CN104088955A - Engine magneto-rheological hydraulic mount based on mixed mode - Google Patents
Engine magneto-rheological hydraulic mount based on mixed mode Download PDFInfo
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- CN104088955A CN104088955A CN201410313396.5A CN201410313396A CN104088955A CN 104088955 A CN104088955 A CN 104088955A CN 201410313396 A CN201410313396 A CN 201410313396A CN 104088955 A CN104088955 A CN 104088955A
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Abstract
The invention discloses an engine magneto-rheological hydraulic mount based on a mixed mode. An extrusion damping channel is formed between an extrusion pole plate and an extrusion coil base. A flowing damping channel is formed between an outer magnetic core and a flowing coil base. By the adoption of a mixed mode structure of a flowing mode and an extrusion mode, the adjustable range of damping force can be widened, the vibration isolation ability of the mount is improved, and the damping force is good in controllability and stable in output; by the adoption of a combination structure of an inertia channel and a decoupling film, orifices of the inertia channel and the decoupling film are arranged in a staggered mode, the phenomenon of high-frequency hardening of the mount is relieved, and the vibration isolation frequency range of the mount is effectively widened; a throttling disk is arranged on a connecting rod, and the flow disturbing effect of the throttling disk relieves the phenomenon of high-frequency hardening; a shell is made of magnetism isolating aluminum alloy materials, so that the leakage flux of a magnetic circuit in the operating process of the mount is weakened; since a large-diameter pore structure with both the liquid injection function and the exhaust function is adopted as a liquid injection and exhaust hole, the structure of the mount is simplified, and the sealing performance is better.
Description
Technical field
The present invention relates to isolation mounting, be specifically related to a kind of motor magnetic flow liquid hydraulic suspension based on mixed mode.
Background technique
The viscosity of magnetic flow liquid and yield stress can change with the variation of externally-applied magnetic field, and this variation has quick, reversible and controlled feature.Magnetic flow liquid hydraulic suspension is exactly this specific character of utilizing magnetic flow liquid, by the electric current of controlling in field coil, change the output damping force that magnetic intensity changes magnetic flow liquid hydraulic suspension, thereby make the vibration attenuation of the motivation sent out, this process response rapidly, process is continuous, reversible.
The existing magnetic flow liquid hydraulic suspension for motor car engine vibration isolation, single flow pattern or the squeeze mode of the general employing of its mode of operation, exist following following not enough: 1), although the adjustable extent of the good damping force of flow pattern controllability is little, during high frequency, adjustability is poor; In squeeze mode wide frequency range, can provide larger damping force, but because the sensible width of squeezed air-damping changes with excitation amplitude, its controllability is not as good as flow pattern, so the magnetic flow liquid hydraulic suspension of single-mode has limited the vibration isolating effect of suspension system; 2), because magnetic flow liquid ratio of viscosities is larger, the dynamic hardening phenomenon that magnetorheological hydraulic is suspended under high frequency is more outstanding.
Summary of the invention
In view of this, the object of this invention is to provide a kind of motor magnetic flow liquid hydraulic suspension based on mixed mode, can not only increase damping force adjustable extent, avoid under high frequency, occurring dynamic hardening phenomenon, and the controllability of damping force is good, stable output.
The present invention addresses the above problem by following technological means: a kind of motor magnetic flow liquid hydraulic suspension based on mixed mode, the housing that comprises open-topped, arrange and be plugged in the rubber spring at housing open-topped place, the connecting rod and the rubber counterdie that is arranged at housing inside bottom that run through rubber spring, described housing comprises upper shell and the lower shell body being bolted, between described rubber spring and rubber counterdie, form airtight and be full of the chamber of magnetic flow liquid, in described chamber, be provided with every magnetic base, describedly every magnetic base both sides, be provided with flow damping structure, described flow damping structure comprises outer magnetic core and on it, is wound with the line of flow ring support of field coil, between described outer magnetic core and line of flow ring support, form flow damping passage, the described extruded threads ring support that is wound with field coil on it that is provided with in the middle part of magnetic base, the position of described corresponding extruded threads ring support is provided with extruding pole plate, between described extruding pole plate and extruded threads ring support, form squeezed air-damping passage, described connecting rod one end is stretched into chamber and is removably connected with extruding pole plate, describedly every upper end, magnetic base middle part, have groove, in groove, place the decoupling zero film with throttle orifice, extruded threads ring support and all offered the inertia channel being staggeredly located with throttle orifice on magnetic base.
Further, on described connecting rod, be provided with throttling plate, described throttling plate is between extruding pole plate and rubber spring.
Further, also comprise magnetic isolation board and the magnetic shield cylinder being coupled between flow damping passage and squeezed air-damping channel interior magnetic field for avoiding.
Further, the inner side surface of described upper shell and lower shell body is respectively provided with a step surface, and described every magnetic base, the two ends of rubber counterdie being pressed on the step surface of lower shell body is describedly pressed on outer magnetic core on the step surface of upper shell every magnetic base.
Further, between described extruded threads ring support and line of flow ring support, be provided with magnetic shield cylinder, extruded threads ring support, line of flow ring support and outer magnetic core lower end are fixed on magnetic base by fastening screw trip bolt, and described magnetic isolation board is connected with outer magnetic core upper end with line of flow ring support by fastening screw trip bolt.
Further, described extruded threads ring support is provided with for the coil groove of field coil is installed near extruding pole plate one side, described coil groove right side is provided with vertical metallic channel, describedly every magnetic base upside, be provided with and the horizontal metallic channel of hammering guide wire casing into shape and being communicated with the inner horizontal wire guide of being convenient to draw field coil lead-in wire in line of flow ring support that arranges of described outer magnetic core and lower shell body.
Further, on the fitting surface of described upper shell and lower shell body, upper shell and outer magnetic core and lower shell body and outer magnetic core, be provided with seal ring.
Further, be also provided with reinforced block on described rubber spring, be provided with fluid injection exhaust port on described reinforced block, described connecting rod upper end is fixedly connected with reinforced block by the center screw thread of reinforced block.
Further, described housing is by making every magnetic aluminum alloy material.
Beneficial effect of the present invention:
1) magnetic flow liquid hydraulic suspension of the present invention, between extruding pole plate and extruded threads ring support, form squeezed air-damping passage, between magnetic core and line of flow ring support, form flow damping passage outside, adopt the mixed mode structure of flow pattern and squeeze mode, can not only increase the adjustable extent of damping force, the vibration isolation ability that raising suspends, and the controllability of damping force is good, stable output.
2) in the middle of magnetic base, upper end is provided with decoupling zero film, and lower disposed has inertia channel.Adopt inertia channel and decoupling zero film composite structure, the throttle orifice interlaced arrangement of inertia channel and decoupling zero film, when low-frequency vibration, motor amplitude is large, decoupling zero film rests on groove one side, has closed throttle orifice and the inertia channel of decoupling zero film, and the larger damping of output is conducive to suspend; When dither, motor amplitude is little, and decoupling zero film is in groove internal vibration, and inertia channel and decoupling zero fenestra are opened, and alleviates the high frequency hardening phenomenon that suspends, and has effectively widened the isolation frequency scope that suspends.
3) described flow damping passage and squeezed air-damping passage separate by magnetic isolation board and magnetic shield cylinder, have avoided internal magnetic field coupling.
4) throttling plate is set on connecting rod, the flow-disturbing effect of throttling plate has reduced high frequency hardening phenomenon.
5) housing adopts every magnetic aluminum alloy material, and while making its work, magnetic circuit leakage field weakens; Employing has the large diameter hole structure of fluid injection and two kinds of functions of exhaust concurrently as fluid injection exhaust port, simplifies the structure suspending, and sealability is better.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of connecting rod;
Fig. 3 is the structural representation of throttling plate;
Fig. 4 is the structural representation of extruding pole plate;
Fig. 5 is the structural representation of outer magnetic core;
Fig. 6 is the structural representation of lower shell body;
Fig. 7 is the structural representation of magnetic isolation board;
Fig. 8 is the structural representation of line of flow ring support;
Fig. 9 is the structural representation of magnetic shield cylinder;
Figure 10 is the structural representation of extruded threads ring support;
Figure 11 is the structural representation every magnetic base.
Embodiment
Below with reference to accompanying drawing, the present invention is described in detail, as shown in Fig. 1-11: the motor magnetic flow liquid hydraulic suspension based on mixed mode of the present invention, the housing that comprises open-topped, arrange and be plugged in the rubber spring 2 at housing open-topped place, the connecting rod 3 and the rubber counterdie 4 that is arranged at housing inside bottom that run through rubber spring, described housing comprises upper shell 1a and the lower shell body 1b being bolted, rubber spring 2 is fixedly connected with upper shell 1a by sulfuration process, between described rubber spring 2 and rubber counterdie 4, form airtight and be full of the chamber of magnetic flow liquid, in described chamber, be provided with every magnetic base 5, describedly every magnetic base both sides, be provided with flow damping structure, described flow damping structure comprises outer magnetic core 6 and on it, is wound with the line of flow ring support 7 of field coil, between described outer magnetic core 6 and line of flow ring support 7, form flow damping passage, the described extruded threads ring support 8 that is wound with field coil on it that is provided with every magnetic base 5 middle parts, the position of described corresponding extruded threads ring support is provided with extruding pole plate 9, between described extruding pole plate 9 and extruded threads ring support 8, form squeezed air-damping passage, described connecting rod 3 one end are stretched into chamber and are removably connected with extruding pole plate 9, describedly every magnetic base 5 upper ends, middle part, have groove, in groove, place the decoupling zero film 10 with throttle orifice 10a, extruded threads ring support and all offered the inertia channel 5a being staggeredly located with throttle orifice on magnetic base.
As the further improvement of technique scheme, on described connecting rod 3, be provided with throttling plate 11, described throttling plate 11 is between extruding pole plate 9 and rubber spring 2.The flow-disturbing effect of throttling plate 11 has reduced high frequency hardening phenomenon.
As the further improvement of technique scheme, also comprise the magnetic isolation board 12 and the magnetic shield cylinder 13 that for avoiding, between flow damping passage and squeezed air-damping channel interior magnetic field, are coupled.
Further improvement as technique scheme, on described rubber spring 2, be also provided with reinforced block 18, rubber spring 2 is fixedly connected with reinforced block by sulfuration process, on described reinforced block 18, be provided with fluid injection exhaust port 19, described connecting rod 3 upper ends are fixedly connected with reinforced block by reinforced block 18 center screw thread, employing has the large diameter hole structure of fluid injection and two kinds of functions of exhaust concurrently as fluid injection exhaust port, simplifies the structure suspending, and sealability is better.
For making technique scheme clearer, enumerate more specifically mode of execution below:
A kind of motor magnetic flow liquid hydraulic suspension based on mixed mode, described upper shell 1a and lower shell body 1b are by making every magnetic aluminum alloy material, in described chamber, be provided with every magnetic base 5, describedly every magnetic base both sides, be provided with flow damping structure, described flow damping structure comprises outer magnetic core 6 and on it, is wound with the line of flow ring support 7 of field coil, between described outer magnetic core 6 and line of flow ring support 7, form flow damping passage, the inner horizontal wire guide 16 of being convenient to draw field coil lead-in wire in line of flow ring support that arranges of described outer magnetic core 6 and lower shell body 1b, the described extruded threads ring support 8 that is provided with in the middle part of magnetic base, the position of described corresponding extruded threads ring support is provided with extruding pole plate 9, between described extruding pole plate 9 and extruded threads ring support 8, form squeezed air-damping passage, described extruded threads ring support is provided with for the coil groove of field coil is installed near extruding pole plate one side, described coil groove right side is provided with vertical metallic channel 14, describedly every magnetic base upside, be provided with and the horizontal metallic channel 15 of hammering guide wire casing into shape and being communicated with, described horizontal wire guide 16 and laterally metallic channel 15 places of being in communication with the outside are provided with the sealing screw 20 for preventing that magnetic flow liquid from leaking, described connecting rod exposes the screw thread that the part one end that suspends is provided with certain length, for being connected with motor, the described connecting rod the other end stretches into chamber and removably connects with extruding pole plate, on described connecting rod, be provided with throttling plate 11, described throttling plate is between extruding pole plate and rubber spring, describedly every upper end, magnetic base middle part, have groove, in groove, place the decoupling zero film 10 with throttle orifice 10a, extruded threads ring support and all offered the inertia channel 5a being staggeredly located with throttle orifice on magnetic base.
The inner side surface of described upper shell 1a and lower shell body 1b is respectively provided with a step surface, describedly every magnetic base 5, the two ends of rubber counterdie 4 are pressed on the step surface of lower shell body, describedly every magnetic base 5, outer magnetic core 6 is pressed on the step surface of upper shell, on the fitting surface of described upper shell and lower shell body, upper shell and outer magnetic core and lower shell body and outer magnetic core, is provided with seal ring 17; Avoid preventing the phenomenon of leakage.
Between described extruded threads ring support and line of flow ring support, be provided with magnetic shield cylinder 13, extruded threads ring support 8, line of flow ring support 7 and outer magnetic core 6 lower ends are fixed on magnetic base 5 by fastening screw trip bolt, and described magnetic isolation board is connected with outer magnetic core upper end with line of flow ring support by fastening screw trip bolt.
Described lower shell body bottom is provided with vent 21, and vent is for communicating rubber counterdie one side with air.
When engine luggine drives connecting rod 3 and throttling plate 11, move up and down together with extruding pole plate 9, squeezed air-damping channel width changes, and damp channel width is less, and damping force is larger; Because engine luggine amplitude is relatively little, squeeze mode can increase the adjustable extent of damping force when meeting maximum output damping force, has improved the vibration isolation ability suspending.When low-frequency vibration, motor amplitude is large, and decoupling zero film 10 rests on groove one side, has closed throttle orifice 10a and the inertia channel 5a of decoupling zero film, and the larger damping of output is conducive to suspend; When dither, motor amplitude is little, and decoupling zero film is in groove internal vibration, inertia channel 5a and throttle orifice 10a open, alleviate the high frequency hardening phenomenon that suspends, effectively widened the isolation frequency scope that suspends, the flow-disturbing effect of throttling plate 11 also can further reduce high frequency hardening phenomenon; In working procedure, flow damping channel width remains unchanged, and in wide frequency range, can provide stable flow damping power, has therefore eliminated the drawback of squeeze mode structural damping power poor controllability, makes damping force stable output reliable.
Finally explanation is, above embodiment is only unrestricted in order to technological scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technological scheme of the present invention, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (9)
1. the motor magnetic flow liquid hydraulic suspension based on mixed mode, the housing that comprises open-topped, arrange and be plugged in the rubber spring (2) at housing open-topped place, run through the connecting rod (3) of rubber spring and be arranged at the rubber counterdie (4) of housing inside bottom, described housing comprises upper shell (1a) and the lower shell body (1b) being bolted, between described rubber spring and rubber counterdie, form airtight and be full of the chamber of magnetic flow liquid, it is characterized in that: in described chamber, be provided with every magnetic base (5), describedly every magnetic base both sides, be provided with flow damping structure, described flow damping structure comprises outer magnetic core (6) and on it, is wound with the line of flow ring support (7) of field coil, between described outer magnetic core (6) and line of flow ring support (7), form flow damping passage, the described extruded threads ring support (8) that is wound with field coil on it that is provided with in the middle part of magnetic base, the position of described corresponding extruded threads ring support is provided with extruding pole plate (9), between described extruding pole plate and extruded threads ring support, form squeezed air-damping passage, described connecting rod (3) one end is stretched into chamber and is removably connected with extruding pole plate (9), describedly every upper end, magnetic base middle part, have groove, in groove, place the decoupling zero film (10) with throttle orifice (10a), extruded threads ring support and all offered the inertia channel (5a) being staggeredly located with throttle orifice on magnetic base.
2. the motor magnetic flow liquid hydraulic suspension based on mixed mode according to claim 1, is characterized in that: on described connecting rod (3), be provided with throttling plate (11), described throttling plate is between extruding pole plate and rubber spring.
3. the motor magnetic flow liquid hydraulic suspension based on mixed mode according to claim 2, is characterized in that: also comprise magnetic isolation board (12) and magnetic shield cylinder (13) for avoiding being coupled between flow damping passage and squeezed air-damping channel interior magnetic field.
4. the motor magnetic flow liquid hydraulic suspension based on mixed mode according to claim 3, it is characterized in that: the inner side surface of described upper shell and lower shell body is respectively provided with a step surface, describedly every magnetic base (5), the two ends of rubber counterdie (4) are pressed on the step surface of lower shell body, describedly every magnetic base (5), outer magnetic core (6) are pressed on the step surface of upper shell.
5. the motor magnetic flow liquid hydraulic suspension based on mixed mode according to claim 3, it is characterized in that: between described extruded threads ring support (8) and line of flow ring support (7), be provided with magnetic shield cylinder (13), extruded threads ring support (8), line of flow ring support (7) and outer magnetic core (6) lower end are fixed on every magnetic base (5) upper by fastening screw trip bolt, described magnetic isolation board (12) is connected with outer magnetic core (6) upper end with line of flow ring support (7) by fastening screw trip bolt.
6. the motor magnetic flow liquid hydraulic suspension based on mixed mode according to claim 5, it is characterized in that: described extruded threads ring support (8) is provided with for the coil groove of field coil is installed near extruding pole plate (9) one sides, described coil groove right side is provided with vertical metallic channel (14), describedly every magnetic base upside, be provided with and the horizontal metallic channel (15) of hammering guide wire casing into shape and being communicated with the inner horizontal wire guide (16) of being convenient to draw field coil lead-in wire in line of flow ring support that arranges of described outer magnetic core and lower shell body.
7. the motor magnetic flow liquid hydraulic suspension based on mixed mode according to claim 6, is characterized in that: on the fitting surface of described upper shell and lower shell body, upper shell and outer magnetic core and lower shell body and outer magnetic core, be provided with seal ring (17).
8. the motor magnetic flow liquid hydraulic suspension based on mixed mode according to claim 7, it is characterized in that: on described rubber spring, be also provided with reinforced block (18), on described reinforced block, be provided with fluid injection exhaust port (19), described connecting rod (3) upper end is fixedly connected with reinforced block by the center screw thread of reinforced block (18).
9. according to the motor magnetic flow liquid hydraulic suspension based on mixed mode described in claim 1-8 any one, it is characterized in that: described housing is by making every magnetic aluminum alloy material.
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| CN201410313396.5A CN104088955B (en) | 2014-07-03 | 2014-07-03 | Based on the magnetorheological hydraulic engine mount of mixed mode |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410313396.5A CN104088955B (en) | 2014-07-03 | 2014-07-03 | Based on the magnetorheological hydraulic engine mount of mixed mode |
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| CN104088955A true CN104088955A (en) | 2014-10-08 |
| CN104088955B CN104088955B (en) | 2016-01-20 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104455176A (en) * | 2014-11-27 | 2015-03-25 | 安徽微威胶件集团有限公司 | Novel magneto-rheological elastomer decoupling membrane element |
| CN105927696A (en) * | 2016-07-07 | 2016-09-07 | 河南科技大学 | Magneto-rheological vibration isolator for precision machine tool |
| CN106286687A (en) * | 2016-11-09 | 2017-01-04 | 重庆交通大学 | Flowing and the magnetic rheological isolator extruding integrated mode |
| KR101812744B1 (en) | 2017-03-29 | 2018-01-30 | 평화산업주식회사 | Module Type Active Engine Mount equipped with heat structures |
| CN108501680A (en) * | 2018-05-10 | 2018-09-07 | 浙江零跑科技有限公司 | A kind of suspension liquid seal structure |
| CN108869611A (en) * | 2018-07-22 | 2018-11-23 | 重庆交通大学 | Passenger vehicle engine multi-mode magnetic rheological isolator |
| CN109404475A (en) * | 2018-12-12 | 2019-03-01 | 重庆交通大学 | Become decoupling film rigidity mixed mode magnetic rheological isolator |
| CN109505917A (en) * | 2018-12-04 | 2019-03-22 | 重庆理工大学 | Isolation mounting based on magnetic control rigidity and damping |
| CN109532451A (en) * | 2019-01-11 | 2019-03-29 | 河南科技学院 | A kind of new engine suspension |
| CN109707581A (en) * | 2019-02-01 | 2019-05-03 | 安徽工程大学 | A kind of semi-active suspension device of engine that energy is recyclable |
| CN109838496A (en) * | 2017-11-24 | 2019-06-04 | 现代自动车株式会社 | Engine mounting for vehicle |
| CN110259873A (en) * | 2019-06-28 | 2019-09-20 | 重庆交通大学 | Mixed mode magnetic rheological isolator |
| CN112060900A (en) * | 2020-10-10 | 2020-12-11 | 上海汽车集团股份有限公司 | Automobile, power assembly suspension system and torsion-resistant pull rod thereof |
| WO2024020832A1 (en) * | 2022-07-27 | 2024-02-01 | 华为技术有限公司 | Vibration damping device and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104455176B (en) * | 2014-11-27 | 2017-02-01 | 安徽微威胶件集团有限公司 | Magneto-rheological elastomer decoupling membrane element |
| CN104455176A (en) * | 2014-11-27 | 2015-03-25 | 安徽微威胶件集团有限公司 | Novel magneto-rheological elastomer decoupling membrane element |
| CN105927696A (en) * | 2016-07-07 | 2016-09-07 | 河南科技大学 | Magneto-rheological vibration isolator for precision machine tool |
| CN105927696B (en) * | 2016-07-07 | 2018-02-23 | 河南科技大学 | A kind of magnetorheological precision machine tool vibration isolator |
| CN106286687A (en) * | 2016-11-09 | 2017-01-04 | 重庆交通大学 | Flowing and the magnetic rheological isolator extruding integrated mode |
| KR101812744B1 (en) | 2017-03-29 | 2018-01-30 | 평화산업주식회사 | Module Type Active Engine Mount equipped with heat structures |
| CN109838496A (en) * | 2017-11-24 | 2019-06-04 | 现代自动车株式会社 | Engine mounting for vehicle |
| CN108501680A (en) * | 2018-05-10 | 2018-09-07 | 浙江零跑科技有限公司 | A kind of suspension liquid seal structure |
| CN108501680B (en) * | 2018-05-10 | 2023-08-29 | 浙江零跑科技股份有限公司 | Suspension liquid seal structure |
| CN108869611A (en) * | 2018-07-22 | 2018-11-23 | 重庆交通大学 | Passenger vehicle engine multi-mode magnetic rheological isolator |
| CN109505917B (en) * | 2018-12-04 | 2020-09-18 | 重庆理工大学 | Vibration isolation device based on magnetic control rigidity and damping |
| CN109505917A (en) * | 2018-12-04 | 2019-03-22 | 重庆理工大学 | Isolation mounting based on magnetic control rigidity and damping |
| CN109404475B (en) * | 2018-12-12 | 2020-09-08 | 重庆交通大学 | Variable decoupling film rigidity mixed mode magneto-rheological vibration isolator |
| CN109404475A (en) * | 2018-12-12 | 2019-03-01 | 重庆交通大学 | Become decoupling film rigidity mixed mode magnetic rheological isolator |
| CN109532451A (en) * | 2019-01-11 | 2019-03-29 | 河南科技学院 | A kind of new engine suspension |
| CN109707581A (en) * | 2019-02-01 | 2019-05-03 | 安徽工程大学 | A kind of semi-active suspension device of engine that energy is recyclable |
| CN109707581B (en) * | 2019-02-01 | 2024-01-23 | 安徽工程大学 | Engine semi-active suspension device with energy recovery function |
| CN110259873A (en) * | 2019-06-28 | 2019-09-20 | 重庆交通大学 | Mixed mode magnetic rheological isolator |
| CN110259873B (en) * | 2019-06-28 | 2021-03-02 | 重庆交通大学 | Mixed-mode magneto-rheological vibration isolator |
| CN112060900A (en) * | 2020-10-10 | 2020-12-11 | 上海汽车集团股份有限公司 | Automobile, power assembly suspension system and torsion-resistant pull rod thereof |
| CN112060900B (en) * | 2020-10-10 | 2022-04-05 | 上海汽车集团股份有限公司 | Automobile, power assembly suspension system and torsion-resistant pull rod thereof |
| WO2024020832A1 (en) * | 2022-07-27 | 2024-02-01 | 华为技术有限公司 | Vibration damping device and control method |
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