CN102168738A - Six-degree-of-freedom active and passive dynamic vibration-absorbing device - Google Patents
Six-degree-of-freedom active and passive dynamic vibration-absorbing device Download PDFInfo
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- CN102168738A CN102168738A CN2011101213707A CN201110121370A CN102168738A CN 102168738 A CN102168738 A CN 102168738A CN 2011101213707 A CN2011101213707 A CN 2011101213707A CN 201110121370 A CN201110121370 A CN 201110121370A CN 102168738 A CN102168738 A CN 102168738A
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Abstract
The invention discloses a six-degree-of-freedom active and passive dynamic vibration-absorbing device, which comprises a bracket and six single degree-of-freedom dynamic vibration absorbers, wherein the six single degree-of-freedom dynamic vibration absorbers are in pairwise symmetrical arrangement, and are fixedly connected with three vertical directions of the bracket via bolts respectively; and the vibration absorbers are connected with a controlled structure in two ways, namely, the vibration absorbers are connected internally and externally with the controlled structure. The bracket is a hollow metal framework connected by six crosses into a cube; each single degree-of-freedom dynamic vibration absorber comprises an end cover, a shell, a coil sleeve, a motor rotor, a diaphragm spring, an M4 nut and an M3 bolt. The six-degree-of-freedom active and passive dynamic vibration-absorbing device is installed on the surface of the controlled structure, has six-degree-of-freedom vibration suppression capability and active and passive control modes, is flexible and easy to control, fast in response speed and good in reliability, and is adapted to the complex vibration suppression working condition with multiple degree-of-freedom. The device has higher practical value and wide application prospect in the technical field of aviation and aerospace.
Description
Technical field
The invention belongs to the precision machinery technology field, specifically, relate to the passive powered shock absorption device of a kind of six-degree-of-freedom master.
Background technique
At aerospace field, engineering unit adopts light flexible structural design products such as truss usually, to reduce the product overall weight.Yet this quasi-structure component is subjected to external disturbance easily and resonance phenomenon takes place, and makes to be installed in structural useful load cisco unity malfunction.Therefore research and development become problem demanding prompt solution at the vibration control apparatus of this class formation.
The control of light flexible structural vibrations mainly is divided into initiatively and passive two kinds of control modes.Passive mode is simple in structure, but limited in one's ability to the effect frequency range and the inhibition of structural vibration; The ACTIVE CONTROL mode then is much better than passive mode to the effect of vibration suppression.Mainly in by control structure, embed the method that active member constitutes intelligence structure at the lightweight flexible ACTIVE CONTROL OF STRUCTURE at present.Yet for space industry widely apply such as deformable lightweight constructions such as disk compression bar, deployable mechanism and inflatable structuress, be difficult to carry out Active Vibration Control by the method that embeds active member, greatly limited the application area of these structures.Suppress problem for this class expansion, deformation type structural vibrations, adopting dynamic vibration absorber will be a kind of effective solution.Dynamic vibration absorber is installed on by on the control structure, can consume the structural vibration energy by the damping of self, realizes vibration suppression, need not to transform by control structure.But traditional powered shock absorption device mostly is the passive shock-absorbing means of single-degree-of-freedom greatly, and vibration suppressioning effect is limited and the vibration suppression bandwidth is narrower, can't suppress the multi-freedom-degree vibration of flexible structure effectively.For addressing this problem, the passive powered shock absorption device of research and development multi-freedom degree master will become the inevitable research direction in this field.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides the passive powered shock absorption device of a kind of six-degree-of-freedom master, it has overcome the deficiencies in the prior art, is a kind of controlled body structure surface that is installed on, need not to transform, have the reliable shock-absorbing means of 6DOF vibration suppression ability by control structure.
The passive powered shock absorption device of a kind of six-degree-of-freedom master of the present invention comprises support and six single-degree-of-freedom dynamic vibration absorbers.Wherein, six single-degree-of-freedom dynamic vibration absorbers are connected with screw respectively with three Vertical direction of support with the layout of symmetry in twos, it and by the Placement of control structure two kinds of assembling modes are arranged.
Described support is the common metal structure stand; See Fig. 2, respectively be provided with two M5 support attachment holes that are symmetrical distribution on its 6 faces; See Fig. 1, the support attachment hole on each face of its medium-height trestle is connected with the screw of the attachment hole of single-degree-of-freedom dynamic vibration absorber by two M5 * 8.6 crosss that are shaped as a hollow of support connect to the frame structure of square body, and two M5 support attachment holes are in cross central authorities.
Described single-degree-of-freedom dynamic vibration absorber is seen Fig. 4, Fig. 5, Fig. 6, comprises end cap, shell, loop sleeve, electric mover, diaphragm spring, M4 nut and M3 screw.Wherein, end cap, diaphragm spring edge link to each other by the M3 screw with outer casing end; The diaphragm spring edge is connected with the loop sleeve contact, and the diaphragm spring middle part axially is connected with electric mover, and by the M4 nut screwing clamping; Electric mover axially is connected with loop sleeve, has the gap with the loop sleeve inwall.This end cap is the conical boss shape structural member of a hollow, and there are 4 uniform through holes at the edge; This shell is the hollow cylinder structure that there is step groove at two ends, respectively there are 4 uniform M3 tapped holes at the step trough two ends, wherein an end-grain cutting has square groove, and 4 tangent planes that are axial symmetrical distribution are arranged on the casing wall, and the middle part respectively is evenly equipped with the tapped through hole of two M5 on each tangent plane; This loop sleeve is the hollow cylinder structure that outer wall has two annular grooves, is wound with coil by positive and negative direction respectively on the groove of upper and lower half, loop sleeve outer ring; This diaphragm spring is the thin rounded flakes of middle part hollow out, and there are 4 uniform connecting through holes at the edge; This M4 nut and M3 screw are commercial standard piece.This electric mover comprises mover guide rod, iron block, permanent magnet and lining.The mover guide rod is equipped with lining, iron block and permanent magnet successively from two ends to the middle part.Closely connect between mover guide rod, iron block, permanent magnet and the lining.This mover guide rod is a cylindrical elongate bar structure, and two ends respectively are provided with the M4 screw thread; This permanent magnet is a hollow cylindrical structure, is commercial product; This iron block is the hollow cylindrical structure part; This lining is the hollow cylindrical structure part.
Wherein, this device with had two kinds to be by the Placement of control structure: in connect controlled mode of structure and external controlled mode of structure.
Wherein, the quantity of this support is a cover;
Wherein, the quantity of this single-degree-of-freedom dynamic vibration absorber is 6 covers;
Wherein, single-degree-of-freedom bump leveller and support to be connected with screw be M5 * 8, totally 12 of quantity;
Wherein, the end cap of single-degree-of-freedom bump leveller and shell to be connected with screw be M3 * 5, totally 48 of quantity;
Wherein, the quantity of this M4 nut is totally 12;
Working procedure of the present invention is: at first with the present invention according to assembled by the mounting type of control structure, and be installed on by on the control structure.But the present invention has initiatively and passive two kinds of control modes of shaking.But the pattern of initiatively shaking is to utilize controlled structural sensor to record the signal of vibration, but the electric current of the coil of 6 single-degree-of-freedom dynamic vibration absorbers by the control algorithm control gear that shakes is realized; But the passive pattern of shaking is to realize by the coil outer meeting resistance of 6 single-degree-of-freedom dynamic vibration absorbers that will install.Along on certain axial direction of device, when the single-degree-of-freedom dynamic vibration absorber of two symmetrical distributions moves in the same way, can suppress to be vibrated along the translation on this axial direction by control structure; When the single-degree-of-freedom dynamic vibration absorber reversing motion of two symmetrical distributions, can suppress by the rotational vibrations of control structure around bump leveller plane of movement normal axis.By above-mentioned working procedure, realize by three translations of control structure, the vibration suppression of three rotational freedoms.
The passive powered shock absorption device of six-degree-of-freedom master by said structure is formed has the omnibearing vibration suppression ability of six-degree-of-freedom.This shock-absorbing means according to by the Placement of control structure by two kinds of assembling modes: in connect by control structure and external by control structure.Its single-degree-of-freedom bump leveller adopts electromagnetic type to make flowing mode, and the coil current that relies on control to be wrapped on the loop sleeve is realized main Passive Control, has that speed of response is fast, Location accuracy is high, the characteristics of good reliability, can make the present invention carry out effective vibration control.
The invention has the advantages that:
(1) the present invention is installed on controlled body structure surface, need not to transform by control structure, has broad application prospects than the embedded intelligence structure.
(2) the present invention has 6DOF vibration suppression ability, can adapt to the multi-freedom degree complex vibration and suppress operating mode.
(3) bump leveller among the present invention has main, Passive Control pattern.Realize ACTIVE CONTROL by the control coil electric current; By but the coil outer meeting resistance can be realized passive shaking.Control mode is flexible, simple, speed of response is fast, good reliability.
(4) bump leveller among the present invention adopts the flowing mode of doing of moving magnet, alignment circle, more traditional moving winding, fixed magnet make flowing mode, effectively utilized the own wt of magnet, reduced whole Design of device weight.
Description of drawings
Fig. 1 (a) connects by the assembling mode schematic representation of control structure in being;
Fig. 1 (b) is external by the assembling mode schematic representation of control structure;
Fig. 2 is the schematic representation of support;
Fig. 3 is the schematic representation of single-degree-of-freedom dynamic vibration absorber;
Fig. 4 is the sectional drawing of single-degree-of-freedom dynamic vibration absorber;
Fig. 5 is the structure explosive view of single-degree-of-freedom dynamic vibration absorber;
Fig. 6 is an electric mover structure explosive view;
Fig. 7 (a) is the control schematic representation but translation is shaken;
Fig. 7 (b) rotates and suppresses the control schematic representation.
Symbol description is as follows among the figure:
1. support
2. single-degree-of-freedom dynamic vibration absorber
1A. support attachment hole 2B. single-degree-of-freedom dynamic vibration absorber attachment hole
2-1. end cap; 2-2. shell; 2-3. loop sleeve; 2-4. electric mover; 2-5. diaphragm spring; 2-6.M4 nut; 2-7.M3 screw.
2-4-1. mover guide rod; 2-4-2. iron block; 2-4-3. permanent magnet; 2-4-4. lining.
The active force that the F dynamic vibration absorber produces.
The opplied moment that the M dynamic vibration absorber produces.
Embodiment
Come the present invention made below in conjunction with accompanying drawing and further specify.
The passive powered shock absorption device of a kind of six-degree-of-freedom master of the present invention comprises support 1 and six single-degree-of-freedom dynamic vibration absorbers 2.Wherein, six single-degree-of-freedom dynamic vibration absorbers 2 are connected with the attachment hole of three Vertical direction of the layout of symmetry in twos and support 1 screw with M5 * 8.As shown in Figure 1, according to had by the Placement of control structure two kinds of assembling mode: Fig. 1 (a) in connect external by control structure and Fig. 1 (b) by control structure.
As Fig. 2, shown in Figure 3, the middle part respectively is provided with 2 M5 attachment hole 1A that are symmetrical distribution on 6 faces of described support; Attachment hole 1A on each face of its medium-height trestle is connected by the screw of 2 M5 * 8 with the attachment hole 2B of single-degree-of-freedom dynamic vibration absorber 2.6 crosses that are shaped as hollow of support connect to the metal framework structure of a square body.
As Fig. 4, shown in Figure 5, described single-degree-of-freedom dynamic vibration absorber comprises end cap 2-1, shell 2-2, loop sleeve 2-3, electric mover 2-4, diaphragm spring 2-5, M4 nut 2-6 and M3 screw 2-7.Wherein, end cap 2-1, diaphragm spring edge 2-5 link to each other with the screw 2-7 of shell 2-2 end by 8 M3 * 5; The edge of diaphragm spring 2-5 is connected with loop sleeve 2-3 contact, and diaphragm spring 2-5 middle part axially is connected with electric mover 2-4, and is tightened by M4 nut 2-6; Electric mover 2-4 axially is connected with loop sleeve 2-3, has the gap with loop sleeve 2-3 inwall.This end cap 2-1 is the conical boss shape structural member of a hollow, and there is the through hole of 4 circumferential uniform diameter 3mm at the edge; Shell 2-2 is the hollow cylinder structure that there is step groove at two ends, respectively there are 4 uniform M3 tapped holes at the step trough two ends, wherein an end-grain cutting has square groove, and 4 tangent planes that are axial symmetrical distribution are arranged on the casing wall, and 2 M5 threaded connection hole 2B that get through are respectively arranged on each tangent plane; Loop sleeve 2-3 is the hollow cylinder structure that outer wall has two annular grooves, is wound with coil by positive and negative direction respectively on the groove of upper and lower half, loop sleeve outer ring; Diaphragm spring 2-5 is the thin rounded flakes of middle part hollow out, adopts the material of magnetism-free stainless steel, and there is the connecting through hole of 4 uniform diameter 3mm at the edge; M4 nut 2-6 and M3 screw 2-7 are commercial standard piece.
As Fig. 4, shown in Figure 6, described electric mover 2-4 comprises mover guide rod 2-4-1, iron block 2-4-2, permanent magnet 2-4-3 and lining 2-4-4.From two ends to the middle part lining 2-4-4, iron block 2-4-2 and permanent magnet 2-4-3 are installed successively along mover guide rod 2-4-1.Closely connect between mover guide rod 2-4-1, iron block 2-4-2, permanent magnet 2-4-3 and the lining 2-4-4.Mover guide rod 2-4-1 is a cylindrical elongate bar structure, and the M4 screw thread that length is 8mm is respectively attacked at two ends; Iron block 2-4-2 is the hollow cylindrical structure part, and boundary dimension is diameter 28mm, and thickness 10mm, intermediate throughholes diameter are 4.5mm; Permanent magnet 2-4-3 is a hollow cylindrical structure, and its material is a Nd Fe B alloys, is commercial product; Lining 2-4-4 is the hollow cylindrical structure part, and boundary dimension is external diameter 35mm, internal diameter 30mm, and height 87mm, the circular groove that 1.25mm is dark, 30mm is wide is respectively driven in the top and the bottom, side.
Wherein, the quantity of this support 1 is a cover;
Wherein, the quantity of this single-degree-of-freedom dynamic vibration absorber 2 is 6 covers;
Wherein, single-degree-of-freedom bump leveller 2 and support 1 to be connected with screw be M5 * 8, totally 12 of quantity;
Wherein, the end cap 2-1 of single-degree-of-freedom bump leveller 2 and shell 2-2 to be connected with screw be M3 * 5, totally 48 of quantity;
Wherein, the quantity of this M4 nut is totally 12;
Working procedure of the present invention is: at first with the present invention according to be installed on the support 1 for two kinds by mounting type Fig. 1 (a) internal connecting type of control structure or Fig. 1 (b) externally connected type, and device is installed on by on the control structure.But the present invention has initiatively and passive two kinds of control modes of shaking.But the pattern of initiatively shaking is to utilize controlled structural sensor to record the signal of vibration, but the coil current of 6 single-degree-of-freedom dynamic vibration absorbers 2 by the control algorithm control gear that shakes is realized; But the passive pattern of shaking is to realize by the coil outer meeting resistance of 6 single-degree-of-freedom dynamic vibration absorbers 2 that will install.Install on certain axial direction along this, shown in Fig. 7 (a), when the single-degree-of-freedom dynamic vibration absorber 2 of two symmetrical distributions moves in the same way, produce directed force F, can suppress to be vibrated along the translation on this axial direction by control structure; Shown in Fig. 7 (b), when single-degree-of-freedom dynamic vibration absorber 2 reversing motions of two symmetrical distributions, produce opplied moment M, can suppress to be centered on the rotational vibrations of bump leveller plane of movement normal axis by control structure.By above-mentioned working procedure, realize by three translations of control structure, the vibration suppression of three rotational freedoms.
The passive powered shock absorption device of six-degree-of-freedom master by said structure is formed has the omnibearing vibration suppression ability of six-degree-of-freedom.This shock-absorbing means according to by the Placement of control structure by connecing external by control structure and Fig. 1 (b) in two kinds of assembling mode: Fig. 1 (a) by control structure.Its single-degree-of-freedom bump leveller 2 adopts electromagnetic type to make flowing mode, the coil current that relies on control to be wrapped on the loop sleeve 2-3 is realized main Passive Control, have that speed of response is fast, Location accuracy is high, the characteristics of good reliability, can make the present invention carry out effective vibration control.It has good practical values and application prospect extensively in field of aerospace technology.
Claims (6)
1. passive powered shock absorption device of six-degree-of-freedom master, it is characterized in that: it comprises support and six single-degree-of-freedom dynamic vibration absorbers; Six single-degree-of-freedom dynamic vibration absorbers are connected with screw respectively with three Vertical direction of support with the layout of symmetry in twos, it and had two kinds by the Placement of control structure;
Described support is the common metal structure stand, respectively is provided with two M5 support attachment holes that are symmetrical distribution on its 6 faces; Two M5 support attachment holes on each face of its medium-height trestle are connected with the screw of single-degree-of-freedom dynamic vibration absorber by M5, and 6 crosss that are shaped as a hollow of support connect to the frame structure of square body, and two M5 support attachment holes are in cross central authorities;
Described single-degree-of-freedom dynamic vibration absorber comprises end cap, shell, loop sleeve, electric mover, diaphragm spring, M4 nut and M3 screw; End cap, diaphragm spring edge link to each other by the M3 screw with outer casing end; The diaphragm spring edge is connected with the loop sleeve contact, and the diaphragm spring middle part axially is connected with electric mover, and by the M4 nut screwing clamping; Electric mover axially is connected with loop sleeve, has the gap with the loop sleeve inwall; This end cap is the conical boss shape structural member of a hollow, and there are 4 uniform through holes at the edge; This shell is the hollow cylinder structure that there is step groove at two ends, respectively there are 4 uniform M3 tapped holes at the step trough two ends, wherein an end-grain cutting has square groove, and 4 tangent planes that are axial symmetrical distribution are arranged on the casing wall, and the middle part respectively is evenly equipped with the tapped through hole of two M5 on each tangent plane; This loop sleeve is the hollow cylinder structure that outer wall has two annular grooves, is wound with coil by positive and negative direction respectively on the groove of upper and lower half, loop sleeve outer ring; This diaphragm spring is the thin rounded flakes of middle part hollow out, and there are 4 uniform connecting through holes at the edge; This M3 screw and M4 nut are standard piece; This electric mover comprises mover guide rod, iron block, permanent magnet and lining, and the mover guide rod is equipped with lining, iron block and permanent magnet successively from two ends to the middle part, closely connects between mover guide rod, iron block, permanent magnet and the lining; This mover guide rod is a cylindrical elongate bar structure, and two ends respectively are provided with M 4 screw threads; This permanent magnet is commercial an of hollow cylindrical structure; This iron block is the hollow cylindrical structure part; This lining is the hollow cylindrical structure part.
2. the passive powered shock absorption device of a kind of six-degree-of-freedom master according to claim 1 is characterized in that: this device with had two kinds to be by the Placement of control structure: in connect controlled mode of structure and external controlled mode of structure.
3. the passive powered shock absorption device of a kind of six-degree-of-freedom master according to claim 1, it is characterized in that: the quantity of this support is a cover.
4. the passive powered shock absorption device of a kind of six-degree-of-freedom master according to claim 1 is characterized in that: this single-degree-of-freedom bump leveller and support to be connected with screw be M5 * 8, totally 12 of quantity.
5. the passive powered shock absorption device of a kind of six-degree-of-freedom master according to claim 1 is characterized in that: the end cap of this single-degree-of-freedom bump leveller and shell to be connected with screw be M3 * 5, totally 48 of quantity.
6. the passive powered shock absorption device of a kind of six-degree-of-freedom master according to claim 1 is characterized in that: totally 12 of the quantity of this M4 nut.
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| CN2011101213707A CN102168738B (en) | 2011-05-11 | 2011-05-11 | Six-degree-of-freedom active and passive dynamic vibration-absorbing device |
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| CN2011101213707A CN102168738B (en) | 2011-05-11 | 2011-05-11 | Six-degree-of-freedom active and passive dynamic vibration-absorbing device |
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| CN102168738B CN102168738B (en) | 2012-11-21 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013060257A1 (en) * | 2011-10-25 | 2013-05-02 | 清华大学 | Permanently magnetic, low-frequency, single-degree-of-freedom, vibration isolation mechanism based on negative rigidity principle |
| CN104819234A (en) * | 2015-05-06 | 2015-08-05 | 常州大学 | Magnetic suspension and electric combination three-way decoupling based self-adaptive equal-stiffness vibration isolator |
| CN107186754A (en) * | 2017-05-27 | 2017-09-22 | 西北工业大学 | A kind of device for being used to suppress the vibration of robot for space end effector |
| CN107725666A (en) * | 2016-03-03 | 2018-02-23 | 天津体育学院 | A kind of application of basketball backboards remote control camera operation support in basketball race shooting |
| CN111810582A (en) * | 2020-07-21 | 2020-10-23 | 西安艾科特声学科技有限公司 | Electromagnetic coupling tunable two-degree-of-freedom dynamic vibration absorber |
| CN113719573A (en) * | 2021-08-01 | 2021-11-30 | 北京工业大学 | Two-dimensional magnetic liquid vibration absorber containing nonlinear energy trap |
| CN113738809A (en) * | 2021-08-01 | 2021-12-03 | 北京工业大学 | Variable-stiffness nonlinear energy trap vibration reduction method based on magnetic liquid suspension characteristics |
| CN113883353A (en) * | 2021-09-18 | 2022-01-04 | 苏州东菱智能减振降噪技术有限公司 | Six-degree-of-freedom pipeline shock absorber and shock absorption method |
| CN113983108A (en) * | 2021-08-01 | 2022-01-28 | 北京工业大学 | Magnetorheological self-tuning vibration absorber containing three-degree-of-freedom energy trap |
| CN114060451A (en) * | 2021-08-01 | 2022-02-18 | 北京工业大学 | Nonlinear-magnetorheological self-tuning vibration absorber |
| CN114233785A (en) * | 2021-11-30 | 2022-03-25 | 沈阳航天新光集团有限公司 | Dynamic vibration absorber |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013060257A1 (en) * | 2011-10-25 | 2013-05-02 | 清华大学 | Permanently magnetic, low-frequency, single-degree-of-freedom, vibration isolation mechanism based on negative rigidity principle |
| CN104819234A (en) * | 2015-05-06 | 2015-08-05 | 常州大学 | Magnetic suspension and electric combination three-way decoupling based self-adaptive equal-stiffness vibration isolator |
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| CN107725666A (en) * | 2016-03-03 | 2018-02-23 | 天津体育学院 | A kind of application of basketball backboards remote control camera operation support in basketball race shooting |
| CN107725666B (en) * | 2016-03-03 | 2019-06-04 | 天津体育学院 | A kind of application of the basketball backboards remote control camera operation bracket in basketball race camera shooting |
| CN107186754A (en) * | 2017-05-27 | 2017-09-22 | 西北工业大学 | A kind of device for being used to suppress the vibration of robot for space end effector |
| CN111810582A (en) * | 2020-07-21 | 2020-10-23 | 西安艾科特声学科技有限公司 | Electromagnetic coupling tunable two-degree-of-freedom dynamic vibration absorber |
| CN111810582B (en) * | 2020-07-21 | 2022-02-15 | 西安艾科特声学科技有限公司 | Electromagnetic coupling tunable two-degree-of-freedom dynamic vibration absorber |
| CN113738809A (en) * | 2021-08-01 | 2021-12-03 | 北京工业大学 | Variable-stiffness nonlinear energy trap vibration reduction method based on magnetic liquid suspension characteristics |
| CN113983108A (en) * | 2021-08-01 | 2022-01-28 | 北京工业大学 | Magnetorheological self-tuning vibration absorber containing three-degree-of-freedom energy trap |
| CN113719573A (en) * | 2021-08-01 | 2021-11-30 | 北京工业大学 | Two-dimensional magnetic liquid vibration absorber containing nonlinear energy trap |
| CN114060451A (en) * | 2021-08-01 | 2022-02-18 | 北京工业大学 | Nonlinear-magnetorheological self-tuning vibration absorber |
| CN113719573B (en) * | 2021-08-01 | 2022-07-12 | 北京工业大学 | Two-dimensional magnetic liquid vibration absorber containing nonlinear energy trap |
| CN114060451B (en) * | 2021-08-01 | 2022-08-02 | 北京工业大学 | Nonlinear-magnetorheological self-tuning vibration absorber |
| CN113883353A (en) * | 2021-09-18 | 2022-01-04 | 苏州东菱智能减振降噪技术有限公司 | Six-degree-of-freedom pipeline shock absorber and shock absorption method |
| CN113883353B (en) * | 2021-09-18 | 2023-11-03 | 苏州东菱智能减振降噪技术有限公司 | Six-degree-of-freedom pipeline vibration damper and vibration damping method |
| CN114233785A (en) * | 2021-11-30 | 2022-03-25 | 沈阳航天新光集团有限公司 | Dynamic vibration absorber |
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