CN106917839B - Mechanical damper for nuclear power - Google Patents

Mechanical damper for nuclear power Download PDF

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Publication number
CN106917839B
CN106917839B CN201710253776.8A CN201710253776A CN106917839B CN 106917839 B CN106917839 B CN 106917839B CN 201710253776 A CN201710253776 A CN 201710253776A CN 106917839 B CN106917839 B CN 106917839B
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China
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gear
stroke
rotating shaft
damping
box
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CN201710253776.8A
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Chinese (zh)
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CN106917839A (en
Inventor
罗旋
刘劲涛
代野
赵群
张凯
吕海鸥
张陈
高金刚
王应东
孙长青
关萌
谭越
张贺
潘萍萍
彭胡
白斌
朱爽
孟海星
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Shenyang Institute of Engineering
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Shenyang Institute of Engineering
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Publication of CN106917839A publication Critical patent/CN106917839A/en
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00Vibration-dampers; Shock-absorbers
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00Energy generation of nuclear origin
    • Y02E30/30Nuclear fission reactors

Abstract

The invention relates to a mechanical damper for nuclear power, which mainly comprises a box body internally provided with a damping system, wherein one end of the box body is connected with a fixing device, the other end of the box body is connected with a stroke shell, a stroke rack capable of controlling the stroke of the damper and a synchronous gear meshed with the stroke rack are arranged in the damping box body, one end of the stroke rack can penetrate into an inner cavity of the fixing device under load, the other end of the stroke rack is connected with the stroke shell II, an acceleration gear I is coaxially arranged with the synchronous gear, the acceleration effect is achieved through the meshing of the acceleration gear I and the acceleration gear, and a damping executing mechanism I and a damping executing mechanism II for achieving the external load reducing effect are arranged on the right sides of the stroke rack and the synchronous gear and the left sides of the acceleration gear I and the acceleration gear II in a cavity of the box body. The mechanical damper is compact in structure, reasonable in stress, stable in performance and good in shock absorption effect, can form soft rigid support for instantaneous high-amplitude vibration, and effectively improves safety and reliability of nuclear power equipment.

Description

Mechanical damper for nuclear power
Technical Field
The invention relates to a damper, in particular to a mechanical damper for nuclear power.
Background
Damping refers to the characteristics of various friction and other damping effects that can damp free vibrations, and a special element mounted on a structural system that can absorb and dampen the energy of vibrations and shocks is called a damper. The damper is used as a component, can be used in different places or different working environments, or is used for vibration reduction or vibration prevention; the device is allowed to move when the loaded speed is low, and is locked or approximately locked when the loaded speed or acceleration exceeds an allowable value, so that a rigid support is formed, important facilities such as buildings, engineering structures, mechanical structures and the like are protected, and impact damage caused by earthquakes, explosions, natural wind power and the like is avoided. Common types of dampers today are: spring dampers, hydraulic dampers, impulse dampers, rotary dampers, wind dampers, viscous dampers, etc.
The damper is one of important safety protection devices of mechanical equipment in a nuclear power plant, and the damage of a pipeline during an earthquake is mostly caused by the failure of a support hanger as shown by disaster investigation statistical results. The damper is used for protecting pipelines and equipment of a nuclear power plant from being damaged when sudden load (such as earthquake and alternating load or continuous load) is applied, does not generate constraint action on slow movement caused by normal thermal expansion, can be approximately regarded as rigid, and can provide rigid support for the pipelines and the equipment and limit displacement of the pipelines and the equipment so as not to be damaged.
Related art related researchers have conducted a great deal of research regarding the structure and technical improvement of dampers. For example, the invention patent with application publication number CN104775535A discloses a damper for construction, which employs two passages axially symmetrically disposed on a piston body, wherein the passages are composed of a conical valve core and a valve core spring. The invention has small installation space, small low-speed motion resistance, high energy consumption efficiency and good sealing property; the invention patent with application publication number CN 105864347A discloses a mechanical adjustable damping shock absorber, which is suitable for various vehicle suspensions or seats requiring the damping force of the shock absorber to be adjusted along with the change of the vehicle running condition.
In summary, although the dampers have various structural forms and many advantages, most dampers have complicated structures and are mostly used for civil use, and dampers for nuclear power are rarely reported. In addition, when most dampers are under the action of sudden load, rigid support is formed, the structure is in a zero displacement state, and the support members are easily damaged by overload impact.
Disclosure of Invention
Object of the Invention
In order to solve the problems, the invention provides a mechanical damper for nuclear power, which is compact in structure, reasonable in stress, stable in performance and good in shock absorption effect, and can form a soft rigid support for instantaneous high-amplitude vibration.
In order to achieve the purpose, the invention adopts the following technical scheme:
the mechanical damper for nuclear power consists of a fixing device, a box body and a stroke shell, wherein one end of the box body is connected with the fixing device, and the other end of the box body is connected with the stroke shell; the box body comprises a box base and a box cover, two corresponding rotating shaft grooves are respectively formed in the bottom of the box base and the top of the box cover, and a rotating shaft I and a rotating shaft II are fixed in the rotating shaft grooves; and a mechanical damping system is arranged in the box body, and comprises a stroke rack, a synchronizing gear meshed with the stroke rack, an accelerating gear I coaxial with the synchronizing gear, an accelerating gear II meshed with the accelerating gear I, and a damping executing mechanism I and a damping executing mechanism II which are arranged on the right sides of the stroke rack and the synchronizing gear in the box body and on the left sides of the accelerating gear I and the accelerating gear II.
Fixing device includes fixing support, fixing sleeve and locking sleeve, and fixed cover section of thick bamboo internal connection is port on the case seat, and the port is connected on the case seat to the locking sleeve external connection, and inside has the fixing support internal connection of cavity and connects in fixing sleeve, wholly adopts locking processing to fixing device after the assembly.
The stroke shell consists of a lead sleeve, a stroke shell I and a stroke shell II; the lead sleeve is made of copper and is arranged in the stroke shell I in an interference fit mode, and the lead sleeve and the stroke shell I are jointly pinned to the lower end of the box base; and the stroke shell II is circumferentially sleeved outside the stroke shell I, and the tail end of the stroke shell II is connected with a tail joint bearing.
One side of the stroke rack, which is not a rack, is in direct contact with a rack lead block fixed on the box seat through threaded connection, one side of the stroke rack is meshed with a synchronous gear installed on the rotating shaft I, one axial end of the stroke rack can penetrate into a cavity of the fixing device under the action of load, and the other axial end of the stroke rack is connected with the stroke shell II.
The damping executing mechanism I comprises an executing gear I arranged on a rotating shaft II and a damping wheel I arranged on the rotating shaft I, and the executing gear I is matched with the damping wheel I; the damping executing mechanism II comprises an executing gear II arranged on the rotating shaft II and a damping wheel II arranged on the rotating shaft I, and the executing gear II is matched with the damping wheel II; and the damping executing mechanism I and the damping executing mechanism II are symmetrically arranged.
In the mechanical damping system, the synchronous gear adopts a pinion, the speed increasing gear I adopts a multi-tooth bull gear, and the speed increasing gear II adopts a pinion.
The execution gear I adopts a complete gear, and the damping wheel I matched with the complete gear adopts a double-latch structure which blocks the execution gear I from moving; the execution gear II is a complete gear, and the damping wheel II matched with the complete gear is of a double-latch structure which blocks the execution gear II to move.
The pivot I is fixed a position with II pivot grooves on the case lid by pivot groove I on the case seat, pivot II fix a position with IV pivot grooves on the case lid by pivot groove III on the case seat.
A damping wheel II, a speed-up gear I, a synchronizing gear and a damping wheel I are sequentially arranged on the rotating shaft I from the box base to the box cover; and an executing gear II, a speed-increasing gear II and an executing gear I are sequentially arranged on the rotating shaft II from the box base to the box cover.
The working principle of the mechanical damper for nuclear power is as follows:
when the damper shell is under pressure, the stroke rack moves towards the cavity of the fixing device under the action of load to drive the synchronous gear meshed with the stroke rack to rotate, meanwhile, the speed-increasing gear I coaxial with the synchronous gear, the damping wheel I and the damping wheel II rotate, the speed-increasing gear I is meshed with the speed-increasing gear II, the speed-increasing effect is achieved through the gear ratio of the two gears, the execution gear I coaxial with the speed-increasing gear II and the execution gear II rotate in an accelerating mode, under the reverse striking of the gear teeth of the execution gear I and the execution gear II and the double-clamping teeth of the damping wheel I and the damping wheel II, the limitation on the moving speed of the stroke rack is achieved, and the damping effect is achieved.
When the damper housing is subjected to a tensile force, the working principle is the same as that in the above case, and the directions of movement or rotation of the components in the mechanical damping system are opposite.
Advantageous effects
The invention has the advantages that:
the invention discloses a mechanical damper for nuclear power. A mechanical damping system is arranged in the box body, a stroke rack in the mechanical damping system is meshed with the synchronous gear under the action of load, and a damping executing mechanism I and a damping executing mechanism II which are arranged at the top and the bottom in the box body are driven through the acceleration action of the acceleration gear I and the acceleration gear II, so that the effect of reducing the external load is realized.
The damper is mechanical in structure, compact in structure, reasonable in stress, stable in performance and good in shock absorption effect, and can effectively protect nuclear power pipelines and equipment. The flexible support is allowed to move when the load is carried and the speed is low, so that the flexible support is formed; the device does not lock when the loading speed or acceleration is too high, and moves slowly to form a soft rigid support; the rigid support is formed only when the stroke limit value is reached.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a schematic structural view of the box base.
Fig. 4 is a schematic view of the case cover structure.
Description of reference numerals:
1. the damping device comprises a fixing device, 1-1 fixed support, 1-2 fixed sleeve, 1-3 locking sleeve, 2 box body, 2-1 box seat, 2-2 box cover, 3 stroke rack, 4 synchronizing gear, 5 accelerating gear I, 6 accelerating gear II, 7 damping executing mechanism I, 7-1 executing gear I, 7-2 damping wheel I, 8 damping executing mechanism II, 8-1 executing gear II, 8-2 damping wheel II, 9 stroke shell, 9-1 lead sleeve, 9-2 stroke shell I, 9-3 stroke shell II, 10 tail joint bearing, 11 rack lead block, 12 rotating shaft I, 13 rotating shaft II, 12 rotating shaft II, 14. And the rotating shaft grooves I and 15, the rotating shaft grooves II and 16, the rotating shaft grooves III and 17 and the rotating shaft groove IV.
The specific implementation mode is as follows:
the invention is further described below with reference to the accompanying drawings:
the invention relates to a mechanical damper for nuclear power, which comprises a fixing device 1, a box body 2 and a stroke shell 9 as shown in figures 1 and 2, wherein the fixing device 1 is connected above the box body 2, and the stroke shell 9 is connected below the box body 2. As shown in fig. 3 and 4, the box body 2 comprises a box base 2-1 and a box cover 2-2, two corresponding rotating shaft grooves are respectively arranged at the bottom in the box base 2-1 and the top in the box cover 2-2, and a rotating shaft i 12 and a rotating shaft ii 13 are fixed in the rotating shaft grooves; the inside cube cavity that is of box 2, and be equipped with mechanical damping system, mechanical damping system is including the stroke rack 3 of control attenuator stroke, synchronous gear 4 with stroke rack 3 meshing, with synchronous gear 4 coaxial increasing gear I5, increasing gear II 6 with increasing gear I5 meshing, set up in box cavity stroke rack 3 and synchronous gear 4 right side and increasing gear I5 and increasing gear II 6 left damping actuating mechanism I7 and damping actuating mechanism II 8 that are used for realizing external load slow down effect. When the travel rack 3 is under tension or under compression under load, its displacement is limited by the action of the damping actuator.
The stroke rack 3 is meshed with the synchronous gear 4 under the action of load, and drives a damping executing mechanism I7 and a damping executing mechanism II 8 which are arranged in the box body 2 through the acceleration action of the acceleration gear I5 and the acceleration gear II 6, so that the effect of reducing the external load is realized.
One end of the box seat 2-1 is connected with the fixing device 1, and the other end of the box seat is connected with the stroke shell I9-2.
The fixing device 1 comprises a fixing support 1-1, a fixing sleeve 1-2 and a locking sleeve 1-3, wherein the fixing sleeve 1-2 is internally connected to an upper port of the box seat 2-1, the locking sleeve 1-3 is externally connected to the upper port of the box seat 2-1, the fixing support 1-1 with a cavity inside is internally connected to the fixing sleeve 1-2, and anti-loosening treatment is carried out on the whole fixing device 1 after assembly.
The stroke shell 9 consists of a lead sleeve 9-1, a stroke shell I9-2 and a stroke shell II 9-3; the lead sleeve 9-1 is made of copper and is arranged in the stroke shell I9-2 in an interference fit mode, and the lead sleeve 9 and the stroke shell I9-2 are jointly pinned to the lower end of the box seat 2-1; the stroke shell II 9-3 is circumferentially sleeved outside the stroke shell I9-2, and the tail end of the stroke shell II is connected with a tail joint bearing 10.
In the mechanical damping system, the stroke of the damper is controlled by the stroke rack, one side of the stroke rack 3, which is not the rack, is in direct contact with the rack lead block 11 which is fixedly connected with the box seat 2-1 by threads, and one side of the stroke rack 3, which is the rack, is meshed with the synchronous gear 4 arranged on the rotating shaft I12, so that bidirectional positioning is realized. One axial end of the stroke rack 3 can penetrate into a cavity of the fixing device 1 under the action of load, and the other end of the stroke rack is connected with the stroke shell II 9-3.
The damping executing mechanism I7 comprises an executing gear I7-1 arranged on a rotating shaft II 13 and a damping wheel I7-2 arranged on a rotating shaft I12, and the executing gear I7-1 is matched with the damping wheel I7-2; the damping execution mechanism II 8 comprises an execution gear II 8-1 arranged on a rotating shaft II 13 and a damping wheel II 8-2 arranged on a rotating shaft I12, and the execution gear II 8-1 is matched with the damping wheel II 8-2; and in order to make the load borne by the damping system uniform, the damping actuating mechanism I7 and the damping actuating mechanism II 8 are symmetrically arranged.
The execution gear I7-1 is a complete gear, and the damping wheel I7-2 matched with the complete gear is of a double-clamping-tooth structure which can block the execution gear I7-1; the execution gear II 8-1 adopts a complete gear, and the damping wheel II 8-2 matched with the complete gear adopts a double-clamping-tooth structure which can block the execution gear II 8-1 to move; this acts to retard the movement of the actuator gear I and the actuator gear II. When the external load transmits the motion to the execution gear I7-1 and the execution gear II 8-1 through the stroke rack 3, the motion is continuously hindered by double clamping teeth of the damping wheel I7-2 and the damping wheel II 8-2, and the movement of the stroke rack 3 is further limited.
As shown in fig. 3 and 4, the rotating shaft i 12 is positioned by a rotating shaft groove i 14 on the box base 2-1 and a rotating shaft groove ii 15 on the box cover 2-2, and the rotating shaft ii 13 is positioned by a rotating shaft groove iii 16 on the box base 2-1 and a rotating shaft groove iv 17 on the box cover 2-2.
The damping wheel II 8-2, the speed-up gear I5, the synchronous gear 4 and the damping wheel I7-2 are sequentially arranged on the rotating shaft I12 from the box base to the box cover; an execution gear II 8-1, a speed increasing gear II 6 and an execution gear I7-1 are sequentially arranged on the rotating shaft II 13 from the box base to the box cover.
The stroke rack 3 is meshed with the synchronous gear 4; an accelerating gear I5 is arranged on the rotating shaft I12 and positioned below the synchronizing gear 4, the accelerating gear I5 is meshed with an accelerating gear II 6 arranged on a rotating shaft II 13, and an executing gear I7-1 is matched with a damping wheel I7-2; and the execution gear II 8-1 is matched with the damping wheel II 8-2.
As shown in fig. 1, in a box body 2, a pinion is adopted as the synchronizing gear 4, a multi-tooth bull gear is adopted as the speed-increasing gear i 5, and a pinion is adopted as the speed-increasing gear ii 6; the rotation speed of the two wheels is adjusted through the difference of the tooth numbers of the speed increasing gear I5 and the speed increasing gear II 6, so that the displacement of the stroke rack 3 is amplified in the execution gear I7-1 and the execution gear II 8-1, and the blocking times of the damping wheel I7-2 and the damping wheel II 8-2 are increased.
The working principle of the mechanical damper for nuclear power is as follows:
when the damper is under the action of external load (tension and pressure), the stroke rack moves towards the cavity of the fixing device under the action of the load to drive the synchronous gear meshed with the stroke rack to rotate. Meanwhile, a speed-up gear I, a damping wheel I and a damping wheel II which are coaxial with the synchronizing gear rotate, and the speed-up gear I is meshed with the speed-up gear II. The speed-increasing effect is realized through the gear ratio of the two gears, the execution gear I and the execution gear II which are coaxial with the speed-increasing gear II rotate in an accelerating mode, and under the reverse striking of the gear teeth of the execution gear I and the execution gear II and the double-clamping teeth of the damping gear I and the damping gear II, the limitation on the moving speed of the stroke rack is realized, so that the damping effect is realized.
When the damper is under the action of impact load, the damping system is not locked and moves slowly, and a soft rigid support can be formed; and when the stroke limit value is reached, a rigid support is formed. When the pipeline and the equipment are impacted, the displacement of the pipeline and the equipment can be effectively limited, and meanwhile, the vibration absorption is buffered, the amplitude is reduced, and the device is suitable for safety support of a nuclear power station.

Claims (8)

1. The mechanical damper for the nuclear power consists of a fixing device (1), a box body (2) and a stroke shell (9), wherein one end of the box body (2) is connected with the fixing device (1), and the other end of the box body (2) is connected with the stroke shell (9); the box body (2) comprises a box base (2-1) and a box cover (2-2), two corresponding rotating shaft grooves are respectively formed in the bottom of the box base (2-1) and the top of the box cover (2-2), and a rotating shaft I (12) and a rotating shaft II (13) are fixed in the rotating shaft grooves; a mechanical damping system is arranged in the box body (2), and comprises a stroke rack (3), a synchronizing gear (4) meshed with the stroke rack (3), a speed-increasing gear I (5) coaxial with the synchronizing gear (4), a speed-increasing gear II (6) meshed with the speed-increasing gear I (5), and a damping executing mechanism I (7) and a damping executing mechanism II (8) which are arranged on the right sides of the stroke rack (3) and the synchronizing gear (4) and on the left sides of the speed-increasing gear I (5) and the speed-increasing gear II (6) in the box body (2);
the damping executing mechanism I (7) comprises an executing gear I (7-1) arranged on the rotating shaft II (13) and a damping wheel I (7-2) arranged on the rotating shaft I (12), and the executing gear I (7-1) is matched with the damping wheel I (7-2); the damping executing mechanism II (8) comprises an executing gear II (8-1) arranged on the rotating shaft II (13) and a damping wheel II (8-2) arranged on the rotating shaft I (12), and the executing gear II (8-1) is matched with the damping wheel II (8-2); and the damping actuating mechanism I (7) and the damping actuating mechanism II (8) are symmetrically arranged.
2. The mechanical damper for nuclear power of claim 1, characterized in that: the fixing device (1) comprises a fixing support (1-1), a fixing sleeve (1-2) and a locking sleeve (1-3), the fixing sleeve (1-2) is connected to the upper port of the box seat (2-1) in the box seat, the locking sleeve (1-3) is connected to the upper port of the box seat (2-1) outside, the fixing support (1-1) with a cavity inside is connected to the fixing sleeve (1-2) in the box seat, and anti-loosening treatment is adopted for the whole fixing device (1) after assembly.
3. The mechanical damper for nuclear power of claim 1, characterized in that: the stroke shell (9) consists of a lead sleeve (9-1), a stroke shell I (9-2) and a stroke shell II (9-3); the lead sleeve (9-1) is made of copper and is arranged in the stroke shell I (9-2) in an interference fit mode, and the lead sleeve (9-1) and the stroke shell I (9-2) are jointly pinned to the lower end of the box base (2-1); and the stroke shell II (9-3) is circumferentially sleeved outside the stroke shell I (9-2), and the tail end of the stroke shell II is connected with a tail joint bearing (10).
4. The mechanical damper for nuclear power of claim 3, characterized in that: one side, not provided with a rack, of the stroke rack (3) is in direct contact with a rack lead block (11) which is fixedly connected with the box seat (2-1) through threads, one side of the stroke rack (3) is meshed with a synchronous gear (4) arranged on a rotating shaft I (12), one axial end of the stroke rack (3) can penetrate into a cavity of the fixing device (1) under the action of load, and the other end of the stroke rack (3) is connected with a stroke shell II (9-3).
5. The mechanical damper for nuclear power of claim 1, characterized in that: in the mechanical damping system, the synchronous gear (4) adopts a pinion, the speed-increasing gear I (5) adopts a multi-tooth bull gear, and the speed-increasing gear II (6) adopts a pinion.
6. The mechanical damper for nuclear power as claimed in claim 1, wherein: the execution gear I (7-1) adopts a complete gear, and the damping wheel I (7-2) matched with the complete gear adopts a double-clamping-tooth structure which can block the execution gear I (7-1) from moving; the execution gear II (8-1) adopts a complete gear, and the damping wheel II (8-2) matched with the complete gear adopts a double-latch structure which can block the execution gear II (8-1) from moving.
7. The mechanical damper for nuclear power of claim 1, characterized in that: the rotating shaft I (12) is positioned by a rotating shaft groove I (14) on the box seat (2-1) and a rotating shaft groove II (15) on the box cover (2-2), and the rotating shaft II (13) is positioned by a rotating shaft groove III (16) on the box seat (2-1) and a rotating shaft groove IV (17) on the box cover (2-2).
8. The mechanical damper for nuclear power as claimed in claim 1, wherein: a damping wheel II (8-2), a speed-up gear I (5), a synchronous gear (4) and a damping wheel I (7-2) are sequentially arranged on the rotating shaft I (12) from the box base to the box cover; an execution gear II (8-1), a speed increasing gear II (6) and an execution gear I (7-1) are sequentially arranged on the rotating shaft II (13) from the box base to the box cover.
CN201710253776.8A 2017-04-18 2017-04-18 Mechanical damper for nuclear power Active CN106917839B (en)

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CN110699906A (en) * 2018-07-09 2020-01-17 青岛海尔洗衣机有限公司 Damping device and top-opening type clothes treatment equipment
WO2020257961A1 (en) * 2019-06-24 2020-12-30 佛山市爱迪尔卫浴有限公司 Bidirectional damper and shower door assembly
CN111520435A (en) * 2020-04-30 2020-08-11 庆安集团有限公司 Mechanical damper

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JP2004175151A (en) * 2002-11-25 2004-06-24 Nifco Inc Damper unit and glove box device using this damper unit
TWM334228U (en) * 2007-12-19 2008-06-11 Pingood Entpr Co Ltd Damper
CN102102735A (en) * 2011-03-15 2011-06-22 重庆工商大学 Vibration damping device of gear transmission flywheel
TWI482917B (en) * 2012-03-09 2015-05-01 Univ Nat Taiwan Vibration damper and a method for operating a vibration-damping system having the same
CN105333054A (en) * 2015-08-14 2016-02-17 重庆圣普锣建材有限公司 Gear and rack shock absorber
CN206682207U (en) * 2017-04-18 2017-11-28 沈阳工程学院 The mechanical damper of nuclear power
CN216200093U (en) * 2021-07-01 2022-04-05 青岛海尔洗衣机有限公司 Vibration damper and washing equipment

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