CN204005085U - A kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform - Google Patents
A kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform Download PDFInfo
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- CN204005085U CN204005085U CN201420430117.9U CN201420430117U CN204005085U CN 204005085 U CN204005085 U CN 204005085U CN 201420430117 U CN201420430117 U CN 201420430117U CN 204005085 U CN204005085 U CN 204005085U
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Abstract
The utility model discloses a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform, certain structural parameter are set, can realize near the non-linear rigidity of this vibration-isolating platform accurate zero stiffness and the equilibrium position of its equilibrium position, the difficult problem can solve conventional linear vibrating isolation system isolation low frequency or superlow frequency vibrating time; Rigidity, damping all can easyly regulate, and are applicable to wide frequency domain vibration isolation, have good engineering adaptability; In thering is higher support stiffness, also there is very low motion rigidity, static deformation amount is little, and dynamically natural frequency is low, and vibration isolating effect is good; By the free adjusting of rigidity, damping, can solve the intrinsic contradictions of the traditional vibrating isolation system of restriction, i.e. the contradiction of low-frequency vibration transmissibility and dither decrement.
Description
Technical field
The utility model belongs to the technical field of mechanical engineering field, relates to vibration damping, vibration isolation technique in mechanical engineering, relates in particular to a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform.
Background technique
In order to overcome the contradiction between system stiffness and static displacement, vibrating isolation system should have higher static stiffness and lower dynamic rate simultaneously.Higher static stiffness ensures that system bearing ability is larger, and static displacement is less; Lower dynamic rate ensures that system frequency is lower, and low frequency vibration isolation effect is better.Traditional passive vibration isolation system is greater than the natural frequency of vibrating isolation system own in extraneous energizing frequency
times time, just can play vibration isolation effect.This vibrating isolation system can be isolated preferably energizing frequency and is greater than
the medium, high frequency vibration of times system frequency, but isolation energizing frequency is less than
the low-frequency vibration of times system frequency especially ability of superlow frequency vibrating is poor.In order to improve the ability of passive vibration isolation isolation of system low frequency and superlow frequency vibrating, should reduce the natural frequency of vibrating isolation system, conventionally there are two kinds of ways: the one, reduce the rigidity of vibrating isolation system; The 2nd, increase counterweight, but for vertical vibration isolation system, reduce rigidity and can make the static displacement of vibrating isolation system increase and stability decreases; Obviously be last selection and increase counterweight, only the in the situation that of last resort, just adopt, and application be limited.
Model utility content
The utility model provides a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform, its objective is that to make six-degree-of-freedom parallel connection mechanism vibration reduction platform have both higher static stiffness and lower dynamic rate and stiffness and damping adjustable; Can realize accurate zero stiffness characteristic, and can widen in the vibration isolation frequency domain of six-degree-of-freedom vibration reduction platform.
To achieve these goals, the technological scheme that the utility model is taked is:
The utility model provides a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform, include framework, load carrying platform and vibration damper, described framework includes inner gimbal and external frame, vibration damper includes X to displacement absorber, Y-direction displacement absorber, Z-direction displacement absorber and main damper, described external frame is arranged with base, inner gimbal is arranged on external frame the inside, described external frame includes lower circular support platform, inner gimbal includes circular support platform, the center portion of described upper circular support platform is provided with guide cylinder, the upper end of described guide cylinder is connected with load carrying platform, described base includes external frame mounting hole, X is to displacer groove and arc guide groove, described X is provided with X to displacer on displacer groove, in described base, being provided with X is connected to displacer with X to displacement absorber, described external frame lower end is provided with polygonal boss, X is connected with polygonal boss to being provided with lower push-rod on displacer, on described lower circular support platform, be provided with Y-direction displacement absorber and Z-direction displacement absorber, Y-direction displacement absorber is connected with upper circular support platform bottom, on described external frame, be provided with Z-direction displacer groove, Z-direction displacement absorber is arranged in Z-direction displacer groove, described Z-direction displacer vibration damper upper end is provided with Z-direction displacer, on described Z-direction displacer, being provided with upper push-rod is connected with upper circular support platform upper end, in described guide cylinder, be provided with vertical main damper, Y-direction displacement absorber and lower circular support platform have angle of inclination, under vertical being arranged on of Z-direction displacement absorber on circular support platform.
Further improve and be: on described polygonal boss, be provided with the T-shaped guide rod of class and be connected in base arc guide groove, described external frame is connected with inner gimbal by connecting rod.
Further improve and be: described X is at least provided with two to displacement absorber, and Y-direction displacement absorber is at least provided with one, and Z-direction displacement absorber is at least provided with two.
Further improve and be: described guide cylinder is provided with an observation panel vertically, described guide cylinder is along being circumferentially also provided with the positioning rib being evenly distributed.
Further improve and be: described vibration damper comprises shock absorber piston rod, shock absorber working cylinder, vibration damper base, damper piston, the upper end of described shock absorber piston rod is connected with vibration damper spherical shell, lower end is fixedly connected with damper piston, described damper piston is positioned at shock absorber working cylinder, the upper end of described shock absorber working cylinder is provided with piston rod guide sleeve and rod seal circle, the inside of described shock absorber working cylinder is also provided with guiding tube, described guiding tube is through damper piston, on described damper piston, be furnished with stuffing box bearing, pass for guiding tube, and ensure that guiding tube can rotation activity, the cylindrical of stuffing box bearing is enclosed with seal ring, described guiding tube is positioned on the bottom cylindrical of shock absorber working cylinder and cover has stuffing box gland, the cylindrical surface cover of stuffing box gland has flow control valve, in described vibration damper base, be furnished with gear shifting mechanism.
Further improve and be: described gear shifting mechanism comprises vibration damper transfer the files handle, vibration damper stick, bevel gear pair and cone gear, on described bevel gear pair, be provided with two cone gears and be fixedly connected with the front end of vibration damper stick with the lower end of guiding tube respectively, the rear end of vibration damper stick and the vibration damper handle of transferring the files is fixedly connected with.
Further improve and be: described stuffing box gland, guiding tube guide sleeve and guiding tube is provided with the rectangular opening of one group of corresponding control flow, the rectangular opening on described guiding tube guide sleeve is guide sleeve rectangular opening, rectangular opening on guiding tube is guiding tube liquid current control rectangular opening, the pore size difference of described rectangular opening.
The beneficial effects of the utility model: 1, certain structural parameter are set, can realize near the non-linear rigidity of this vibration-isolating platform accurate zero stiffness and the equilibrium position of its equilibrium position, the difficult problem can solve conventional linear vibrating isolation system isolation low frequency or superlow frequency vibrating time;
2, rigidity, damping all can easyly regulate, and are applicable to wide frequency domain vibration isolation, have good engineering adaptability;
3, in thering is higher support stiffness, also there is very low motion rigidity, static deformation amount is little, and dynamically natural frequency is low, and vibration isolating effect is good;
4,, by the free adjusting of rigidity, damping, can solve the intrinsic contradictions of the traditional vibrating isolation system of restriction, i.e. the contradiction of low-frequency vibration transmissibility and dither decrement.
Brief description of the drawings
Fig. 1 is schematic diagram of the present utility model.
Fig. 2 is the sectional view of base of the present utility model.
Fig. 3 is the internal view of base of the present utility model.
Fig. 4 is the sectional view of external frame of the present utility model.
Fig. 5 is the schematic diagram of inner gimbal of the present utility model.
Fig. 6 is the structural drawing of inner gimbal of the present utility model and external frame.
Fig. 7 is the overall sectional view of vibration damper of the present utility model.
Fig. 8 is the top enlarged view of vibration damper of the present utility model.
Fig. 9 is the structural drawing of the gear shifting mechanism of vibration damper of the present utility model.
Figure 10 is the gear shifting mechanism internal structure schematic diagram of vibration damper of the present utility model.
Figure 11 is X-axis translation vibration attenuation mechanism figure.
Figure 12 is Y-axis translation vibration attenuation mechanism figure.
Figure 13 is Z axis translation vibration attenuation mechanism figure.
Figure 14 is that X-axis is rotated vibration attenuation mechanism figure.
Figure 15 is that Z axis rotates vibration attenuation mechanism figure.
Wherein: 1-load carrying platform, 2-vibration damper, 3-inner gimbal, 4-external frame, 5-base, circular support platform under 6-, the upper circular support platform of 7-, 8-guide cylinder, 9-external frame mounting hole, 10-X is to displacer groove, 11-arc guide groove, 12-X is to displacer, 13-polygonal boss, 14-lower push-rod, 15-Z is to displacer groove, 16-Z is to displacer, 17-upper push-rod, the T-shaped guide rod of 18-class, 19-connecting rod, 20-positioning rib, 21-observation panel, 22-shock absorber piston rod, 23-shock absorber working cylinder, 24-vibration damper base, 25-damper piston, 26-vibration damper spherical shell, 27-piston rod guide sleeve, 28-rod seal circle, 29-guiding tube, 30-stuffing box bearing, 31-seal ring, 32-stuffing box gland, 33-flow control valve, the 34-vibration damper handle of transferring the files, 35-vibration damper stick, 36-bevel gear pair, 37-cone gear, 38-guiding tube guide sleeve, 39-rectangular opening, 40-inner gimbal connecting ball head, 41-external frame connects asks shell, 42-ball pivot, 43-vibration damper upper cylinder half, cylinder under 44-vibration damper.
Embodiment
In order to deepen understanding of the present utility model, below in conjunction with embodiment, the utility model is described in further detail, and the present embodiment only, for explaining the utility model, does not form the restriction to the utility model protection domain.
As shown in Fig. 1-11, the present embodiment provides a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform, include framework, load carrying platform 1 and vibration damper 2, described framework includes inner gimbal 3 and external frame 4, vibration damper 2 includes X to displacement absorber 2-a, Y-direction displacement absorber 2-b, Z-direction displacement absorber 2-c and main damper 2-d, described external frame 4 is arranged with base 5, inner gimbal 3 is arranged on external frame 4 the insides, described external frame 4 includes lower circular support platform 6, inner gimbal 3 includes circular support platform 7, the center portion of described upper circular support platform 7 is provided with guide cylinder 8, the upper end of described guide cylinder 8 is connected with load carrying platform 1, described base 5 includes external frame mounting hole 9, X is to displacer groove 10 and arc guide groove 11, described X is provided with X to displacer 12 on displacer groove 10, in described base 5, being provided with X is connected to displacer 12 with X to displacement absorber 2-a, described external frame 4 lower ends are provided with polygonal boss 13, X is connected with polygonal boss 13 to being provided with lower push-rod 14 on displacer 12, on described lower circular support platform 6, be provided with Y-direction displacement absorber 2-b and Z-direction displacement absorber 2-c, Y-direction displacement absorber 2-b is connected with upper circular support platform 7 bottoms, on described external frame 4, be provided with Z-direction displacer groove 15, described Z-direction displacement absorber 2-c is arranged in Z-direction displacer groove 15, described Z-direction displacer vibration damper 2-c upper end is provided with Z-direction displacer 16, on described Z-direction displacer 16, being provided with upper push-rod 17 is connected with upper circular support platform 7 upper ends, in described guide cylinder 8, be provided with vertical main damper 2-d, Y-direction displacement absorber 2-b and lower circular support platform 6 have angle of inclination, under vertical being arranged on of Z-direction displacement absorber 2-c on circular support platform 6.On described polygonal boss 13, being provided with the T-shaped guide rod 18 of class is connected in the arc guide groove 11 of base 5, described external frame 4 is connected with inner gimbal 3 by connecting rod 19, described connecting rod is divided into inner gimbal connecting ball head 40 and is connected with external frame and asks shell 41, described X is provided with four to displacement absorber 2-a, Y-direction displacement absorber 2-b is provided with two, and Z-direction displacement absorber 2-c is provided with three.Described guide cylinder 8 is provided with an observation panel 21 vertically, and described guide cylinder 8 is along being circumferentially also provided with the positioning rib 20 being evenly distributed.Described vibration damper 2 comprises, shock absorber piston rod 22, shock absorber working cylinder 23, vibration damper base 24, damper piston 25, the upper end of described shock absorber piston rod 22 is connected with vibration damper spherical shell 26, lower end is fixedly connected with damper piston 25, described damper piston 25 is positioned at shock absorber working cylinder 23, the upper end of described shock absorber working cylinder 23 is provided with piston rod guide sleeve 27 and rod seal circle 28, the inside of described shock absorber working cylinder 23 is also provided with guiding tube 29, described guiding tube 29 is through damper piston 25, on described damper piston 25, be furnished with stuffing box bearing 30, pass for guiding tube 29, and ensure that guiding tube 29 can rotation activity, the cylindrical of stuffing box bearing 30 is enclosed with seal ring 31, described guiding tube 29 is positioned on the bottom cylindrical of shock absorber working cylinder 23 and cover has stuffing box gland 32, the cylindrical surface cover of stuffing box gland 32 has flow control valve 33, in described vibration damper base 24, be furnished with gear shifting mechanism.Described gear shifting mechanism comprises vibration damper transfer the files handle 34, vibration damper stick 35, bevel gear pair 36 and cone gear 37, on described bevel gear pair 36, be provided with two cone gears 37 and be fixedly connected with the front end of vibration damper stick 35 with the lower end of guiding tube 29 respectively, the rear end of vibration damper stick 35 and the vibration damper handle 34 of transferring the files is fixedly connected with.Described stuffing box gland 32, guiding tube guide sleeve 38 and guiding tube 29 is provided with the rectangular opening 39 of one group of corresponding control flow, the rectangular opening on described guiding tube guide sleeve is guide sleeve rectangular opening, rectangular opening 39 on guiding tube 29 is guiding tube 29 liquid current control rectangular openings, the pore size difference of described rectangular opening 39.Described shock absorber working cylinder 23 includes cylinder 44 under vibration damper upper cylinder half 43 and vibration damper, when described vibration damper 2 is worked, has six gears adjustable; When gear exists
when shelves, rectangular opening 39 conductings of minimum on guiding tube 29, make cylinder 44 conducting cross section minimums under vibration damper upper cylinder half 43 and vibration damper, now damping maximum, all the other gears the like.
When this working platform, according to extraneous vibration source excitation situation, the corresponding adjusting rigidity (fourth gear is adjustable) of vibration damper and the damping of vibration damper (six grades adjustable); Due to the specific selection of structural parameter, platform rigidity trends towards zero stiffness, is suitable for the low-down situation of excited frequency.Like this, can make six-degree-of-freedom vibration reduction platform reach best vibration isolating effect.
Particularly, the translation vibration damping of X, Y-axis is as described below:
As shown in figure 11, in the time that this vibration reduction platform is subject to the vibration of X-axis forward, platform outer gimbal 4 moves along X-axis postive direction, lower push-rod 14 moves at X-Y plane, because X can only move to displacement chute 10 along X to displacer 12, therefore left side X reduces to displacer 12 spacing, and right side X increases to displacer 12 spacing, in X-Y plane, vibration damper all can normally be worked, and realizes the translation vibration damping of X-axis postive direction.In the other direction time, principle is identical.
As shown in figure 12, in the time that this vibration reduction platform is subject to the vibration of Y-axis forward, platform outer gimbal 4 moves along Y-axis postive direction, lower push-rod 14 is in X-Y plane translation, because X can only move to displacement chute 10 along X to displacer 12, therefore four X all move upward to displacer 12, and in X-Y plane, vibration damper all can normally be worked, and realizes the translation vibration damping of Y-axis postive direction.In the other direction time, principle is identical.
As shown in figure 13, in the time that this vibration reduction platform is subject to the vibration of z axle negative sense, because platform inner gimbal 3 and platform outer gimbal 4 are fixed in Z direction with respect to base 5, so load carrying platform 1 moves downward, main damper 2-d works, and realizes the translation vibration damping of Z axis negative direction.In the other direction time, principle is identical.
As shown in figure 14, in the time that this vibration reduction platform is subject to the rotational vibrations from X-axis, because platform inner gimbal 3 is connected spherical shell 41 and 40 combinations of inner gimbal connecting ball head with platform outer gimbal 4 by external frame, so in the time that load carrying platform 1 is subject to the rotation around X-axis direction, load carrying platform 1 can drive platform inner gimbal mechanism 3 to rotate, and realizes the rotation vibration damping of X-axis.
In the time that this vibration reduction platform is subject to the rotational vibrations from Y-axis, principle is the same;
As shown in figure 15, described vibration damper 2 is by ball pivot 42 and described inner gimbal, external frame connects, platform inner gimbal 3 is connected spherical shell 41 and 40 combinations of inner gimbal connecting ball head with platform outer gimbal 4 by external frame, in the time that platform inner gimbal 3 is subject to the rotational vibrations along Z-direction, vibration damper shown in figure stretches respectively and compression movement, cause the distance between two ball pivots of each vibration damper to change, distance between a pair of ball pivot seat in platform left side increases, therefore left side vibration damper under tension and work, distance between a pair of ball pivot seat on platform right side diminishes, the vibration damper on right side is squeezed and works, so can realize the rotation vibration damping of Z axis.
Claims (7)
1. a six-degree-of-freedom parallel connection mechanism vibration reduction platform, include framework, load carrying platform (1) and vibration damper (2), it is characterized in that: described framework includes inner gimbal (3) and external frame (4), vibration damper (2) includes X to displacement absorber (2-a), Y-direction displacement absorber (2-b), Z-direction displacement absorber (2-c) and main damper (2-d), described external frame (4) is arranged with base (5), inner gimbal (3) is arranged on external frame (4) the inside, described external frame (4) includes lower circular support platform (6), inner gimbal (3) includes circular support platform (7), the center portion of described upper circular support platform (7) is provided with guide cylinder (8), the upper end of described guide cylinder (8) is connected with load carrying platform (1), described base (5) includes external frame mounting hole (9), X is to displacer groove (10) and arc guide groove (11), described X is provided with X to displacer (12) on displacer groove (10), in described base (5), being provided with X is connected to displacer (12) with X to displacement absorber (2-a), described external frame (4) lower end is provided with polygonal boss (13), X is connected with polygonal boss (13) to being provided with lower push-rod (14) on displacer (12), on described lower circular support platform (6), be provided with Y-direction displacement absorber (2-b) and Z-direction displacement absorber (2-c), Y-direction displacement absorber (2-b) is connected with upper circular support platform (7) bottom, on described external frame (4), be provided with Z-direction displacer groove (15), described Z-direction displacement absorber (2-c) is arranged in Z-direction displacer groove (15), described Z-direction displacer vibration damper (2-c) upper end is provided with Z-direction displacer (16), on described Z-direction displacer (16), being provided with upper push-rod (17) is connected with upper circular support platform (7) upper end, in described guide cylinder (8), be provided with vertical main damper (2-d), Y-direction displacement absorber (2-b) has angle of inclination with lower circular support platform (6), under vertical being arranged on of Z-direction displacement absorber (2-c) on circular support platform (6).
2. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 1, it is characterized in that: on described polygonal boss (13), be provided with in the arc guide groove (11) that the T-shaped guide rod of class (18) is connected to base (5), described external frame (4) is connected with inner gimbal (3) by connecting rod (19).
3. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 1, it is characterized in that: described X is at least provided with two to displacement absorber (2-a), Y-direction displacement absorber (2-b) is at least provided with one, and Z-direction displacement absorber (2-c) is at least provided with two.
4. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 1, is characterized in that: described guide cylinder (8) is provided with an observation panel 21 vertically, and described guide cylinder (8) is along being circumferentially also provided with the positioning rib 20 being evenly distributed.
5. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 1, it is characterized in that: described vibration damper (2) comprises, shock absorber piston rod (22), shock absorber working cylinder (23), vibration damper base (24), damper piston (25), the upper end of described shock absorber piston rod (22) is connected with vibration damper spherical shell (26), lower end is fixedly connected with damper piston (25), described damper piston (25) is positioned at shock absorber working cylinder (23), the upper end of described shock absorber working cylinder (23) is provided with piston rod guide sleeve (27) and rod seal circle (28), the inside of described shock absorber working cylinder (23) is also provided with guiding tube (29), described guiding tube (29) is through damper piston (25), on described damper piston (25), be furnished with stuffing box bearing (30), pass for guiding tube (29), and ensure that guiding tube (29) can rotation activity, the cylindrical of stuffing box bearing (30) is enclosed with seal ring (31), described guiding tube (29) is positioned on the bottom cylindrical of shock absorber working cylinder (23) and cover has stuffing box gland (32), the cylindrical surface cover of stuffing box gland (32) has flow control valve (33), in described vibration damper base (24), be furnished with gear shifting mechanism.
6. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 5, it is characterized in that: described gear shifting mechanism comprises vibration damper transfer the files handle (34), vibration damper stick (35), bevel gear pair (36) and cone gear (37), on described bevel gear pair (36), be provided with two cone gears (37) and be fixedly connected with the front end of vibration damper stick (35) with the lower end of guiding tube (29) respectively, the rear end of vibration damper stick (35) and the vibration damper handle (34) of transferring the files is fixedly connected with.
7. a kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform as claimed in claim 5, it is characterized in that: described stuffing box gland (32), guiding tube guide sleeve (38) and guiding tube (29) is provided with the rectangular opening (39) of one group of corresponding control flow, the rectangular opening on described guiding tube guide sleeve is guide sleeve rectangular opening, rectangular opening on guiding tube is guiding tube liquid current control rectangular opening, the pore size difference of described rectangular opening.
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| CN201420430117.9U CN204005085U (en) | 2014-08-01 | 2014-08-01 | A kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform |
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| CN201420430117.9U CN204005085U (en) | 2014-08-01 | 2014-08-01 | A kind of six-degree-of-freedom parallel connection mechanism vibration reduction platform |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104214484A (en) * | 2014-08-01 | 2014-12-17 | 安徽工程大学 | Six-degree-of-freedom parallel mechanism vibration attenuation platform |
| CN104534244A (en) * | 2014-12-30 | 2015-04-22 | 北京航空航天大学 | Differential-principle-based two-degree-of-freedom parallel-connection rotating platform |
| CN106093330A (en) * | 2016-06-28 | 2016-11-09 | 安庆市佰斯特电子科技有限公司 | A kind of water conservancy environmental monitoring aircraft charging pile |
| CN107748446A (en) * | 2017-10-27 | 2018-03-02 | 东莞东聚电子电讯制品有限公司 | A kind of active alignment equipment of three cameras module |
| CN108458034A (en) * | 2018-03-20 | 2018-08-28 | 华中科技大学 | Adjustable loaded metal Zero-rigidity vibration isolator |
-
2014
- 2014-08-01 CN CN201420430117.9U patent/CN204005085U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104214484A (en) * | 2014-08-01 | 2014-12-17 | 安徽工程大学 | Six-degree-of-freedom parallel mechanism vibration attenuation platform |
| CN104534244A (en) * | 2014-12-30 | 2015-04-22 | 北京航空航天大学 | Differential-principle-based two-degree-of-freedom parallel-connection rotating platform |
| CN104534244B (en) * | 2014-12-30 | 2016-03-16 | 北京航空航天大学 | A kind of two-degree-of-freedoparallel parallel rotatable platform based on differential principle |
| CN106093330A (en) * | 2016-06-28 | 2016-11-09 | 安庆市佰斯特电子科技有限公司 | A kind of water conservancy environmental monitoring aircraft charging pile |
| CN107748446A (en) * | 2017-10-27 | 2018-03-02 | 东莞东聚电子电讯制品有限公司 | A kind of active alignment equipment of three cameras module |
| CN108458034A (en) * | 2018-03-20 | 2018-08-28 | 华中科技大学 | Adjustable loaded metal Zero-rigidity vibration isolator |
| CN108458034B (en) * | 2018-03-20 | 2024-04-19 | 华中科技大学 | Load-adjustable metal zero-stiffness vibration isolator |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141210 Termination date: 20160801 |