EP3239014A1 - Schienenfahrzeug und vibrationsdämpfende und aufhängungsvorrichtung dafür - Google Patents

Schienenfahrzeug und vibrationsdämpfende und aufhängungsvorrichtung dafür Download PDF

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Publication number
EP3239014A1
EP3239014A1 EP16203183.5A EP16203183A EP3239014A1 EP 3239014 A1 EP3239014 A1 EP 3239014A1 EP 16203183 A EP16203183 A EP 16203183A EP 3239014 A1 EP3239014 A1 EP 3239014A1
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EP
European Patent Office
Prior art keywords
suspension device
outer sleeve
top cover
vibration damping
annular member
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.)
Granted
Application number
EP16203183.5A
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English (en)
French (fr)
Other versions
EP3239014B1 (de
Inventor
Shifeng Xu
Peng Gao
Derong Zhang
Wendong Shao
Shihui Duan
Xinqiang Liu
Wei Du
Zengchuang Zhao
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CRRC Qiqihar Rolling Stock Co Ltd
Original Assignee
CRRC Qiqihar Rolling Stock Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by CRRC Qiqihar Rolling Stock Co Ltd filed Critical CRRC Qiqihar Rolling Stock Co Ltd
Priority to PL16203183T priority Critical patent/PL3239014T3/pl
Publication of EP3239014A1 publication Critical patent/EP3239014A1/de
Application granted granted Critical
Publication of EP3239014B1 publication Critical patent/EP3239014B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
    • B61F5/04—Bolster supports or mountings
    • B61F5/08—Bolster supports or mountings incorporating rubber springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
    • B61F5/14—Side bearings
    • B61F5/142—Side bearings made of rubber elements, graphite or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
    • B61F5/22—Guiding of the vehicle underframes with respect to the bogies
    • B61F5/24—Means for damping or minimising the canting, skewing, pitching, or plunging movements of the underframes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/26—Mounting or securing axle-boxes in vehicle or bogie underframes
    • B61F5/30—Axle-boxes mounted for movement under spring control in vehicle or bogie underframes
    • B61F5/305—Axle-boxes mounted for movement under spring control in vehicle or bogie underframes incorporating rubber springs

Definitions

  • the present application relates to the technical field of a vibration damping and suspension structure for a railway vehicle, particularly to a railway vehicle and a vibration damping and suspension device.
  • a railway vehicle is generally driven by a locomotive or a power car to run on two parallel tracks.
  • a running portion that is a bogie, is required to allow the vehicle to make a translational motion along the tracks by the rotation of a wheel set.
  • a vibration damping and suspension device has a critical influence on the stability and safety of the vehicle running at a high speed.
  • the vibration damping and suspension device of the railway vehicle can be divided as a primary suspension device, a secondary suspension device and an elastic side bearing.
  • the primary suspension device is installed between an axle box and a bogie frame, and is used to transfer a force between the wheel set and the bogie and has a positioning function.
  • a specific structure of a conventional primary suspension device can refer to a Chinese utility model No. ZL200620147882.5 titled "BOGIE POSITIONING DEVICE FOR RAILWAY HIGH SPEED WAGON".
  • the secondary suspension device is installed between the bogie frame and a swing bolster and is used for buffering impacts, damping vibrations and improving the operational stability of the vehicle.
  • a specific structure of a conventional secondary suspension device can refer to a Chinese patent No. ZL201110000333.0 titled "CENTRAL SUSPENSION AND HIGH SPEED WAGON BOGIE HAVING THE SAME".
  • the elastic side bearing is installed between the vehicle body and the bogie swing bolster.
  • a specific structure of a conventional elastic side bearing can refer to a Chinese utility model No. ZL201020554552.4 titled "ELASTIC STOPPING PLATE AND ELASTIC SIDE BEARING".
  • An object of the present application is to provide a vibration damping and suspension device for a railway vehicle to solve the problems that the conventional vibration damping and suspension device has a small vertical damping and a low universality.
  • a railway vehicle having the vibration damping and suspension device is further provided according to the present application.
  • the vibration damping and suspension device includes a top cover, an elastic annular member and an outer sleeve.
  • the top cover has an inner positioning pillar and an outer gland, the outer sleeve is fixedly connected to an outer peripheral wall of the elastic annular member and the inner positioning pillar is fixedly inserted in the elastic annular member.
  • Both the outer sleeve and the elastic annular member are provided with a gap extending in a radial direction, to allow the outer gland to pre-press the elastic annular member against the inner positioning pillar in the radial direction by means of the outer sleeve.
  • a wearing ring is arranged between the outer sleeve and the outer gland and the wearing ring is provided with a gap extending in the radial direction.
  • the wearing ring is a non-metal wearing ring.
  • the number of the gap is two, and the two gaps are bilaterally symmetrical with respect to a longitudinal central line of the elastic annular member.
  • the elastic annular member is a conical elastic annular member.
  • the elastic annular member includes a plurality of elastic members and a plurality of bushings, which are superposed alternately in the radial direction and fixedly connected, the inner positioning pillar is fixedly inserted into an innermost bushing, and the outer sleeve is fixedly connected with an outermost elastic member.
  • a railway vehicle which includes a primary suspension device, a secondary suspension device and/or an elastic side bearing, wherein each of the primary suspension device, the secondary suspension device and the elastic side bearing is the above vibration damping and suspension device;
  • the elastic annular member When the vibration damping and suspension device functions as the primary suspension device and the secondary suspension device and is subjected to a vertical downward outer loading, the elastic annular member generates an elastic deformation and drives the top cover to slide downward by a predetermined displacement with respect to the outer sleeve, thereby realizing the vibration damping function and form an upward vertical frictional damping at the same time.
  • the elastic annular member moves upward and drives the outer sleeve to move upward, to form a downward vertical frictional damping, and thus the stability and safety of the railway vehicle running at a high speed are improved.
  • the vibration damping and suspension device functions as the elastic side bearing
  • not only an effect of rotation damping and vertical damping is formed between the top cover and the outer sleeve but also a shear deformation occurs on the elastic annular member under the action of the outer loading. Therefore, the deformation travel is large and a side bearing force has a low sensitiveness to the permanent deformation, and thus the trains have a strong long-distance running ability.
  • the top cover is detachably connected with the bogie frame, the bogie swing bolster and/or the sleeper beam.
  • the top cover is in an interference fit with the bogie frame, the bogie swing bolster and the sleeper beam by a connecting pillar and a connecting hole which matches with each other, one of the connecting pillar and the connecting hole is arranged on the top cover, and the other one of the connecting pillar and the connecting hole is arranged on the bogie frame, the bogie swing bolster and the sleeper beam.
  • the top cover is connected with the bogie frame, the bogie swing bolster and the sleeper beam by a fastener, the top cover has a top cover flange which is formed by extending outward in a horizontal direction, and the top cover flange is provided with a top cover mounting hole configured to cooperate with the fastener.
  • the outer sleeve is detachably connected with the axle box, the bogie frame and the bogie swing bolster.
  • the outer sleeve is in the interference fit with the connecting hole of each of the axle box, the bogie frame and the bogie swing bolster.
  • the outer sleeve is connected with the axle box, the bogie frame and the bogie swing bolster by the fastener, the outer sleeve has an outer sleeve flange which is formed by extending outward in a horizontal direction, and the outer sleeve flange is provided with an outer sleeve mounting hole configured to cooperate with the fastener.
  • top cover 11 inner positioning pillar, 12 outer gland, 13 top cover connecting pillar, 14 top cover flange, 14o top cover mounting hole; 2 elastic annular member: 21 elastic member, 22 bushing; 3 outer sleeve: 31 outer sleeve flange, 31o outer sleeve mounting hole; 4 wearing ring; O gap.
  • a vibration damping and suspension device adapted to a railway vehicle is provided according to the present application and has a vertical frictional damping. On this basis, a railway vehicle having the vibration damping device is further provided according to the present application.
  • a direction in parallel with a running direction of the railway vehicle is defined as the longitudinal direction.
  • a direction that the running direction points to is defined as front, and a direction opposite to the running direction is defined as back.
  • a direction perpendicular to the longitudinal direction is a transverse direction.
  • a direction at the left hand side is defined as left and a direction at the right hand side is defined as right.
  • a direction perpendicular to the running track plane of the railway vehicle is defined as a vertical direction. In the vertical direction, a direction close to the running track plane is defined as down and a direction away from the running track plane is defined as up.
  • Fig. 1 is a front axial sectional view which schematically shows the structure of an embodiment of a vibration damping and suspension device according to the present application
  • Fig. 2 is a bottom view which schematically shows the structure of the vibration damping and suspension device in Fig.1 .
  • the vibration damping and suspension device includes a top cover 1, an elastic annular member 2 and an outer sleeve 3.
  • the top cover 1 has an inner positioning pillar 11 and an outer gland 12 which are formed by extending downward from a lower end surface of the top cover 1.
  • the outer sleeve 3 is fixedly connected to an outer circumferential wall of the elastic annular member 2.
  • the elastic annular member 2 is fixedly sleeved on the inner positioning pillar 11 of the top cover 1.
  • Both the outer sleeve 3 and the elastic annular member 2 are provided with a gap O extending in a radial direction, thus the elastic annular member 2 can be pre-pressed against the inner positioning pillar 11 in the radial direction under the action of the outer gland 12.
  • the vibration damping and suspension device can function as any of a primary suspension device, a secondary suspension device and an elastic side bearing of the railway vehicle.
  • the top cover 1 when it functions as the primary suspension device, the top cover 1 is fixedly connected to a bogie frame of the railway vehicle, and the outer sleeve 3 is configured to be fixedly connected to an axle box of the railway vehicle.
  • the secondary suspension device when it functions as the secondary suspension device, the top cover 1 is fixedly connected to a bogie swing bolster of the railway vehicle, and the outer sleeve 3 is configured to be fixedly connected to the bogie frame of the railway vehicle.
  • the elastic side bearing a fraction pair is formed by the top cover 1 and a side bearing wearing plate of the railway vehicle body, and the outer sleeve 3 is fixedly connected to the bogie swing bolster of the railway vehicle.
  • the elastic annular member 2 When the vibration damping and suspension device functions as the primary suspension device and the secondary suspension device and is subject to a vertical downward outer loading, the elastic annular member 2 generates an elastic deformation and drives the top cover 1 to slide downward by a predetermined displacement with respect to the outer sleeve 3, thereby realizing the vibration damping function and form an upward vertical frictional damping at the same time.
  • the elastic annular member 2 moves upward and drives the outer sleeve 3 to move upward, to form a downward vertical frictional damping, and thus the stability and safety of the railway vehicle running at a high speed are improved.
  • the vibration damping and suspension device functions as the elastic side bearing, not only an effect of rotation damping and vertical damping is formed between the top cover 1 and the outer sleeve 3 but also a shear deformation occurs on the elastic annular member 2 under the action of the outer loading. Therefore, the deformation travel is large and a side bearing force has a low sensitiveness to the permanent deformation, and thus the trains have a strong long-distance running ability.
  • top cover 1 of the vibration damping and suspension device is detachably fixed to the bogie frame or the bogie swing bolster by a common means in the mechanical field such as an interference fit or a fastener and the like, so as to facilitate examining and maintaining.
  • Fig. 3a is a front axial sectional view schematically showing the structure of an embodiment of a top cover
  • Fig. 3b is a bottom view schematically showing the structure of the top cover
  • an upper end surface of the top cover 1 protrudes upwards to form a top cover connecting pillar 13 which extends upward in a vertical direction.
  • the bogie frame and the bogie swing bolster are both provided with a connecting hole matching with the top cover connecting pillar 13 at corresponding positions.
  • the top cover connecting pillar 13 is in an interference fit with the connecting holes, to realize a detachable connection between the top cover 1 and the bogie frame and between the top cover 1 and the bogie swing bolster.
  • the connecting pillar and the connecting hole can be arranged reversely, that is, the connecting pillar is arranged on the bogie frame and the bogie swing bolster and the connecting hole is arranged on the top cover 1.
  • Fig. 4a is a front axial sectional view schematically showing the structure of another embodiment of a top cover
  • Fig. 4b is a bottom view schematically showing the structure of the top cover
  • the top cover 1 has a top cover flange 14 which is formed by extending outward in a horizontal direction.
  • the top cover flange 14 is provided with a top cover mounting hole 14o.
  • the bogie frame and the bogie swing bolster are each provided with a matching fastener mounting hole such as a threaded hole or a through hole, thus the top cover 1 can be detachably connected with the bogie frame or the bogie swing bolster by the fastener such as a bolt assembly or a screw assembly.
  • the outer sleeve 3 of the vibration damping and suspension device is detachably connected with an axle box, the bogie frame and the bogie swing bolster by interference fit or the fastener.
  • Fig. 5a is a front axial sectional view schematically showing the structure of an embodiment of an assembly of an elastic annular member and an outer sleeve
  • Fig. 5b is a bottom view schematically showing the structure of the assembly of the elastic annular member and the outer sleeve
  • an outer peripheral wall of the outer sleeve 3 can be in direct interference fit with a mounting hole of the bogie frame or the bogie swing bolster.
  • Fig. 6a is a front axial sectional view schematically showing the structure of another embodiment of an assembly of an elastic annular member and an outer sleeve
  • Fig. 6b is a bottom view schematically showing the structure of the assembly of the elastic annular member and the outer sleeve
  • a lower end portion of the outer sleeve 3 has an outer sleeve flange 31 which is formed by extending outward in a horizontal direction.
  • the outer sleeve flange 31 is machined to form an outer sleeve mounting hole 31o, such as a threaded hole or an unthreaded hole, thus the top cover 1 can be detachably connected with the bogie frame or the bogie swing bolster by the fastener such as a bolt assembly or a screw assembly.
  • the elastic annular member 2 includes multiple elastic members 21 and multiple bushings 22 which are superposed alternately in the radial direction and are fixedly connected.
  • the inner positioning pillar 11 of the top cover 1 is fixedly inserted into an innermost bushing 22 of the elastic annular member 2, and the outer sleeve 3 is fixedly connected with an outermost elastic member 21.
  • the elastic members 21 and other bushings 22 except for the innermost bushing 22 are all provided with a gap O extending in the radial direction, thus the outer gland 12 can pre-press the elastic members 21 and the bushings 22 against the inner positioning pillar 11 of the top cover 1 in the radial direction.
  • the assembled elastic annular member 2 has a strong deformability and a better vibration damping effect.
  • the elastic annular member 2 there are three elastic members 21 and three bushings 22 in this embodiment.
  • the number of the two subassemblies of the elastic annular member 2 is not limited to the number as shown in the embodiment and can be adjusted by the person skilled in the art according to the practical requirements.
  • the elastic annular member 2 can also be embodied as the elastic member 21 only.
  • the elastic annular member 2 in the embodiment is a conical elastic annular member, which has a strong deformability under the action of a shear force and thus can bear a larger shear force.
  • a wearing ring 4 is further arranged between the outer gland 12 and the outer sleeve 3 in the vibration damping and suspension device according to this embodiment.
  • the wearing ring 4 is also provided with a gap O extending in the radial direction, thus the elastic annular member 2 may generate an elastic deformation under the action of the outer gland 12 and thus being pre-pressed against the inner positioning pillar 11.
  • Figs. 7a and 7b are also made.
  • Fig. 7a is a front axial sectional view which schematically shows the structure of an embodiment of the wearing ring 4
  • Fig. 7b is a bottom view which schematically shows the structure of the wearing ring 4.
  • the top cover 1 and the wearing ring 4 are in sliding friction cooperation, thereby avoiding an abrasion caused by the contact friction between the outer sleeve 3 and the top cover 1 and increasing the working life of the overall vibration damping and suspension device.
  • the wearing ring 4 is a non-metal wearing ring, which has a high wearing coefficient and a steady wearing performance and thus can increase the stability of the vertical friction damping.
  • each of the wearing ring 4, the outer sleeve 3 and the elastic annular member 2 is provided with two gaps O, and the two gaps O are bilaterally symmetrical with respect to a longitudinal central line of the elastic annular member 2.
  • a longitudinal rigidity of the vibration damping and suspension device is larger than its transverse rigidity, and the vibration damping and suspension device has a larger vertical deflection, which not only improves the stability of the railway vehicle running at a high speed but also reduces a dynamical force of a wheel set and thus reducing the abrasion of a wheel track.
  • the top cover 1 when the vibration damping and suspension device functions as the secondary suspension device of the railway vehicle, the top cover 1 is fixedly connected to the bogie swing bolster of the railway vehicle, and the outer sleeve 3 is configured to be fixedly connected to the bogie frame of the railway vehicle.
  • the vibration damping and suspension device functions as the secondary suspension device of the railway vehicle, on the premise of realizing the function of suspension and vibration damping, the top cover 1 can also be fixedly connected to a sleeper beam of the railway vehicle.
  • the top cover 1 can be fixedly connected to the sleeper beam in the same way as it is fixedly connected to the bogie swing bolster, which can be realized by the person skilled in the art according to the above disclosure and will not be described hereinafter.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Springs (AREA)
EP16203183.5A 2016-04-29 2016-12-09 Schienenfahrzeug und vibrationsdämpfende und aufhängungsvorrichtung dafür Active EP3239014B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL16203183T PL3239014T3 (pl) 2016-04-29 2016-12-09 Pojazd kolejowy oraz jego urządzenie tłumiące drgania i resorujące

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610280085.2A CN105774836B (zh) 2016-04-29 2016-04-29 一种轨道车辆及其减振悬挂装置

Publications (2)

Publication Number Publication Date
EP3239014A1 true EP3239014A1 (de) 2017-11-01
EP3239014B1 EP3239014B1 (de) 2019-09-11

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EP (1) EP3239014B1 (de)
CN (1) CN105774836B (de)
ES (1) ES2761595T3 (de)
PL (1) PL3239014T3 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111976774A (zh) * 2020-09-01 2020-11-24 中车株洲电力机车有限公司 一种空心轴式一系悬挂装置
CN113696924A (zh) * 2021-09-08 2021-11-26 中车唐山机车车辆有限公司 一系悬挂装置、定位弹簧、转向架及轨道列车
CN117021863A (zh) * 2023-10-07 2023-11-10 之江实验室 阻尼可调的悬挂装置及轮式机器人

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CN107740832B (zh) * 2017-10-27 2020-08-07 株洲时代新材料科技股份有限公司 预压式应急空气弹簧组件
CN110001697A (zh) * 2019-04-24 2019-07-12 中车齐齐哈尔车辆有限公司 一种轴箱橡胶垫、货车转向架以及铁路货车
CN110469609A (zh) * 2019-08-29 2019-11-19 株洲时代新材料科技股份有限公司 一种带硬止挡的复合橡胶金属止挡方法及复合橡胶止挡
CN111703459B (zh) * 2020-06-16 2022-03-18 株洲名扬橡塑有限公司 一种铁道货车车辆旁承及铁道货车转向架
CN114228768B (zh) * 2022-01-04 2024-02-27 西南交通大学 一种轨道车辆内轴箱转向架

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CN202080290U (zh) * 2011-06-03 2011-12-21 株洲时代新材料科技股份有限公司 一种重载铁路货车车用橡胶弹性旁承
CN103523038B (zh) * 2013-10-24 2015-12-02 株洲时代新材料科技股份有限公司 一种用于机车二系悬挂的应急弹簧
CN203623701U (zh) * 2013-12-13 2014-06-04 齐齐哈尔轨道交通装备有限责任公司 转向架及其轴箱悬挂定位装置
CN204605831U (zh) * 2015-05-25 2015-09-02 株洲市源创科技有限公司 一种铁路货车转向架及侧架与交叉杆联接装置

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Publication number Priority date Publication date Assignee Title
US2327954A (en) * 1939-09-07 1943-08-24 Symington Gould Corp Side bearing
DE1150702B (de) * 1959-10-22 1963-06-27 Krauss Maffei Ag Seitliche Abstuetzung zwischen Haupt- und Drehgestellrahmen von Schienenfahrzeugen
DE1455179A1 (de) * 1963-06-24 1969-04-10 Usines Emile Henricot Sa Des Drehgestell fuer Waggons
WO2005092686A1 (en) * 2004-03-26 2005-10-06 Ab Skf Railway bogie
CN102514584A (zh) * 2011-12-09 2012-06-27 南车眉山车辆有限公司 一种窄轨距铁路车辆转向架

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111976774A (zh) * 2020-09-01 2020-11-24 中车株洲电力机车有限公司 一种空心轴式一系悬挂装置
CN113696924A (zh) * 2021-09-08 2021-11-26 中车唐山机车车辆有限公司 一系悬挂装置、定位弹簧、转向架及轨道列车
CN113696924B (zh) * 2021-09-08 2023-05-23 中车唐山机车车辆有限公司 一系悬挂装置、定位弹簧、转向架及轨道列车
CN117021863A (zh) * 2023-10-07 2023-11-10 之江实验室 阻尼可调的悬挂装置及轮式机器人
CN117021863B (zh) * 2023-10-07 2024-01-16 之江实验室 阻尼可调的悬挂装置及轮式机器人

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Publication number Publication date
ES2761595T3 (es) 2020-05-20
CN105774836A (zh) 2016-07-20
CN105774836B (zh) 2018-12-04
EP3239014B1 (de) 2019-09-11
PL3239014T3 (pl) 2020-04-30

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