CN108644299A - A kind of disc spring combined type magnetorheological damping damper - Google Patents
A kind of disc spring combined type magnetorheological damping damper Download PDFInfo
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- CN108644299A CN108644299A CN201810516227.XA CN201810516227A CN108644299A CN 108644299 A CN108644299 A CN 108644299A CN 201810516227 A CN201810516227 A CN 201810516227A CN 108644299 A CN108644299 A CN 108644299A
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- Prior art keywords
- damper
- flange
- wall
- disc spring
- combined type
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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
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/002—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising at least one fluid spring
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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
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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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
- F16F2224/00—Materials; Material properties
- F16F2224/04—Fluids
- F16F2224/045—Fluids magnetorheological
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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
- F16F2234/00—Shape
- F16F2234/06—Shape plane or flat
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Fluid-Damping Devices (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The present invention relates to a kind of disc spring combined type magnetorheological damping dampers, are related to mechanical oscillatory structure control technology field.The present invention combines in such a way that MR damper and traditional damping element disc spring are in parallel, and vertical vibration damping is realized by guiding mechanism, obtain a kind of modular damper, it can realize and real-time control is carried out to the damper by using semi-active control method, change magnetic field intensity by changing electric current, the viscosity for changing controlled fluid in millisecond, to realize adjustable, the realization intelligent vibration damping of rigidity and damping.
Description
Technical field
The present invention relates to mechanical oscillatory structure control technology fields, and in particular to a kind of disc spring combined type magnetorheological damping subtracts
Shake device.
Background technology
Reduce the vibration of aerial vehicle launcher and then protect aircraft and realize the secure transmission of aircraft, is aircraft
Emitter has to the problem considered when designing.Excessive vibration may cause emitter structure to be destroyed, and make flight
The storage environment of device by influence so that destroy aircraft Structural integrity or aircraft can not normal transmission, Shi Biying
Ring the fight capability on naval vessel.Warship, the latent aerial vehicle launcher that carries are since structure size is big, and the cylinder bullet quality of loading is also big, simultaneously
Common frame of launching equipment is due to loading more pieces of cylinder bullets, and with the transmitting of aircraft, the quality of entire emitter can change, together
When launching shock load and external environment incentive action, make damper be in a kind of big load, varying load working environment in.
Warship, the latent emitter that carries use the passive control such as rubber pad, dished spring assembly, oil gas or fluid spring cushion at present
Damper carries out vibration damping, wherein rubber pad, dished spring assembly are simple in structure, and maintenanceability is good, but the adaptation energy to loading and encouraging
Force difference；Oil gas or fluid spring cushion, it is usually adjustable, change through-flow face by adjusting the openings of sizes of throttle orifice
Product adjusts damped coefficient with this, and the controller needed and executing agency are complicated, and the damping force exported is with living on damper
The stroke of plug and change, in use, occupied space is larger in the more nervous silo of space requirement.
Invention content
(1) technical problems to be solved
The technical problem to be solved by the present invention is to：How to provide it is a kind of can bear big load, it is adaptable to varying load,
Fast response time, stroke be small, the vibration of applied widely, modularization, reduction aerial vehicle launcher easy for assemble or unload into
And it protects aircraft and realizes the damper of the secure transmission of aircraft.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of disc spring combined type magnetorheological damping dampers, including
Upper flange 1,2,1 MR dampers 3 of lower flange, multiple dished spring assemblies 4 and multiple guiding mechanisms 5；
Wherein, multiple dished spring assemblies 4 are circumferential is uniformly distributed between upper flange 1, lower flange 2, forms a circle, and respectively with
Upper flange 1, lower flange 2 connect, and dished spring assembly 4 has certain precompressed when mounted, and is constantly in compression in use
State；Multiple guiding mechanisms 5 are the guiding role in the movement realization vertical direction of upper flange 1, lower flange 2, and the two is made to realize
Vertical relative motion, and connect respectively with upper flange 1, lower flange 2, and positioned at 4 periphery of dished spring assembly；MR damper 3
Center location between upper flange 1, lower flange 2, by connecting flange 7 thereon, lower connecting flange 8 respectively with upper flange 1, under
Flange 2 is correspondingly connected with；
The MR damper 3 includes the upper connecting flange 7, the lower connecting flange 8, one-piece piston axis 9, resistance
Buddhist nun's device upper cover 10, damper inner wall 11, damper outer wall 12, throttling passage 13, damper lower cover 14, sealing ring 15, iron core 16
With magnet exciting coil 17；
The one-piece piston axis 9 is cross, including upper vertical component effect, intermediate lateral portion and lower vertical component effect；Damper
Inner wall 11, damper outer wall 12 are loop configuration, and damper outer wall 12 is sleeved on 11 outside of damper inner wall and the two is located at resistance
Between Buddhist nun's device upper cover 10, damper lower cover 14, magnet exciting coil 17 is equidirectional to be wrapped on iron core 16, by changing magnet exciting coil 17
On the size of current that passes through, change the intensity in magnetic field, iron core 16 and magnet exciting coil 17 have four groups, 90 degree of interval, one group of setting,
Between damper inner wall 11 and damper outer wall 12, there are four throttling passages 13, is spaced 90 degree and is arranged one group, is respectively positioned on resistance
Between Buddhist nun's device inner wall 11 and damper outer wall 12, and on damper inner wall 11 on the position and damper of face throttling passage 13
There are gap between lid 10, damper lower cover 14, the entirety that iron core 16 is formed with magnet exciting coil 17 is spaced with throttling passage 13
Setting；Damper upper cover 10 is sleeved on the upper vertical component effect of one-piece piston axis 9, and one-piece piston axis 9, damper upper cover 10, resistance
The space surrounded between 11 three of Buddhist nun's device inner wall constitutes upper chamber, one-piece piston axis 9, damper lower cover 14, in damper
The space surrounded between 11 three of wall constitutes lower chambers, and magnetorheological fluid is full of in upper chamber, lower chambers and throttling passage 13；It is close
Seal ring 15 is embedded in the intermediate lateral portion of one-piece piston axis 9, and the position since throttling passage 13 being arranged on damper inner wall 11
Set between damper upper cover 10, damper lower cover 14 that there are gaps, to prevent magnetorheological fluid between upper and lower chamber
Flowing is directly exchanged, and can only be flowed between upper and lower chamber by throttling passage 13；Upper connecting flange 7 and one-piece piston
9 upper end of axis is connected and fixed；Lower connecting flange 8 is connected and fixed with damper lower cover 14.
Preferably, the structure type of the guiding mechanism 5 is to be sleeved on inner sleeve to realize by outer sleeve, outer sleeve and inner sleeve
Cylinder can be in vertical direction relative motion.
Preferably, there are three the guiding mechanisms 5.
Preferably, the guiding mechanism 5 is circumferential is uniformly distributed between upper flange 1, lower flange 2.
Preferably, when installation, emitter is connected by upper flange 1 with damper, and silo passes through lower flange 2 and vibration damping
Device is connected, and realizes the Vertical Vibration Reduction of aerial vehicle launcher.
Preferably, fixation is bolted with damper lower cover 14 in the lower connecting flange 8.
Preferably, multiple dished spring assemblies 4 are spirally connected with upper flange 1, lower flange 2 respectively.
Preferably, the guiding mechanism 5 is spirally connected with upper flange 1, lower flange 2 respectively.
Preferably, the MR damper 3 by connecting flange 7 thereon, lower connecting flange 8 respectively with upper flange 1, under
The correspondence of flange 2 is spirally connected.
Preferably, the dished spring assembly 4 has 8.
(3) advantageous effect
The present invention combines in such a way that MR damper and traditional damping element disc spring are in parallel, and passes through guiding
Mechanism realizes vertical vibration damping, obtains a kind of modular damper, can realize and subtract to this by using semi-active control method
The device that shakes carries out real-time control, changes magnetic field intensity by changing electric current, changes the viscosity of controlled fluid in millisecond, comes real
Adjustable, the realization intelligent vibration damping of existing rigidity and damping.The disc spring combined type magnetorheological damping damper of the present invention is half actively control
Intelligent vibration damper processed, with bearing capacity is strong, damping force is big, adjustable range is wide, adaptive ability is strong, fast response time, energy consumption
The advantages that low, modularized design is easily installed dismounting.Meanwhile it can be according to change design MR damper, the dish of maneuvering load
The size of spring component and guiding mechanism, the different aerial vehicle launcher of flexible adaptation.
Description of the drawings
Fig. 1 is the disc spring combined type magnetorheological damping damper structure schematic diagram of the present invention；
Fig. 2 is upper and lower flange arrangement schematic diagram in the present invention；
Fig. 3 is dished spring assembly structural schematic diagram in the present invention；
Fig. 4 is guiding mechanism structural schematic diagram in the present invention；
Fig. 5 is MR damper theory of constitution figure in the present invention；
Fig. 6 is MR damper revolved sectional view in the present invention.
Specific implementation mode
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's
Specific implementation mode is described in further detail.
As shown in Figure 1 to 4, disc spring combined type magnetorheological damping damper provided by the invention includes upper flange 1, laxative remedy
Blue 2,1 guiding mechanisms 5 of dished spring assembly 4,3 of MR damper 3,8 and several connection standard components 6.Between each component
Connection type be：Upper flange 1, lower flange 2 are spirally connected by standard component 6 and remaining each component, constitute modular damper.Its
In, 8 dished spring assemblies 4 are circumferential to be uniformly distributed between upper flange 1, lower flange 2, is formed a circle, and pass through upper and lower standard component point
It is not spirally connected with upper flange 1, lower flange 2；Guiding mechanism 5 is the guiding in the movement realization vertical direction of upper flange 1, lower flange 2
Effect makes the two realize that vertical relative motion, structure type are to be sleeved on inner sleeve to realize by outer sleeve, outer sleeve and inner sleeve
Cylinder can be spirally connected with upper flange 1, lower flange 2 respectively in vertical direction relative motion, and by upper and lower standard component, and guiding mechanism 5 has
It three, is uniformly distributed between upper flange 1, lower flange 2, and positioned at 4 periphery of dished spring assembly；MR damper 3 is located at upper method
Orchid 1, the center location between lower flange 2, by connecting flange 7 thereon, lower connecting flange 8 respectively with upper flange 1, lower flange 2
It is spirally connected.Before use, according to the size of excitation and version design control mode, so that damper is adjusted in real time and used with meeting
It is required that.When installation, emitter is connected by upper flange 1 with the damper, and silo passes through lower flange 2 and the damper phase
Even, the vertical intelligent vibration damping of aerial vehicle launcher is realized.Wherein upper flange 1 and lower flange 2 there are mounting plane and mounting hole,
Can be with the size of regulating flange according to use space and the size of the connection emitter, but the relative position of each mounting surface is protected
It is constant to hold position shown in Fig. 2.Design mounting flange simultaneously in the both ends of MR damper 3, dished spring assembly 4 and guiding mechanism 5
Mounting hole is stayed, is connect by standard component 6 with upper flange 1 and lower flange 2.Since disc spring can only bear compressive load, disc spring
Component 4 has certain precompressed in design and installation, and ensures to be constantly in pressured state during use.
As shown in Figure 5 and Figure 6, MR damper 3 by upper connecting flange 7, lower connecting flange 8, one-piece piston axis 9,
Damper upper cover 10, damper inner wall 11, damper outer wall 12, throttling passage 13, damper lower cover 14, sealing ring 15, iron core
16, magnet exciting coil 17 forms.
The one-piece piston axis 9 is cross, including upper vertical component effect, intermediate lateral portion and lower vertical component effect；Damper
Inner wall 11, damper outer wall 12 are loop configuration, and damper outer wall 12 is sleeved on 11 outside of damper inner wall and the two is located at resistance
Between Buddhist nun's device upper cover 10, damper lower cover 14, magnet exciting coil 17 is equidirectional to be wrapped on iron core 16, by changing magnet exciting coil 17
On the size of current that passes through, change the intensity in magnetic field, iron core 16 and magnet exciting coil 17 have four groups, 90 degree of interval, one group of setting,
Between damper inner wall 11 and damper outer wall 12, there are four throttling passages 13, is spaced 90 degree and is arranged one group, is respectively positioned on resistance
Between Buddhist nun's device inner wall 11 and damper outer wall 12, and on damper inner wall 11 on the position and damper of face throttling passage 13
There are gap between lid 10, damper lower cover 14, the entirety that iron core 16 is formed with magnet exciting coil 17 is spaced with throttling passage 13
Setting；Damper upper cover 10 is sleeved on the upper vertical component effect of one-piece piston axis 9, and one-piece piston axis 9, damper upper cover 10, resistance
The space surrounded between 11 three of Buddhist nun's device inner wall constitutes upper chamber, one-piece piston axis 9, damper lower cover 14, in damper
The space surrounded between 11 three of wall constitutes lower chambers, and magnetorheological fluid is full of in upper chamber, lower chambers and throttling passage 13；It is close
Seal ring 15 is embedded in the intermediate lateral portion of one-piece piston axis 9, and the position since throttling passage 13 being arranged on damper inner wall 11
Set between damper upper cover 10, damper lower cover 14 that there are gaps, to prevent magnetorheological fluid between upper and lower chamber
Flowing is directly exchanged, and can only be flowed between upper and lower chamber by throttling passage 13；Upper connecting flange 7 and one-piece piston
9 upper end of axis is connected and fixed；Fixation is bolted with damper lower cover 14 in lower connecting flange 8.
Operation principle is：When silo is by extraneous vibration, the lower flange 2 of damper generates relatively with respect to upper flange 1
It moves, dished spring assembly 4 provides elasticity modulus by the deformation of itself at this time, changes the rigidity of damper, but due to dished spring assembly 4
Damping itself is small, and therefore, the present invention also provides damping compensation by MR damper 3 in parallel.Therefore, opposite in lower flange 2
While upper flange 1 generates relative motion, the lower connecting flange 8 and damper lower cover 14 of MR damper 3 are with respect to integral type
Piston shaft 9 also generates relative motion, so that magnetorheological fluid is passed through throttling passage 13 and flows generation damping force between upper and lower chamber,
To hinder relative motion.As shown by the arrows in Figure 6, when lower connecting flange of the one-piece piston axis 9 with respect to MR damper 3
8 when moving downward, and the magnetorheological fluid in lower chambers flows to upper chamber with flow direction shown in arrow by throttling passage 13, when
When one-piece piston axis 9 is moved upwards with respect to 3 other parts of MR damper, flow direction is opposite.According to relative motion feelings
Condition, external control system calculate required current conditions, and electric current changes magnetic field intensity through magnet exciting coil 17, to change magnetic current
Become the viscosity of liquid, and then generate controlled damping force, realizes the real-time intelligent vibration damping between silo and emitter, reach guarantor
Protect the purpose of aircraft.By dished spring assembly 4 deformation itself by elasticity modulus in the above process, while passing through magnetorheological damping
Device 3 generates heat and realizes energy attenuation, to realize combination effect of damping.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of disc spring combined type magnetorheological damping damper, which is characterized in that including upper flange (1), lower flange (2), magnetic current
Variable damping device (3), multiple dished spring assemblies (4) and multiple guiding mechanisms (5)；
Wherein, multiple dished spring assemblies (4) are circumferentially uniformly distributed between upper flange (1), lower flange (2), form a circle, and respectively
It is connect with upper flange (1), lower flange (2), dished spring assembly (4) has certain precompressed when mounted, and in use always
In pressured state；Multiple guiding mechanisms (5) are that the movement of upper flange (1), lower flange (2) realizes that the guiding in vertical direction is made
With both making to realize vertical relative motion, and connect with upper flange (1), lower flange (2) respectively, and be located at dished spring assembly (4) outside
It encloses；MR damper (3) is located at the center location between upper flange (1), lower flange (2), by connecting flange thereon (7),
Lower connecting flange (8) is correspondingly connected with upper flange (1), lower flange (2) respectively；
The MR damper (3) includes the upper connecting flange (7), the lower connecting flange (8), one-piece piston axis
(9), damper upper cover (10), damper inner wall (11), damper outer wall (12), throttling passage (13), damper lower cover (14),
Sealing ring (15), iron core (16) and magnet exciting coil (17)；
The one-piece piston axis (9) is cross, including upper vertical component effect, intermediate lateral portion and lower vertical component effect；In damper
Wall (11), damper outer wall (12) are loop configuration, and damper outer wall (12) is sleeved on the outside of damper inner wall (11) and the two
Between damper upper cover (10), damper lower cover (14), magnet exciting coil (17) is equidirectional to be wrapped on iron core (16), is passed through
Changing the size of current passed through on magnet exciting coil (17), changes the intensity in magnetic field, iron core (16) has four groups with magnet exciting coil (17),
90 degree of interval is arranged one group, is respectively positioned between damper inner wall (11) and damper outer wall (12), and there are four throttling passages (13),
90 degree of interval is arranged one group, is respectively positioned between damper inner wall (11) and damper outer wall (12), and in damper inner wall (11)
There are gap, iron cores between the position and damper upper cover (10), damper lower cover (14) of upper face throttling passage (13)
(16) it is arranged with the entirety of magnet exciting coil (17) composition and throttling passage (13) interval；Damper upper cover (10) is sleeved on integral type work
The upper vertical component effect of axis (9) is filled in, and is surrounded between one-piece piston axis (9), damper upper cover (10), damper inner wall (11) three
Space constitute upper chamber, surrounded between one-piece piston axis (9), damper lower cover (14), damper inner wall (11) three
Space constitute lower chambers, magnetorheological fluid is full of in upper chamber, lower chambers and throttling passage (13)；Sealing ring (15) is embedded in
The intermediate lateral portion of one-piece piston axis (9), and position and resistance since throttling passage (13) being arranged on damper inner wall (11)
There are gaps between Buddhist nun's device upper cover (10), damper lower cover (14), to prevent magnetorheological fluid from straight between upper and lower chamber
Exchange flowing is connect, and can only be flowed between upper and lower chamber by throttling passage (13)；Upper connecting flange (7) is lived with integral type
Plug axis (9) upper end is connected and fixed；Lower connecting flange (8) is connected and fixed with damper lower cover (14).
2. disc spring combined type magnetorheological damping damper as described in claim 1, which is characterized in that the guiding mechanism (5)
Structure type be to be sleeved on inner sleeve and realize by outer sleeve, outer sleeve can be in vertical direction relative motion with inner sleeve.
3. disc spring combined type magnetorheological damping damper as described in claim 1, which is characterized in that the guiding mechanism (5)
There are three.
4. disc spring combined type magnetorheological damping damper as described in claim 1, which is characterized in that the guiding mechanism (5)
Circumferentially it is uniformly distributed between upper flange (1), lower flange (2).
5. disc spring combined type magnetorheological damping damper as described in claim 1, which is characterized in that when installation, emitter
It is connected with damper by upper flange (1), silo is connected by lower flange (2) with damper, realizes aerial vehicle launcher
Vertical Vibration Reduction.
6. disc spring combined type magnetorheological damping damper as described in claim 1, which is characterized in that the lower connecting flange
(8) fixation is bolted with damper lower cover (14).
7. disc spring combined type magnetorheological damping damper as described in claim 1, which is characterized in that multiple dished spring assemblies (4)
It is spirally connected respectively with upper flange (1), lower flange (2).
8. disc spring combined type magnetorheological damping damper as described in claim 1, which is characterized in that the guiding mechanism (5)
It is spirally connected respectively with upper flange (1), lower flange (2).
9. disc spring combined type magnetorheological damping damper as described in claim 1, which is characterized in that the MR damper
(3) by connecting flange thereon (7), lower connecting flange (8) respectively with upper flange (1), lower flange (2) are corresponding is spirally connected.
10. disc spring combined type magnetorheological damping damper as claimed in any one of claims 1-9 wherein, which is characterized in that described
Dished spring assembly (4) has 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810516227.XA CN108644299B (en) | 2018-05-25 | 2018-05-25 | Disc spring combined type magnetorheological damping shock absorber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810516227.XA CN108644299B (en) | 2018-05-25 | 2018-05-25 | Disc spring combined type magnetorheological damping shock absorber |
Publications (2)
| Publication Number | Publication Date |
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| CN108644299A true CN108644299A (en) | 2018-10-12 |
| CN108644299B CN108644299B (en) | 2020-12-08 |
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| CN201810516227.XA Active CN108644299B (en) | 2018-05-25 | 2018-05-25 | Disc spring combined type magnetorheological damping shock absorber |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112303174A (en) * | 2020-10-30 | 2021-02-02 | 广州大学 | A semi-active control vibration isolator based on magnetorheological elastomer and its control method |
| CN113077960A (en) * | 2021-05-14 | 2021-07-06 | 河北冀胜轨道科技股份有限公司 | Solve bad choke transformer of using of track circuit shunting |
| CN113799917A (en) * | 2021-09-17 | 2021-12-17 | 西北工业大学 | Vibration and noise reduction structure for ship cabin |
| CN115126817A (en) * | 2022-07-12 | 2022-09-30 | 上海新纪元机器人有限公司 | Self-balancing vibration reduction mechanism and transportation tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112303174A (en) * | 2020-10-30 | 2021-02-02 | 广州大学 | A semi-active control vibration isolator based on magnetorheological elastomer and its control method |
| CN113077960A (en) * | 2021-05-14 | 2021-07-06 | 河北冀胜轨道科技股份有限公司 | Solve bad choke transformer of using of track circuit shunting |
| CN113799917A (en) * | 2021-09-17 | 2021-12-17 | 西北工业大学 | Vibration and noise reduction structure for ship cabin |
| CN113799917B (en) * | 2021-09-17 | 2022-07-08 | 西北工业大学 | Vibration and noise reduction structure of ship cabin |
| CN115126817A (en) * | 2022-07-12 | 2022-09-30 | 上海新纪元机器人有限公司 | Self-balancing vibration reduction mechanism and transportation tool |
| CN115126817B (en) * | 2022-07-12 | 2024-08-06 | 上海新纪元机器人有限公司 | Self-balancing vibration reduction mechanism and transport tool |
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