WO2020108156A1 - 一种多维磁负刚度机构及其构成的多维磁负刚度减振系统 - Google Patents

一种多维磁负刚度机构及其构成的多维磁负刚度减振系统 Download PDF

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WO2020108156A1
WO2020108156A1 PCT/CN2019/111673 CN2019111673W WO2020108156A1 WO 2020108156 A1 WO2020108156 A1 WO 2020108156A1 CN 2019111673 W CN2019111673 W CN 2019111673W WO 2020108156 A1 WO2020108156 A1 WO 2020108156A1
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dimensional
stiffness
negative
magnetic
magnets
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English (en)
French (fr)
Inventor
姜伟
陈学东
吴九林
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/022—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using dampers and springs in combination
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/046—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means using combinations of springs of different kinds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
    • F16F13/04—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F6/00—Magnetic springs; Fluid magnetic springs, i.e. magnetic spring combined with a fluid
    • F16F6/005—Magnetic springs; Fluid magnetic springs, i.e. magnetic spring combined with a fluid using permanent magnets only
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
    • F16F15/0232—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means with at least one gas spring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
    • F16F15/085—Use of both rubber and metal springs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2222/00—Special physical effects, e.g. nature of damping effects
    • F16F2222/06—Magnetic or electromagnetic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2222/00—Special physical effects, e.g. nature of damping effects
    • F16F2222/12—Fluid damping
    • F16F2222/126—Fluid damping using gases
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2228/00—Functional characteristics, e.g. variability, frequency-dependence
    • F16F2228/001—Specific functional characteristics in numerical form or in the form of equations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2228/00—Functional characteristics, e.g. variability, frequency-dependence
    • F16F2228/06—Stiffness
    • F16F2228/063—Negative stiffness
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2232/00—Nature of movement
    • F16F2232/08—Linear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2238/00—Type of springs or dampers
    • F16F2238/02—Springs

Definitions

  • the invention belongs to the field of vibration reduction, and more specifically, to a multi-dimensional magnetic negative rigidity mechanism and a multi-dimensional vibration reduction system composed of the same.
  • the performance of the shock absorber mainly includes load bearing performance and vibration reduction performance.
  • Traditional forms of shock absorbers such as metal springs, rubber structures, metal-rubber composite structures, gas springs, etc., have the problem of conflicting load-bearing performance and vibration-damping performance, which is mainly reflected in the reduction of system rigidity, which can improve the system's Damping performance, but will reduce the load-bearing performance of the system.
  • the current better solution is to introduce a magnetic negative stiffness mechanism in the vibration reduction system, which has the following main advantages:
  • the magnetic field force is a non-contact force, which does not introduce friction and the nonlinear problems it brings.
  • the present invention provides a multi-dimensional magnetic negative stiffness mechanism constructed with permanent magnets, which integrates magnetic negative stiffness mechanisms in different directions through a floating structure, combined with the setting of stiffness values, Generates three-dimensional negative stiffness or two-dimensional negative stiffness, and on this basis, a multi-dimensional vibration reduction system is proposed.
  • a multi-dimensional series-parallel composite vibration reduction of positive stiffness and negative stiffness is achieved, which can Under various operating conditions, it can improve the vibration reduction performance of multiple dimensions of the system, and at the same time ensure the carrying capacity and improve the overall performance of the vibration reduction system.
  • a multi-dimensional magnetic negative rigidity mechanism including: a mounting base, a floating frame, a two-dimensional magnetic negative rigidity unit and a one-dimensional magnetic negative rigidity unit;
  • the two-dimensional magnetic negative rigidity unit includes at least one two-dimensional negative rigidity magnetic group, and the one-dimensional magnetic negative rigidity unit includes at least one one-dimensional negative rigidity magnetic group;
  • the floating frame includes a linear guide rail and a permanent magnet mounting bracket; the permanent magnet mounting bracket performs a one-dimensional linear movement along the linear guide rail; the three-dimensional rectangular coordinate system OXYZ is established with the main bearing direction as the Z direction, then the linear guide rail is arranged along the Z direction, and the two-dimensional negative rigidity
  • the two negative stiffness directions of the magnetic group are arranged along the X direction and the Y direction, respectively, and the negative stiffness direction of the one-dimensional negative stiffness magnetic group is arranged along the Z direction;
  • the one-dimensional negative stiffness magnetic group includes two one-dimensional fixed magnets arranged in a line perpendicular to the Z direction and a one-dimensional moving magnet located therebetween;
  • the linear guide rail and the two one-dimensional fixed magnets are fixed on the mounting base, and the two two-dimensional fixed magnets are fixed on the vibration-reduced body; or, the linear guide rail and the two one-dimensional fixed magnets are fixed on the vibration-reduced body
  • the two two-dimensional fixed magnets are fixed on the mounting base
  • the one-dimensional moving magnet and the one-dimensional moving magnet are fixed on the permanent magnet mounting frame, so as to perform the one-dimensional linear movement in the Z direction along the linear guide rail along with the permanent magnet mounting frame;
  • the entire multi-dimensional magnetic negative rigidity mechanism is a three-dimensional magnetic negative rigidity mechanism
  • it includes two two-dimensional negative rigidity magnetic groups and one one-dimensional negative rigidity magnetic group, and the two two-dimensional negative rigidity magnetic groups are distributed on both sides of the one-dimensional negative rigidity magnetic group along the X direction or the Y direction.
  • it includes one two-dimensional negative rigidity magnetic group and two one-dimensional negative rigidity magnetic groups, and the two one-dimensional negative rigidity magnetic groups are distributed on both sides of the two-dimensional negative rigidity magnetic group in the X direction or the Y direction.
  • both the one-dimensional fixed magnet and the one-dimensional moving magnet are formed by stacking a plurality of magnets, and in the magnets stacked on each other, the magnetization directions of adjacent magnets are opposite; the same-layer magnets of two one-dimensional moving magnets are magnetized The direction is the same, and the magnetization direction of the same layer magnet of the one-dimensional moving magnet is opposite.
  • the magnets used for stacking in the one-dimensional negative stiffness magnetic group are long rectangular bodies with a square cross section.
  • the present invention also provides a multidimensional magnetic negative stiffness vibration reduction system, including: a positive stiffness mechanism and the multidimensional magnetic negative stiffness mechanism according to any one of claims-
  • the positive stiffness mechanism includes an X-direction positive stiffness component, a Z-direction positive stiffness component, and a Y-direction positive stiffness component, which are supported between the damped body and the mounting base in the X-direction, Z-direction, and Y-direction, respectively.
  • the X-direction positive stiffness component, the Z-direction positive stiffness component and the Y-direction positive stiffness component respectively include any one or more of a metal spring, a rubber structure, a metal-rubber composite structure, and a gas spring.
  • the Z-direction positive stiffness assembly includes four Z-direction coil springs, which are symmetrically distributed in four corners between the damped body and the mounting base.
  • the X-direction positive stiffness assembly includes two X-direction coil springs, which are symmetrically distributed along the X-direction on both sides of the vibration-isolated object, and are fixedly connected to the mounting base through the X-direction mounting post.
  • the Y-direction positive stiffness assembly includes two Y-direction coil springs, which are symmetrically distributed along the Y-direction on both sides of the vibration-isolated object, and are fixedly connected to the mounting base through the Y-direction mounting post.
  • the multi-dimensional magnetic negative stiffness mechanism provided by the present invention is set by the association relationship between at least one one-dimensional negative stiffness magnetic group and at least one two-dimensional negative stiffness magnetic group, so that the negative stiffness and the positive stiffness are connected in series in the Z direction, so that Combined with the selection of positive and negative stiffness values in the Z direction, the negative stiffness characteristics in three or two directions are realized.
  • the multi-dimensional vibration reduction system composed of the multi-dimensional magnetic negative stiffness mechanism and the positive stiffness mechanism realizes the parallel connection of negative stiffness and positive stiffness in multiple directions, and can adapt to a variety of vibration reduction environments.
  • the invention realizes multi-dimensional magnetic negative stiffness, so that the vibration reduction effect of the vibration reduction system in multiple dimensions is significantly improved; while improving the vibration reduction performance of the vibration reduction system, it ensures that the system carrying capacity does not decrease.
  • the multi-dimensional magnetic negative stiffness mechanism of the present invention is achieved by non-contact magnetic field force, no friction, avoiding the nonlinear problems caused by the friction force, simple and convenient, easy to apply to traditional shock absorbers, meet All kinds of actual engineering needs.
  • the one-dimensional negative stiffness magnet group selects a moving magnet between two fixed magnets and arranges them in a straight line in the X direction.
  • the mutual repulsion form can increase the negative stiffness stroke and reduce the collision between the magnets. risk.
  • the permanent magnets of the one-dimensional negative stiffness magnetic group can be set as a long rectangular body with a square cross-section, which can increase the negative stiffness value in the Z direction, while reducing the positive stiffness value in the Y direction, and improve the system's vibration reduction performance.
  • the one-dimensional negative stiffness magnetic group can also be set as a Z-layer multilayer stack to form a rectangular array structure, which can also increase the Z-direction negative stiffness value and improve the system vibration reduction performance.
  • Positive stiffness mechanism can choose four coil springs in Z direction, two coil springs in X direction, and two coil springs in Y direction, which is easy to install and can improve the stability of the system.
  • Figure 1 is a schematic diagram of the present invention
  • FIG. 2 is a front view of a first embodiment of a multi-dimensional magnetic negative rigidity mechanism and a vibration damping system constituted by the invention patent;
  • FIG. 3 is a plan view of a first embodiment of a multi-dimensional magnetic negative stiffness mechanism of the invention patent and a vibration damping system constituted by it;
  • FIG. 4 is a front view of a second embodiment of a multi-dimensional magnetic negative stiffness mechanism and a vibration damping system constituted by the invention patent;
  • FIG. 5 is a front view of a third embodiment of a multi-dimensional magnetic negative stiffness mechanism of the invention patent and a vibration damping system constituted by it;
  • Embodiment 6 is a front view of Embodiment 4 of a multi-dimensional magnetic negative rigidity mechanism and a vibration damping system formed by the patent of the present invention.
  • the negative stiffness direction of the one-dimensional negative stiffness magnetic group 5 coincides with the main bearing direction Z of the vibration reduction system, and the two negative stiffness directions of the two-dimensional negative stiffness magnetic group 6 and the vibration reduction system
  • the X and Y directions coincide.
  • the magnetic force-displacement characteristic of the one-dimensional negative-stiffness magnetic group 5 is that, in the one-dimensional negative-stiffness magnetic group 5, the negative stiffness direction Z is upward, and the magnetic force between the one-dimensional moving magnet 51 and the one-dimensional fixed magnet 52 is relative to the Z direction between the magnets.
  • the Z-direction negative stiffness characteristic k ZF is generated; in the X and Y directions, due to the limitations of the linear guide 41 and the floating frame 42, the one-dimensional moving magnet 51 and the one-dimensional fixed magnet 52 cannot produce relative Movement, so there is no positive and negative stiffness characteristics in the corresponding direction.
  • the magnetic force-displacement characteristic of the two-dimensional negative stiffness magnetic group 6 is that in the Z direction, the magnetic force between the two-dimensional moving magnet 62 and the two-dimensional fixed magnet 61 decreases as the relative displacement between the magnets in the Z direction increases, resulting in the Z direction
  • the positive stiffness characteristic k ZZ thus forms a series relationship in the Z direction with the Z-direction negative stiffness characteristic k ZF of the one-dimensional negative stiffness magnetic group 5.
  • the magnetic force between the two-dimensional moving magnet 61 and the two-dimensional fixed magnet 62 increases with the increase of the relative displacement in the X direction between the magnets, resulting in a negative stiffness characteristic k XF ; in the Y direction, the two-dimensional moving magnet The magnetic force between 61 and the two-dimensional fixed magnet 62 increases as the relative displacement between the magnets increases in the Y direction, resulting in a negative stiffness characteristic k YF .
  • the stiffness characteristic z in the Z direction between the mounting base 1 and the vibration-damped body 3 is the series of the two, according to the stiffness series formula:
  • a multidimensional magnetic negative stiffness mechanism and a multidimensional vibration damping system composed of the first embodiment, including a mounting base 1, a positive stiffness mechanism 2, the body to be damped 3, floating frame 4, One-dimensional negative rigidity magnetic group 5 and two-dimensional negative rigidity magnetic group 6.
  • k ZZ is the overall positive stiffness of the entire two-dimensional magnetic negative stiffness unit in the Z direction. The stiffness mark is the same, and will not be repeated here.
  • the mounting base 1 is fixedly connected to the foundation or the foundation structure, and may be a vibration input terminal or a vibration source, or a vibration output terminal.
  • the vibration-damped body 3 is a vibration-damped device, a platform, etc., and may be a vibration output terminal, a vibration input terminal, or a vibration source.
  • the floating frame 4 is used for fixed moving permanent magnets, and includes a linear guide 41 and a permanent magnet mounting frame 42.
  • four linear guides 41 are fixedly connected to the mounting base 1, and the direction of the linear guide is the main bearing direction of the vibration reduction system Z direction, which is perpendicular to the plane of the mounting base; four linear bearings are installed on the permanent magnet mounting frame 42 respectively
  • the four linear guides 41 cooperate so that the permanent magnet mounting frame can only move in the Z direction.
  • the positive stiffness mechanism 2 includes an X-direction spring 21, a Z-direction spring 22, and a Y-direction spring 23.
  • the four Z-direction springs 23 are arranged along the Z-direction, and the two ends are respectively connected to the mounting base 1 and the damped body 3 to form a positive support stiffness in the Z-direction;
  • the mounting base 1 has four uprights for fixing the spring,
  • X The directional spring 21 is arranged in the X direction, and the two ends are respectively connected to the mounting base 1 and the damped body 3, and there are two X-direction springs 21, which are symmetrically arranged on both sides of the damped body 3 to provide positive X-direction rigidity;
  • Y The directional spring 23 is arranged along the Y direction, and the two ends are respectively connected to the mounting base 1 and the body 3 to be damped. There are two Y springs 23 symmetrically arranged on both sides of the body 3 to provide positive Y-direction rigidity.
  • the one-dimensional negative rigidity magnetic group 5 includes a vertical negative rigidity magnetic group magnet 51 and a vertical negative rigidity magnetic group fixed magnet 52.
  • the vertical negative rigidity magnetic group moving magnet 51 is fixedly connected with the permanent magnet mounting frame 42.
  • the fixed magnets 52 of the vertical negative rigidity magnetic group are two permanent magnets, symmetrically distributed on both sides of the moving magnet 51 of the vertical negative rigidity magnetic group, and are fixedly connected with the mounting base 1.
  • the three permanent magnets are evenly arranged in the X direction, and the magnetization directions are all in the X direction.
  • the magnetization directions of adjacent permanent magnets are opposite, forming a repulsive force, forming a one-dimensional negative rigidity magnetic group, and providing negative Z-direction rigidity.
  • the three permanent magnets are evenly arranged along the Z direction, and the magnetization directions are the same, all in the Z direction, forming a suction force, providing negative rigidity in the X and Y directions.
  • the positive stiffness formed by the two-dimensional negative stiffness magnetic group 6 in the Z direction is connected in series with the negative stiffness formed by the one-dimensional negative stiffness magnetic group 5 to form the Z-direction negative stiffness between the damped body 3 and the mounting base 1.
  • Embodiment 2 differs from Embodiment 1 of the present invention.
  • the one-dimensional fixed magnet 52 and the linear guide 41 are fixedly connected to the vibration-damped body 3, and the two-dimensional negative rigidity magnetic group fixed magnet 61 and the mounting base Block 1 is fixed.
  • Embodiment 3 and Embodiment 1 of the present invention are composed of three layers of rectangular magnets with a square interface, and all magnets are magnetized in the same direction It is the X direction, but the magnetization directions of adjacent magnets in the same row and column are opposite.
  • This embodiment can increase the negative stiffness in the Z direction and improve the vibration damping performance of the system in the Z direction.
  • Embodiment 4 differs from Embodiment 3 of the present invention from two one-dimensional negative rigidity magnetic groups 5 from two-dimensional negative rigidity magnetic group 6.
  • the one-dimensional negative rigidity magnetic group 5 since the one-dimensional negative rigidity magnetic group 5 can only perform one-dimensional linear movement in the Z direction, the one-dimensional negative rigidity magnetic group 5 does not need to follow the X direction as in Embodiments 1 to 4 Magnetizing. In fact, as long as it is magnetized according to any straight line on the XY plane, that is, perpendicular to the Z direction.
  • the linear guide 41 may include only two linear guide bushes, or only one linear slider is required, as long as it can realize one-dimensional linear motion.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

一种多维磁负刚度机构及其构成的多维磁负刚度减振系统，该多维减振系统由正刚度机构（2）、多维负刚度机构、浮动框架（4）、被减振体（3）和安装基座（1）构成。其中，正刚度机构（2）是传统的弹性元件，连接被减振体（3）和安装基座（1），提供X向、Y向和Z向的支撑力和基本减振功能。多维负刚度机构由至少两个负刚度磁组（6）构成，每个负刚度磁组（6）可以提供一维或者二维的负刚度，通过至少两个负刚度磁组（6）的串联，可以实现二维或者三维的负刚度效果，提升系统多个维度上的减振性能。利用多维磁负刚度机构，既实现了对被减振体（3）的大承载力，又实现了多维高性能减振的功能。

Description

一种多维磁负刚度机构及其构成的多维磁负刚度减振系统 【技术领域】
本发明属于减振领域，更具体地，涉及一种多维磁负刚度机构及由其构成的多维减振系统。
【背景技术】
振动问题普遍地存在于工业生产和工程的各个领域，随着各种机械设备向着高速、高精、高稳定性发展，它们对振动的要求越来越严格。需要利用减振器隔离设备向其固定支座的传递，或者需要利用减振器隔离机械结构的振动向相关设备的传递。
减振器的性能主要有承载性能和减振性能。传统形式的减振器，如金属弹簧、橡胶结构、金属-橡胶复合结构、气体弹簧等，都存在承载性能和减振性能互相矛盾的问题，主要体现在减小系统刚度时，可以提高系统的减振性能，但是会降低系统的承载性能。目前较好的解决方法是在减振系统中引入磁负刚度机构，其有以下主要优点：
1)在保证系统承载性能不降低的情况下提升系统的减振性能；
2)磁场力为非接触力，不会引入摩擦及其带来的非线性问题。
但是，目前磁负刚度技术应用于减振领域尚存在一些技术难点，例如难以实现较大的负刚度，难以实现稳定线性的负刚度，难以实现多维度的负刚度等，这限制了磁负刚度技术在减振系统中的应用。针对难以实现多维负刚度这一技术难点，减振领域存在着发展一种多维磁负刚度机构的需求。
【发明内容】
针对现有技术的以上缺陷或改进需求，本发明提供了一种利用永磁体构建的多维磁负刚度机构，通过一个浮动结构将不同方向的磁负刚度机构 进行整合，结合刚度数值的设定，产生三维负刚度或者二维负刚度，并以此为基础提出了一种多维减振系统，结合正刚度机构的三维设计实现正刚度与负刚度的多维度串并联复合减振，从而能在多种工况下提高系统多个维度的减振性能，同时保证承载能力，提高减振系统的综合性能。
为了实现上述目的，按照本发明的一个方面，提供了一种多维磁负刚度机构，包括：安装基座、浮动框架、二维磁负刚度单元和一维磁负刚度单元；
二维磁负刚度单元包括至少一个二维负刚度磁组，一维磁负刚度单元包括至少一个一维负刚度磁组；
浮动框架包括直线导轨和永磁体安装架；永磁体安装架沿直线导轨做一维直线运动；以主承载方向为Z向建立三维直角坐标系OXYZ，则直线导轨沿Z向布置，二维负刚度磁组的两个负刚度方向分别沿X向和Y向布置，一维负刚度磁组的负刚度方向沿Z向布置；
二维负刚度磁组包括沿Z向直线排布的两个二维动磁铁和位于其间的一个二维定磁铁；二维定磁铁和二维动磁铁均沿Z向充磁，两个二维定磁铁充磁方向相同且与二维动磁铁充磁方向相反；
一维负刚度磁组包括垂直于Z向直线排布的两个一维定磁铁和位于其间的一个一维动磁铁；
直线导轨和两个一维定磁铁均固定于安装基座上，两个二维定磁铁均固定于被减振体上；或者，直线导轨和两个一维定磁铁均固定于被减振体上，两个二维定磁铁均固定于安装基座上；
一维动磁铁和一维动磁铁均固定于永磁体安装架上，以随永磁体安装架一同沿直线导轨做Z向的一维直线运动；
整个多维磁负刚度机构在Z向上的等效刚度k z满足如下关系：
Figure PCTCN2019111673-appb-000001
其中，k ZZ是二维磁负刚度单元在Z向产生的正刚度，k ZF是一维磁负刚度单元在Z向产生的负刚度；
k ZF<0<-k ZF<k ZZ时，k z＜0，整个多维磁负刚度机构为三维磁负刚度机构；
k ZF<0<k ZZ≤-k ZF时，k z≥0，整个多维磁负刚度机构为X向和Y向的二维磁负刚度机构。
进一步地，包括两个二维负刚度磁组和一个一维负刚度磁组，两个二维负刚度磁组沿X向或Y向分布于一维负刚度磁组两侧。
进一步地，包括一个二维负刚度磁组和两个一维负刚度磁组，两个一维负刚度磁组沿X向或Y向分布于二维负刚度磁组两侧。
进一步地，一维定磁铁和一维动磁铁均由多个磁铁堆叠而成，且在相互堆叠的磁铁中，相邻的磁铁充磁方向相反；两个一维动磁铁的同层磁铁充磁方向相同，且与一维动磁铁的同层磁铁充磁方向相反。
进一步地，一维负刚度磁组中用于堆叠的磁铁均是截面为正方形的长条矩形体。
为了实现上述目的，另一方面，本发明还提供了一种多维磁负刚度减振系统，包括：正刚度机构以及如权利要求～任意一项所述的多维磁负刚度机构；
正刚度机构包括X向正刚度组件、Z向正刚度组件和Y向正刚度组件，分别沿X向、Z向和Y向支撑于被减振体和安装基座之间。
进一步地，X向正刚度组件、Z向正刚度组件和Y向正刚度组件分别包括金属弹簧、橡胶结构、金属-橡胶复合结构、气体弹簧中的任意一种或多种。
进一步地，Z向正刚度组件包括四个Z向螺旋弹簧，对称分布在被减振体和安装基座之间的四个角落。
进一步地，X向正刚度组件包括两个X向螺旋弹簧，沿X向对称分布 在被隔振对象的两侧，通过X向安装立柱固连到安装基座上。
进一步地，Y向正刚度组件包括两个Y向螺旋弹簧，沿Y向对称分布在被隔振对象的两侧，通过Y向安装立柱固连到安装基座上。
总体而言，本发明所构思的以上技术方案与现有技术相比，能够取得下列有益效果：
1、本发明提供的多维磁负刚度机构，通过至少一个一维负刚度磁组和至少一个二维负刚度磁组的关联关系设定，在Z向上实现了负刚度与正刚度串联，从而能够结合Z向正负刚度数值的选取，实现三个方向或者两个方向的负刚度特性。该多维磁负刚度机构与正刚度机构组成的多维减振系统，在多个方向上实现负刚度与正刚度的并联，能适应多种减振环境。
2、本发明实现了多维磁负刚度，使得减振系统在多个维度上减振效果均显著提高；在提高减振系统的减振性能的同时，保证了系统承载能力不下降。
3、本发明的多维磁负刚度机构，其负刚度通过非接触的磁场力实现，无摩擦，避免了因摩擦力而引起的非线性问题，简单方便，易于在传统减振器上应用，满足各类实际工程需要。
4、本发明的所有相互接触的永磁体之间均为吸引力，提高负刚度值的同时安装方便安全，无需粘接，结构紧凑，重量较轻，加工简单，成本较低。
5、将二维负刚度磁组设置成两对，对称布置于一维负刚度磁组两侧，课以达到平衡稳定的效果。将浮动框架与安装基座(或被减振体)用直线导轨连接，浮动框架和安装基座(或被减振体)之间可以实现Z向相对运动，而X向和Y向不能发生相对运动，从而得到一维负刚度磁组，可以提高系统稳定性，方便安装和维护。
6、一维负刚度磁组选择一个运动磁体置于两个固定磁体之间，在X方向直线均匀排列，相互之间为斥力形式，可以增大负刚度行程，减小磁铁 之间相互碰撞的风险。
7、一维负刚度磁组的永磁体可以设置成截面为正方形的长条矩形体，可以增大Z向的负刚度值，同时减小Y向的正刚度值，提升系统减振性能。此外，一维负刚度磁组还可以设置为Z向多层堆叠，形成矩形阵列结构，同样能够提高Z向负刚度值，提升系统减振性能。
8、正刚度机构在Z向可以选择四个螺旋弹簧、X向选择两个螺旋弹簧、Y向选择两个螺旋弹簧，易于安装且能够提升系统的稳定性。
【附图说明】
图1是本发明的原理图；
图2是本发明专利一种多维磁负刚度机构及其构成的减振系统实施例1正视图；
图3是本发明专利一种多维磁负刚度机构及其构成的减振系统实施例1俯视图；
图4是本发明专利一种多维磁负刚度机构及其构成的减振系统实施例2正视图；
图5是本发明专利一种多维磁负刚度机构及其构成的减振系统实施例3正视图；
图6是本发明专利一种多维磁负刚度机构及其构成的减振系统实施例4正视图。
【具体实施方式】
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。本发明中建立的坐标系及方向仅用于描述各构造之间的相对关系，以便于更好地理解本发明，而非作为对本发明的具体限制。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
请参照图1～3，本发明的基本工作原理如下：
在多维磁负刚度机构中，将一维负刚度磁组5的负刚度方向与减振系统的主承载方向Z向重合，二维负刚度磁组6的两个负刚度方向与减振系统的X向和Y向重合。
当被减振体3(或者安装基座1)由于外部原因或者内部原因发生振动时，会产生被减振体3(或者安装基座1)与浮动框架4之间、浮动框架4与安装基座1(或者被减振体3)之间的相对位移，导致运动磁体和固定磁体之间发生相对位移，进而导致两者之间相互作用的磁力发生变化。
一维负刚度磁组5的磁力-位移特征在于，在一维负刚度磁组5的负刚度方向Z向上，一维动磁体51与一维定磁体52间的磁力随着磁体间Z向相对位移的增大而增大，产生Z向负刚度特性k ZF；在X方向和Y方向上，由于直线导轨41和浮动框架42的限制，一维动磁体51与一维定磁体52不能产生相对运动，因此没有对应方向正刚度特性和负刚度特性。
二维负刚度磁组6的磁力-位移特征在于，在Z向上，二维动磁体62与二维定磁体61间的磁力随着磁体间Z向相对位移的增大而减小，产生Z向正刚度特性k ZZ，从而在Z向上与一维负刚度磁组5的Z向负刚度特性k ZF组成串联关系。在X方向上，二维动磁体61与二维定磁体62间的磁力随着磁体间X向相对位移的增大而增大，产生负刚度特性k XF；在Y方向上，二维动磁体61与二维定磁体62间的磁力随着磁体间Y向相对位移的增大而增大，产生负刚度特性k YF。
对于多维磁负刚度机构而言，由于在Z方向上存在正刚度k ZZ和负刚度k ZF，其中一个作用在被减振体3(或者安装基座1)与浮动框架4之间，一个作用在浮动框架4与安装基座1(或者被减振体3)之间。因此，安装基座1和被减振体3之间Z向的刚度特性k z为二者的串联，根据刚度串联公式：
Figure PCTCN2019111673-appb-000002
当k ZF<0<-k ZF<k ZZ时，k z<0。因此，适当匹配一维负刚度磁组的k ZF和二维负刚度磁组的k ZZ值，可以使得安装基座和被减振体之间的刚度特性k z小于0，而由于X、Y方向被浮动框架4限制而不具有正刚度，从而使上述机构实现三维负刚度。而当k ZF<0<k ZZ≤-k ZF时，k z≥0，该多维磁负刚度机构实现X向和Y向的二维负刚度。
下面结合几个具体实施例对本发明进行进一步说明。
【实施例1】
请参照图2、图3，一种多维磁负刚度机构及由其构成的多维减振系统的实施例1，包括安装基座1、正刚度机构2、被减振体3、浮动框架4、一维负刚度磁组5和二维负刚度磁组6。图2中为便于理解磁负刚度的方向，两个二维负刚度磁组6均标示了k ZZ，实际上k ZZ是整个二维磁负刚度单元在Z向的整体正刚度，其余附图的刚度标记同理，不再赘述。
所述安装基座1与地基或者基础结构固定连接，可以是振动输入端或振源，也可以是振动输出端。所述被减振体3为被减振设备或平台等，可以是振动输出端，也可以是振动输入端或振源。
所述浮动框架4用于固定运动的永磁体，其包含直线导轨41和永磁体安装架42。其中，四根直线导轨41与安装基座1固连，且直线导轨方向为减振系统主承载方向Z向，与安装基座平面垂直；永磁体安装架42上安装有四个直线轴承分别与四根直线导轨41配合，使得永磁体安装架只能在Z向运动。
所述正刚度机构2包含X向弹簧21、Z向弹簧22和Y向弹簧23。其中，四个Z向弹簧23沿Z向布置，两端分别连接安装基座1和被减振体3，构成Z向支撑正刚度；安装基座1上有四根立柱用于固定弹簧，X向弹簧21沿X向布置，两端分别连接安装基座1和被减振体3，X向弹簧21有 两个，对称布置于被减振体3的两侧，提供X向正刚度；Y向弹簧23沿Y向布置，两端分别连接安装基座1和被减振体3，Y向弹簧23有两个，对称布置于被减振体3的两侧，提供Y向正刚度。
所述一维负刚度磁组5，包含垂向负刚度磁组动磁体51和垂向负刚度磁组定磁体52。垂向负刚度磁组动磁体51与所述永磁体安装架42固连。垂向负刚度磁组定磁体52为两块永磁体，对称分布于垂向负刚度磁组动磁体51的两侧，与安装基座1固连。三块永磁体沿X方向均匀排列，充磁方向也均为X方向，相邻永磁体间充磁方向相反，形成排斥力，构成一维负刚度磁组，提供Z向负刚度。
所述二维负刚度磁组6包括两组磁体，对称布置于一维负刚度磁组的两侧。每一组磁体包括二维负刚度磁组定磁体61和二维负刚度磁组动磁体62。所述二维负刚度磁组动磁体62与永磁体安装架42固连。同一侧的两块二维负刚度磁组定磁体61与被减振体3固连，且对称布置于二维负刚度磁组动磁体62的上下两侧。三块永磁体沿Z向直线均匀排列，且充磁方向都相同，均为Z向，形成吸力，提供X向和Y向的负刚度。二维负刚度磁组6在Z向形成的正刚度与一维负刚度磁组5形成的负刚度串联，形成被减振体3和安装基座1之间的Z向负刚度。
【实施例2】
请参照图4，本发明的实施例2与实施例1的区别在于，一维定磁铁52和直线导轨41与被减振体3固连，而二维负刚度磁组定磁体61与安装基座1固连。
【实施例3】
请参照图5，本发明的实施例3与实施例1的区别在于，一维定磁铁52和一维动磁铁51均由三层界面为正方形的长条形磁体组成，所有磁体充磁方向均为X方向，但是同一行、同一列的相邻磁体的充磁方向相反。本实施例可以增大Z向的负刚度，提升系统Z向的减振性能。
【实施例4】
请参照图6，本发明的实施例4与实施例3的区别在于，采用两个一维负刚度磁组5对称布置于一个二维负刚度磁组6两侧。
在其他实施例中(未图示)，由于一维负刚度磁组5仅能沿Z向做一维直线运动，一维负刚度磁组5并不需要如实施例1～4那样按照X方向充磁。实际上，只要按照XY平面上的任意直线充磁，即垂直于Z向充磁均可。
在其他实施例中(未图示)，直线导轨41也可以仅包括两个直线导套，或者仅需要一个直线滑块，只要能实现一维直线运动即可。
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种多维磁负刚度机构，其特征在于，包括：安装基座(1)、浮动框架(4)、二维磁负刚度单元和一维磁负刚度单元；
    二维磁负刚度单元包括至少一个二维负刚度磁组(6)，一维磁负刚度单元包括至少一个一维负刚度磁组(5)；
    浮动框架包括直线导轨(41)和永磁体安装架(42)；永磁体安装架(42)沿直线导轨(41)做一维直线运动；以主承载方向为Z向建立三维直角坐标系OXYZ，则直线导轨(41)沿Z向布置，二维负刚度磁组(6)的两个负刚度方向分别沿X向和Y向布置，一维负刚度磁组(5)的负刚度方向沿Z向布置；
    二维负刚度磁组(6)包括沿Z向直线排布的两个二维动磁铁(62)和位于其间的一个二维定磁铁(61)；二维定磁铁(61)和二维动磁铁(62)均沿Z向充磁，两个二维定磁铁(61)充磁方向相同且与二维动磁铁(62)充磁方向相反；
    一维负刚度磁组(5)包括垂直于Z向直线排布的两个一维定磁铁(52)和位于其间的一个一维动磁铁(51)；
    直线导轨(41)和两个一维定磁铁(52)均固定于安装基座(1)上，两个二维定磁铁(61)均固定于被减振体(3)上；或者，直线导轨(41)和两个一维定磁铁(52)均固定于被减振体(3)上，两个二维定磁铁(61)均固定于安装基座(1)上；
    一维动磁铁(51)和一维动磁铁(62)均固定于永磁体安装架(42)上，以随永磁体安装架(42)一同沿直线导轨(41)做Z向的一维直线运动；
    整个多维磁负刚度机构在Z向上的等效刚度k z满足如下关系：
    Figure PCTCN2019111673-appb-100001
    其中，k ZZ是二维磁负刚度单元在Z向产生的正刚度，k ZF是一维磁负刚度单元在Z向产生的负刚度；
    k ZF<0<-k ZF<k ZZ时，k z＜0，整个多维磁负刚度机构为三维磁负刚度机构；
    k ZF<0<k ZZ≤-k ZF时，k z≥0，整个多维磁负刚度机构为X向和Y向的二维磁负刚度机构。
  2. 如权利要求1所述的一种多维磁负刚度机构，其特征在于，包括两个二维负刚度磁组(6)和一个一维负刚度磁组(5)，两个二维负刚度磁组(6)沿X向或Y向分布于一维负刚度磁组(5)两侧。
  3. 如权利要求1所述的一种多维磁负刚度机构，其特征在于，包括一个二维负刚度磁组(6)和两个一维负刚度磁组(5)，两个一维负刚度磁组(5)沿X向或Y向分布于二维负刚度磁组(6)两侧。
  4. 如权利要求1～3任意一项所述的一种多维磁负刚度机构，其特征在于，一维定磁铁(52)和一维动磁铁(51)均由多个磁铁堆叠而成，且在相互堆叠的磁铁中，相邻的磁铁充磁方向相反；两个一维动磁铁(51)的同层磁铁充磁方向相同，且与一维动磁铁(51)的同层磁铁充磁方向相反。
  5. 如权利要求4所述的一种多维磁负刚度机构，其特征在于，一维负刚度磁组(6)中用于堆叠的磁铁均是截面为正方形的长条矩形体。
  6. 一种多维磁负刚度减振系统，其特征在于，包括：正刚度机构(2)以及如权利要求1～5任意一项所述的多维磁负刚度机构；
    正刚度机构(2)包括X向正刚度组件(21)、Z向正刚度组件(22)和Y向正刚度组件(23)，分别沿X向、Z向和Y向支撑于被减振体(3)和安装基座(1)之间。
  7. 如权利要求6所述的一种多维磁负刚度减振系统，其特征在于，X 向正刚度组件(21)、Z向正刚度组件(22)和Y向正刚度组件(23)分别包括金属弹簧、橡胶结构、金属-橡胶复合结构、气体弹簧中的任意一种或多种。
  8. 如权利要求7所述的一种多维磁负刚度减振系统，其特征在于，Z向正刚度组件(22)包括四个Z向螺旋弹簧，对称分布在被减振体(3)和安装基座(1)之间的四个角落。
  9. 如权利要求7所述的一种多维磁负刚度减振系统，其特征在于，X向正刚度组件(21)包括两个X向螺旋弹簧，沿X向对称分布在被隔振对象(3)的两侧，通过X向安装立柱固连到安装基座(1)上。
  10. 如权利要求7所述的一种多维磁负刚度减振系统，其特征在于，Y向正刚度组件(23)包括两个Y向螺旋弹簧，沿Y向对称分布在被隔振对象(3)的两侧，通过Y向安装立柱固连到安装基座(1)上。
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