CN102777527A - Intelligent vibration isolation device for precision machine tool - Google Patents
Intelligent vibration isolation device for precision machine tool Download PDFInfo
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- CN102777527A CN102777527A CN2012102937679A CN201210293767A CN102777527A CN 102777527 A CN102777527 A CN 102777527A CN 2012102937679 A CN2012102937679 A CN 2012102937679A CN 201210293767 A CN201210293767 A CN 201210293767A CN 102777527 A CN102777527 A CN 102777527A
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Abstract
The invention relates to an intelligent vibration isolation device for a precision machine tool. At present, no intelligent vibration isolation device which is reasonable in structural design and is remarkable in vibration damping effect is available for the precision machine tool. The intelligent vibration isolation device is characterized by comprising a detection unit, a control unit and an executing unit, wherein the detection unit is used for detecting the vibration direction, frequency and amplitude of external vibration through a PVDF (Polyvinylidene Fluoride) piezoelectric slice, converting the external vibration into an electric signal through a signal processing system, and correcting and amplifying the electric signal to provide an executing parameter; the control unit is used for receiving the signal from the detection unit, working out data which is opposite to the external vibration in phase but identical in amplitude, and converting the data into an electric signal; the executing unit is used for receiving the electric signal from the control unit, converting the electric signal into a motion signal by using an inverse piezoelectric effect and counteracting and weakening the external vibration through self deformation for realizing vibration damping and vibration isolating functions; and the executing unit, the control unit and the detection unit are sequentially connected. The intelligent vibration isolation device is reasonable in structure design, remarkable in vibration damping effect, and reliable in performance.
Description
Technical field
The present invention relates to a kind of isolation mounting, especially relate to a kind of intelligent isolation mounting that is used for precision machine tool, can reduce the influence of vibration of outer bound pair lathe.
Background technique
In the working procedure of precision machine tool, the vibration of external environment can influence the machining accuracy of equipment, when serious even can cause equipment normally to move.Therefore, adopting vibration isolation measure that the disturbance of the vibration that comes from the outside and apparatus of load is effectively isolated seems and is necessary very much.The damping material that general isolation mounting commonly used adopts is macromolecular materials such as rubber, resin mostly, and it mainly is to utilize viscoelasticity effect and friction effect in the macromolecular material, converts mechanical vibrational energy into heat energy, thereby reaches the vibration damping purpose.Therefore yet the maximum effectiveness in vibration suppression of this type material generally is near said material vitrification point (Tg), uses and receives certain restriction, if near the serviceability temperature not vitrification point of this material the time, effectiveness in vibration suppression is just had a greatly reduced quality.In addition, said material itself does not possess intelligent and initiative, and the damping characteristic of system can not adapt to the variation of external environment condition.
Active vibration isolation is exactly to utilize outside resources to produce the required active force of control vibration in the vibration isolation process, and the actuator that produces active force can be piezoelectric constant, hydraulic element, pneumatic element and electric element etc.For low-frequency vibration, the active vibration isolation device is realized minimizing of low-frequency resonance peak value through the servocontrol actuator.
Piezoelectric material is meant to be under pressure makes voltage can appear in the time spent between both ends of the surface crystal material; Piezoelectric material can produce electric field because of mechanically deformation; Also can be because of electric field action produce mechanically deformation, this intrinsic machine-coupling effect makes that piezoelectric material has obtained using widely in engineering.The research that utilizes piezoelectric effect to carry out structural vibration control starts from early 1980s, and people utilize the direct piezoelectric effect of piezoelectric element to detect vibration parameters, utilizes the inverse piezoelectric effect of piezoelectric element to suppress vibration.The structure type of vibration control has thin plate class, beam class, truss etc., and used piezoelectric material has piezoelectric constant and piezopolymer, piezoelectric constant such as lead zirconate titanate, piezopolymer such as polyvinylidene fluoride.
Polyvinylidene fluoride (PVDF) is one of optimum piezoelectric material of present piezoelectric property, as the membranaceous transductive material of a kind of novel thin, has characteristics such as quality is light and soft, reelability is good, piezoelectric property is good.Compare with inorganic matter piezoelectric material (like quartzy, piezoelectric constant class) at present commonly used, it has also that acoustic impedance is little, frequency response is wide, permittivity is little, impact resistance is strong and is convenient to be processed into advantage such as arbitrary shape.
Piezo-electricity composite material is composited by two-phase or multiphase material, the two-phase composite material of seeing usually of forming by piezoelectric constant and piezopolymer, and this material has the advantage of piezoelectric constant and polymeric material concurrently; Compare with traditional piezoelectric constant or with piezoelectric monocrystal; It has better flexibility and mechanical processing characteristic, overcome frangible and shortcoming that be difficult for shaping, and density is little; The velocity of sound is low, is prone to realize the acoustic impedance coupling with air, water and biological tissue.Compare with polymeric piezoelectric material, it has higher piezoelectric constant and electromechanical coupling factor, so sensitivity is very high.
The vibration-proof structure that some other structures are also arranged at present; As disclosing day is on November 17th, 2010, and publication number is in the Chinese patent of CN101887741A, discloses a kind of vibration-proof structure; This vibration-proof structure is used so that a storage device vibrationproof; It includes a housing, a supporting frame and at least one first padded coaming, and its middle shell has a base plate and a top board, and the base plate of housing and top board are combined each other and are coated on outside the storage device; The structural design of this vibration-proof structure is reasonable inadequately, and is poor to the vibration-isolating effect of precision equipment.And for example open day is on November 24th, 2010; Publication number is in the Chinese patent of CN201656656U; Disclose a kind of vibration-proof structure of cooler of electric motor, this vibration-proof structure comprises support, cooler and the rubber ring of motor, and cooler is installed in the upper-end surface of support through link; Rubber ring is located between the upper-end surface of bottom surface and support of cooler, is provided with some spacing block sets on the upper-end surface of support in uniform way; Breach is offered in the relevant position of the spacing block set of rubber ring on support, and the thickness of rubber ring is greater than the height of spacing block set; When cooler is installed; The thickness of the rubber ring after being compressed is consistent with the height of spacing block set; So that the bottom surface of cooler contacts with the upper-end surface of spacing block set, this vibration-proof structure is exclusively used in to be eliminated the motor cooler that is in operation and can produce the phenomenon of rocking, and applicable surface is narrower.
In sum, also do not have at present a kind of simple in structure, reasonable in design, reliable performance, damping effect is obvious, belongs to the intelligent isolation mounting that is used for precision machine tool of intelligent vibration damping equipment.
Summary of the invention
The objective of the invention is to overcome the above-mentioned deficiency that exists in the existing technology, and a kind of reasonable in design is provided, damping effect is obvious, the intelligent isolation mounting that is used for precision machine tool of reliable performance.
The present invention addresses the above problem the technological scheme that is adopted: this structural feature that is used for the intelligent isolation mounting of precision machine tool is: comprise
Detect direction of vibration, vibration frequency and the amplitude of external vibration through the PVDF piezoelectric sheet, and external vibration is converted into electrical signal, and electrical signal is proofreaied and correct and amplified, so that the detection unit of execution parameter accurately to be provided through signal processing system;
After receiving the signal from detection unit, through the self adaption computing, calculating data opposite with the phase place of external vibration and that amplitude equates, is the control unit of electrical signal then with data conversion;
The employing piezo-electricity composite material is processed; After receiving electrical signal from control unit; Utilize inverse piezoelectric effect that electrical signal conversion is motor message, offset and weaken external vibration through self-deformation, thereby realize the vibration damping of intelligent isolation mounting and the performance element of vibration isolation function;
Said control unit is connected with detection unit, and said performance element is connected with control unit.
Make reliable performance of the present invention thus, damping effect is obvious, can reach the purpose of intelligent control.
As preferably; The control procedure of control unit according to the invention is: the piezoelectricity crystallographic axis of the PVDF piezoelectric material that the PVDF piezoelectric sheet is chosen is oriented to: polarised direction is defined as direction 3, promptly perpendicular to the direction of material plane, is defined as direction 1 and direction 2 respectively perpendicular to two other direction of direction 3; For the PVDF piezoelectric sheet after handling along direction 3 polarization; Have specific polymer thin chip architecture, only produce electric charge in direction 3, its piezoelectric equations is:
D 3 =
d 31
T 1 +
d 32 T 2 +
d 33 T 31 Formula (1)
Wherein:
D 3 For the electric displacement of direction 3 (
C/m 2 );
DijBe piezoelectric modulus, be illustrated in
jThe stress of directive effect exists
iDirection detects;
T i For
iThe stress of direction (
N/m 2 );
The control procedure of control unit adopts adaptive control algorithm to realize the intelligent vibration damping of system; The control system of control unit is divided into two-part: the generation of control signal and the Weighted adaptive of control algorithm; Wherein, x (k) is a reference signal, and it requires to have coherence with oscillating signal; P (k) is a desired signal, is that extraneous vibration acts on the corresponding of executive system,
w i (
k) be coefficient vector;
kConstantly, N rank finite impulse response filter is output as:
Y (
k)=∑
w i (
k) x (
k-
i)=W
T(
k) X (
k) formula (2)
In feedforward control, control signal s (k) also is not equal to the output y (k) of wave filter, because exist distance between performance element and the error pick-up, so outputing to of slave controller formed a path transfer function between the error pick-up:
C=[c
0, c
1..., c
M-1]
TFormula (3)
S (
k)=∑ y (
k-
i) c
i=Y
T(
k)
CFormula (4)
Wherein, Y (
k)=X
T(
k)
W, substitution formula (4):
S (
k)=[X
T(
k) W]
T C=W
TX
f(
k) formula (5)
Wherein, X
f(
k)=X (
k)
C, be filtered reference signal sequence;
The purpose of algorithm be seek optimum W (
k), make error signal minimum, that is:
J=min
Ee
2(
k)=min [p (
k)+s (
k)]
2=min [p (
k)+W
TX
f (
k)]
2Formula (6)
For gradient descent algorithm, following form is adopted in the renewal of weight coefficient:
W (
k+ 1)=W (
k)-μ △ W (
k) formula (7)
Wherein: μ joins the part negative gradient of Weighting factor, i.e. convergence coefficient for the performance that improves system;
Formula (6) to weight coefficient w (
k) carry out differentiate, get:
△ W (
k) ≈ З e
2(
k)/З
W=2e (
k) x
f (
k) formula (8)
With formula (8) substitution formula (7):
w(
k+ 1)=
w(
k)-2 μ
e(
k) x
f (
k) formula (9)
According to formula (9), utilize the signal e that detection unit collects (
k) x
f (
k) constantly upgrade weight coefficient w (
k), make the output signal of performance element opposite with the oscillating signal phase place, amplitude is equal, thereby realizes the vibration-damping function of intelligent isolation mounting.
Make the control better effects if of control unit of the present invention thus, can more effectively reach the purpose of intelligent control, more effectively the vibration damping and the vibration isolation function of implement device.
As preferably, the present invention also comprises support, and said performance element is positioned at the upper surface of support, and said detection unit is positioned at the lower surface of support.
As preferably, the present invention also comprises auxiliary unit, and said auxiliary unit is connected between detection unit and the performance element.
The present invention compared with prior art has the following advantages and effect: simple in structure, reasonable in design, applicability is wide, and damping effect is obvious, belongs to intelligent vibration damping equipment, has good vibration isolation and antivibration function.The present invention utilizes the PVDF thin slice in the detection unit to detect extraneous vibration; Signal processing system through in the detection unit is converted into electrical signal with external vibration; Offer control unit then, control unit adopts the self adaption computing to draw intelligent signal, and passes to performance element; The performance element that utilizes piezo-electricity composite material to process carries out the signal inverse conversion, the vibration damping and the vibration isolation function of the distortion implement device through performance element.
Description of drawings
Fig. 1 is the structural representation that is used for the intelligent isolation mounting of precision machine tool in the embodiment of the invention.
Fig. 2 is the adaptive control system principle schematic of control section in the embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing and through embodiment the present invention is done further detailed description, following examples are to explanation of the present invention and the present invention is not limited to following examples.
Embodiment.
Referring to Fig. 1 to Fig. 2, the intelligent isolation mounting that is used for precision machine tool in the present embodiment comprises support, detection unit 1, control unit 2, performance element 3 and auxiliary unit 4.
Detection unit 1 in the present embodiment, control unit 2, performance element 3 and auxiliary unit 4 all are connected on the support, and performance element 3 is positioned at the upper surface of support, and detection unit 1 is positioned at the lower surface of support.Control unit 2 in the present embodiment is connected with detection unit 1, and performance element 3 is connected with control unit 2, and auxiliary unit 4 is connected between detection unit 1 and the performance element 3.
Detection unit 1 in the present embodiment comprises PVDF piezoelectric sheet and signal processing system; Wherein, The PVDF piezoelectric sheet is used to detect direction of vibration, vibration frequency and the amplitude of external vibration; Signal processing system is used for external vibration is converted into electrical signal, and electrical signal is proofreaied and correct and amplified, to be able to provide the purpose of execution parameter accurately.
After control unit 2 in the present embodiment receives the signal from detection unit 1, through the self adaption computing, calculating data opposite with the phase place of external vibration and that amplitude equates, is electrical signal with data conversion then.
Adopt the PVDF piezoelectric film as the detection unit that is used for testing signal in the isolation mounting 1 in the present embodiment; Utilize the performance element 3 of piezo-electricity composite material as isolation mounting; This performance element 3 and detection unit 1 lay respectively at the rack upper surface and the lower surface of isolation mounting, and performance element 3 is connected as one with the control unit 2 and the auxiliary unit 4 of detection unit 1 through the centre.
Present embodiment is chosen the PVDF piezoelectric sheet form in the PVDF piezoelectric material; Can be made into the piezoelectric sheet of different size and specification according to demands of different; Be used to detect the parameters such as direction of vibration, frequency and amplitude of external vibration signal, polarised direction is defined as the direction perpendicular to material plane.
Present embodiment is converted into electrical signal through the signal processing system in the detection unit 1 with the oscillating signal of outside, the electrical signal after transforming is proofreaied and correct and is amplified through signal processing system, offers control unit 2 then.After control unit 2 receives the signal from detection unit 1,, calculate data opposite with the extraneous vibration phase place, that amplitude equates, it is offered performance element 3 through the self adaption computing.Control unit 2 adopts adaptive control algorithm, and control system can be divided into two-part: the generation of control signal and the Weighted adaptive of control algorithm.
After performance element 3 in the present embodiment receives the control signal from control unit 2; Distortion through adopting the performance element 3 that piezo-electricity composite material processes realizes offsetting and weakening external vibration; The control signal that performance element 3 is carried out from control unit 2 is to utilize its inverse piezoelectric effect.Make the composite of performance element 3, can process different profiles and specification based on different instructions for uses.
Detection unit 1 in the present embodiment comprises PVDF piezoelectric sheet and signal processing system; The PVDF piezoelectric sheet is used to detect the parameters such as direction of vibration, frequency and amplitude of external vibration; And be converted into electrical signal through signal processing system, execution parameter accurately is provided for performance element 2.
The piezoelectricity crystallographic axis of the PVDF piezoelectric material that the PVDF piezoelectric sheet of present embodiment is chosen is oriented to: polarised direction is defined as direction 3, promptly perpendicular to the direction of material plane, is defined as direction 1 and direction 2 respectively perpendicular to two other direction of direction 3.PVDF piezoelectric sheet for after handling along direction 3 polarization has specific polymer thin chip architecture, only produces electric charge in direction 3, and its piezoelectric equations is:
D 3 =
d 31
T 1 +
d 32 T 2 +
d 33 T 31 Formula (1)
Wherein:
D 3 For the electric displacement of direction 3 (
C/m 2 );
DijBe piezoelectric modulus, be illustrated in
jThe stress of directive effect exists
iDirection detects;
T i For
iThe stress of direction (
N/m 2 ).
The control procedure of the control unit 2 of present embodiment adopts adaptive control algorithm, realizes the intelligent vibration damping of system, and the control system of control unit 2 is divided into two-part: the generation of control signal and the Weighted adaptive of control algorithm, schematic diagram is as shown in Figure 2.Wherein, x (k) is a reference signal, and it requires to have coherence with oscillating signal; P (k) is a desired signal, is that extraneous vibration acts on the corresponding of executive system.At k constantly, N rank finite impulse response filter is output as:
Y (
k)=∑
w i (
k) x (
k-
i)=W
T(
k) X (
k) formula (2)
In feedforward control, control signal s (k) also is not equal to the output y (k) of wave filter.Because exist distance between performance element (or being called controller) and the error pick-up, so outputing to of slave controller formed a path transfer function between the error pick-up:
C=[c
0, c
1..., c
M-1]
TFormula (3)
S (
k)=∑ y (
k-
i) c
i=Y
T(
k)
CFormula (4)
Wherein, Y (
k)=X
T(
k)
W
Substitution formula (4):
S (
k)=[X
T(
k) W]
T C=W
TX
f(
k) formula (5)
Wherein, X
f(
k)=X (
k)
C, be filtered reference signal sequence.
The purpose of algorithm be seek optimum W (
k), make error signal minimum, that is:
J=min
Ee
2(
k)=min [p (
k)+s (
k)]
2=min [p (
k)+W
TX
f (
k)]
2Formula (6)
For gradient descent algorithm, following form is adopted in the renewal of weight coefficient:
W (
k+ 1)=W (
k)-μ △ W (
k) formula (7)
Wherein: μ joins the part negative gradient of Weighting factor, i.e. convergence coefficient for the performance that improves system.
Formula (6) to weight coefficient w (
k) carry out differentiate, get:
△ W (
k) ≈ З e
2(
k)/З
W=2e (
k) x
f (
k) formula (8)
With formula (8) substitution formula (7):
w(
k+ 1)=
w(
k)-2 μ
e(
k) x
f (
k) formula (9)
The essence that algorithm is carried out is according to formula (9), utilize the signal e that detection unit 1 collects (
k) x
f (
k) constantly upgrade weight coefficient w (
k), make the output signal of performance element opposite with the oscillating signal phase place, amplitude equates, thus the vibration damping of the system of realization.
Present embodiment utilizes piezo-electricity composite material as performance element 3, the vibration that utilizes its inverse piezoelectric effect to offset or reduce to come from the outside.Utilize the better mechanical processing characteristic of piezo-electricity composite material, make the performance element 3 of sizeable isolation mounting to different use occasions.Utilize higher piezoelectric crystal of piezo-electricity composite material and electromechanical coupling factor, thereby can produce bigger driving force and output displacement, and then more effective execution is from the signal of detecting signal unit 1.
Detection unit 1 is positioned at the bottom of device, contacts with ground.Adopt the PVDF flake structure, utilize the wide and little characteristics of permittivity of its frequency response, detect from the different frequency on ground, the vibration of various amplitude.And behind the corresponding data that records from different measuring points, it is proofreaied and correct and amplify through signal processing system, offer control unit 2 after the conversion.
Behind the signal that control unit 2 receives from detection unit 1,, calculate data opposite with the extraneous vibration phase place, that amplitude equates, it is offered performance element 3 through the self adaption computing.Performance element 3 adopts piezo-electricity composite material to process.After performance element 3 receives the control signal from control unit, utilize its inverse piezoelectric effect with the motor message of electrical signal conversion for performance element 3, thus the vibration damping of implement device and vibration isolation.
In addition, need to prove, the specific embodiment described in this specification, its zero, the shape of parts, institute's title of being named etc. can be different, the above content described in this specification only is to illustrate what structure of the present invention was done.Allly conceive the equivalence that described structure, characteristic and principle do according to patent of the present invention and change or simple change, include in the protection domain of patent of the present invention.Person of ordinary skill in the field of the present invention can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment; Only otherwise depart from structure of the present invention or surmount the defined scope of these claims, all should belong to protection scope of the present invention.
Claims (4)
1. an intelligent isolation mounting that is used for precision machine tool is characterized in that: comprise
Detect direction of vibration, vibration frequency and the amplitude of external vibration through the PVDF piezoelectric sheet, and external vibration is converted into electrical signal, and electrical signal is proofreaied and correct and amplified, so that the detection unit of execution parameter accurately to be provided through signal processing system;
After receiving the signal from detection unit, through the self adaption computing, calculating data opposite with the phase place of external vibration and that amplitude equates, is the control unit of electrical signal then with data conversion;
The employing piezo-electricity composite material is processed; After receiving electrical signal from control unit; Utilize inverse piezoelectric effect that electrical signal conversion is motor message, offset and weaken external vibration through self-deformation, thereby realize the vibration damping of intelligent isolation mounting and the performance element of vibration isolation function;
Said control unit is connected with detection unit, and said performance element is connected with control unit.
2. the intelligent isolation mounting that is used for precision machine tool according to claim 1; It is characterized in that: the control procedure of said control unit is: the piezoelectricity crystallographic axis of the PVDF piezoelectric material that the PVDF piezoelectric sheet is chosen is oriented to: polarised direction is defined as direction 3; Promptly perpendicular to the direction of material plane; Two other direction perpendicular to direction 3 is defined as direction 1 and direction 2 respectively, and the PVDF piezoelectric sheet for after handling along direction 3 polarization has specific polymer thin chip architecture; Only produce electric charge in direction 3, its piezoelectric equations is:
D 3 =
d 31
T 1 +
d 32 T 2 +
d 33 T 31 Formula (1)
Wherein:
D 3 For the electric displacement of direction 3 (
C/m 2 );
DijBe piezoelectric modulus, be illustrated in
jThe stress of directive effect exists
iDirection detects;
T i For
iThe stress of direction (
N/m 2 );
The control procedure of control unit adopts adaptive control algorithm to realize the intelligent vibration damping of system; The control system of control unit is divided into two-part: the generation of control signal and the Weighted adaptive of control algorithm; Wherein, x (k) is a reference signal, and it requires to have coherence with oscillating signal; P (k) is a desired signal, is that extraneous vibration acts on the corresponding of executive system,
w i (
k) be coefficient vector;
kConstantly, N rank finite impulse response filter is output as:
Y (
k)=∑
w i (
k) x (
k-
i)=W
T(
k) X (
k) formula (2)
In feedforward control, control signal s (k) also is not equal to the output y (k) of wave filter, because exist distance between performance element and the error pick-up, so outputing to of slave controller formed a path transfer function between the error pick-up:
C=[c
0, c
1..., c
M-1]
TFormula (3)
S (
k)=∑ y (
k-
i) c
i=Y
T(
k)
CFormula (4)
Wherein, Y (
k)=X
T(
k)
W, substitution formula (4):
S (
k)=[X
T(
k) W]
T C=W
TX
f(
k) formula (5)
Wherein, X
f(
k)=X (
k)
C, be filtered reference signal sequence;
The purpose of algorithm be seek optimum W (
k), make error signal minimum, that is:
J=min
Ee
2(
k)=min [p (
k)+s (
k)]
2=min [p (
k)+W
TX
f (
k)]
2Formula (6)
For gradient descent algorithm, following form is adopted in the renewal of weight coefficient:
W (
k+ 1)=W (
k)-μ △ W (
k) formula (7)
Wherein: μ joins the part negative gradient of Weighting factor, i.e. convergence coefficient for the performance that improves system;
Formula (6) to weight coefficient w (
k) carry out differentiate, get:
△ W (
k) ≈ З e
2(
k)/З
W=2e (
k) x
f (
k) formula (8)
With formula (8) substitution formula (7):
w(
k+ 1)=
w(
k)-2 μ
e(
k) x
f (
k) formula (9)
According to formula (9), utilize the signal e that detection unit collects (
k) x
f (
k) constantly upgrade weight coefficient w (
k), make the output signal of performance element opposite with the oscillating signal phase place, amplitude is equal, thereby realizes the vibration-damping function of intelligent isolation mounting.
3. the intelligent isolation mounting that is used for precision machine tool according to claim 1 is characterized in that: also comprise support, said performance element is positioned at the upper surface of support, and said detection unit is positioned at the lower surface of support.
4. the intelligent isolation mounting that is used for precision machine tool according to claim 1 is characterized in that: also comprise auxiliary unit, said auxiliary unit is connected between detection unit and the performance element.
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| CN103323098A (en) * | 2013-05-23 | 2013-09-25 | 北京航空航天大学 | Small-sized micro-vibration measurement and control system |
| CN103647018A (en) * | 2013-11-28 | 2014-03-19 | 南京航空航天大学 | Laminated type PVDF actuator and active and passive hybrid vibration isolator |
| CN103867633A (en) * | 2014-04-02 | 2014-06-18 | 苏州泰斯特测控科技有限公司 | Novel dynamic vibration absorbing method and system |
| CN107061591A (en) * | 2017-04-27 | 2017-08-18 | 武汉微搏科技有限公司 | A kind of monoblock type metal spring active damping platform |
| CN107436647A (en) * | 2017-07-19 | 2017-12-05 | 山东超越数控电子有限公司 | The vibration insulating system and oscillation damping method of a kind of computer hardware |
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| CN111458013A (en) * | 2020-04-08 | 2020-07-28 | 武汉理工大学 | Piezoelectric fiber composite material sensing device for vibration isolation of platform |
| CN112855516A (en) * | 2019-11-12 | 2021-05-28 | 宁波方太厨具有限公司 | Booster pump subassembly |
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