CN109944900B - Double-connecting-rod sliding block type three-dimensional adjustable rigidity non-angular displacement vibration damping platform - Google Patents
Double-connecting-rod sliding block type three-dimensional adjustable rigidity non-angular displacement vibration damping platform Download PDFInfo
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Abstract
The invention discloses a double-connecting-rod sliding block type three-way adjustable rigidity non-angular displacement vibration damping platform which comprises a carrier connecting base plate, a connecting rod sliding block assembly, a photoelectric turret connecting plate and a three-way adjustable rigidity vibration damper. The invention is mainly applicable to the type of photovoltaic turret where the internal volume of space used is limited and where the shock absorber package can only be placed externally on top. Through the combined action of the sliding connecting rod assemblies, the photoelectric turret connecting plate and the carrier connecting base plate in the device cannot perform angular displacement in a harmful direction, so that the phenomena of 'image shift' and 'image rotation' of a selected target caused by an optical sensor after the photoelectric turret is disturbed by the outside are avoided, and the imaging picture is ensured to be clear and stable. The invention has the characteristics of simple structure, small required space, light weight, good maintainability and convenient upgrading.
Description
Technical Field
The invention belongs to the technical field of vibration reduction, and mainly relates to a non-angular displacement vibration reduction platform, in particular to a double-connecting-rod sliding block type three-dimensional adjustable rigidity non-angular displacement vibration reduction platform which is particularly suitable for a photoelectric system sensitive to angular displacement.
Background
The civil photoelectric system plays an important role in the fields of environment monitoring and protection, search and rescue, drug enforcement and anti-terrorism, is carried on different transportation carriers, and can improve the use efficiency by times compared with a static use environment: "higher station", "farther looking" and "clearer recognition", the accuracy and clarity of the video images it captures and outputs is an important basis for the operator to make decisions and decisions.
External disturbance is always the key to influence the imaging quality of the optoelectronic system, and especially common vibration of a transport carrier, airflow impact and self jolt encountered in carrier motion can interfere the stability and definition of an imaging picture of the system as a main disturbance source. The current photoelectric system adopts a mode of combining active vibration isolation and a passive vibration absorber to jointly inhibit external disturbance. The active vibration isolation common action range is only a low-frequency disturbance section limited by servo bandwidth, the disturbance attenuation of a high-frequency section is mainly completed by a passive vibration absorber, the passive vibration absorber is also a main research object of the invention, the action mechanism of the passive vibration isolation vibration.
In order to fully utilize the limited space and obtain better vibration damping effect, the vibration dampers are often used in groups, and can be generally divided into an internal vibration damper group and an external vibration damper group according to the difference of the layout of the vibration damper groups, wherein the internal vibration damper group is arranged in an optoelectronic system and distributed around an optical sensor, and the elastic center of the vibration damper group can be coincided with the mass center of the optical sensor through accurate arrangement, so that the rotary motion of the optical sensor around the vibration damper can be inhibited, and according to the optical imaging principle, the linear relative motion between the optical sensor and an object to be measured has less influence on the imaging effect, so the vibration damper group of the type can fully exert the expected effect of the vibration damper.
However, when the photovoltaic system is limited by the internal spatial volume and the installation position, resulting in the fact that the set of dampers can only be placed outside the system, the mass center of the optical sensor can not coincide with the elastic center of the vibration damper group, at the moment, the photoelectric system is easy to rotate around the connecting line of the vibration damper, and the lower the natural frequency of the shock absorber is selected, the more obvious the rotary motion appears, similar to the common 'pendulum' phenomenon in life, according to the optical imaging principle, the change of the relative angle between the optical sensor and the target to be measured has obvious influence on the imaging effect, the target can be visually observed to randomly and obviously wander around in the imaging picture, and the lower the natural frequency of the shock absorber is, the better disturbance attenuation effect is obtained, however, after the "pendulum" effect is coupled, a worse image picture is obtained, which brings great trouble to an operator to accurately observe, judge and select a target. In order to solve the problem, the common method is to sacrifice the high-frequency inhibition capability of the vibration damper group and change the high-frequency inhibition capability into selecting the angular displacement frequency and amplitude of the vibration damper group with higher rigidity to weaken the pendulum effect.
And with the increasingly complex application environment of the photoelectric system, the higher imaging definition requirement and the increasingly harsh design constraint on the volume and weight of the photoelectric system, the layout mode of the external vibration damper group is bound to become a development direction which is difficult to avoid, so that an angular displacement-free vibration damping platform is urgently needed, the pendulum effect problem and the high-frequency disturbance suppression effect which are faced by the photoelectric system when the external vibration damper is used can be considered, the extra phenomena of image movement and image rotation are eliminated or weakened, and the comprehensive imaging effect of the photoelectric sensor is improved.
It can be known from information inquiry that chinese patent CN 103511549B discloses a "non-angular displacement parallel vibration damping device", which comprises a movable platform, a fixed platform, and four branches and vibration damping springs with the same structure connecting the two platforms, wherein the four branches and vibration damping springs can limit the relative rotation between the movable platform and the fixed platform through four symmetrically and uniformly distributed branch mechanisms, and the disturbance attenuation is realized through the use of three sets of orthogonal vibration damping springs, so that the non-angular displacement vibration damping effect is achieved.
However, in conjunction with practical use, we have found that the above-described device suffers from the following problems:
(1) the device has the advantages that the device has poor non-angular displacement constraint capability, the constraint of the degree of freedom of angular displacement motion is realized mainly by a single connecting rod and a single cylindrical pair, the comprehensive constraint capability of the device is severely limited by a single thin structural form, and particularly when the load of a photoelectric system is large, the photoelectric system still generates certain angular displacement motion and is often blocked due to overlarge deformation during the actual use process;
(2) the occupied space is large, and in order to eliminate the pendulum effect, the device is limited by adopting four symmetrically and uniformly distributed branch mechanisms, so that the device cannot be used under the condition that the installation position of the photoelectric system is limited;
(3) the installation and adjustment difficulty is high, the branch mechanisms adopted by the device are installed in pairs in an opposite way, and the branch mechanisms used in pairs can avoid the phenomenon that locking does not occur in linear motion when the completely consistent motion directions are kept; the adjacent branch mechanisms must keep the orthogonal movement directions with enough precision so as not to form a block in the movement of the other side;
(4) the device has poor maintainability, the branch mechanism group for eliminating angular displacement and the spring for attenuating disturbance are mutually cross-linked in the structure installation, and can not be independently disassembled and assembled, and after any unit is disassembled and assembled, the ideal working state can be recovered only by accurate assembly and adjustment, which is inconvenient in use;
(5) the damping effect is difficult to adjust, the device adopts up to 12 independent springs to realize linear attenuation in three directions, and the undesirable attenuation effect is easily brought by the factors of installation, fixed position, individual performance difference, poor coupling relation and the like of the springs in the combined use process; meanwhile, the process of inversely calculating the performance of the spring according to the expected attenuation effect is extremely complicated, and great inconvenience is brought to the use.
Therefore, there is a need for a vibration damping device without angular displacement, which is convenient to install and adjust, strong in bearing capacity, light in weight, high in reliability, strong in adaptability of use space, good in maintainability and convenient to upgrade.
Disclosure of Invention
Aiming at the use requirements of the external layout of the vibration absorber group of the photoelectric system, the invention provides the non-angular displacement vibration attenuation platform which is convenient to install, simple to maintain, high in reliability and strong in environmental adaptability, and the phenomena of 'image rotation' and 'image movement' caused by the 'pendulum effect' are weakened or eliminated while the high-frequency disturbance inhibition capability of the vibration absorber is considered.
The technical scheme of the invention is as follows:
the double-connecting-rod sliding block type three-dimensional adjustable rigidity non-angular displacement vibration damping platform is characterized in that: the device comprises a carrier connecting base plate, a connecting rod sliding block assembly, an optoelectronic system connecting plate and a linear adjustable rigidity shock absorber;
the carrier connecting base plate is provided with three groups of shock absorber mounting holes and three groups of connecting rod sliding block component mounting boxes, and the three groups of shock absorber mounting holes and the three groups of connecting rod sliding block component mounting boxes are alternately arranged; the connecting rod sliding block component mounting box body is internally provided with a hollow cavity with a small opening and a large inner cavity; the carrier connecting substrate is also provided with a carrier connecting hole;
three groups of shock absorber mounting holes are formed in the lower end face of the photoelectric system connecting plate, and the positions of the three groups of shock absorber mounting holes correspond to those of the three groups of shock absorber mounting holes in the carrier connecting substrate; three groups of connecting rod sliding block component mounting grooves are arranged on the side surface of the photoelectric system connecting plate, and the positions of the three groups of connecting rod sliding block component mounting grooves correspond to the three groups of connecting rod sliding block component mounting boxes on the carrier connecting base plate; the photoelectric system connecting plate is also provided with a photoelectric system connecting hole;
the linear adjustable rigidity shock absorber is arranged between the carrier connecting substrate and the photoelectric system connecting plate, the bottom end of the linear adjustable rigidity shock absorber is connected with the carrier connecting substrate, and the top end of the linear adjustable rigidity shock absorber is connected with the photoelectric system connecting plate;
the connecting rod sliding block assembly consists of a first rotating shaft, a first rocker, a second rotating shaft, a second rocker, a third rotating shaft and a plane sliding block; the first rotating shaft, the second rotating shaft and the third rotating shaft are parallel to each other; the first rotating shaft is arranged in a group of connecting rod sliding block assembly mounting grooves on the side face of the photoelectric system connecting plate, one end of a first rocker is rotatably connected with the first rotating shaft, the other end of the first rocker is rotatably matched with one end of a second rocker through a second rotating shaft, and the other end of the second rocker is rotatably connected with a third rotating shaft; the plane sliding block has pivot mounting groove and bottom slider, and the pivot mounting groove is installed openly at the bottom slider, and the third pivot is installed in the pivot mounting groove, and the bottom slider is placed in the hollow cavity of connecting rod sliding block set installation box body, and bottom slider projection area is greater than the open area of hollow cavity, but be less than the inside bottom surface area of hollow cavity, and hollow cavity degree of depth equals bottom slider thickness, makes the plane sliding block can freely translate in hollow cavity, but can not remove in the direction of the hollow cavity bottom surface of perpendicular to.
Further preferred technical scheme, two link block formula three-dimensional adjustable rigidity does not have angular displacement damping platform, its characterized in that: the linear adjustable rigidity shock absorber adopts a three-way equal rigidity shock absorber.
Further preferred technical scheme, two link block formula three-dimensional adjustable rigidity does not have angular displacement damping platform, its characterized in that: the linear adjustable rigidity shock absorber adopts a rubber shock absorber.
Further preferred technical scheme, two link block formula three-dimensional adjustable rigidity does not have angular displacement damping platform, its characterized in that: the centers of the three groups of linear adjustable stiffness shock absorbers are positioned on the same circumference and are uniformly distributed along the circumference; the centers of the three groups of connecting rod sliding block assemblies are positioned on the same circumference and are uniformly distributed along the circumference.
Further preferred technical scheme, two link block formula three-dimensional adjustable rigidity does not have angular displacement damping platform, its characterized in that: the directions of the rotating shafts in the three groups of connecting rod sliding block assemblies form an included angle of 60 degrees with each other.
Further preferred technical scheme, two link block formula three-dimensional adjustable rigidity does not have angular displacement damping platform, its characterized in that: the carrier connecting substrate is provided with a through hole for penetrating through the optoelectronic system mounting structure; and the shock absorber mounting holes on the carrier connecting base plate and the connecting rod sliding block component mounting box bodies are alternately and uniformly distributed around the through holes.
Further preferred technical scheme, two link block formula three-dimensional adjustable rigidity does not have angular displacement damping platform, its characterized in that: and the optoelectronic system connecting plate is provided with a through hole for penetrating through the projecting part of the optoelectronic system.
Advantageous effects
The beneficial results of the invention are mainly embodied in the following aspects:
the connecting rod sliding block assembly 3 as the core component of the invention consists of a first rotating shaft 3a, a first rocker 3b, a second rotating shaft 3c, a second rocker 3d, a third rotating shaft 3e and a plane sliding block 3 f. After the interaction of the multiple groups of connecting rod sliding block assemblies, the carrier connecting base plate and the photoelectric turret connecting plate can only perform relative linear motion and relative rotation in the Z direction, common external disturbance cannot be brought to obvious pendulum type angular vibration of the photoelectric system at the moment, and the vibration damper assembly can perform effective and controllable inhibition on the external disturbance in a main enabling direction, so that the definition and high-precision imaging of the photoelectric system are ensured.
The link rod sliding block assembly as the core part of the present invention consists of link rod kinematic pair and planar pair, where the link rod kinematic pair can release the Z-direction linear freedom of the carrier connecting base plate and the photoelectric turret connecting plate, and the key planar pair has unlimited direction linear freedom in certain two-dimensional plane, so that the damper assembly can produce certain disturbance damping effect no matter how the planar pair moves in certain plane, and this can further reduce the assembling precision and re-assembling requirement of the device and ensure the highest comprehensive adaptability and maintainability of the device.
The invention has simple structure, convenient disassembly and assembly and high maintainability. The linkage sliding block assembly is an independent unit and can be replaced mutually, the structure of each unit is simple, parts can be replaced mutually, machining is simple, and compared with the prior art, the linkage sliding block assembly has good maintainability, lower assembly precision requirements and installation space.
And fourthly, the vibration damper used in the invention has strong replaceability, and the vibration damper groups with different rigidity and sizes can be freely replaced according to the inhibition requirements of the photoelectric system on different external disturbances, thereby effectively improving the environmental applicability of the invention.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic view of the operation of a slider linkage pair in a connecting rod slider assembly;
FIG. 3 is a schematic view of a slider connection pair;
FIG. 4 is a schematic cross-sectional view of a slider connection pair;
fig. 5 is a schematic diagram of a connecting rod slider assembly mounting box in a carrier attachment base plate.
Detailed Description
The embodiments and examples of the present invention will be described in detail below with reference to the accompanying drawings, and the described embodiments are only for the purpose of explaining the present invention and are not intended to limit the embodiments of the present invention.
The double-link-slider three-way adjustable rigidity non-angular-displacement vibration damping platform provided by the invention is preferably used in a photoelectric system type which is limited by space volume and installation position and only can place a vibration damper group outside, especially in a photoelectric turret which is installed at a nose cone of a large helicopter and is far away from a rotary shaft of a helicopter rotor.
As shown in fig. 1, the linear adjustable stiffness vibration absorber comprises a carrier connecting base plate 1, three groups of connecting rod sliding block assemblies 3, an optoelectronic system connecting plate 2 and three groups of linear adjustable stiffness vibration absorbers 4.
The carrier connecting base plate is provided with a through hole for penetrating through the mounting structure of the photoelectric system, three groups of shock absorber mounting holes and three groups of connecting rod sliding block component mounting box bodies, and the three groups of shock absorber mounting holes and the three groups of connecting rod sliding block component mounting box bodies on the carrier connecting base plate are alternately and uniformly distributed around the through hole; the connecting rod sliding block component mounting box body is internally provided with a hollow cavity with a small opening and a large inner cavity; the carrier connecting substrate is also provided with a carrier connecting hole; the carrier connection substrate is provided with a through hole for penetrating through the optoelectronic system mounting structure.
The photoelectric system connecting plate is provided with a through hole for penetrating through a convex part of the photoelectric system, the lower end surface of the photoelectric system connecting plate is provided with three groups of shock absorber mounting holes, and the positions of the three groups of shock absorber mounting holes correspond to those of the three groups of shock absorber mounting holes on the carrier connecting substrate; three groups of connecting rod sliding block component mounting grooves are arranged on the side surface of the photoelectric system connecting plate, and the positions of the three groups of connecting rod sliding block component mounting grooves correspond to the three groups of connecting rod sliding block component mounting boxes on the carrier connecting base plate; and the photoelectric system connecting plate is also provided with a photoelectric system connecting hole.
The linear adjustable rigidity shock absorber is a rubber shock absorber with three directions of equal rigidity, and is arranged between the carrier connecting substrate and the photoelectric system connecting plate, the bottom end of the linear adjustable rigidity shock absorber is connected with the carrier connecting substrate, and the top end of the linear adjustable rigidity shock absorber is connected with the photoelectric system connecting plate. The centers of the three groups of linear adjustable stiffness shock absorbers are positioned on the same circumference and are uniformly distributed along the circumference.
The connecting rod sliding block component consists of a first rotating shaft 3a, a first rocker 3b, a second rotating shaft 3c, a second rocker 3d, a third rotating shaft 3e and a plane sliding block 3 f; the first rotating shaft, the second rotating shaft and the third rotating shaft are parallel to each other; the first rotating shaft is arranged in a group of connecting rod sliding block assembly mounting grooves on the side face of the photoelectric system connecting plate, one end of a first rocker is rotatably connected with the first rotating shaft, the other end of the first rocker is rotatably matched with one end of a second rocker through a second rotating shaft, and the other end of the second rocker is rotatably connected with a third rotating shaft; the plane sliding block has pivot mounting groove and bottom slider, and the pivot mounting groove is installed openly at the bottom slider, and the third pivot is installed in the pivot mounting groove, and the bottom slider is placed in the hollow cavity of connecting rod sliding block set installation box body, and bottom slider projection area is greater than the open area of hollow cavity, but be less than the inside bottom surface area of hollow cavity, and hollow cavity degree of depth equals bottom slider thickness, makes the plane sliding block can freely translate in hollow cavity, but can not remove in the direction of the hollow cavity bottom surface of perpendicular to.
The centers of the three groups of connecting rod sliding block assemblies are positioned on the same circumference and are uniformly distributed along the circumference; the directions of the rotating shafts in the three groups of connecting rod sliding block assemblies form an included angle of 60 degrees with each other. After the three groups of connecting rod sliding block assemblies interact, the carrier connecting base plate and the photoelectric turret connecting plate can only perform relative linear motion in X, Y and Z directions and relative rotation around the Z direction, the photoelectric system can not generate obvious pendulum angular vibration even if common external disturbance occurs at the moment, and the rubber vibration damper group can effectively inhibit random motion in an excellent direction in consistency.
As shown in fig. 1, the vibration damping platform without angular displacement according to the present invention can be connected to transportation carriers such as airplanes, vehicles, and ships through the periphery of the carrier connection substrate 1, and the optoelectronic system can be fixedly connected to the optoelectronic system connection board 2 through the mounting surface.
When the optoelectronic system is subjected to random disturbance caused by external airflow, the random disturbance can be decomposed into linear disturbance in X, Y and Z directions and rotation disturbance around X, Y and Z directions for simplifying the problem:
when linear disturbance in X and Y directions occurs, a plane moving pair at the bottom end of the connecting rod sliding block component can be easily overcome; when linear disturbance in the Z direction is encountered, the photoelectric turret connecting plate generates linear motion in the Z direction, and the first rocker 3b can rotate relative to the photoelectric turret connecting plate along the first rotating shaft 3 a; the second rocker 3d can correspond to the first rocker 3b after relatively rotating along the second rotating shaft 3c, and in addition, as the 3 connecting rod sliding block assemblies are consistent in component, the same motion change is shown under the Z-direction disturbance, the system motion process is smooth, and the rubber shock absorber can be subjected to Z-direction deformation in a balanced manner in the process so as to inhibit the disturbance magnitude in the direction; because of the installation position and the approximately symmetrical outer shape envelope of the photoelectric turret, the turret can be rarely disturbed around the Z direction and can be overcome by a servo system even if the disturbance is received, so the principle of simple structure of the invention is not targeted.
The disturbance around the X direction and the disturbance around the Y direction are the key objects to be solved by the invention, and as mentioned above, "image motion" and "image rotation" brought by the two motions are both important factors restricting the optoelectronic system and are inherent defects of the layout of the top external vibration damper. When the photoelectric system is expected to rotate around the X direction and the Y direction due to disturbance, the plane sliding block 3f at the bottom of the connecting rod sliding block component and the sliding cavity of the carrier connecting base plate resist torsion, so the invention can not realize the rotation around the X direction and the Y direction, and the disturbance transmitted to the photoelectric system by the transport carrier presents a similar motion law according to the reversibility of a force transmission path, so that the vibration reduction platform provided by the invention is additionally arranged between the transport carrier and the photoelectric system, and the image shift and the image rotation of a sensor picture caused by angular displacement are avoided while the vibration reduction effect of the vibration reducer is fully obtained.
Claims (7)
1. The utility model provides a two connecting rod slider formula three-dimensional adjustable rigidity does not have angular displacement damping platform which characterized in that: the device comprises a carrier connecting base plate, a connecting rod sliding block assembly, an optoelectronic system connecting plate and a linear adjustable rigidity shock absorber;
the carrier connecting base plate is provided with three groups of shock absorber mounting holes and three groups of connecting rod sliding block component mounting boxes, and the three groups of shock absorber mounting holes and the three groups of connecting rod sliding block component mounting boxes are alternately arranged; the connecting rod sliding block component mounting box body is internally provided with a hollow cavity with a small opening and a large inner cavity; the carrier connecting substrate is also provided with a carrier connecting hole;
three groups of shock absorber mounting holes are formed in the lower end face of the photoelectric system connecting plate, and the positions of the three groups of shock absorber mounting holes correspond to those of the three groups of shock absorber mounting holes in the carrier connecting substrate; three groups of connecting rod sliding block component mounting grooves are arranged on the side surface of the photoelectric system connecting plate, and the positions of the three groups of connecting rod sliding block component mounting grooves correspond to the three groups of connecting rod sliding block component mounting boxes on the carrier connecting base plate; the photoelectric system connecting plate is also provided with a photoelectric system connecting hole;
the linear adjustable rigidity shock absorber is arranged between the carrier connecting substrate and the photoelectric system connecting plate, the bottom end of the linear adjustable rigidity shock absorber is connected with the carrier connecting substrate, and the top end of the linear adjustable rigidity shock absorber is connected with the photoelectric system connecting plate;
the connecting rod sliding block assembly consists of a first rotating shaft, a first rocker, a second rotating shaft, a second rocker, a third rotating shaft and a plane sliding block; the first rotating shaft, the second rotating shaft and the third rotating shaft are parallel to each other; the first rotating shaft is arranged in a group of connecting rod sliding block assembly mounting grooves on the side face of the photoelectric system connecting plate, one end of a first rocker is rotatably connected with the first rotating shaft, the other end of the first rocker is rotatably matched with one end of a second rocker through a second rotating shaft, and the other end of the second rocker is rotatably connected with a third rotating shaft; the plane sliding block has pivot mounting groove and bottom slider, and the pivot mounting groove is installed openly at the bottom slider, and the third pivot is installed in the pivot mounting groove, and the bottom slider is placed in the hollow cavity of connecting rod sliding block set installation box body, and bottom slider projection area is greater than the open area of hollow cavity, but be less than the inside bottom surface area of hollow cavity, and hollow cavity degree of depth equals bottom slider thickness, makes the plane sliding block can freely translate in hollow cavity, but can not remove in the direction of the hollow cavity bottom surface of perpendicular to.
2. The double-link-slider three-way adjustable-rigidity non-angular-displacement vibration damping platform as claimed in claim 1, wherein: the linear adjustable rigidity shock absorber adopts a three-way equal rigidity shock absorber.
3. The double-link-slider three-way adjustable-rigidity non-angular-displacement vibration damping platform as claimed in claim 2, wherein: the linear adjustable rigidity shock absorber adopts a rubber shock absorber.
4. The double-link-slider three-way adjustable-rigidity non-angular-displacement vibration damping platform as claimed in claim 1, wherein: the centers of the three groups of linear adjustable stiffness shock absorbers are positioned on the same circumference and are uniformly distributed along the circumference; the centers of the three groups of connecting rod sliding block assemblies are positioned on the same circumference and are uniformly distributed along the circumference.
5. The double-link-slider three-way adjustable-rigidity non-angular-displacement vibration damping platform as claimed in claim 4, wherein: the directions of the rotating shafts in the three groups of connecting rod sliding block assemblies form an included angle of 60 degrees with each other.
6. The double-link-slider three-way adjustable-rigidity non-angular-displacement vibration damping platform as claimed in claim 1, wherein: the carrier connecting substrate is provided with a through hole for penetrating through the optoelectronic system mounting structure; and the shock absorber mounting holes on the carrier connecting base plate and the connecting rod sliding block component mounting box bodies are alternately and uniformly distributed around the through holes.
7. The double-link-slider three-way adjustable-rigidity non-angular-displacement vibration damping platform as claimed in claim 1, wherein: and the optoelectronic system connecting plate is provided with a through hole for penetrating through the projecting part of the optoelectronic system.
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| CN201910245838.XA CN109944900B (en) | 2019-03-28 | 2019-03-28 | Double-connecting-rod sliding block type three-dimensional adjustable rigidity non-angular displacement vibration damping platform |
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| CN201910245838.XA CN109944900B (en) | 2019-03-28 | 2019-03-28 | Double-connecting-rod sliding block type three-dimensional adjustable rigidity non-angular displacement vibration damping platform |
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| JP2000257688A (en) * | 1999-03-10 | 2000-09-19 | Toyota Central Res & Dev Lab Inc | Motion converter and shock absorbing device |
| CN103511549A (en) * | 2013-08-19 | 2014-01-15 | 燕山大学 | None-angular displacement parallel damping device |
| CN104534013A (en) * | 2015-01-09 | 2015-04-22 | 西安应用光学研究所 | Shock absorber with accurate three-direction rigidity balancing function |
| CN108286583A (en) * | 2017-12-28 | 2018-07-17 | 华中光电技术研究所（中国船舶重工集团公司第七七研究所） | A kind of Three Degree Of Freedom high-precision irrotational displacement isolation mounting |
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