CN106763474A - A kind of all-metal micro-vibration control device of active-passive integratedization - Google Patents
A kind of all-metal micro-vibration control device of active-passive integratedization Download PDFInfo
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- CN106763474A CN106763474A CN201710150225.9A CN201710150225A CN106763474A CN 106763474 A CN106763474 A CN 106763474A CN 201710150225 A CN201710150225 A CN 201710150225A CN 106763474 A CN106763474 A CN 106763474A
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- metal
- shell
- packing ring
- rubber packing
- spring
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Classifications
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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
- F16F15/04—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
- F16F15/073—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 using only leaf springs
Abstract
The all-metal micro-vibration control device of a kind of active-passive integratedization, including support bar, diaphragm spring etc.；Support bar penetrates the first shell inner cylinder, and coil brace is fixedly mounted on the support bar other end by supporting plate；Voice coil motor mover is arranged on coil brace, the translation vertically between the inside and outside circle permanent magnet of voice coil motor stator；Metal spring one end is fixedly mounted at second housing and the first enclosure interface by end cap, and the other end coordinates with spacing collar end；Spacing collar is supported in second housing by metal-rubber packing ring, and metal spring is connected by the internal thread of end with external equipment, and compresses spacing collar；Diaphragm spring is arranged between support bar and the first shell end cap, between coil brace and the first shell end cap inwall, between the supporting plate of coil brace and the end cap of metal spring.The present invention can realize the micro-vibration control of wide-band, improve the vibration isolating effect and the adaptability to various complicated of vibration isolator.
Description
Technical field
The present invention devises a kind of all-metal micro-vibration control device of active-passive integratedization, it is adaptable to which dampening mechanism is in work
As when the micro-vibration that produces or reduce environment and disturb the influence shaken to sensitive equipment.
Background technology
With growing, the properties such as precision, resolution ratio of equipment, load etc. all more and more highers, to it of science and technology
The stability requirement of the workbench at place also more and more higher, the micro-vibration of environment is widely present for a long time, unavoidably, will certainly
Stabilization to platform has a negative impact, and the performance for further having influence on the equipment such as sensor gives full play to, therefore stabilization
Workbench turns into the premise of the equipment normal works such as highly performance sensitive device, and micro-vibration control is to improve having for platform stabilization
Effect approach.
Stabilized platform is main to be realized in terms of two：1) reduce platform and be subject to slew gear (such as high speed rotor), reciprocal
Mechanism (such as vibratory sieve) disturbing for other vibration source equipment is shaken, and improves platform stabilization；2) vibration for reducing platform is transferred to effectively
Load, so as to reduce influence of the Platform Vibration to load.Structural vibration reduction for vibration source is difficult to gather effect, improves platform stabilization
Effective method is micro-vibration isolation, including positive micro-vibration is isolated and passive micro-vibration is isolated.Traditional vibration isolator (bag
Include rubber etc.) can not preferably take into account complicated adverse circumstances adaptability and the good vibrations such as radiation high, elemental oxygen and many dust
Isolation performance, it is impossible to preferably take into account the stability under good fatigue resistance and the effect of long-term dynamics load.
The content of the invention
The technical problem to be solved in the present invention is：Overcome the deficiencies in the prior art, there is provided a kind of active-passive integratedization it is complete
Metal micro-vibration control device, can preferably take into account the adaptability to the Various Complex adverse environment such as ground and space, Yi Jichang
Stability under the micro-vibration of phase and significantly vibration etc. various working in short-term.Effectively suppress vibration, lift platform stable
Property, expand its application field.
The technical solution adopted in the present invention is：A kind of all-metal micro-vibration control device of active-passive integratedization, including
Support bar, primary diaphragm spring, secondary diaphragm spring, tertiary membrane flat spring, the first shell, second housing, voice coil motor stator,
Voice coil motor mover, coil brace, metal-rubber packing ring, metal spring, spacing collar；First shell is structure as a whole, including
Inner cylinder, outer barrel, outer barrel one end connect the end of inner cylinder by end cap, and the other end is connected with second housing, form cavity；Voice coil loudspeaker voice coil electricity
Machine stator includes inner ring permanent magnet, outer ring permanent magnet, and outer ring permanent magnet is fixed on the first shell outer tube inner wall, inner ring permanent magnet and consolidates
It is scheduled on the first shell inner tank theca；Support bar penetrates the first shell inner cylinder, and the first shell, primary diaphragm spring peace are stretched out in one end
Stretched out between one end of the first shell and the first shell end cap mounted in support bar, realized between support bar and the first shell end cap
Axially support is spacing with radial direction, and metal-rubber packing ring is filled between the first shell inner cylinder inwall and support bar, and coil brace leads to
Cross supporting plate and be fixedly mounted on the support bar other end；Voice coil motor mover is arranged on coil brace, in voice coil motor stator
Left and right translation vertically between interior permanent magnet, outer ring permanent magnet；Metal spring one end is fixedly mounted on second housing by end cap
At the first enclosure interface, the other end is stretched into spacing collar and coordinated with spacing collar end；Spacing collar passes through metal-rubber
Packing ring is supported in second housing, and metal spring and spacing collar end are stretched out from second housing end, and by metal spring
The mounting hole of end is connected with external equipment, while compressing spacing collar；Secondary diaphragm spring is arranged on the support of coil brace
Between plate and the end cap of metal spring, realize that the axial direction support between coil brace and metal spring end cap is spacing with radial direction；The
Three diaphragm springs are arranged between one end of coil brace and the first shell end cap inwall, realize coil brace and the first shell end
Axial direction support between lid inwall is spacing with radial direction.
The metal-rubber packing ring includes the first metal-rubber packing ring, the second metal-rubber packing ring, the 3rd metal-rubber pad
Circle, is annular；First metal-rubber packing ring be located at the first shell inner cylinder end, installed in support bar, the first shell inner cylinder it
Between, carried out by the limiting plate in the first shell inner cylinder spacing；Second metal-rubber packing ring, the 3rd metal-rubber packing ring are arranged on
Between second housing and spacing collar, the second metal-rubber packing ring is near spacing collar, positioned at the 3rd metal-rubber packing ring inner side.
The second metal-rubber packing ring has two, respectively positioned at spacing collar outer wall toroidal membrane structure both sides.
The 3rd metal-rubber packing ring has two, respectively positioned at spacing collar outer wall toroidal membrane structure both sides.
The rigidity of the second metal-rubber packing ring is more than the rigidity of the 3rd metal-rubber packing ring, the second metal-rubber packing ring
Gap more than the 3rd metal-rubber packing ring gap.
The coil brace is columnar integrative-structure, and there is supporting plate one end；Support bar passes through supporting plate center, coil
Support is fixedly connected by the screw thread of supporting plate centre bore with support bar, coil brace along support bar axis or so translation.
Present invention advantage compared with prior art is：
(1) vibration control apparatus of the invention are usually used in many dirt on ground and high vacuum, high-energy radiation, the elemental oxygen in space
Etc. various adverse circumstances, the degeneration that the damper such as traditional rubber will occur performance in these environment, vibration will also be led in itself
The fatigue of the dampers such as rubber is caused, and the present invention can well adapt to these using metal (such as steel, titanium alloy, aluminium alloy)
Environment, the metal-rubber at two ends can to a certain extent filter the dust in environment, reduce control device internal clearance stuck
Risk, therefore the present invention constitutes control device using all-metal materials such as metal-rubber, metal spring and voice coil motors, its is long-term
Stable work in work.
(2) present invention uses active-passive integratedization structure.Wherein passive damping unit uses metal spring and metal-rubber
Structure in parallel, can preferably isolate dither；And active control unit is on the basis of passive damping unit, by two
One structure of voice coil motor of individual diaphragm spring parallel connection, it can preferably suppress formant and its following middle low-frequency vibration.Cause
The passive combination of this master can preferably be realized suppressing the wideband micro-vibration of product.When voice coil motor is stopped, the master is passive
The micro-vibration control device of integration deteriorates to two grades of passive damping devices, can still obtain preferable high frequency micro vibration attenuating.
(3) position limitation protection when present invention is significantly vibrated using the damping of metal-rubber and the strong nonlinearity of rigidity.
When vibration displacement is larger, its rigidity is also very big, so as to greatly improve the rigidity of system, the frequency of system is improved, to product
Play certain position limitation protection effect；Metal-rubber can largely dissipate vibrational energy when significantly vibrating, so as to rapid decay
Vibration amplitude.Therefore this patent many places inside control device are all disposed with the different metal-rubber of parameter, play resistance well
Buddhist nun and position limitation protection are acted on.
(4) present invention is using diaphragm spring (or disk spring) support.Certain axle can be provided to voice coil motor mover
To pretightning force and appropriate support stiffness, radial direction position-limiting action can be played again.Traditional sliding bearing is replaced to reduce with it dynamic
Quiet movable part, reduces the stuck risk of dynamic and static gaps.It can improve control device to the adaptability of the adverse circumstances such as many dirt and
Operational reliability.
Brief description of the drawings
Fig. 1 is structure diagram of the present invention；
Fig. 2 is structure sectional view of the present invention.
Specific embodiment
Passive vibration isolation device can be effectively isolated dither, and Vibration Active Control device can effectively suppress formant and resonance
Middle low-frequency vibration below peak.Therefore the present invention is using the main passive micro-vibration isolation method for combining, there is provided one kind is main passive
The all-metal micro-vibration control device of integration.
As shown in Figure 1 and Figure 2, the present invention be directed to micro-vibration active-passive integratedization micro-vibration control device, including branch
Strut 1, diaphragm spring, shell, voice coil motor stator permanent magnet 4, voice coil motor mover coil 5, coil brace 6, metal-rubber
Packing ring, metal spring 8, spacing collar 9.Shell includes the first shell 3-1, second housing 3-2, and the first shell 3-1 is to include two
The integrative-structure of layer cylinder and annular end cap, annular end cap connects coaxial two cylinder one end, and second housing 3-2 is to open one end
Mouth, the other end are the cylindrical shell of annular end cap；First shell 3-1 outer barrels one end connects the end of inner cylinder by end cap, separately
One end is connected with second housing 3-2, forms cavity；Voice coil motor stator 4 includes inner ring permanent magnet, outer ring permanent magnet, and outer ring is forever
Magnet is fixed on the first shell 3-1 outer tube inner walls, inner ring permanent magnet and is fixed on the first shell 3-1 inner tank thecas；Support bar 1 is worn
Enter the first shell 3-1 inner cylinders, one end stretches out the first shell 3-1 and is supported on the first shell 3-1 inner cylinders by metal-rubber packing ring
Interior, coil brace 6 is fixedly mounted on the other end of support bar 1 by supporting plate；Voice coil motor mover 5 is arranged on coil brace 6,
Left and right translation vertically between inner ring permanent magnet, outer ring permanent magnet in voice coil motor stator 4；The one end of metal spring 8 is by end
Lid is fixedly mounted on second housing 3-2 and the first shell 3-1 interfaces, and the other end is stretched into spacing collar 9 and the end of spacing collar 9
Portion coordinates；Spacing collar 9 is supported in second housing 3-2 by metal-rubber packing ring, metal spring 8 and the end of spacing collar 9
Stretched out from second housing 3-2 ends, and internal thread by metal spring 8 is connected with external equipment, while compressing spacing collar
9；Diaphragm spring includes primary diaphragm spring 2-1, secondary diaphragm spring 2-2, tertiary membrane flat spring 2-3, primary diaphragm spring 2-1
Stretched out between one end of the first shell 3-1 and the first shell 3-1 end caps installed in support bar 1, realize the shell of support bar 1 and first
Axial direction support between 3-1 end caps is spacing with radial direction；Secondary diaphragm spring 2-2 is arranged on the supporting plate and metal of coil brace 6
Between the end cap of spring 8, realize that the axial direction support between coil brace 6 and the end cap of metal spring 8 is spacing with radial direction；Tertiary membrane piece
Spring 2-3 is arranged between one end of coil brace 6 and the first shell 3-1 end cap inwalls, realizes the shell of coil brace 6 and first
Axial direction support between 3-1 end cap inwalls is spacing with radial direction.
Metal-rubber packing ring includes the first metal-rubber packing ring 7-1, the second metal-rubber packing ring 7-2, the 3rd metal-rubber
Packing ring 7-3, is annular；First metal-rubber packing ring 7-1 is located at the first shell 3-1 inner cylinders end, installed in support bar 1, the
Between one shell 3-1 inner cylinders, carried out by the limiting plate in the first shell 3-1 inner cylinders spacing；Second metal-rubber packing ring 7-2,
3rd metal-rubber packing ring 7-3 is arranged between second housing 3-2 and spacing collar 9, and the second metal-rubber packing ring 7-2 is near limit
Position sleeve 9, positioned at the 3rd metal-rubber packing ring 7-3 inner side.
Second metal-rubber packing ring 7-2 has two, respectively positioned at the outer wall toroidal membrane structure both sides of spacing collar 9.3rd
Metal-rubber packing ring 7-3 has two, respectively positioned at the outer wall toroidal membrane structure both sides of spacing collar 9.Second metal-rubber packing ring
Rigidity of the rigidity of 7-2 more than the 3rd metal-rubber packing ring 7-3, the gap of the second metal-rubber packing ring 7-2 is less than the 3rd metal
The gap of rubber washer 7-3.
Coil brace 6 is columnar integrative-structure, and there is supporting plate one end；Support bar 1 passes through supporting plate center, coil branch
Frame 6 is fixedly connected by the screw thread of supporting plate centre bore with support bar 1, coil brace 6 along support bar 1 axis or so translation.
Voice coil motor mover (coil) 5 is wound on coil brace 6, and coil brace 6 is fixed on by screw thread with support bar 1
Together.Metal spring 8 and shell 3 are consolidated by screw thread, then are supported on support bar 1 by precompressed diaphragm spring
On, spacing collar 9 is supported on the right cover of shell 3 by the second metal-rubber packing ring 7-2 and the 3rd metal-rubber packing ring 7-3, and
It is pressed on metal spring 8 by with outside platform or product.The external interface of the device is the external screw thread of the support bar 1 on the left side
With the internal thread of the right metal spring 8.
Peripheral control unit is by controlling the size of electric current in voice coil motor mover (coil) 5, voice coil motor mover (coil) 5
In the presence of the magnetic field of voice coil motor stator (permanent magnet) 4, the certain Ampere force of generation, as the micro-vibration control device
Active controlling force, size of current and direction determine the size and Orientation of controling power.
Metal-rubber packing ring includes the first metal-rubber packing ring 7-1, the second metal-rubber packing ring 7-2, the 3rd metal-rubber
Packing ring 7-3, the second metal-rubber packing ring 7-2 are high rigidity small―gap suture metal-rubber packing ring；3rd metal-rubber packing ring 7-3 is low
Rigidity slight interference metal-rubber packing ring.Every kind of metal-rubber packing ring all includes two air rings in left and right.Wherein the 3rd metal-rubber
Packing ring 7-3 provides damping when being mainly as product normal operating conditions, but will not significantly change the rigidity of vibration isolator；And second
Metal-rubber packing ring 7-2 is then mainly used in during product undergoes larger external vibration or output of products high-torque, utilizing
The deflection of the wide-angle of the strong nonlinearity of the big damping of high rigidity of the metal-rubber, protection product and limitation product, while also can
Preferably protection spring exempts from damage.First metal-rubber packing ring 7-1 is Low rigidity small―gap suture metal-rubber air ring, main to rise
The effect of environment dust protection device is filtered, therefore metal-rubber packing ring enables that the micro-vibration control device is preferably adapted to
Various complicated.For example, in the present embodiment, the Static stiffness of the first metal-rubber packing ring 7-1 is about 5 × 104Nm；Second gold medal
The Static stiffness of category rubber washer 7-2 is about >=105Nm, its fissipation factor >=0.2；The Static stiffness of the 3rd metal-rubber packing ring 7-3
≤2×104Nm, its fissipation factor is between 0.02~0.05.
Diaphragm spring (or disk spring) carries out axially support and pretension and radially spacing mode, can be to be supported object
Certain axial pre tightening force and appropriate support stiffness is provided, radial direction position-limiting action can be played again.Traditional sliding axle can be replaced
Hold, sound movable part can be reduced, reduce the stuck risk of dynamic and static gaps.It can improve control device to adverse circumstances such as many dirt
Adaptability and operational reliability.
Metal-rubber packing ring and metal spring 8 in the micro-vibration control device is (first order) in parallel；Voice coil motor stator 4
And its left and right diaphragm spring parallel connection (second level)；The first order and the second level are connected again.Whether voice coil motor excitation is used as power and turns into
The key that active-passive integratedization micro-vibration control device and passive micro-vibration controller are distinguished.Improved using the passive two ways of master
The reliability of micro-vibration control device.
The micro-vibration control device is arranged between vibration source and pedestal.The vibration transfer path of passive micro-vibration controller：
Vibration is transferred to shell 3 (first order) by metal-rubber packing ring and metal spring 8, then is transferred to by the diaphragm spring of pretension
Metallic support rod 1 (second level), now voice coil motor does not work.The vibration transmission road of active-passive integratedization micro-vibration control device
Footpath：It is a voice coil motor in parallel again at the second level of the vibration transfer path of passive damping device, now, voice coil motor is powered
Work, voice coil motor to be used as power and be transferred to metal-rubber and metal spring 8, final output to Vibration Active Control by shell 3
On object.In Vibration Active Control, the signals such as vibration force, vibration displacement or the vibration acceleration of the device are input into by measuring
And its vibration signal of output, and these measurement signals are sent to peripheral control unit, controller will with reference to plant model,
Using the electric current in vibration control rule regulation voice coil motor coil 5, it is allowed to produce and the anti-phase exciting force of vibration input, so as to cut
Weak output reduces micro-vibration influence to the micro-vibration on pedestal, improves platform stabilization.
Wherein passive damping unit can preferably isolate high frequency vibrating using metal spring and metal-rubber structure in parallel
It is dynamic；And active control unit is on the basis of passive damping unit, by two diaphragm springs voice coil motor in parallel
Structure, it can preferably suppress formant and its following middle low-frequency vibration.Therefore main passive combination can be preferably realized to producing
The wideband micro-vibration of product suppresses.When voice coil motor is stopped, the micro-vibration control device of active-passive integratedization is deteriorated to
Two grades of passive damping devices, can still obtain preferable high frequency micro vibration attenuating.
Unspecified part of the present invention belongs to technology as well known to those skilled in the art.
Claims (6)
1. the all-metal micro-vibration control device of a kind of active-passive integratedization, it is characterised in that：Including support bar (1), the first film
Flat spring (2-1), secondary diaphragm spring (2-2), tertiary membrane flat spring (2-3), the first shell (3-1), second housing (3-2),
Voice coil motor stator (4), voice coil motor mover (5), coil brace (6), metal-rubber packing ring, metal spring (8), spacing collar
(9)；First shell (3-1) is structure as a whole, including inner cylinder, outer barrel, and outer barrel one end connects the end of inner cylinder by end cap, another
End is connected with second housing (3-2), forms cavity；Voice coil motor stator (4) includes inner ring permanent magnet, outer ring permanent magnet, outer ring
Permanent magnet is fixed on the first shell (3-1) outer tube inner wall, inner ring permanent magnet and is fixed on the first shell (3-1) inner tank theca；Branch
Strut (1) penetrates the first shell (3-1) inner cylinder, and the first shell (3-1) is stretched out in one end, and primary diaphragm spring (2-1) is arranged on branch
Strut (1) is stretched out between one end of the first shell (3-1) and the first shell (3-1) end cap, realizes support bar (1) and the first shell
Axial direction support between (3-1) end cap is spacing with radial direction, and metal-rubber packing ring is filled in the first shell (3-1) inner cylinder inwall and branch
Between strut (1), coil brace (6) is fixedly mounted on support bar (1) other end by supporting plate；Voice coil motor mover (5) is pacified
On coil brace (6), left and right translation vertically between the interior permanent magnet, outer ring permanent magnet in voice coil motor stator (4)；Gold
Category spring (8) one end is fixedly mounted on second housing (3-2) and the first shell (3-1) interface by end cap, and the other end is stretched into
Coordinate with spacing collar (9) end in spacing collar (9)；Spacing collar (9) is supported in second housing by metal-rubber packing ring
In (3-2), metal spring (8) and spacing collar (9) end are stretched out from second housing (3-2) end, and by metal spring (8)
The mounting hole of end is connected with external equipment, while compressing spacing collar (9)；Secondary diaphragm spring (2-2) is installed in coil branch
Between the supporting plate of frame (6) and the end cap of metal spring (8), the axle between coil brace (6) and metal spring (8) end cap is realized
It is spacing with radial direction to support；Tertiary membrane flat spring (2-3) is arranged on one end and the first shell (3-1) end cap of coil brace (6)
Between inwall, realize that the axial direction support between coil brace (6) and the first shell (3-1) end cap inwall is spacing with radial direction.
2. the all-metal micro-vibration control device of a kind of active-passive integratedization according to claim 1, it is characterised in that：Institute
Stating metal-rubber packing ring includes the first metal-rubber packing ring (7-1), the second metal-rubber packing ring (7-2), the 3rd metal-rubber pad
Circle (7-3), is annular；First metal-rubber packing ring (7-1) is located at the first shell (3-1) inner cylinder end, installed in support bar
(1), between the first shell (3-1) inner cylinder, carried out by the limiting plate in the first shell (3-1) inner cylinder spacing；Second metal rubber
Rubber gasket (7-2), the 3rd metal-rubber packing ring (7-3) are arranged between second housing (3-2) and spacing collar (9), the second gold medal
Category rubber washer (7-2) is near spacing collar (9), positioned at the 3rd metal-rubber packing ring (7-3) inner side.
3. the all-metal micro-vibration control device of a kind of active-passive integratedization according to claim 2, it is characterised in that：Institute
Stating the second metal-rubber packing ring (7-2) has two, respectively positioned at spacing collar (9) outer wall toroidal membrane structure both sides.
4. a kind of all-metal micro-vibration control device of active-passive integratedization according to Claims 2 or 3, its feature exists
In：The 3rd metal-rubber packing ring (7-3) has two, respectively positioned at spacing collar (9) outer wall toroidal membrane structure both sides.
5. the all-metal micro-vibration control device of a kind of active-passive integratedization according to claim 4, it is characterised in that：Institute
State the rigidity of the rigidity more than the 3rd metal-rubber packing ring (7-3) of the second metal-rubber packing ring (7-2), the second metal-rubber packing ring
Gap of the gap of (7-2) more than the 3rd metal-rubber packing ring (7-3).
6. a kind of all-metal micro-vibration control device of active-passive integratedization according to claim 1 and 2, its feature exists
In：The coil brace (6) is columnar integrative-structure, and there is supporting plate one end；Support bar (1) is through supporting plate center, line
Coil support (6) is fixedly connected by the screw thread of supporting plate centre bore with support bar (1), coil brace (6) along support bar (1) axle
Line or so translation.
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| CN201710150225.9A CN106763474B (en) | 2017-03-14 | 2017-03-14 | A kind of all-metal micro-vibration control device of active-passive integratedization |
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| CN201710150225.9A CN106763474B (en) | 2017-03-14 | 2017-03-14 | A kind of all-metal micro-vibration control device of active-passive integratedization |
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| CN109921351A (en) * | 2019-04-15 | 2019-06-21 | 福州大学 | A kind of anti-high wind damping cable bearer and its working method |
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| CN108087471A (en) * | 2018-01-23 | 2018-05-29 | 南京理工大学 | A kind of twin ring spring buffer unit |
| CN108087471B (en) * | 2018-01-23 | 2023-11-28 | 南京理工大学 | Duplex annular spring buffer device |
| CN108953487A (en) * | 2018-08-06 | 2018-12-07 | 北京控制工程研究所 | A kind of integral bidirectional vibration isolator |
| CN109921351A (en) * | 2019-04-15 | 2019-06-21 | 福州大学 | A kind of anti-high wind damping cable bearer and its working method |
| CN109921351B (en) * | 2019-04-15 | 2024-02-06 | 福州大学 | Strong wind resistant and shock absorbing cable support and working method thereof |
| CN112688531A (en) * | 2020-12-18 | 2021-04-20 | 上海大学 | Voice coil motor active suspension |
| CN114382818A (en) * | 2022-01-25 | 2022-04-22 | 上海交通大学 | Vibration-suppressing hydro-electric hybrid actuator and control method thereof |
| CN114382818B (en) * | 2022-01-25 | 2023-03-28 | 上海交通大学 | Vibration-suppressing hydro-electric hybrid actuator and control method thereof |
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