CN104563294B - Multiaxis vibration isolating suspension system - Google Patents
Multiaxis vibration isolating suspension system Download PDFInfo
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- CN104563294B CN104563294B CN201410791484.6A CN201410791484A CN104563294B CN 104563294 B CN104563294 B CN 104563294B CN 201410791484 A CN201410791484 A CN 201410791484A CN 104563294 B CN104563294 B CN 104563294B
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- 239000000725 suspension Substances 0.000 title claims abstract description 21
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 51
- 238000013519 translation Methods 0.000 claims abstract description 14
- 238000000465 moulding Methods 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 15
- 238000006073 displacement reaction Methods 0.000 description 13
- 230000000694 effects Effects 0.000 description 5
- 238000002955 isolation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012559 user support system Methods 0.000 description 1
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Abstract
The present invention relates to a kind of multiaxis vibration isolating suspension system, which includes realizing along X-direction translation, along Y direction translation and turns about the Z axis the upper strata bearing of these three degree of freedom and can realize along Z-direction translation, turn about the X axis and rotate around Y-axis lower floor's bearing of these three degree of freedom；Upper strata bearing includes being provided with the upper strata base plate of upper strata pedestal, can apply active force along X-direction and control the X-direction actuator of upper strata base plate, can apply active force along Y direction and control the Y direction actuator of upper strata base plate；Lower floor's bearing includes being provided with lower floor's base plate of lower floor's pedestal, can apply active force along Z-direction and control the Z-direction actuator of lower floor's base plate；It is connected by middle level fixed plate between upper strata bearing and lower floor's bearing.The support system of the mixing control of the present invention effectively can be disturbed to external world and carry out multi-direction control, and control accuracy is high, with significant economic benefit.
Description
Technical field
The present invention relates to a kind of double-layer vibration isolating support system.
Background technology
Along with the increasingly sophisticated of engineering structure build, level is to vertically, the multiaxis of the space six degree of freedom such as torsion shakes
It is dynamic, in earthquake or other focus cause structure vibration in, can all make engineering structure excite multi axis vibration.And these vibrations
Comfort level that is light then can affecting user, destruction that is heavy then can causing engineering structure, causes casualties, it is therefore necessary to design
A kind of support system that can realize multijoint control is reducing shaking impact to engineering structure.
However, the lead rubber laminated bearing that traditional shock design method is obtained, due to the yield load of bearing it is less,
Frequently occurred earthquake enters yielding stage with shock isolating pedestal during middle shake, and after surrender, development of deformation is very fast, easily causes the excessive change of structure
Shape, therefore after occurring after small earthquakes, need the maintenance to circuit to put into substantial amounts of man power and material, bring unnecessary
Economic loss, and the safety run in engineering structure when cannot ensure small earthquakes.And using the side of increase lead core diameter
Method is extremely limited come the initial stiffness and yield strength for improving bearing, and lead core diameter is excessive, will affect the reset capability of bearing, its
Control effect is also very limited, can preferably improve its control effect using mixing control program.
The content of the invention
It is an object of the invention to provide a kind of multijoint control of consideration to engineering structure so as to can be various extraneous natural
Under environmental excitation, the vibration for reaching control structure reaches the requirement of regulation, meets the multiaxis vibration isolation of the comfort level of user
Support system.
To reach above-mentioned purpose, the technical solution used in the present invention is：
A kind of multiaxis vibration isolating suspension system, with respectively along orthogonal X-axis, Y-axis, the degree of freedom of Z axis translation and point
The degree of freedom not rotated around X-axis, Y-axis, Z axis, which includes realizing along X-direction translation, along Y direction translation and about the z axis
Rotate the upper strata bearing of these three degree of freedom and can realize along Z-direction translation, turn about the X axis and these three are rotated around Y-axis
Lower floor's bearing of degree of freedom；
Described upper strata bearing includes being provided with the upper strata base plate of upper strata pedestal, can apply to make along X-direction
Firmly control the X-direction actuator of described upper strata pedestal, active force can be applied along Y direction and control described upper
The Y direction actuator of layer pedestal；
Described lower floor's bearing includes being provided with lower floor's base plate of lower floor's pedestal, can apply to make along Z-direction
The Z-direction actuator of described lower floor's pedestal is controlled firmly；
It is connected by middle level fixed plate between described upper strata bearing and described lower floor's bearing.
Preferably, described upper strata pedestal is that four and horizontal symmetry are arranged, described X-direction actuator is two,
And the two is distributed in the both sides of Z axis；Described Y direction actuator is one；
Described lower floor's pedestal is that four and horizontal symmetry arrange that the lower floor's pedestal described in each is equipped with described in one
Z-direction actuator.
Preferably, described Z-direction actuator be arranged at described middle level fixed plate and described lower floor's base plate it
Between.
Preferably, between the take-off lever of described X-direction actuator and described upper strata base plate, described Y-axis side
To between the take-off lever and described upper strata base plate of actuator, the take-off lever of described Z-direction actuator with it is described under
It is connected using sliding connection structure between layer base plate；
Described sliding connection structure includes being opened in described upper strata base plate or the cunning on described lower floor's base plate
Dynamic groove, snap in described sliding groove in and the slider disc that can move in described sliding groove, described X-direction actuator
Take-off lever or described Y direction actuator take-off lever or described Z-direction actuator take-off lever and described cunning
Moving plate is connected, the axle of the take-off lever of the described X-direction actuator is connected with which by the moving direction of described slider disc
To or the axial direction of take-off lever of axial direction or described Z-direction actuator of take-off lever of described Y direction actuator mutually hang down
Directly.
Preferably, described X-direction actuator, described Y direction actuator, described Z-direction actuator point
The described slider disc not being connected with which is hinged.
Preferably, described upper strata pedestal and described lower floor's pedestal are rubber earring moulding.
Preferably, stiffened steel plates are respectively arranged with described upper strata pedestal and described lower floor's pedestal.
As above-mentioned technical proposal is used, the present invention has following advantages compared with prior art：1st, mixing of the invention
The support system of control, each frequency range that effectively can be disturbed to external world are controlled, while the active control of active actuator
Ability processed can effectively limit rubber support into the excessive deformation of yielding stage；2nd, support system scheme of the invention can be right
The multi-direction of external interference is controlled, and mixes the also more simple passive control accuracy height of the control accuracy of control；3rd, the multiaxis
Vibration isolating suspension system has significant economic benefit in Seismic Isolation And Dissipation of Civil Structures design.
Description of the drawings
Analysis model schematic diagram of the accompanying drawing 1 for the multiaxis vibration isolating suspension system of the present invention.
Schematic top plan view of the accompanying drawing 2 for the analysis model of the multiaxis vibration isolating suspension system of the present invention.
Structural representation of the accompanying drawing 3 for lower floor's bearing of the multiaxis vibration isolating suspension system of the present invention.
Structure schematic top plan view of the accompanying drawing 4 for lower floor's bearing of the multiaxis vibration isolating suspension system of the present invention.
Structure schematic top plan view of the accompanying drawing 5 for the upper strata bearing of the multiaxis vibration isolating suspension system of the present invention.
Schematic diagram of the accompanying drawing 6 for the sliding connection structure of the multiaxis vibration isolating suspension system of the present invention.
In the figures above：1st, upper strata bearing；2nd, lower floor's bearing；3rd, middle level fixed plate；4th, lower floor's base plate；5th, Z-direction
Actuator；6th, lower floor's pedestal；7th, sliding groove；8th, the take-off lever of Z-direction actuator；9th, upper strata base plate；10th, X-direction is made
Dynamic device；11st, Y direction actuator；12nd, upper strata pedestal；14th, slider disc；15th, the take-off lever of X-direction actuator；16th, Y-axis side
To the take-off lever of actuator.
Specific embodiment
The invention will be further described for shown embodiment below in conjunction with the accompanying drawings.
Embodiment one：Referring to shown in accompanying drawing 1 and accompanying drawing 2.A kind of multiaxis vibration isolating suspension system, which includes 1 He of upper strata bearing
Lower floor's bearing 2, is connected by middle level fixed plate 3 between upper strata bearing 1 and lower floor's bearing 2.The multiaxis vibration isolating suspension system is altogether
With 6 degree of freedom, respectively along orthogonal X-axis, Y-axis, 3 degree of freedom of Z axis translation and rotating around X-axis, Y-axis, Z axis
3 degree of freedom for rotating.Here, X-axis, Y-axis are located on a horizontal plane and are mutually perpendicular to, and Z axis are then along upper strata bearing 1 and lower floor
The vertical direction of the distribution of bearing 2.
Referring to shown in accompanying drawing 3 and accompanying drawing 4, lower floor's bearing 2 includes the lower floor's base plate 4, energy for being provided with lower floor's pedestal 6
It is enough to apply active force along Z-direction and control the Z-direction actuator 5 of lower floor's base plate 4.Lower floor's bearing 2 can be realized along Z
Direction of principal axis translation, turn about the X axis and these three degree of freedom are rotated around Y-axis.Specifically, four water are provided with lower floor's base plate 4
The flat lower floor's pedestal 6 being arranged symmetrically, and each lower floor's pedestal 6 is equipped with a Z-direction actuator 5, these Z-directions are made
Dynamic device 5 is may be contained between middle level fixed plate 3 and lower floor's base plate 4, and each Z-direction actuator 5 is respectively positioned on corresponding to which
Lower floor's pedestal 6 sidepiece.It is connected using sliding connection structure between the take-off lever 8 of Z-direction actuator and lower floor base plate 4
Connect.Referring to shown in accompanying drawing 6, the sliding connection structure includes the sliding groove 7 being opened on lower floor's base plate 4, snaps in sliding groove 7
And the slider disc 14 that in sliding groove 7 arbitrarily can be slided and not deviate from, such as sliding groove 7 is rounded and its oral area is compared with bottom faces
Product is little, and take-off lever 8 and the slider disc 14 of Z-direction actuator are hinged, and slider disc 14 is then perpendicular to Z-direction actuator
Take-off lever 8 direction on arbitrarily slide in sliding groove 7, to adapt to take-off lever of the lower floor's base plate 4 in Z-direction actuator
When rotating under 8 driving, the two relative displacement in the horizontal direction.
Referring to shown in accompanying drawing 5 and accompanying drawing 2, upper strata bearing 1 includes the upper strata base plate for being provided with upper strata pedestal 12
9th, active force can be applied along X-direction and controls the X-direction actuator 10 of upper strata base plate 9, can apply along Y direction
Active force and control the Y direction actuator 11 of upper strata base plate 9.The upper strata bearing 1 can be realized along X-direction translation, along Y
Direction of principal axis translation and turn about the Z axis these three degree of freedom.Specifically, four horizontal symmetry arrangements are set in upper strata base plate 9
Upper strata pedestal 12.X-direction actuator 10 is two, and the two is symmetrically distributed in the both sides of Z axis.Y direction actuator 11 is
One, and be located in same perpendicular with Z axis.Between the take-off lever 15 and upper strata base plate 9 of X-direction actuator 10, Y-axis
It is connected also by sliding connection structure as shown in Figure 6 between the take-off lever 16 of direction actuator 11 and upper strata base plate 9,
Specifically, sliding groove 7 is opened up respectively in the two sides of upper strata base plate 9, arrange movable and do not deviate to slide in sliding groove 7
The slider disc 14 of groove 7, then by the take-off lever 16 of the take-off lever 15 or Y direction actuator 11 of X-direction actuator 10 respectively with
Corresponding slider disc 14 is hinged so that in X-direction actuator 10 or the Vertical Square of the control direction of Y direction actuator 11
Upwards, X-direction actuator 10, Y direction actuator 11 realize the relative slip with upper strata base plate 9 by slider disc 14.
Each upper strata pedestal 12 can be with connecting spring and antivibrator.
Above-mentioned upper strata pedestal 12 and lower floor's pedestal 6 adopt rubber earring moulding, further, upper strata pedestal 12 and lower floor's pedestal
Stiffened steel plates, i.e. upper strata pedestal 12 are respectively arranged with 6 rubber earring mouldings for adopting and lower floor's pedestal 6 is with stiffened steel plates
Lead-rubber pedestal.Lead-rubber pedestal with stiffened steel plates can realize level to, vertically to and turning around trunnion axis
It is dynamic, but it is difficult to realize by single rubber earring moulding around the rotation of vertical axes, so in this programme, design multiple rubber earring moulding collaborations
Realize.
The support system is the plateform system for being participated in by active control device and passive control device jointly.Wherein, passively
Control device is pedestal（Including the upper strata base plate 9 with upper strata pedestal 12 and the lower floor's base plate 4 with lower floor's pedestal 6）,
Which is mainly used in dither control, need to be selected according to the scale of structure and displacement.And active control device is then including more
Individual actuator（X-direction actuator 10, Y direction actuator 11 and Z-direction actuator 5）, which is mainly used in low frequency control.
Six-freedom degree needed for support system is belonging to three mutually perpendicular directions, is mutually restriction, if by them same
The difficulty for controlling then to significantly increase that control is implemented is realized in individual plane, also therefore planes are implemented in design two.From bearing system
Generally speaking, the arrangement of each actuator is distributed in two mutually orthogonal directions, i.e., in horizontal direction and vertical direction system, because
This this programme proposes double-deck bearing, and actuator of the upper strata bearing 1 from level to arrangement is capable of achieving horizontal direction control, i.e. X to,
Y-direction and turn about the Z axis, and lower floor's bearing 2 is Z-direction by the i.e. achievable vertical direction control of actuator that vertical direction arrange, around X
Axle is rotated and is rotated around Y-axis.The control design case of the multiple degrees of freedom hybrid vibration isolation bearing will respectively according to two-layer, per layer of three freedom
Degree coupling carries out control design case, realizes overall six degree of freedom control, enormously simplify calculating, improve computational efficiency and control
Degree of accuracy.
The theoretical model for analyzing the multiaxis vibration isolating suspension system understands, due to vertically Z-direction, turns about the X axis, around Y
Axle is rotated only needs the i.e. achievable control to the three degree of freedom of actuator in the vertical direction applying active force, therefore for
What the multivariant design of lower floor's platform considered is, to vertical direction Z-direction, to turn about the X axis, and rotates the control in these three directions around Y-axis
System.From from the perspective of structure design, for the process of rotation direction, the two way slide lane reality adopted when AMD devices are designed is used for reference
The experience controlled while existing X is to Y-direction, actuator take-off lever are adopted shown in accompanying drawing 6 with the junction point position of lower floor's pedestal 4
Sliding connection structure, its sliding scale are calculated with rotating the caused horizontal displacement of control, do not consider the position that horizontal vibration causes
Deformation is moved, the displacement deformation will be limited in lower floor.
For the support system of double-decked platform realizes the design of six degree of freedom, vertical direction Z is realized in lower floor's bearing 2
To, turning about the X axis, after the design for rotating three degree of freedom around Y-axis, upper strata bearing 1 will realize remaining three degree of freedom
Design, but be horizontally oriented X mutually restriction is occurred in that to Y-direction, so all actuator of design control upper strata base plate 9 are adopted
With mode as shown in Figure 5.This mode can solve when actuator when a direction is moved not by perpendicular direction
Rubber support move when impact.Devise two X-direction actuator 10 being parallel to each other first in the X-axis direction, use
Be controlled come the direction to turning about the Z axis, at the same the actuator of direction arrangement also simultaneously to along X to being controlled.Separately
External Y direction arranges that motion of the Y direction actuator 11 to upper strata base plate 9 in Y-direction is controlled.In upper strata pedestal
Arrange on plate 9 that these three actuator are capable of achieving to horizontal direction X to, Y-direction and the degree of freedom for turning about the Z axis these three couplings
Control.Actuator is using being hinged in its control direction（The take-off lever of actuator can be rotated relative to slider disc, but without relative
Displacement）, the connected mode that vertical direction is slidably connected, by the control to actuator, under acting on small earthquakes, can be effective
Rubber support is avoided to enter yielding stage, it is to avoid development of deformation comparatively fast easily causes the excessive deformation of structure after surrender；And
Under rarely occurred earthquake effect, by the displacement of the control release lead-rubber pedestal to active actuator.In the two stages, rubber
The high frequency that glue bearing is disturbed to external world is controlled, and the low frequency that actuator is disturbed to external world is controlled.Bearing plays shock insulation and makees
With, reducing the energy that structure is passed in earthquake, actuator and rubber support play a part of vibration control simultaneously, effectively reduce medium and small
Earthquake, the displacement of rarely occurred earthquake and the lower engineering structure of other external interference effects.
The function of the multiaxis vibration isolating suspension system is as follows：
（1）Under the effect of multi-direction external disturbance, lower floor's bearing 2 is controlled to vertical motion, using 6 He of lower floor's pedestal
Z-direction actuator 5 vertically acts on asynchronous, rotation of the realization around X-axis and Y-axis moved on lower floor's pedestal 6.Due to lower floor
The rotation of pedestal 6, the horizontal-shift for causing can be realized by sliding connection structure.The scope of the sliding connection structure is only
The displacement caused by rotation is designing, and does not consider the possible displacement that horizontal vibration causes.
（2）In upper strata bearing 1, passive device upper strata pedestal 12 can produce arbitrary azimuthal displacement in horizontal direction, can be with
Realize that level is controlled to X to control and Y-direction.While displacement the cooperating in different directions of different bearings, it is possible to achieve around Z
Axle is rotated.Active control device actuator, in X to arranging two, Y-direction arranges one, and water can be respectively realized in the two directions
Flat control.Two mutually perpendicular directions avoid interfering by being slidably connected in control.When turning about the Z axis simultaneously, utilize
X realizes rotating to the phase contrast of an actuator of the two actuator and Y-direction arrangement of arrangement, due to rotating the level for causing
Displacement also can be slidably connected mechanism to offset by shown in accompanying drawing 6.
（3）As lower floor's bearing 2 limits horizontal vibration, while lower floor's bearing 2 is by passive and active control device reality
Showed to it is vertical and around X-axis, around Y-axis rotation control, so pass to the vibration of upper strata bearing 1, only remaining level to around Z
The control that axle is rotated, so each layer can be with separate calculating, while and cooperative achievement multijoint control.And passively control main
High frequency control is realized, active control mainly realizes low frequency control, so can substantially meet to external drive each frequency range
Control.Simultaneously active control can avoid again rubber support surrender and the over-large displacement that causes.So the design of the bearing, energy
Compared with the problem of comprehensively solve vibration control.
Above-described embodiment technology design only to illustrate the invention and feature, its object is to allow person skilled in the art
Scholar will appreciate that present disclosure and implement according to this, can not be limited the scope of the invention with this.It is all according to the present invention
Equivalence changes or modification that spirit is made, should all be included within the scope of the present invention.
Claims (6)
1. a kind of multiaxis vibration isolating suspension system, with respectively along orthogonal X-axis, Y-axis, the degree of freedom of Z axis translation and difference
Around the degree of freedom that X-axis, Y-axis, Z axis are rotated, it is characterised in that：Which includes to realize putting down along X-direction translation, along Y direction
Move and turn about the Z axis the upper strata bearing of these three degree of freedom and can realize along Z-direction translation, turn about the X axis and around Y-axis turn
Move lower floor's bearing of these three degree of freedom；
Described upper strata bearing includes being provided with the upper strata base plate of upper strata pedestal, can apply active force along X-direction
And control the X-direction actuator of described upper strata base plate, active force can be applied along Y direction and control described upper strata
The Y direction actuator of base plate；
Described lower floor's bearing includes being provided with lower floor's base plate of lower floor's pedestal, can apply active force along Z-direction
And control the Z-direction actuator of described lower floor's base plate；
It is connected by middle level fixed plate between described upper strata bearing and described lower floor's bearing；
Between the take-off lever of described X-direction actuator and described upper strata base plate, described Y direction actuator it is defeated
Between rod and described upper strata base plate, between the take-off lever of described Z-direction actuator and described lower floor's base plate
It is connected using sliding connection structure；
Described sliding connection structure include being opened in described upper strata base plate or the sliding groove on described lower floor's base plate,
In snapping in described sliding groove and the slider disc that can move in described sliding groove, described X-direction actuator it is defeated
The take-off lever and described slider disc of the take-off lever or described Z-direction actuator of rod or described Y direction actuator
Be connected, the axial direction of the take-off lever of the described X-direction actuator is connected with which by the moving direction of described slider disc or
The axial direction of the take-off lever of the axial direction of the take-off lever of described Y direction actuator or described Z-direction actuator is perpendicular.
2. multiaxis vibration isolating suspension system according to claim 1, it is characterised in that：Described upper strata pedestal is four and water
Flat to be arranged symmetrically, described X-direction actuator is two, and the two is distributed in the both sides of Z axis；Described Y direction start
Device is one；
Described lower floor's pedestal is that four and horizontal symmetry arrange that the lower floor's pedestal described in each is equipped with the Z described in
Direction of principal axis actuator.
3. multiaxis vibration isolating suspension system according to claim 1 and 2, it is characterised in that：Described Z-direction actuator sets
It is placed between described middle level fixed plate and described lower floor's base plate.
4. multiaxis vibration isolating suspension system according to claim 1, it is characterised in that：It is described X-direction actuator, described
Y direction actuator, described Z-direction actuator be connected with which respectively described in slider disc be hinged.
5. multiaxis vibration isolating suspension system according to claim 1 and 2, it is characterised in that：Described upper strata pedestal and described
Lower floor's pedestal be rubber earring moulding.
6. multiaxis vibration isolating suspension system according to claim 5, it is characterised in that：Described upper strata pedestal and it is described under
Stiffened steel plates are respectively arranged with layer pedestal.
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| CN108331192B (en) * | 2018-02-12 | 2020-04-28 | 孙韬 | Shock insulation support assembly and building |
| CN109577508B (en) * | 2018-11-27 | 2021-03-23 | 永富建工集团有限公司 | Antidetonation protection strutting arrangement |
| CN109610675B (en) | 2019-02-01 | 2023-11-24 | 青岛理工大学 | Horizontal rotation combined type building vibration control system |
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| US6459088B1 (en) * | 1998-01-16 | 2002-10-01 | Canon Kabushiki Kaisha | Drive stage and scanning probe microscope and information recording/reproducing apparatus using the same |
| DE10361481B4 (en) * | 2003-07-22 | 2006-08-17 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Modular interface to dampen mechanical vibrations, between structures in automotive and aerospace applications and the like, has a base with a tension support to take a loading link between them together with energy conversion actuators |
| US7586236B2 (en) * | 2005-10-07 | 2009-09-08 | The United States Of America As Represented By The Secretary Of The Navy | Tri-axial hybrid vibration isolator |
| CN102937508B (en) * | 2012-11-02 | 2015-08-05 | 西南交通大学 | Railroad track five degree of freedom earthquake simulation shaking table on bridge |
| CN103411748B (en) * | 2013-07-09 | 2016-02-03 | 西南交通大学 | A kind of dual air spring is comprehensive performance test bed |
| CN103940627B (en) * | 2014-04-11 | 2016-08-17 | 同济大学 | A kind of two way sliding apparatus being applicable to civil engineering space load test |
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Effective date of registration: 20200821 Address after: 450052 No. 2 University Middle Road, Erqi District, Zhengzhou City, Henan Province Co-patentee after: HARBIN INSTITUTE OF TECHNOLOGY, SHENZHEN Patentee after: ZHENGZHOU INSTITUTE OF AERONAUTICAL INDUSTRY MANAGEMENT Address before: 450052 No. 2 middle University Road, Henan, Zhengzhou Co-patentee before: HARBIN INSTITUTE OF TECHNOLOGY, SHENZHEN Patentee before: ZHENGZHOU INSTITUTE OF AERONAUTICAL INDUSTRY MANAGEMENT |