CN108167377A - A kind of vibration isolator - Google Patents
A kind of vibration isolator Download PDFInfo
- Publication number
- CN108167377A CN108167377A CN201711401928.0A CN201711401928A CN108167377A CN 108167377 A CN108167377 A CN 108167377A CN 201711401928 A CN201711401928 A CN 201711401928A CN 108167377 A CN108167377 A CN 108167377A
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- CN
- China
- Prior art keywords
- support column
- vibration
- mass block
- pedestal
- mounting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M5/00—Engine beds, i.e. means for supporting engines or machines on foundations
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M7/00—Details of attaching or adjusting engine beds, frames, or supporting-legs on foundation or base; Attaching non-moving engine parts, e.g. cylinder blocks
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a kind of vibration isolators, belong to field of mechanical technique.The vibration isolator includes:Mounting portion, pedestal and multiple vibration isolation portions, each vibration isolation portion, which is respectively separated, to be fixed between mounting portion and pedestal, mounting portion, pedestal and all vibration isolation portions are rigid structural member, each vibration isolation portion includes the first support column, second support column and mass block, for any one vibration isolation portion, the quality of first support column and the second support column is respectively less than the quality of mass block, one end of first support column is fixedly mounted on mounting portion, the other end of first support column is fixedly mounted on mass block, one end of second support column is fixedly mounted on pedestal, the other end of second support column is fixedly mounted on mass block.Cause Stiffness is installed the invention avoids vibration isolator.
Description
Technical field
The invention belongs to field of mechanical technique, more particularly to a kind of vibration isolator.
Background technology
Various equipment in the process of work, can generate in various degree and the vibration of frequency, these vibrations can cause each
It influences each other between a equipment, send out the noise for disturbing people or even a degree of destruction can be caused to equipment.
In order to avoid the above problem, it will usually by vibration source equipment (equipment for generating vibration) on vibration isolator, with logical
The transmission that vibration isolator is blocked or reduced vibration is crossed, to play the role of vibration isolation.Common vibration isolator be usually rubber shock absorber,
Air cushion shock absorber etc., these vibration isolators utilize the elasticity of itself so that the connection side between vibration source equipment and other equipment
Formula is changed into elastic connection, so as to absorb the vibration of vibration source equipment generation, to play the role of vibration isolation.
Then, since these vibration isolators cause the connection mode between vibration source equipment and other equipment to change for elasticity even
It connects, so leading to the installation Stiffness between vibration source equipment and other equipment, can not meet some higher mounting designs will
It asks.
Invention content
In order to solve the problems, such as that vibration isolator causes to install Stiffness, an embodiment of the present invention provides a kind of vibration isolators.Institute
It is as follows to state technical solution:
An embodiment of the present invention provides a kind of vibration isolator, the vibration isolator includes:Mounting portion, pedestal and multiple vibration isolation portions,
Each vibration isolation portion, which is respectively separated, to be fixed between the mounting portion and the pedestal, the mounting portion, the pedestal and all
The vibration isolation portion is rigid structural member, and each vibration isolation portion includes the first support column, the second support column and mass block, right
In any one vibration isolation portion, the quality of first support column and second support column is respectively less than the matter of the mass block
Amount, one end of first support column are fixedly mounted on the mounting portion, and the other end of first support column is fixedly mounted
On the mass block, one end of second support column is fixedly mounted on the pedestal, second support column it is another
End is fixedly mounted on the mass block.
In a kind of realization method of the present invention, one end of first support column and second support column is equipped with peace
Flange is filled, first support column is fixedly installed togather by the corresponding mounting flange with the mounting portion, and described the
Two support columns are fixedly installed togather by the corresponding mounting flange with the pedestal.
In another realization method of the present invention, the mounting portion includes installing plate and the peace for installing vibration source equipment
Stent is filled, all first support columns are each attached on the same side of the installing plate, and the mounting bracket is fixed on institute
It states on the another side of installing plate.
In another realization method of the present invention, the mounting bracket includes substrate, support plate and linking arm, the base
The one side of plate and the another side of the installing plate are fixedly installed togather, and the support plate is vertically fixed on the substrate
On another side, the support plate is equipped with the mounting hole for installing the vibration source equipment, and one end of the linking arm is fixed
On the substrate, the other end of the linking arm is fixed in the support plate.
In another realization method of the present invention, the mounting bracket includes two linking arms, two companies
Connect the both sides that arm is arranged in the horizontal direction of the mounting hole.
In another realization method of the present invention, guide ring, two institutes are both provided on the two sides of the support plate
It is along the outer edge of mounting hole arrangement and coaxially arranged with the mounting hole to state guide ring, is arranged on the one of the support plate
The guide ring on side is folded between two linking arms.
In another realization method of the present invention, the mounting bracket further includes reinforcing rib, and the reinforcing rib is fixed on
Between the substrate and the guide ring.
In another realization method of the present invention, first support column, second support column and the mass block
It is prism structure, chamfering is equipped on each seamed edge of the prism structure.
In another realization method of the present invention, the rigid structural member is steel construction piece.
In another realization method of the present invention, first support column and second support column are hollow-core construction
Part, each mass block is solid construction part.
The advantageous effect that technical solution provided in an embodiment of the present invention is brought is:
Vibration isolation portion is arranged between mounting portion and pedestal, for installing vibration source equipment, pedestal is used to be fixed on mounting portion
In other equipment, when vibration source equipment is started to work and generates vibration, vibrational energy is transferred to vibration isolation portion, vibrational energy by mounting portion
It measures in the transmittance process in vibration isolation portion, is transmitted successively according to the sequence of the first support column, mass block, the second support column, due to
There are of poor quality between mass block and the first support column and the second support column, and under the premise of vibrational energy is certain, quality is got over
Greatly, amplitude is smaller, so that mass block can absorb a large amount of vibrational energy, so as to play the role of vibration isolation, reduces base
The vibrational energy that seated connection receives.Also, since the vibration isolator that the embodiment of the present invention is provided is rigid structural member, i.e., itself do not have
It is flexible, therefore the connection mode between vibration source equipment and other equipment is not changed into elastic connection, it avoids vibration source and sets
The standby installation Stiffness between other equipment.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the structure diagram of vibration isolator provided in an embodiment of the present invention;
Fig. 2 is the partial structural diagram of vibration isolator provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
An embodiment of the present invention provides a kind of vibration isolators, and Fig. 1 is the structure diagram of vibration isolator, as shown in Figure 1, the vibration isolation
Device includes:Mounting portion 1, pedestal 2 and multiple vibration isolation portions 3, each vibration isolation portion 3, which is respectively separated, to be fixed between mounting portion 1 and pedestal 2,
Mounting portion 1, pedestal 2 and all vibration isolation portions 3 are rigid structural member, and each vibration isolation portion 3 includes the first support column 31, second
Dagger 32 and mass block 33, for any one vibration isolation portion 3, the quality of the first support column 31 and the second support column 32 is respectively less than quality
The quality of block 33, one end of the first support column 31 are fixedly mounted on mounting portion 1, and the other end of the first support column 31 is fixedly mounted
On mass block 33, one end of the second support column 32 is fixedly mounted on the base 2, and the other end of the second support column 32 is fixedly mounted
On mass block 33.
Vibration isolation portion 3 is arranged between mounting portion 1 and pedestal 2, mounting portion 1 for installing vibration source equipment 100, use by pedestal 2
In being fixed in other equipment, when vibration source equipment 100 is started to work and generates vibration, vibrational energy is transferred to by mounting portion 1
Vibration isolation portion 3, in transmittance process of the vibrational energy in vibration isolation portion 3, according to the first support column 31, mass block 33, the second support column
32 sequence is transmitted successively, due between 33 and first support column 31 of mass block and the second support column 32 there are of poor quality, and
Under the premise of vibrational energy is certain, quality is bigger, and amplitude is smaller, so that mass block 33 can absorb a large amount of vibrational energy
Amount, so as to play the role of vibration isolation, reduces the vibrational energy that pedestal 2 receives.Also, since the embodiment of the present invention is provided
Vibration isolator for rigid structural member, i.e., itself does not have elasticity, therefore not by the company between vibration source equipment 100 and other equipment
The mode of connecing changes into elastic connection, avoids the installation Stiffness between vibration source equipment 100 and other equipment.
Preferably, the quality of the first support column 31 and the second support column 32 can be identical, 33 and first support column of mass block
Mass ratio between 31 is at least more than 3: 1.It is highly preferred that the mass ratio between 33 and first support column 31 of mass block can be 5:
1。
In above-mentioned realization method, the vibration isolator that the present embodiment is provided can include four vibration isolation portions, four vibration isolation portions
The four corners of pedestal 2 are arranged in, the vibrational energy of pedestal 2 is transferred to uniform isolation.
Specifically, rigid structural member can be steel construction piece, so as to not only ensure that the rigidity of vibration isolator, but also convenient for vibration isolator
Mass production.
It should be noted that all parts of vibration isolator can select different rigid structural members according to demand, for example, by
It needs to transmit vibrational energy in vibration isolation portion, so in order to ensure the rigidity in vibration isolation portion, vibration isolation portion can be steel construction piece, and install
Portion and pedestal can then select other alloys, such as aluminium alloy etc., to realize the light-weight design of vibration isolator.
Preferably, the first support column 31, the second support column 32 and mass block 33 are prism structure, prism structure it is each
Chamfering 34 is equipped on seamed edge, each chamfering 34 is along corresponding first support column 31, the second support column 32 or mass block
33 length direction extension, scratches operating personnel so as to avoid seamed edge, eliminates security risk.
In the present embodiment, the first support column 31 and the second support column 32 are hollow structural component, and each mass block 33 is equal
For solid construction part, so as into be easy to implement between the first support column 31 and the second support column 32 and mass block 33 generate compared with
Big is of poor quality, to ensure that mass block 33 absorbs the effect of vibrational energy.
Preferably, the sectional area of mass block 33 is more than the sectional area of the first support column 31 and the second support column 32, i.e. quality
The outer edge of block 33 protrudes from the outer edge of the first support column 31 and the second support column 32, thereby may be ensured that in the first support column
31st, in the case that the second support column 32 is identical with 33 material of mass block, the quality of mass block is more than the first support column 31 and second
The quality of support column 32.
It is furthermore preferred that the first support column 31, the second support column 32 and mass block all can be four prism type, wherein, first
31 and second support column 32 of support column can be the hollow square steel of 50 × 50mm, and the thickness of steel plate is 4mm, is highly 144mm, matter
Gauge block 33 can be the solid steel column that specification is 75 × 75 × 100mm.
In the present embodiment, one end of the first support column 31 and the second support column 32 is equipped with mounting flange 35, first
Dagger 31 is fixedly installed togather by corresponding mounting flange 35 with mounting portion 1, and the second support column 32 passes through corresponding installation
Flange 35 is fixedly installed togather with pedestal 2.
In above-mentioned realization method, the first support column 31 and the second support column 32 are effectively increased by mounting flange 35
Mounting area improves the degree of firmly installing of the first support column 31 and the second support column 32.
Specifically, the mounting flange 35 on the first support column 31 and the first support column 31 are coaxially arranged, the second support column 32
On mounting flange 35 and the second support column 32 it is coaxially arranged, the hole for inserting bolt is equipped on each mounting flange 35
Hole so that the first support column 31 is bolted by mounting flange 35 and mounting portion 1, and the second support column 32 passes through mounting flange 35
It is bolted with pedestal 2.
In the present embodiment, mounting portion 1 includes installing plate 11 and the mounting bracket 12 for installing vibration source equipment 100, often
A first support column 31 is each attached on the same side of installing plate 11, and mounting bracket 12 is fixed on the another side of installing plate 11
On.
Specifically, installing plate 11 can be the steel plate that specification is 500 × 500 × 20mm.
Specifically, pedestal 2 can be the steel plate with 11 same size of installing plate, so as to reduce being manufactured into for vibration isolator
This.
Fig. 2 is the partial structural diagram of vibration isolator, with reference to Fig. 2, it is preferable that be equipped with and subtract on installing plate 11 and pedestal 2
Repeated hole 4, it is achieved thereby that the light-weight design of vibration isolator.
It is highly preferred that lightening hole 4 is arranged on the center of installing plate 11 or pedestal 2, so as to ensure that installing plate 11 and pedestal 2
Structural stability.
Referring again to Fig. 1, mounting bracket 12 includes substrate 121, support plate 122 and linking arm 123, the side of substrate 121
Face and the another side of installing plate 11 are fixedly installed togather, and support plate 122 is vertically fixed on the another side of substrate 121,
Support plate 122 is equipped with the mounting hole (not shown) for installing vibration source equipment 100, and one end of linking arm 123 is fixed on substrate
121 another side, the other end of linking arm 123 are fixed on the one side of support plate 122.
Preferably, substrate 121 is mounted by means of bolts on installing plate 11, consequently facilitating for different vibration source equipment
Replace the mounting bracket 12 of dismounting different size.
In above-mentioned realization method, vibration source equipment 100 can be inserted into mounting hole, so that vibration source equipment 100
It can be fixed on vibration isolator, to realize the isolation and attenuation of vibration by vibration isolator.
Specifically, it can be fixedly connected on by welding between substrate 121, support plate 122 and linking arm 123
Together.
Preferably, support plate 122 can be located at the middle part of installing plate 11, so that when the inserting of vibration source equipment 100 to peace
Fill Kong Zhonghou, vibration source equipment 100 can also be located at installing plate 11 middle part, with ensure vibration source equipment 100 it is reliable be mounted on every
It shakes on device.
In the present embodiment, mounting bracket 12 includes two linking arms 123, and two linking arms 123 are arranged in installation
Both sides in the horizontal direction in hole, so as to be smoothly supported to support plate 122.
In the present embodiment, guide ring 124 is both provided on the two sides of support plate 122, two guide rings 124 are along peace
Fill hole outer edge arrangement and it is coaxially arranged with mounting hole, the guide ring 124 being arranged on the one side of support plate 122 is folded in
Between two linking arms 123.
In above-mentioned realization method, since guide ring 124 protrudes from support plate 122, so in inserting vibration source equipment 100
When, vibration source equipment 100 can be oriented to by guide ring 124, in order to the accurate inserting of vibration source equipment 100.In addition, work as
After vibration source equipment 100 is inserted into mounting hole, guide ring 124 can be close to the outer wall of vibration source equipment 100, so as to shaking
Source device 100 plays certain supporting role.
Also, since guide ring 124 can play vibration source equipment 100 certain supporting role, so by guide ring 124
It is folded between two linking arms 123, can ensure the structural stability of guide ring 124.
Preferably, mounting bracket 12 further includes reinforcing rib 125, reinforcing rib 125 be fixed on substrate 121 and guide ring 124 it
Between, so as to further increase the supporting role of guide ring 124.
In order to test the vibration isolating effect for the vibration isolator that the embodiment of the present invention is provided, a control vibration isolator is designed, this is right
It is essentially identical according to the structure and the structure of vibration isolator that the present embodiment is provided of vibration isolator, differ only in control vibration isolator every
Portion shake only including support column (structure is identical with the first support column), without including mass block.Vibration source equipment selects two complete phases
With permanent magnet synchronous motor, the weight of the permanent magnet synchronous motor is about 160kg, rated power 5.0kw, and rated speed is
60rpm.Start two permanent magnet synchronous motors simultaneously, and measure the vibration at four vibration isolation portions of correspondence of pedestal 2, and take it average
Value, obtains the result of the test in table 1.
Table 1
Vibration isolator | Compare vibration isolator | Vibration isolation amount | |
Vibration acceleration level (dB) | 111.2 | 118.3 | 7.1 |
It can be obtained by table 1, the vibration isolator that the embodiment of the present invention is provided can effectively play vibration isolating effect.
By test of many times, the vibration isolator that the embodiment of the present invention is provided can be to the high frequency vibrating of vibration frequency f >=4kHz
It is dynamic to have preferable attenuation and isolation effect.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of vibration isolator, the vibration isolator includes:Mounting portion, pedestal and multiple vibration isolation portions, each vibration isolation portion are respectively separated
It is fixed between the mounting portion and the pedestal, which is characterized in that the mounting portion, the pedestal and all vibration isolation portions
It is rigid structural member, each vibration isolation portion includes the first support column, the second support column and mass block, for any one institute
State vibration isolation portion, the quality of first support column and second support column is respectively less than the quality of the mass block, and described first
One end of support column is fixedly mounted on the mounting portion, and the other end of first support column is fixedly mounted on the mass block
On, one end of second support column is fixedly mounted on the pedestal, and the other end of second support column is fixedly mounted on
On the mass block.
2. vibration isolator according to claim 1, which is characterized in that the one of first support column and second support column
End is equipped with mounting flange, and first support column is fixedly mounted on one by the corresponding mounting flange and the mounting portion
It rises, second support column is fixedly installed togather by the corresponding mounting flange with the pedestal.
3. vibration isolator according to claim 1, which is characterized in that the mounting portion includes installing plate and for installing vibration source
The mounting bracket of equipment, all first support columns are each attached on the same side of the installing plate, the mounting bracket
It is fixed on the another side of the installing plate.
4. vibration isolator according to claim 3, which is characterized in that the mounting bracket includes substrate, support plate and connection
Arm, the one side of the substrate and the another side of the installing plate are fixedly installed togather, and the support plate is vertically fixed on
On the another side of the substrate, the support plate is equipped with the mounting hole for installing the vibration source equipment, the linking arm
One end fix on the substrate, the other end of the linking arm is fixed in the support plate.
5. vibration isolator according to claim 4, which is characterized in that the mounting bracket include two linking arms, two
A linking arm is arranged in the both sides in the horizontal direction of the mounting hole.
6. vibration isolator according to claim 5, which is characterized in that guiding is both provided on the two sides of the support plate
Ring, two guide rings are along the outer edge of mounting hole arrangement and coaxially arranged with the mounting hole, are arranged on described
The guide ring on the one side of support plate is folded between two linking arms.
7. vibration isolator according to claim 6, which is characterized in that the mounting bracket further includes reinforcing rib, the reinforcement
Muscle is fixed between the substrate and the guide ring.
8. according to claim 1-7 any one of them vibration isolators, which is characterized in that first support column, second described
Dagger and the mass block are prism structure, and chamfering is equipped on each seamed edge of the prism structure.
9. according to claim 1-7 any one of them vibration isolators, which is characterized in that the rigid structural member is steel construction piece.
10. according to claim 1-7 any one of them vibration isolators, which is characterized in that first support column and described second
Support column is hollow structural component, and each mass block is solid construction part.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711401928.0A CN108167377B (en) | 2017-12-22 | 2017-12-22 | vibration isolator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711401928.0A CN108167377B (en) | 2017-12-22 | 2017-12-22 | vibration isolator |
Publications (2)
Publication Number | Publication Date |
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CN108167377A true CN108167377A (en) | 2018-06-15 |
CN108167377B CN108167377B (en) | 2020-01-31 |
Family
ID=62523513
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201711401928.0A Active CN108167377B (en) | 2017-12-22 | 2017-12-22 | vibration isolator |
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CN (1) | CN108167377B (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024007357A1 (en) * | 2022-07-08 | 2024-01-11 | 天津大学 | Sensor phononic crystal vibration isolator for underwater vehicle |
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US4574540A (en) * | 1983-10-17 | 1986-03-11 | Shiau Jgi Jiang | Structural support system for minimizing the effects of earthquakes on buildings and the like |
CN205255982U (en) * | 2015-01-28 | 2016-05-25 | 源捷公司 | Two -stage vibration isolation system |
CN205534876U (en) * | 2015-12-18 | 2016-08-31 | 中国科学院西安光学精密机械研究所 | Rigid-flexible combined supporting structure of optical instrument and optical instrument |
CN106091306A (en) * | 2016-07-29 | 2016-11-09 | 珠海格力电器股份有限公司 | Mounting bracket, air conditioner waterway system and air conditioner |
CN107355508A (en) * | 2017-09-07 | 2017-11-17 | 东方电气集团东方电机有限公司 | A kind of damping frame and the motor using the damping frame |
-
2017
- 2017-12-22 CN CN201711401928.0A patent/CN108167377B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4574540A (en) * | 1983-10-17 | 1986-03-11 | Shiau Jgi Jiang | Structural support system for minimizing the effects of earthquakes on buildings and the like |
CN205255982U (en) * | 2015-01-28 | 2016-05-25 | 源捷公司 | Two -stage vibration isolation system |
CN205534876U (en) * | 2015-12-18 | 2016-08-31 | 中国科学院西安光学精密机械研究所 | Rigid-flexible combined supporting structure of optical instrument and optical instrument |
CN106091306A (en) * | 2016-07-29 | 2016-11-09 | 珠海格力电器股份有限公司 | Mounting bracket, air conditioner waterway system and air conditioner |
CN107355508A (en) * | 2017-09-07 | 2017-11-17 | 东方电气集团东方电机有限公司 | A kind of damping frame and the motor using the damping frame |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024007357A1 (en) * | 2022-07-08 | 2024-01-11 | 天津大学 | Sensor phononic crystal vibration isolator for underwater vehicle |
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