CN102616099A - Damping suspension frame device and walking machine - Google Patents
Damping suspension frame device and walking machine Download PDFInfo
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- CN102616099A CN102616099A CN2012100835399A CN201210083539A CN102616099A CN 102616099 A CN102616099 A CN 102616099A CN 2012100835399 A CN2012100835399 A CN 2012100835399A CN 201210083539 A CN201210083539 A CN 201210083539A CN 102616099 A CN102616099 A CN 102616099A
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- connecting rod
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- shock
- vehicle bridge
- suspension device
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Abstract
The invention discloses a damping suspension frame device which can be used for a walking machine. The damping suspension frame device comprises a damping oil cylinder and a transition frame, wherein the damping oil cylinder is hinged with a frame body, the transition frame is fixedly connected with a vehicle bridge, and the upper part of the transition frame is hinged with the lower end of the damping oil cylinder; and a connecting rod component is connected with one horizontal end of the transition frame, and the frame body is connected with the other end of the connecting rod component. The damping suspension frame device disclosed by the invention can ensure a damping effect and the compatibility, stability and safety of a running process on the one hand, and can be used for prolonging the service lives of the vehicle bridge and a fixed connection part of the vehicle bridge and the transition frame on the other hand. In addition, the invention further discloses a walking machine.
Description
Technical field
The present invention relates to the damping field, particularly a kind of shock-proof suspension device.In addition, the invention still further relates to a kind of running type machine that comprises this shock-proof suspension device.
Background technology
Along with the fast development of China's economic construction, the especially continuous propelling of urbanization process, market increases for the walking type construction machinery product demand that engineering goods particularly have the walking operational capability day by day.
Because the quality of walking type construction machinery product is big, in-service, wear on tyres is serious.Vehicle bridge has the function of load-bearing, driving, and the safety of tire is very important.In order just to find a rational solution aspect wear-resistant and the safety, the main band tyre that adopts replaces air-inflation tyre in the prior art.Band tyre is compared to air-inflation tyre; Can reduce inflation of tire and the damaged inconvenience that is caused, but the former damping effect is undesirable, therefore; Mainly pass through design shock-proof suspension device in the prior art, and strengthen damping effect at this shock-proof suspension device of the two ends of vehicle bridge installation.In the prior art, shock-proof suspension principle of device such as Fig. 1: vehicle bridge 6 is captiveed joint through both sides tie bolt 3 with transition frame 5, and transition frame 5 is hinged through bearing pin 4 with vehicle frame 1.The tractive force that vehicle bridge 6 produces can pass to vehicle frame 1 through transition frame 5.Be connected with damping oil cylinder 2 one ends directly over the transition frame 5, damping oil cylinder 2 other ends are connected with vehicle frame 1.The bearing force of 6 pairs of vehicle frames 1 of vehicle bridge is passed to transition frame 5, passes through then after the damping of damping oil cylinder 2, passes to vehicle frame 1, thereby makes vehicle frame little in the vertical direction vibrations, goes steadily.
The contriver finds that there is following problem in this shock-proof suspension device: when the road surface situation is undesirable; Both sides tire big rise and fall, the displacement of vehicle bridge 6 two ends short transverses can't pass smoothly, and it is stressed excessive with the bolt 3 of vehicle bridge 6 to cause connecting transition frame 5; Fracture easily; If strengthening stud 3 intensity certainly will cause vehicle bridge 6 to receive extra moment of torsion, influence its life-span.
In view of this; How shock-proof suspension device of the prior art is made improvement, thereby can guarantee damping effect, the harmony in the driving process, stationarity and safety on the one hand; Can prolong the service life of vehicle bridge on the other hand, be the problem that those skilled in the art need solution badly.
Summary of the invention
The technical matters that the present invention will solve is for providing a kind of shock-proof suspension device, and this shock-proof suspension device can guarantee damping effect on the one hand, and the harmony in the driving process, stationarity and safety can prolong the service life of vehicle bridge on the other hand.In addition, another technical matters that will solve of the present invention is for providing a kind of running type machine.
For solving the problems of the technologies described above, the present invention provides a kind of shock-proof suspension device; Said shock-proof suspension device comprises damper element, first connecting rod parts and second connecting rod parts, and wherein, said damper element is connected up and down with vehicle frame, vehicle bridge;
Said first connecting rod parts (8), said second connecting rod parts (9) are articulated and connected with vehicle frame (1), vehicle bridge (6), constitute four-bar linkage structure;
Have angle between said four-bar linkage structure face and the horizontal surface, said angle is less than or equal to 90 ° greater than 0 °.
Preferably, the angle between said four-bar linkage structure face and the horizontal surface is 90 °.
Preferably, the four-bar linkage structure of said first connecting rod parts (8), said second connecting rod parts (9), vehicle frame (1) and vehicle bridge (6) formation is a parallelogram.
Preferably, said shock-proof suspension device comprises transition frame, and wherein said transition frame is connected with axle attachment;
Said damper element is through being articulated and connected with said transition frame, thereby is articulated and connected with said vehicle bridge;
Said first connecting rod parts, said second connecting rod parts are through being articulated and connected with said transition frame, thereby are articulated and connected with vehicle bridge.
Preferably, said transition frame is connected with axle attachment through tie bolt.
Preferably, described shock-proof suspension device also comprises the third connecting rod parts, and wherein, said third connecting rod parts and first connecting rod parts, second connecting rod parts are positioned at same plane; Said third connecting rod parts and vehicle frame, said transition frame are articulated and connected; Vehicle frame, said transition frame and said first connecting rod parts, second connecting rod parts, third connecting rod parts form the parallel-crank mechanism that comprises two parallelogram.
Preferably, the hinge-point place is articulated and connected through oscillating bearing between vehicle frame or said transition frame, said first connecting rod parts or said second connecting rod parts or the said third connecting rod parts.
Preferably, said shock-proof suspension device also comprises at least one bearing pin, and said bearing pin is positioned at the periphery of oscillating bearing.
Preferably, said damper element is the damping oil cylinder, and is articulated and connected up and down with vehicle frame, vehicle bridge.
Preferably, be articulated and connected through oscillating bearing between said damping oil cylinder, vehicle frame or the vehicle bridge.
Preferably, the oscillating bearing periphery is provided with at least one bearing pin.
In addition, for solving the problems of the technologies described above, the present invention also provides a kind of running type machine, and said running type machine comprises vehicle frame and vehicle bridge; Said running type machine also comprises above-mentioned each described shock-proof suspension device.
Preferably, said running type machine also comprises the 4th linkage component, and wherein, said the 4th linkage component two ends are connected with said vehicle bridge two ends respectively, and at least one end is for being articulated and connected.
Preferably, said the 4th linkage component and vehicle bridge hinged place are articulated and connected through oscillating bearing.
Preferably, said oscillating bearing periphery is provided with at least one bearing pin.
On the basis of existing technology, shock-proof suspension device provided by the present invention comprises damper element, first connecting rod parts and second connecting rod parts, and wherein, said damper element is connected up and down with vehicle frame, vehicle bridge;
Said first connecting rod parts 8, said second connecting rod parts 9 are articulated and connected with vehicle frame 1, vehicle bridge 6, constitute four-bar linkage structure;
Have angle between said four-bar linkage structure face and the horizontal surface, said angle is less than or equal to 90 ° greater than 0 °.
Shock-proof suspension device provided by the present invention is installed on the vehicle bridge two ends, in the driving process,, makes after the damping of bearing force through the damping oil cylinder of vehicle bridge to car body, pass to vehicle frame because damper element is connected up and down with vehicle frame, vehicle bridge; Thereby the vehicle frame vertical direction is stressed steadily, and vehicle frame is little in the vertical direction vibrations, goes steadily; Vehicle bridge can pass to vehicle frame through said linkage component to the tractive force of vehicle frame.
When situation was undesirable on the road surface, both sides tire big rise and fall made vehicle bridge both ends horizontal height different; Said first connecting rod parts, second connecting rod parts rotate can offset the caused additional bending moment of vehicle bridge short transverse displacement, thereby, in terms of existing technologies, improved harmony and the safety in the driving process.
In technique scheme, need to prove that only the end in vehicle bridge uses shock-proof suspension device provided by the present invention, can reach damping effect equally, is that those of ordinary skills are predictable.
In sum, shock-proof suspension device provided by the present invention can guarantee damping effect on the one hand, and the harmony in the driving process, stationarity and safety can prolong the service life of vehicle bridge on the other hand.
In addition, running type machine provided by the present invention, the technique effect that its included shock-proof suspension device is obtained is identical with above-mentioned technique effect, thereby repeats no more at this.
Description of drawings
Fig. 1 is the side-looking structural representation of a kind of shock-proof suspension device in the prior art;
Fig. 2 is the side-looking structural representation of shock-proof suspension device in a preferred embodiment of the invention;
Fig. 3 is the side-looking structural representation of shock-proof suspension device in the another preferred embodiment of the present invention;
Fig. 4 is for comprising the structural representation of the running type machine of shock-proof suspension device in the another preferred embodiment of the present invention.
Wherein, the corresponding relation between Reference numeral and the component names is among Fig. 1:
1 vehicle frame;
2 damping oil cylinders;
3 tie bolts;
4 connect bearing pin;
5 transition frame;
6 vehicle bridge.
Wherein, the corresponding relation between Reference numeral and the component names is among Fig. 2:
1 vehicle frame;
2 damping oil cylinders;
3 tie bolts;
6 vehicle bridge;
7 transition frame;
8 first connecting rod parts;
9 second connecting rod parts;
10 oscillating bearings.
Wherein, the corresponding relation between Reference numeral and the component names is among Fig. 3:
1 vehicle frame;
2 damping oil cylinders;
3 tie bolts;
6 vehicle bridge;
7 transition frame;
10 oscillating bearings;
11 first connecting rod parts;
12 third connecting rod parts;
13 second connecting rod parts;
14 bearing pins.
Wherein, the corresponding relation between Reference numeral and the component names is among Fig. 4:
6 vehicle bridge;
7 link spans;
10 oscillating bearings;
14 bearing pins;
15 the 4th linkage components.
The specific embodiment
Core of the present invention is for providing a kind of shock-proof suspension device, and this shock-proof suspension device can guarantee damping effect on the one hand, and the harmony in the driving process, stationarity and safety can prolong the service life of vehicle bridge on the other hand.In addition, another technical matters that will solve of the present invention is for providing a kind of running type machine.
In order to make those skilled in the art understand technical scheme of the present invention better, the present invention is done further detailed description below in conjunction with accompanying drawing and specific embodiment.
Please refer to Fig. 2, Fig. 2 is the side-looking structural representation of shock-proof suspension device in an embodiment of the present invention.
In one embodiment, as shown in Figure 2, shock-proof suspension device provided by the present invention is suitable for running type machine, and running type machine comprises vehicle bridge 6 and vehicle frame 1; On the basis of said structure, as shown in Figure 2, the shock-proof suspension device comprises damping oil cylinder 2 and transition frame 7, and damping oil cylinder 2 upper ends and vehicle frame 1 are hinged, and transition frame 7 is captiveed joint with vehicle bridge 6, and is hinged with damping oil cylinder 2 lower ends directly over the transition frame 7; One end of the horizontal direction of transition frame 7 is hingedly connected with first connecting rod parts 8 and second connecting rod parts 9, and first connecting rod parts 8, second connecting rod parts 9 are articulated and connected with vehicle frame 1, vehicle bridge 6, constitute four-bar linkage structure;
Have angle between said four-bar linkage structure face and the horizontal surface, said angle equals 90 °;
The four-bar linkage structure that first connecting rod parts 8, second connecting rod parts 9, vehicle frame 1 and vehicle bridge 6 form is a parallelogram.
Shock-proof suspension device in the present embodiment is installed and the vehicle bridge two ends; In the driving process,, hinged directly over the transition frame 7 with damping oil cylinder 2 one ends owing to vehicle bridge 6 is captiveed joint with transition frame 7; Damping oil cylinder 2 other ends and vehicle frame 1 are hinged; Make the bearing force of 6 pairs of vehicle frames 1 of vehicle bridge after transition frame 7 is transmitted, after the damping through damping oil cylinder 2, pass to vehicle frame 1; Thereby vehicle frame 1 vertical direction is stressed steadily, and vehicle bridge is little in the vertical direction vibrations, goes steadily; The tractive force of 6 pairs of vehicle frames 1 of vehicle bridge can pass to vehicle frame 1 through first connecting rod parts 8 and second connecting rod parts 9 after transition frame 7 is transmitted.
When situation was undesirable on the road surface, both sides tire big rise and fall made vehicle bridge 6 both ends horizontal height different; Said first connecting rod parts 8 can be offset the caused additional bending moment of vehicle bridge 6 short transverse displacements with second connecting rod parts 9 around the rotation of hinge-point; Thereby; In terms of existing technologies, vehicle bridge 1 is less with the suffered shearing force in said transition frame 7 fixed connection places, thereby; Prolong the service life of vehicle bridge 6, vehicle bridge 6 and said transition frame 7 fixed connection places, and improved harmony and the safety in the driving process.
First connecting rod parts 8, second connecting rod parts 9, vehicle frame 1, vehicle bridge 6 form parallel-crank mechanism in the present embodiment; Obviously; In the said structure design; Parallel-crank mechanism has higher flexibility, can absorb impact energy better, to the buffering that vibrations are carried out, the stationarity that helps going.Can further improve first connecting rod parts 8 and offset the ability of the caused additional bending moment of vehicle bridge 6 short transverse displacements, further improve damping effect with second connecting rod parts 9, and better protection vehicle bridge 6 and vehicle bridge 6 and transition frame 7 junctions; The parallel stationarity that can strengthen in the driving process that moves up and down in vehicle bridge 6 two ends; And make that in the driving process, tire force is even, thereby Tyte Wear is more even, can effectively reduce the replacing frequency of tire.
In technique scheme; Need to prove that the present invention does not limit for the type and the purposes of vehicle bridge, any vehicle bridge (as: drive axle, steeraxle, middle carrying bogie etc.); Be used for any running type machine product (as: car, passenger vehicle, walking type construction machinery etc.); As long as use this shock-proof suspension device, can carry out damping, just all should be within protection scope of the present invention.
On the basis of above-mentioned any technical scheme, can also make further improvement.
Preferably, first connecting rod parts 8 are articulated and connected through oscillating bearing with vehicle frame 1, transition frame 7 point of connection places with second connecting rod parts 9.
Oscillating bearing can bear bigger radially, axial simultaneous joint load, and can be in the rotation of radially, axially carrying out certain angle, requirement according to the invention can realize the object of the invention ideally.
In technique scheme; Need to prove; The present invention does not limit for first connecting rod parts 8 and the articulated manner (model that comprises oscillating bearing) of second connecting rod parts 9 with vehicle frame 1, transition frame 7; As long as the articulated manner that adopts can bear bigger radially, axial simultaneous joint load, and can be in the rotation of radially, axially carrying out certain angle, just all should be within protection scope of the present invention.
On the basis of above-mentioned any technical scheme, can also make further improvement.
Preferably, vehicle bridge 6 is captiveed joint through bolt 3 with transition frame 7 fixed connection places.
Use 3 pairs of vehicle bridge 6 of bolt to captive joint with transition frame 7, simple to operate, be beneficial to maintenance.
In technique scheme; Need to prove that the connection mode that the present invention is captiveed joint with transition frame 7 for vehicle bridge 6 does not limit, adopt welding to wait other captive joint mode; As long as make vehicle bridge 6 captive joint with transition frame 7, just all should be within protection scope of the present invention.
On the basis of technique scheme, can also make further improvement.Please refer to Fig. 3, Fig. 3 is the side-looking structural representation of vehicle bridge shock absorption device among the another kind of embodiment of the present invention.According between the embodiment transition frame 7 of Fig. 3 and the vehicle frame 1 first connecting rod parts 11, second connecting rod parts 13,12, three linkage components of third connecting rod parts being arranged; And be provided with at least one bearing pin 14 at oscillating bearing 10 peripheries; Other mechanism is similar with the embodiment that is connected with according to Fig. 2, repeats no more.
Particularly, as shown in Figure 3, first connecting rod parts 11, second connecting rod parts 13, third connecting rod parts 12 two ends are articulated and connected through oscillating bearing and transition frame 7 and vehicle frame 1 respectively.
Vehicle frame 1, transition frame 7 form the parallel-crank mechanism that comprises two parallelogram with first connecting rod 11, second connecting rod 13, third connecting rod 12.
Obviously; In the said structure design; Vehicle frame 1, link span 7 form and comprise that the parallel-crank mechanism of two parallelogram has higher flexibility with first connecting rod 11, second connecting rod 13, third connecting rod 12; Can absorb impact energy better, to the buffering that vibrations are carried out, the stationarity that helps going.
On the basis of technique scheme, can also do further improvement, as shown in Figure 3, be provided with at least one bearing pin at the periphery of oscillating bearing 10, can play fixing effect to oscillating bearing.
In technique scheme; Need to prove; The present invention does not limit for the quantity of linkage component and the quantity of bearing pin, its linkage component quantity surpass three and each oscillating bearing perimeter pins number of axle amount surpass 1 also all should be within protection scope of the present invention; As long as vehicle frame 1, transition frame 7 comprise that with the linkage component composition parallel-crank mechanism of at least one parallelogram just all should be within protection scope of the present invention.
In addition, the present invention also provides a kind of running type machine, and is as shown in Figure 4, comprises vehicle bridge 6 and vehicle frame 1; Running type machine also comprises the shock-proof suspension device in above-mentioned any technical scheme.Other parts of this running type machine can be with reference to prior art, and this paper no longer launches.
Preferably, said running type machine also comprises the 4th linkage component 15, and wherein, said the 4th linkage component 15 two ends are connected with said vehicle bridge 6 two ends respectively, and at least one end is for being articulated and connected.Said the 4th linkage component can balance vehicle bridge 6 two ends height, further strengthen damping effect.
More than shock-proof suspension device provided by the present invention and running type machine have been carried out detailed introduction.Used concrete example among this paper principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (14)
1. a shock-proof suspension device is characterized in that, said shock-proof suspension device comprises damper element (2), first connecting rod parts (8) and second connecting rod parts (9), and wherein, said damper element (2) is connected up and down with vehicle frame (1), vehicle bridge (6);
Said first connecting rod parts (8), said second connecting rod parts (9) are articulated and connected with vehicle frame (1), vehicle bridge (6), constitute four-bar linkage structure;
Have angle between said four-bar linkage structure face and the horizontal surface, said angle is less than or equal to 90 ° greater than 0 °.
2. shock-proof suspension device as claimed in claim 1 is characterized in that, the four-bar linkage structure that said first connecting rod parts (8), said second connecting rod parts (9), vehicle frame (1) and vehicle bridge (6) form is a parallelogram.
3. shock-proof suspension device as claimed in claim 2 is characterized in that, said shock-proof suspension device comprises transition frame (7), and wherein said transition frame (7) is captiveed joint with vehicle bridge (6);
Said damper element (2) is through being articulated and connected with said transition frame (7), thereby is articulated and connected with said vehicle bridge (6);
Said first connecting rod parts (8), said second connecting rod parts (9) are through being articulated and connected with said transition frame (7), thereby are articulated and connected with vehicle bridge (6).
4. shock-proof suspension device as claimed in claim 3 is characterized in that, said transition frame (7) is captiveed joint with vehicle bridge (6) through tie bolt (3).
5. shock-proof suspension device as claimed in claim 3 is characterized in that, described shock-proof suspension device also comprises third connecting rod parts (12), and wherein, said third connecting rod parts and first connecting rod parts (11), second connecting rod parts (13) are positioned at same plane; Said third connecting rod parts (12) are articulated and connected with vehicle frame (1), said transition frame (7); Vehicle frame (1), said transition frame (7) form the parallel-crank mechanism that comprises two parallelogram with said first connecting rod parts (11), second connecting rod parts (13), third connecting rod parts (12).
6. like claim 3 or 5 described shock-proof suspension devices; It is characterized in that the hinge-point place is articulated and connected through oscillating bearing (10) between vehicle frame (1) or said transition frame (7), said first connecting rod parts (11) or said second connecting rod parts (13) or said third connecting rod (12) parts.
7. shock-proof suspension device as claimed in claim 6 is characterized in that, said shock-proof suspension device also comprises at least one bearing pin (14), and said bearing pin (14) is positioned at the periphery of oscillating bearing (10).
8. shock-proof suspension device as claimed in claim 1 is characterized in that, said damper element (2) is the damping oil cylinder, and is articulated and connected up and down with vehicle frame (1), vehicle bridge (6).
9. shock-proof suspension device as claimed in claim 8 is characterized in that, is articulated and connected through oscillating bearing (10) between said damping oil cylinder (2), vehicle frame or the vehicle bridge.
10. shock-proof suspension device as claimed in claim 9 is characterized in that, said oscillating bearing (10) periphery is provided with at least one bearing pin (14).
11. a running type machine comprises vehicle bridge (6) and vehicle frame (1); It is characterized in that said running type machine also comprises like each described shock-proof suspension device of claim 1 to 10.
12. running type machine as claimed in claim 11 is characterized in that, said running type machine also comprises the 4th linkage component (15); Wherein, Said the 4th linkage component (15) two ends are connected with said vehicle bridge (6) two ends respectively, and at least one end is for being articulated and connected.
13. running type machine as claimed in claim 12 is characterized in that, said the 4th linkage component (15) is articulated and connected through oscillating bearing (10) with vehicle bridge (6) hinged place.
14. running type machine as claimed in claim 13 is characterized in that, said oscillating bearing (10) periphery is provided with at least one bearing pin (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210083539.9A CN102616099B (en) | 2012-03-27 | 2012-03-27 | Damping suspension frame device and walking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210083539.9A CN102616099B (en) | 2012-03-27 | 2012-03-27 | Damping suspension frame device and walking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102616099A true CN102616099A (en) | 2012-08-01 |
| CN102616099B CN102616099B (en) | 2015-03-18 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210083539.9A Active CN102616099B (en) | 2012-03-27 | 2012-03-27 | Damping suspension frame device and walking machine |
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| Country | Link |
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| CN (1) | CN102616099B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102848869A (en) * | 2012-09-21 | 2013-01-02 | 凯盛重工有限公司 | Pin shaft connection rack with buffer device |
| CN104972863A (en) * | 2015-07-02 | 2015-10-14 | 合肥正浩机械科技有限公司 | Suspension device for beam transporting vehicle |
| CN105799440A (en) * | 2016-03-17 | 2016-07-27 | 深圳市神州云海智能科技有限公司 | Hanging mechanism |
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| CN2721433Y (en) * | 2004-05-13 | 2005-08-31 | 安徽江淮汽车股份有限公司 | Air suspending system of bus |
| CN201021088Y (en) * | 2007-04-04 | 2008-02-13 | 梁观源 | Independent front suspension of four-wheel vehicle |
| CN101380882A (en) * | 2008-10-25 | 2009-03-11 | 内蒙古第一机械制造（集团）有限公司 | Four connection-rod hovering loading-bridge device ganged with driving axle |
| CN201415597Y (en) * | 2009-02-12 | 2010-03-03 | 上海锦奔汽车系统有限公司 | Truck drive axle air suspension |
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| US5048858A (en) * | 1989-03-25 | 1991-09-17 | Dr. Ing. H.C.F. Porsche Ag | Wheel suspension system for the front wheels of a motor vehicle |
| CN2721433Y (en) * | 2004-05-13 | 2005-08-31 | 安徽江淮汽车股份有限公司 | Air suspending system of bus |
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| CN101380882A (en) * | 2008-10-25 | 2009-03-11 | 内蒙古第一机械制造（集团）有限公司 | Four connection-rod hovering loading-bridge device ganged with driving axle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102848869A (en) * | 2012-09-21 | 2013-01-02 | 凯盛重工有限公司 | Pin shaft connection rack with buffer device |
| CN104972863A (en) * | 2015-07-02 | 2015-10-14 | 合肥正浩机械科技有限公司 | Suspension device for beam transporting vehicle |
| CN105799440A (en) * | 2016-03-17 | 2016-07-27 | 深圳市神州云海智能科技有限公司 | Hanging mechanism |
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| CN102616099B (en) | 2015-03-18 |
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Denomination of invention: A damping suspension device and a walking machine Effective date of registration: 20211215 Granted publication date: 20150318 Pledgee: Business Department of Hunan Branch of China Construction Bank Co.,Ltd. Pledgor: SANY GROUP Co.,Ltd. Registration number: Y2021430000090 |