CN108930746A - A kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature - Google Patents
A kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature Download PDFInfo
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- CN108930746A CN108930746A CN201810737331.1A CN201810737331A CN108930746A CN 108930746 A CN108930746 A CN 108930746A CN 201810737331 A CN201810737331 A CN 201810737331A CN 108930746 A CN108930746 A CN 108930746A
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- 239000000463 material Substances 0.000 title claims abstract description 82
- 238000002955 isolation Methods 0.000 claims abstract description 55
- 230000000737 periodic effect Effects 0.000 claims abstract description 8
- 230000003068 static effect Effects 0.000 claims description 13
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000002146 bilateral effect Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000005684 electric field Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 description 25
- 239000012212 insulator Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 238000009413 insulation Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000005457 optimization Methods 0.000 description 5
- 239000000758 substrate Substances 0.000 description 5
- 238000012360 testing method Methods 0.000 description 4
- 241000239290 Araneae Species 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000005445 natural material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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
- F16F7/00—Vibration-dampers; Shock-absorbers
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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
- F16F2228/00—Functional characteristics, e.g. variability, frequency-dependence
- F16F2228/06—Stiffness
Abstract
The invention discloses a kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature, which includes that upper connection cover, lower connection cover, Meta Materials vibration isolation component and two are adjusted axially component；Upper connection cover and lower connection cover are respectively fixedly connected with the upper and lower ends in Meta Materials vibration isolation component, two are adjusted axially the left and right sides that component is separately mounted to Meta Materials vibration isolation component, two are adjusted axially component and can apply axial pre tightening force to Meta Materials vibration isolation component respectively, change the local stiffness of Meta Materials vibration isolation component by pretightning force；Meta Materials vibration isolation component is composed of single cell structure periodic arrangement, and single cell structure is made of oblique arm and vertical arm, and certain angle is presented in oblique arm and vertical arm, and is arranged symmetrically in horizontal and vertical direction.The present invention overcomes the contradiction that traditional vibration isolator cannot meet low frequency vibration isolation and vibrating isolation system stability simultaneously, the engineering that can be realized low frequency vibration isolation technology is promoted and applied.
Description
Technical field
The present invention relates to a kind of Meta Materials vibration isolators with adjustable nonlinear mechanics feature, belong to Meta Materials and vibration damping
Noise reduction technology field.
Background technique
Underwater naval vessel has critical role as the trump card for defending China Hai Quan in marine settings System Construction.?
In current underwater counterwork, first opposing discovery, preemptive attack, first opposing disengaging is the key that get the upper hand of, this proposes the Stealth Fighter of equipment
Harsh requirement.Currently, Main Noise Sources when low-frequency range mechanical noise and vibration are naval vessel creeping, the pole in confrontation
Easily exposure party B target, low frequency noise reduction is always the difficulties in vibration and noise reducing.
Slacken vibration source using vibration isolator and isolation vibration transmitting be it is a kind of practical in vibration and noise reducing, it is effective every
Shake noise-reduction method.But it is limited by principle, conventional linear vibration isolator will realize that low intrinsic frequency, dynamic and static rigidity will be low, then hold
Loading capability dies down, and equipment lateral stability is deteriorated, and the room for promotion of low frequency vibration isolation effect is limited, this becomes current linear vibration isolator
" spell " that can not break.In view of the strength of materials, the requirement of the lateral stability of vibrating isolation system, the intrinsic frequency of vibration isolator is all at present
Higher than 7Hz.Such as the common BE type vibration isolator of current real ship, intrinsic frequency 10Hz, the quiet deflection in the case where determining load
About 3.5mm~5mm, if the intrinsic frequency of vibration isolator is reduced to 5Hz, the quiet deformation under rated load reach 14mm~
20mm, using the vibrating isolation system of the design of vibration isolator, stability is substantially reduced with shock resistance.Currently, air bag vibration isolator
Intrinsic frequency can be down to 3.5Hz~5Hz, but its volume is larger, and control system is complicated.Therefore must develop based on non-thread
The novel low-frequency vibration isolator of property feature.
Meta Materials design method is emerging technology nearly ten years, and Meta Materials have extraordinary object not available for natural material
Rationality matter breaks through the limitation of certain apparent natural laws by the structurally ordered design on material key physical scale, thus
Obtain the meta-materials function beyond the intrinsic common property of nature.The Meta Materials vibration isolation gone out using Meta Materials Technology design
The three-way rigidity of vibration isolator is successfully designed decoupling at present, to the greatest extent can may be used under the conditions of guaranteeing higher lateral stiffness by device
Vertical intrinsic frequency can be reduced.Then current Meta Materials design of vibration isolator is also limited to linear vibration isolator scope, further mentions
Low-and high-frequency vibration isolating effect just faces the awkward situation that can not break through linear vibration isolator " spell ".
Summary of the invention
In view of this, breaking the present invention provides a kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature
Dependence during traditional design of vibration isolator to vibration isolation substrate significantly improves low frequency vibration isolation performance, simplifies design of vibration isolator, and
By the design of big rigidity and higher lateral stiffness of the main carrying direction other than working range, traditional vibration isolator is overcome
The contradiction that low frequency vibration isolation and vibrating isolation system stability cannot be met simultaneously, the engineering popularization that can be realized low frequency vibration isolation technology are answered
With.
A kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature, the vibration isolator include upper connection cover, lower company
Connect lid, Meta Materials vibration isolation component and two are adjusted axially component；
The upper connection cover and lower connection cover are respectively fixedly connected with the upper and lower ends in Meta Materials vibration isolation component, two axial directions
Adjust component and be separately mounted to the left and right sides of Meta Materials vibration isolation component, two be adjusted axially component can respectively to Meta Materials every
The component that shakes applies axial pre tightening force, changes the local stiffness of Meta Materials vibration isolation component by pretightning force；The Meta Materials vibration isolation group
Part is composed of single cell structure periodic arrangement, and single cell structure is made of oblique arm and vertical arm, and oblique arm and vertical arm are presented centainly
Angle, and be arranged symmetrically in horizontal and vertical direction.
Further, the line style of the oblique arm is linear type, arc line type, balloon-shaped structure type, sinusoidal line style, multiple curve
Type, end unilateral side male-type or end bilateral male-type.
Further, the geometric format that the oblique arm is connected with vertical arm be directly connected to, chamfering, local excision, ladder it is oblique
Arm thickness or oblique arm cross-sectional constriction.
Further, the Static stiffness curve in the main carrying direction of the vibration isolator has nonlinear characteristic, shows first gradually soft
Gradually hard feature again, Static stiffness reaches minimum near rated load.
Further, by the boundary constraint regulating device of vibration isolator itself, the non-linear spy of its Static stiffness curve is adjusted
Property, so that low Static stiffness load section is changed, dynamic adaptable adjusting can be carried out according to the different loads that vibration isolator is born,
Meet safe bearing load and low Static stiffness feature in 0~120Kg load range.
Further, the type of the pretightning force is mechanical force, magnetic force or electric field force.
Further, it includes Bit andits control and power control mode that the pretightning force, which applies control mode, wherein Bit andits control
Mode is to pre-tighten displacement by control to realize the low Static stiffness feature under vibration isolator different loads；Power control mode is according to pre-
The pretightning force of the force snesor feedback of tight device itself is adjusted.
Further, the rigidity of the both direction other than the main carrying direction is main loading side to rigidity under rated load
1.5 times.
The utility model has the advantages that
1, the present invention breaks traditional design of vibration isolator in the process to the dependence of vibration isolation substrate, simplifies New Type Vibration Isolator Using and sets
Meter, is effectively shortened the development cycle of isolation products, has widened the substrate Application Range of vibration isolation material.
2, the present invention has the mechanical property of nonlinear characteristic, extremely low rigidity can be reached near rated load, significantly
Improve low frequency vibration isolation performance, provides a kind of new way for naval vessel vibration and noise reducing.
3, lateral stability of the invention is high, and low frequency vibration isolation and vibrating isolation system cannot be met simultaneously by overcoming traditional vibration isolator
The contradiction of stability guarantees to improve lateral stability while low frequency vibration isolation effect, can be realized the engineering of low frequency vibration isolation technology
It promotes and applies.
4, the present invention can be realized Precise control, and the nonlinear mechanics performance of half active low frequency vibration isolation function microstructrue can
It adjusts, can centainly be adjusted according to actual bearer and vibration source, give full play to the isolation effect to low-frequency vibration, realize to vibration isolation
The Precise control of system.
Detailed description of the invention
Fig. 1 is Meta Materials vibration isolator regulating mechanism schematic diagram of the invention；
Fig. 2 is Meta Materials vibration isolator structure schematic diagram of the invention；
Fig. 3 is Meta Materials vibration isolator metamaterial structure oblique arm schematic diagram of the invention；
Fig. 4 is metamaterial structure oblique arm and vertical arm connection schematic diagram of the invention；
Fig. 5 is metamaterial microstructure periodic arrangement combination diagram of the invention；
Fig. 6 is Meta Materials vibration isolator product schematic diagram of the invention；
Fig. 7 is Meta Materials vibration isolator product mechanical property test curve schematic diagram of the invention.
Wherein, the left adjusting component of connection cover, 2-, 3- Meta Materials vibration isolation component, the upper connection cover of 4-, the right adjusting group of 5- under 1-
Part, 6 adjustment disks, 7- adjusting nut, 8- central axis, 9- adjusting gasket, 10- spider, 11-T type connector, 12- oblique arm, 13-
Vertical arm.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
As shown in Fig. 1, the present invention provides a kind of Meta Materials vibration isolators with adjustable nonlinear mechanics feature, should
Vibration isolator includes upper connection cover 4, lower connection cover 1, Meta Materials vibration isolation component 3, left adjusting component 2 and right adjusting component 5；Upper connection
Lid 4 and lower connection cover 1 are respectively fixedly connected with the upper and lower ends in Meta Materials vibration isolation component 3, left adjusting component 2 and right adjusting component
5 are separately mounted to the left and right sides of Meta Materials vibration isolation component 3, and left adjusting component 2 and right adjusting component 5 are respectively to Meta Materials vibration isolation
Component 3 applies axial pre tightening force, changes the local stiffness of Meta Materials vibration isolation component 3 by pretightning force.
As shown in Fig. 2, Meta Materials vibration isolation component is composed of single cell structure periodic arrangement, and single cell structure is by oblique arm
12 and vertical arm 13 form, certain angle is presented in oblique arm 12 and vertical arm 13, and is arranged symmetrically in horizontal and vertical direction；
Single cell structure is connected on central axis 8 by spider and vertical arm, and the both ends of central axis 8 are threaded, left tune
Save component 2 and right adjustings component 5 including adjustment disk 6, adjusting nut 7 and adjusting gasket 9, left adjusting component 2 and right adjusting group
Part 5 is mounted on the both ends of central axis 8.
3 substrate of Meta Materials vibration isolation component is any high molecular material, composite material and the metal material suitable for vibration isolation；
The geometric configuration of insulator micro-structure is that two-dimensional structure is pulled up in third dimension side and projects；The master of the geometric configuration
Want structure to be made of oblique arm 12 and vertical arm 13, oblique arm 12 and vertical arm 13 it is horizontal or (and) after vertical direction is symmetrical, horizontal and
Periodic serial or parallel connection arrangement is constituted on vertical direction；
As shown in figure 3, the specific line style of oblique arm include but is not limited to, linear type, arc line type, balloon-shaped structure type, sinusoidal line
Type, multiple shaped form, end unilateral side male-type, end bilateral male-type etc..Can intersect combination between line style, and same
One of mode that can also take multiple combinations can be taken in the design of Meta Materials vibration insulation structure.
As shown in figure 4, the geometric format (enlarged view at I in figure) that oblique arm 12 and vertical arm 13 connect includes but is not limited to direct
Connection, chamfering, local excision, ladder oblique arm thickness, oblique arm cross-sectional constriction etc..
Insulator is composed of the metamaterial microstructure periodic arrangement of engineer, by micro-structure horizontal and
Periodic serial or parallel connection arrangement on vertical direction, in the design process to the service load and overall stiffness of the vibration isolator
Carry out structure adjusting.Series connection and arrangement in parallel are more flexible, as shown in figure 5, such as vertical parallel arrangement, two-way cloth in parallel
Set, arrange I in series and parallel, arrange II, series-parallel arrangement III in series and parallel etc., but it is not limited to the specific linear of oblique arm listed in Fig. 5
And series-parallel system.
Maximum displacement limitation of the vibration isolator on main carrying direction opposite direction and vertical direction passes through in insulator and upper
The mode that hard protective cover is added outside connection cover is limited, prevent the vibration isolator by outside respectively to excessive load
Shi Fasheng destroys or causes the destruction of other peripheral facilities, and plays beauty function.
According to above scheme, when the material of the subassembly selection of the vibration isolator is to damp lesser material, by such as
The filling of internal or external space or coated with viscoelastic layer that Fig. 2 Meta Materials insulator is formed, enhance the vibration isolator to high frequency
The isolation effect of vibration.
Selection vibration isolation substrate is spring steel, and design of vibration isolator target is rated load 120Kg, it is desirable that consolidating under rated load
There is frequency to be no more than 5Hz.As shown in fig. 6, through Meta Materials design method it is calculated design have non-linear spy is adjusted
The main structure parameters of the Meta Materials vibration isolator of sign are as follows: length is respectively 360 × 120 × 105mm, Meta Materials vibration isolation group
The oblique arm 12 of part uses Fig. 2 medial end portions bilateral male-type, and the inclination angle of 12 relatively horizontal orientation of oblique arm is 5 °, and the protrusion of two sides is
The semi arch of radius R1 is smoothly connected by the camber line of R1 with 12 straight line portion of oblique arm, the connection shape between oblique arm 12 and vertical arm 13
Formula is to be directly connected to chamfering, is 110mm, oblique arm by the micro-structure basic structure length that symmetrical oblique arm 12 and vertical arm 13 form
12 with a thickness of 0.5mm, and vertical arm 13 is with a thickness of 5mm.After vertical two groups of the parallel connection three groups in parallel, horizontal of micro-structure basic structure, then
Two groups of vertical direction symmetrical serial constitute the vertical section of Meta Materials vibration isolation component, and vertical section stretches 120mm on vertical paper
Gained three-dimensional geometry is Meta Materials vibration insulation structure described in the present embodiment afterwards.
As shown in fig. 6, Meta Materials vibration insulation structure described in the present embodiment passes through T-type connector 11 and upper connection cover 4 respectively
It is connected with lower connection cover 1.The effect of T-type connector 11 be on the one hand be connected Meta Materials vibration insulation structure and upper connection cover 4 and under
Connection cover 1, be in terms of another side when Meta Materials vibration isolator is adjusted, to Meta Materials vibration insulation structure and upper connection cover 4 with
And the link position of lower connection cover 1 carries out the adjustment of adaptability.
It is inputted according to design, the interface of the upper connection cover 4 is the common coarse thread of M30, and the interface of lower connection cover 1 is 4-
19 through-hole of φ.
As shown in fig. 6, left adjust component 2 and right adjustment disk 6, the adjusting nut 7 for adjusting component 5 and being 6mm by thickness of two sides
It is formed with adjusting gasket 9.The mode of operation of the regulating member is to control the torque controlled to adjust on nut by torque spanner,
The pretightning force being applied on insulator by regulating member is controlled with this.
The performance curve that the present embodiment carries out before and after pretightning force is adjusted is as shown in Figure 7.After carrying out accurate pretightning force adjusting,
The rigidity of the embodiment reaches minimum under 120kg load, and intrinsic frequency 3.5Hz meets design requirement.
The design side of Meta Materials vibration isolator the following steps are included:
Step 1: according to design requirement, born static load, connection size, the vibration characteristics of vibration source, required is obtained
Vibration isolation effect, the mechanical environment of working environment and climatic environment to be achieved etc. input, tentatively define the Meta Materials every
Vibration component and the material selection range of other auxiliary bodies；
Step 2: inputting according to the design obtained in step 1, carries out topology design to the Meta Materials insulator, adopts
With topological optimization means or the mode of parent form is continued to use, determines the line style and structure type of the oblique arm；
Step 3: being formed by topological structure to step 2 and parameterize, and establishes the oblique arm knot that geometry includes parametrization
Preferential first simulation model of structure, series-parallel arrangement, it is special to obtain the mechanic nonlinearity using optimization design means
Sign, the adjustable range of nonlinear characteristic, service life etc. are optimization aim, parameter optimization are carried out to Meta Materials vibration insulation structure, to use
The resulting design result of different materials carries out preferably, the final Meta Materials insulator determined after used material and its optimization
Geometric parameter.
Step 4: according to material determined by step 3 and the geometric parameter of Meta Materials insulator, in conjunction in step 1
The connection size designs the Meta Materials insulator, structure member, regulating member, accessory and position limitation protection
The concrete form and size of cover.
Step 5: concrete form and size according to determined by step 4, it is suitably square according to identified material selection
Formula processes model machine, for testing to being formed by mechanical property.
Step 6: Mechanics Performance Testing is carried out to the model machine that step 5 is formed, institute is true in contrast test result and step 1
Fixed design requirement repeats step 1 to step 6 if not being able to satisfy, until meeting design requirement, forms final design side
Case.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (8)
1. a kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature, which is characterized in that the vibration isolator includes upper company
Connect lid, lower connection cover, Meta Materials vibration isolation component and two are adjusted axially component；
The upper connection cover and lower connection cover are respectively fixedly connected with the upper and lower ends in Meta Materials vibration isolation component, and two are adjusted axially
Component is separately mounted to the left and right sides of Meta Materials vibration isolation component, two be adjusted axially component can be respectively to Meta Materials vibration isolation group
Part applies axial pre tightening force, changes the local stiffness of Meta Materials vibration isolation component by pretightning force；The Meta Materials vibration isolation component by
Single cell structure periodic arrangement is composed, and single cell structure is made of oblique arm and vertical arm, and certain angle is presented in oblique arm and vertical arm,
And it is arranged symmetrically in horizontal and vertical direction.
2. a kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature as described in claim 1, which is characterized in that
The line style of the oblique arm be linear type, arc line type, balloon-shaped structure type, sinusoidal line style, multiple shaped form, end unilateral side male-type or
End bilateral male-type.
3. a kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature as claimed in claim 1 or 2, feature exist
In the geometric format that the oblique arm is connected with vertical arm is is directly connected to, chamfering, local excision, ladder oblique arm thickness or oblique arm are cut
It shrinks in face.
4. a kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature as claimed in claim 3, which is characterized in that
The Static stiffness curve in the main carrying direction of the vibration isolator has nonlinear characteristic, gradually soft gradually hard feature again is showed first, in volume
Determining load, nearby Static stiffness reaches minimum.
5. a kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature as claimed in claim 4, which is characterized in that
The boundary constraint regulating device of the vibration isolator itself is adjusted its Static stiffness curve nonlinear characteristic, makes low Static stiffness load
Section changes, and can carry out dynamic adaptable adjusting according to the different loads that vibration isolator is born.
6. a kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature as described in claim 1, which is characterized in that
The type of the pretightning force is mechanical force, magnetic force or electric field force.
7. a kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature as described in claim 1, which is characterized in that
It includes Bit andits control and power control mode that the pretightning force, which applies control mode, and wherein displacement-control mode is to be pre-tightened by control
Displacement is to realize the low Static stiffness feature under vibration isolator different loads；Power control mode is to be sensed according to the power of pre-tightening apparatus itself
The pretightning force of device feedback is adjusted.
8. a kind of Meta Materials vibration isolator with adjustable nonlinear mechanics feature as described in claim 1, which is characterized in that
The rigidity of both direction other than the main carrying direction is 1.5 times to rigidity under rated load of main loading side.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110690576A (en) * | 2019-09-03 | 2020-01-14 | 北京航空航天大学青岛研究院 | Device and method for realizing electromagnetic wave modulation based on metamaterial three-dimensional structure |
| CN110738979A (en) * | 2019-10-25 | 2020-01-31 | 南京师范大学 | tunable ultrasonic metamaterial and waveguide mode converter comprising same |
| CN111828526A (en) * | 2020-07-14 | 2020-10-27 | 哈尔滨工业大学 | Stretching type quasi-zero rigidity vibration isolation continuous structure |
| CN112049885A (en) * | 2019-06-06 | 2020-12-08 | 中国船舶重工集团公司第七一九研究所 | Nonlinear metamaterial vibration isolator with quasi-zero rigidity |
| CN112343960A (en) * | 2020-11-05 | 2021-02-09 | 北京理工大学 | Six-degree-of-freedom ground vibration isolation system |
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| CN110690576B (en) * | 2019-09-03 | 2021-08-17 | 北京航空航天大学青岛研究院 | Device and method for realizing electromagnetic wave modulation based on metamaterial three-dimensional structure |
| CN110738979A (en) * | 2019-10-25 | 2020-01-31 | 南京师范大学 | tunable ultrasonic metamaterial and waveguide mode converter comprising same |
| CN110738979B (en) * | 2019-10-25 | 2020-08-21 | 南京师范大学 | Tunable ultrasonic metamaterial and waveguide mode converter comprising same |
| CN111828526A (en) * | 2020-07-14 | 2020-10-27 | 哈尔滨工业大学 | Stretching type quasi-zero rigidity vibration isolation continuous structure |
| CN112343960A (en) * | 2020-11-05 | 2021-02-09 | 北京理工大学 | Six-degree-of-freedom ground vibration isolation system |
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Application publication date: 20181204 |