plate, and the bottom end of the guide rod is fixedly installed in the stepped hole of the cylindrical platform of the lower base plate, thus cooperating with the linear bearing to form the vertical guide structure.

[0014] The cylindrical boss, rectangular raised platform, and annular boss are all integrally formed with the upper base plate; the annular raised platform, rectangular platform, and cylindrical platform are all integrally formed with the lower base plate.

[0015] The beneficial effects of this invention are: 1. The structure of this invention utilizes arrayed magnets to construct a stepped quasi-zero stiffness, achieving mass self-adaptation of multiple discrete loads and improving the vibration isolation performance of the isolator.

[0016] 2. By introducing a semi-active electromagnetic constant force mechanism, segmented off-center load mass compensation is performed on each step of the stepped quasi-zero stiffness vibration isolator. While achieving continuous load variation, the energy input is greatly reduced, and the constant force characteristic eliminates the need for time-varying control, thus greatly saving manufacturing costs.

[0017] 3. The present invention has a simple structure and low cost, and adopts a combination of semi-active and passive methods, making it safe and reliable. Attached Figure Description

[0018] Figure 1 This is a schematic diagram (sectional view) of the main structure of an embodiment of the present invention.

[0019] Figure 2 This is a three-dimensional structural schematic diagram of an embodiment of the present invention.

[0020] Figure 3 yes Figure 1 Front view (sectional view) of the upper and middle base plates and the fixed components.

[0021] Figure 4 yes Figure 1 A bottom view of the upper and middle base plates and the components to which they are fixed.

[0022] Figure 5 yes Figure 1Main view of the lower base plate and the fixed components (partial sectional view).

[0023] Figure 6 yes Figure 1 A three-dimensional structural diagram of the lower base plate and the components it is fixed to.

[0024] Figure 7 yes Figure 1 A schematic diagram of the main structure of the center magnet clamp.

[0025] Figure 8 yes Figure 7 A schematic diagram of the AA-direction structure.

[0026] Figure 9 yes Figure 1 A schematic diagram of the main structure of the moving magnet clamp.

[0027] Figure 10 yes Figure 9 A schematic diagram of the BB-direction structure.

[0028] Figure 11 yes Figure 1 A schematic diagram of the main structure of the spring base.

[0029] Figure 12 yes Figure 1 A top view of the structure of the spring base.

[0030] Figure 13 yes Figure 1 A schematic diagram of the main structure of the helical guide rod and the fixed components.

[0031] Figure 14 yes Figure 13 A schematic diagram of the CC-direction structure in the diagram.

[0032] Figure 15 yes Figure 1 A cross-sectional view of the middle coil fixing sleeve.

[0033] Figure 16 yes Figure 1 A three-dimensional structural diagram of the fixing sleeve for the middle coil.

[0034] Figure 17(a) is a force-displacement curve of the passive stepped quasi-zero stiffness vibration isolator in this invention.

[0035] Figure 17(b) is the force-displacement curve after the semi-active electromagnetic constant force compensation mechanism is activated in Figure 17(a).

[0036] Figure label: 1. Lower base plate; 1.1. Annular raised platform; 1.2. Columnar platform; 1.3. Rectangular platform; 1.4. Rectangular slot; 2. Fixed magnet clamp; 2.1. Fixed magnet positioning slot; 3. Fixed magnet; 4. Moving magnet clamp; 4.1. Moving magnet; 5. Upper base plate; 5.1. Cylindrical boss; 5.2. Annular boss; 5.3. Rectangular raised platform; 6. Coil fixing sleeve; 7. Coil; 8. Annular magnet; 9. Annular magnet distance adjustment block; 10. Nut; 11. Helical guide rod; 12. Linear bearing; 13. Helical spring; 14. Guide rod; 15. Spring base. Detailed Implementation

[0037] The following description, in conjunction with the embodiments shown in the accompanying drawings, provides further details.

[0038] Figure 1 , Figure 2 The load-adaptive quasi-zero stiffness vibration isolator shown includes an upper base plate, a lower base plate, and a vertical guide structure disposed between the upper and lower base plates to allow the two base plates to move towards or away from each other; this is similar to the existing vibration isolator structure. The improvement of this invention is that a passive stepped quasi-zero stiffness structure and a semi-active electromagnetic constant force compensation mechanism are set between the upper base plate and the lower base plate.

[0039] like Figure 3 , Figure 4 As shown: The upper base plate adopts a symmetrical structure, with a cylindrical boss 5.1 at the center for fixing the helical guide rod in the electromagnetic constant force mechanism by bolts; a rectangular raised platform 5.3 is provided on each of the left and right sides of the upper base plate for installing the moving magnet clamp; an annular boss 5.2 is provided between the rectangular raised platform and the cylindrical boss, and the stepped hole on the annular boss is used to install the linear bearing; in this embodiment, the cylindrical boss, the rectangular raised platform and the annular boss are all integrally formed with the upper base plate (preferably 3D printed), and the cylindrical boss, the rectangular raised platform and the annular boss are all arranged vertically downward.

[0040] like Figure 5 , Figure 6As shown: The lower base plate also adopts a symmetrical structure, with a stepped annular raised platform 1.1 at the center. This platform has a rectangular slot 1.4 for internal coil routing. The outer circumference of the annular raised platform has six evenly distributed circular holes for installing copper nuts to secure the coil fixing sleeve. On each side of the lower base plate is a rectangular platform 1.3 with an upward-facing sinking groove for inserting a fixed magnet clamp. Between the rectangular platforms and the annular raised platform is a cylindrical platform 1.2 with stepped holes for fixing the guide rod, and its outer circumference forms a step that is smaller at the top and larger at the bottom. The spring base 15 has stepped holes that match the steps, allowing for a smooth transition fit with the cylindrical platform. Furthermore, the outer surface of the rectangular platform is a wedge shape, smaller at the top and larger at the bottom, to enhance its rigidity. In this embodiment, the annular raised platform, the rectangular platform, and the cylindrical platform are all integrally formed with the lower base plate (preferably formed by 3D printing), and the annular raised platform, the rectangular platform, and the cylindrical platform are all arranged to protrude vertically upwards.

[0041] The stepped quasi-zero stiffness structure includes two rectangular magnet arrays; each array includes three (n is 3 in this embodiment) fixed magnets and one moving magnet, two helical springs, two guide rods and two linear bearings; wherein the height of the moving magnet is the sum of the heights of the three fixed magnets (the other structural parameters are the same), and the magnetization direction of the fixed magnets located at the first and third positions (counted from top to bottom) is opposite to the magnetization direction of the moving magnet; the linear bearings are installed in the annular boss shaft hole of the upper base plate, and the bottom end of the guide rod is fixedly installed in the stepped hole of the cylindrical platform 1.2 of the lower base plate, and the top end cooperates with the linear bearing to form a vertical guide structure, so that the upper and lower base plates can only move relative to each other in the vertical direction; like Figure 7 , Figure 8 As shown: The fixed magnet clamp 2 is T-shaped and has a flat profile that is suitable for the settling tank. The main body has a fixed magnet positioning groove 2.1 on its side. The fixed magnet group (in this embodiment, it includes three fixed magnets stacked on top of each other) is horizontally inserted into the fixed magnet positioning groove 2.1. The fixed magnet clamp is then inserted into the settling tank. Finally, the clamp is fixed to the top of the rectangular platform by bolts passing through the connecting ears on both sides of the top of the clamp.

[0042] like Figure 9 , Figure 10 As shown: The moving magnet clamp is T-shaped and flat, and has a moving magnet positioning hole. The moving magnet positioning hole is a blind hole with the slot facing upward. The moving magnet 4.1 is inserted into the moving magnet positioning hole, and the moving magnet clamp is then inserted into the moving magnet positioning hole. Finally, the bolts are passed through the connecting ears on both sides of the top of the clamp to connect the moving magnet clamp to the bottom of the rectangular raised platform.

[0043] like Figure 11 , Figure 12As shown: the spring base is inserted and fixed on the step on the outside of the cylindrical platform 1.2; the helical spring is coaxially installed with the guide rod, and its bottom end abuts against the top end face of the spring base.

[0044] The installation method of the stepped quasi-zero stiffness structure is as follows: First, insert the fixed magnet clamp 2, with the fixed magnet 3 installed, into the settling grooves on both sides of the lower base plate 1 and fix it with bolts and nuts; then, fix the moving magnet clamp 4, with the moving magnet installed, to the bottom end of the rectangular raised platform with bolts and nuts. After the magnets are fixed and installed, fix the bottom end of the guide rod 14 to the lower base plate 1 with bolts (a screw hole is made at the axis of the bottom end of the guide rod, and the bolt passes through the stepped hole of the lower base plate from bottom to top and is then tightened to the screw hole); the two linear bearings 12 on the two guide rods are fitted into the stepped hole of the annular boss in the upper plate 5 with an transition fit, so that the upper base plate and the lower base plate can only move vertically up and down. Then, the spring base 15 can be coaxially sleeved on the cylindrical platform on which the guide rod 14 is fixed, and fixed by bolts that are horizontally inserted and tightened into the screw holes on the outer circumference of the cylindrical platform. Finally, based on the relative positions set between the stationary and moving magnets, adjust the height of the spring base 15 (by adding or removing washers between the steps of the cylindrical platform and the stepped holes of the spring base 15), and fix the two helical springs 13 onto the spring base 15. This completes the assembly of the stepped quasi-zero stiffness vibration isolator.

[0045] The conventional structure of the semi-active electromagnetic constant force compensation mechanism is a one-coil, two-magnet configuration; in order to match the three stepped working points, this embodiment includes three coils 7, two annular magnets 8, a spiral guide rod 11, an annular magnet spacing adjustment block 9, and a coil fixing sleeve 6. The annular magnets 8 and the annular magnet spacing adjustment block are both circular rings with the same structure.

[0046] like Figure 1 , Figure 13 , Figure 14 As shown: The small end of an inverted T-shaped spiral guide rod 11 is fixed to the bottom end face of a cylindrical boss 5.1 (the small end has a screw hole, and the bolt passes through the stepped hole in the cylindrical boss from top to bottom before being tightened into the screw hole). The distance between the end face of the small end and the cylindrical boss can be adjusted by adding shims. Two annular magnets 8 are respectively placed at the upper and lower ends of the annular magnet spacing adjustment block 9, and are together sleeved on the spiral guide rod and supported by the large end of the bottom of the spiral guide rod 11. The spacing between the two annular magnets is adjusted by the annular magnet spacing adjustment block. After the nut 10 sleeved on the spiral guide rod is tightened into the thread of the spiral guide rod, downward pressure is applied to fix the two annular magnets 8 and the annular magnet spacing adjustment block to the lower part of the spiral guide rod.

[0047] like Figure 1 , Figure 15 , Figure 16As shown: the three coils 7 are all circular rings with identical structures, and their inner diameter is larger than the outer diameter of the annular magnet, while their outer diameter is matched to the outer diameter of the annular raised platform; the coil height is the distance between the two end faces of the circular coil. The coil fixing sleeve 6 is a cylindrical shell with an inner diameter matched to the annular raised platform, an open bottom, and a through hole at the top, the diameter of which is larger than the outer diameter of the annular magnet; the outer circumferential wall of the coil fixing sleeve is evenly distributed with several through grooves parallel to the generatrix and penetrating the inner and outer walls, the bottom ends of which are connected to the open. The three coils are stacked coaxially on the end face of the annular raised platform of the lower base plate, with the open end of the coil fixing sleeve facing down, covering all three coils and part of the annular raised platform, and then the coil fixing sleeve is connected and fixed to the outer circumferential surface of the annular raised platform by several horizontally inserted screws.

[0048] The assembly method of the annular magnet is as follows: First, the first annular magnet is fitted onto the spiral guide rod 11. Then, the annular magnet distance adjustment block 9 is assembled onto the spiral guide rod 11. Next, another annular magnet is installed on the spiral guide rod 11. Finally, it is fixed to the spiral guide rod 11 with a nut 10 to prevent the annular magnet from moving up and down. Then, the assembled spiral guide rod 11 is installed on the cylindrical boss at the center of the upper plate 5, and the two are connected with bolts. The height of the spiral guide rod is adjusted by adding or removing shims between the boss and the spiral guide rod. Next, the three coils are stacked sequentially on the end face of the cylindrical boss. The internal wiring of each coil 7 is led out from the rectangular slot 1.4 of the cylindrical boss and connected to the power supply individually via an external controller. Then, the coil fixing sleeve 6 is fitted onto the outside of the coil. Finally, the coil fixing sleeve 7 is installed on the bolt interface reserved on the outer circumference of the cylindrical boss with bolts, completing the installation of the electromagnetic constant force mechanism. Meanwhile, the coil height (the distance between the two end faces of the coil) is equal to the spacing between the working points of the adjacent steps to compensate for the off-center load of each step.

[0049] The semi-active electromagnetic constant force compensation mechanism works as follows: When one of the coils is located at the center between two ring magnets, energizing the coil causes the two ring magnets to generate an approximately constant electromagnetic force output within a specific displacement range. By corresponding the center position of this coil to the equilibrium position of a certain step in a stepped quasi-zero stiffness structure, compensation for off-center loads can be achieved near the rated load corresponding to that step, restoring the system to a preset operating point. By corresponding the three coils to three different step equilibrium positions, segmented mass compensation can be achieved over a wide load range, thus enabling the vibration isolation system to have a wide-range load adaptive capability.

[0050] Working principle of the invention: In use, the vibration isolator is installed between the vibration isolation target and the foundation structure; as shown in the force-displacement curve of the passive stepped quasi-zero stiffness vibration isolator in Figure 17(a), when the external load is three rated loads of different masses, the upper base plate descends three different distances, and the isolator is in a static stable state, the vibration isolator obtains three rated load operating points. m 1. m 2. m 3 (The vertical axis of each rated load working point is the load gravity, and the horizontal axis is the distance the upper base plate moves). When two adjacent rated load working points are reached, the distance the upper base plate moves is equal to the coil height. The semi-active electromagnetic constant force compensation mechanism is not energized, and the vibration isolator works as a purely passive stepped quasi-zero stiffness vibration isolator.

[0051] When the applied load is not the rated load, it will deviate from the rated load operating point. To compensate the deviated operating point to the three rated load operating points and achieve continuous load adjustment, the semi-active electromagnetic constant force compensation mechanism is energized, using three coils to compensate for the loads near the three rated loads respectively. Taking the first rated load operating point as an example, the electromagnetic constant force compensation principle of this invention is introduced. Refer to the force-displacement curve achieved by the passive stepped quasi-zero stiffness vibration isolator shown in Figure 17(b). If the applied load is close to the first rated load operating point... m 1. By applying forward and reverse current to the first coil, the force-displacement curve is shifted vertically, restoring the system to its first rated operating point. Since the output force of this electromagnetic constant force mechanism remains constant within a specific displacement range, its compensation effect does not change the dynamic characteristics of the system at the rated operating point, thus achieving load self-adaptation.

[0052] Traditional quasi-zero stiffness vibration isolators are highly sensitive to load variations and have a limited applicable load range. This invention employs an array magnet structure to achieve stepped quasi-zero stiffness characteristics, enabling it to adapt to multiple discrete load points. Combined with an electromagnetic constant force control mechanism, each discrete load point is compensated individually, thus achieving continuous load adjustment. This ensures the vibration isolation system always operates at a preset equilibrium point, significantly improving its adaptability to load changes. Finally, it should be noted that the array magnets achieving stepped quasi-zero stiffness and the electromagnetic constant force compensation mechanism implemented by one coil and two magnets listed above are merely specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments and many variations are possible. All variations that can be directly derived or conceived by those skilled in the art from the disclosure of this invention should be considered within the scope of protection of this invention.

Claims

1. A load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation, comprising an upper base plate (5) and a lower base plate (1) arranged horizontally and correspondingly positioned above and below, and a vertical guide structure arranged vertically between the upper base plate and the lower base plate to allow the upper base plate to move up and down. Its features are: The load-adaptive quasi-zero stiffness vibration isolator also includes a passive stepped quasi-zero stiffness structure and a semi-active electromagnetic constant force compensation mechanism set between the upper and lower base plates. The stepped quasi-zero stiffness structure includes n fixed magnets (3) symmetrically arranged on both sides of a base plate, a moving magnet (4.1) symmetrically arranged on both sides of another base plate and capable of magnetically engaging with the fixed magnets respectively, and a vertically arranged vertical guide structure with its two ends connected to the upper base plate and the lower base plate respectively. The electromagnetic constant force compensation mechanism includes n coils (7) arranged coaxially and stacked vertically at the center of a base plate, and two annular magnets (8) stacked vertically on another base plate with adjustable spacing between them; the two annular magnets are also coaxially arranged with the coils and can be vertically moved into the inner rings of the n coils to perform magnetic line cutting motion during operation.

2. The load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation according to claim 1, characterized in that: The upper base plate has a cylindrical boss (5.1) at its center for fixing the spiral guide rod (11); a spring base (15) is installed on the cylindrical boss, the spiral spring is coaxially installed with the spiral guide rod and its bottom end abuts against the spring base; a rectangular raised platform (5.3) for installing the moving magnet clamp is provided on each of the left and right sides of the upper base plate; an annular boss (5.2) for installing the linear bearing (12) is provided between the rectangular raised platform and the cylindrical boss; the cylindrical boss, the rectangular raised platform and the annular boss are all arranged to protrude downwards.

3. The load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation according to claim 2, characterized in that: The center of the lower base plate is a stepped annular raised platform 1.1 with a rectangular slot 1.4 for coil wiring; a rectangular platform (1.3) with a settling groove is symmetrically provided on both sides of the lower base plate for installing the fixed magnet clamp (2); a columnar platform (1.2) for fixing the guide rod is provided between the rectangular platform and the annular raised platform; the annular raised platform, the rectangular platform and the columnar platform are all arranged to protrude upwards.

4. The load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation according to claim 3, characterized in that: The fixed magnet clamp 2 is provided with a fixed magnet positioning groove (2.1) for mounting a fixed magnet, and the moving magnet clamp is provided with a moving magnet positioning hole for mounting a moving magnet; After the moving magnet is inserted into the moving magnet positioning hole, the moving magnet clamp is then fixed to the bottom end of the rectangular raised platform.

5. The load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation according to claim 4, characterized in that: The height of a moving magnet is the sum of the heights of n fixed magnet groups. The magnetization direction of the fixed magnets located at odd-numbered positions is opposite to that of the moving magnet, and the other structural parameters are the same as those of the fixed magnets. The number n is odd.

6. The load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation according to claim 5, characterized in that: The n coils are stacked coaxially on the end face of the annular raised platform of the bottom plate. The coil fixing sleeve (6) covers the n coils and part of the annular raised platform with its opening facing down, and then connects and fixes it to the outer circumference of the annular raised platform.

7. The load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation according to claim 6, characterized in that: Two annular magnets 8 are placed at the upper and lower ends of the annular magnet spacing adjustment block (9) respectively, and are together sleeved on the spiral guide rod (11); the small end of the spiral guide rod is fixed on the upper base plate, and the large end supports the two annular magnets. The nut (10) on the spiral guide rod applies pressure downward to the top of the two annular magnets to fix them.

8. The load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation according to claim 7, characterized in that: The n coils 7 are all circular rings with the same structure, and their inner diameter is larger than the outer diameter of the ring magnet, while their outer diameter is matched with the outer diameter of the ring protrusion platform; the coil height is the distance between the two end faces of the circular ring coil.

9. The load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation according to claim 8, characterized in that: The linear bearing is installed in the shaft hole of the annular boss (5.2) on the upper base plate, and the bottom end of the guide rod is fixedly installed in the stepped hole of the cylindrical platform (1.2) on the lower base plate, thus cooperating with the linear bearing to form the vertical guide structure.

10. The load-adaptive quasi-zero stiffness vibration isolator based on semi-active electromagnetic constant force compensation according to claim 9, characterized in that: The cylindrical boss, rectangular raised platform, and annular boss are all integrally formed with the upper base plate; the annular raised platform, rectangular platform, and cylindrical platform are all integrally formed with the lower base plate.

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