JP2009079647A - Dynamic damper - Google Patents
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- JP2009079647A JP2009079647A JP2007248527A JP2007248527A JP2009079647A JP 2009079647 A JP2009079647 A JP 2009079647A JP 2007248527 A JP2007248527 A JP 2007248527A JP 2007248527 A JP2007248527 A JP 2007248527A JP 2009079647 A JP2009079647 A JP 2009079647A
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Abstract
Description
本発明は、例えば車両のデファレンシャルやサブレーム、サスペンションフレーム、排気管などの振動体に取付けられて、それらの振動体に発生した振動を抑制するダイナミックダンパに関する。 The present invention relates to a dynamic damper that is attached to a vibrating body such as a vehicle differential, a sub-frame, a suspension frame, an exhaust pipe, and the like and suppresses vibration generated in the vibrating body.
車両においては、搭載されたエンジンや機器類の作動に伴って発生する、本来発生しない方が望ましい多くの振動が存在することから、それらの振動を抑制する防振装置の一種として、特許文献1及び2に開示されているようなダイナミックダンパが知られている。このダイナミックダンパは、一般に、振動体に固定される取付部材に対して、ゴム弾性体(ばね部材)を介してマス部材(質量体)が弾性支持されるように構成されており、振動入力によって振動体が特定の周波数で振動するときに、ゴム弾性体のばね作用を介してマス部材が振動体に対して共振することにより、振動体の振動を減衰させ抑制することができる。なお、ダイナミックダンパの共振周波数は、マス部材の質量とばね部材のばね定数とによって基本的に定まり、低減を目的とする振動の周波数に合わせてチューニングされる。 In a vehicle, there are many vibrations that are generated in accordance with the operation of a mounted engine and devices, and it is desirable that they do not occur. Therefore, Patent Document 1 discloses a type of vibration isolator that suppresses these vibrations. And 2 are known. In general, the dynamic damper is configured such that a mass member (mass body) is elastically supported via a rubber elastic body (spring member) with respect to an attachment member fixed to the vibration body. When the vibrating body vibrates at a specific frequency, the mass member resonates with the vibrating body through the spring action of the rubber elastic body, whereby the vibration of the vibrating body can be attenuated and suppressed. The resonance frequency of the dynamic damper is basically determined by the mass of the mass member and the spring constant of the spring member, and is tuned according to the frequency of the vibration intended to be reduced.
ところで、例えばデファレンシャル等の振動体に設置されるダイナミックダンパは、図7に示すように、振動体Sに対して、取付部材11とマス部材12が水平方向に対向する状態に取付けられる。そして、振動体Sに振動が入力した際には、マス部材12がゴム弾性体13の剪断変形を介して上下方向に首振り運動をするように共振して振動体Sの振動を抑制する。このダイナミックダンパは、低周波数域(30Hz程度)の振動を抑制するようにチューニングされている場合には、マス部材12の振動幅が大きくなることから、近傍に配設された他の部材と干渉しないようにするためにはマス部材12の十分な振動スペースが必要となる。 Incidentally, for example, a dynamic damper installed on a vibrating body such as a differential is mounted on the vibrating body S in a state where the mounting member 11 and the mass member 12 face each other in the horizontal direction, as shown in FIG. When vibration is input to the vibrating body S, the mass member 12 resonates so as to swing in the vertical direction through the shear deformation of the rubber elastic body 13 to suppress the vibration of the vibrating body S. When the dynamic damper is tuned so as to suppress vibrations in a low frequency range (about 30 Hz), the vibration width of the mass member 12 increases, so that it interferes with other members disposed in the vicinity. In order to avoid this, a sufficient vibration space of the mass member 12 is required.
しかし、デファレンシャルの近傍には、通常、排気管やフレーム等の他の部材が配設されており、また最低地上高の制限もあることから、デファレンシャルに対するダイナミックダンパの取付け位置は制限を受け易く、またマス部材12の十分な振動スペースを確保することが困難となる場合もある。なお、特許文献2には、マス部材12の表面をゴム膜で覆うようにしたり、ゴム膜に緩衝突起を設けることが開示されているが、マス部材12と他の部材とが干渉したときには、打音が発生してしまい、またダイナミックダンパの振動抑制効果も減少してしまうため、良好な干渉防止とはいえない。
本発明は上記実状に鑑みてなされたものであり、ゴム弾性体の剪断変形を介してマス部材が上下方向に振動するように設置されるダイナミックダンパにおいて、他の部材との干渉を有利に防止することができるようにしたダイナミックダンパを提供することを解決すべき課題とするものである。 The present invention has been made in view of the above circumstances, and advantageously prevents interference with other members in a dynamic damper that is installed so that a mass member vibrates in the vertical direction through shear deformation of a rubber elastic body. It is a problem to be solved to provide a dynamic damper that can be used.
上記課題を解決する本発明は、振動体に固定される取付部材と、該取付部材と所定距離を隔てて対向配置されるマス部材と、該マス部材と前記取付部材に固着されて両部材を一体的に連結し前記取付部材に対して前記マス部材を弾性支持するゴム弾性体と、を備え、振動入力時に、前記ゴム弾性体の剪断変形を介して前記マス部材が主として上下方向に振動するように設置されるダイナミックダンパにおいて、前記取付部材に、前記ゴム弾性体の上下両面の何れか一方の面に当接して前記ゴム弾性体の一方側への変位を規制するストッパ部材が設けられていることを特徴としている。 The present invention that solves the above-described problems includes an attachment member that is fixed to a vibrating body, a mass member that is disposed opposite to the attachment member at a predetermined distance, and the mass member and the attachment member that are fixed to each other. A rubber elastic body that is integrally connected and elastically supports the mass member with respect to the mounting member, and the mass member mainly vibrates in the vertical direction through shear deformation of the rubber elastic body when vibration is input. In the dynamic damper thus installed, the mounting member is provided with a stopper member that abuts on one of the upper and lower surfaces of the rubber elastic body and restricts the displacement of the rubber elastic body to one side. It is characterized by being.
本発明のダイナミックダンパは、振動体に対して、取付部材がマス部材と水平方向に対向する状態で固定されることにより取付けられ、振動体に振動が入力した際には、ゴム弾性体の剪断変形を介してマス部材が上下方向に首振り運動をするように共振する。このとき、ゴム弾性体は、その上下両面の何れか一方の面に当接するようにして取付部材に設けられているストッパ部材によって、上下方向の一方側への変位が規制されることにより、その一方側へのマス部材の振れ幅が小さく抑制される。これにより、一方側の近傍に配設された他の部材とマス部材との干渉が有効に防止される。 The dynamic damper of the present invention is attached to the vibrating body by fixing the mounting member in a state of facing the mass member in the horizontal direction. When vibration is input to the vibrating body, shearing of the rubber elastic body is performed. Through the deformation, the mass member resonates so as to swing in the vertical direction. At this time, the rubber elastic body is controlled by the stopper member provided on the mounting member so as to be in contact with either one of the upper and lower surfaces thereof, so that the displacement to the one side in the vertical direction is restricted. The deflection width of the mass member toward one side is suppressed to be small. Thereby, interference with the other member and mass member which were arrange | positioned in the vicinity of one side is prevented effectively.
なお、マス部材の一方側への振れ幅は、取付部材とマス部材が対向する方向において、ストッパ部材がゴム弾性体に当接する位置を適宜変更することにより、所望の振れ幅に設定することが可能である。 The deflection width to one side of the mass member can be set to a desired deflection width by appropriately changing the position where the stopper member contacts the rubber elastic body in the direction in which the mounting member and the mass member face each other. Is possible.
本発明において、ストッパ部材は、ゴム弾性体の取付部材とマス部材とが対向する方向における少なくとも一部に当接している。即ち、ゴム弾性体の取付部材とマス部材とが対向する方向において、一部に当接するように設けられていても、全部に当接するように設けられていてもよい。ストッパ部材が、ゴム弾性体の取付部材とマス部材とが対向する方向において、全部に当接するように設けられている場合には、ゴム弾性体の一方側への変位が全面で規制されるため、マス部材の一方側への振れ幅は殆ど無い状態となる。 In the present invention, the stopper member is in contact with at least a part of the rubber elastic body mounting member and the mass member in the facing direction. In other words, the rubber elastic body mounting member and the mass member may be provided so as to be in contact with each other or in contact with all of the mass members. When the stopper member is provided so as to be in contact with the rubber elastic body mounting member and the mass member in the opposite direction, displacement of the rubber elastic body to one side is restricted over the entire surface. Thus, there is almost no deflection width to one side of the mass member.
また、ストッパ部材が、ゴム弾性体の取付部材とマス部材とが対向する方向において、一部に当接するように設けられている場合には、ストッパ部材の最もマス部材に近いエッジ部分がゴム弾性体の変位を規制する支点となる。そのため、ストッパ部材のマス部材側のエッジの位置を適宜設定することによって、マス部材の一方側への振れ幅を所望の振れ幅に設定することができる。なお、ストッパ部材のマス部材側のエッジの位置がマス部材に近づくほど、マス部材の一方側への振れ幅は小さくなる。このストッパ部材は、剛体で形成される。例えば金属や剛性を有する硬質樹脂等を採用して形成することができる。 In addition, when the stopper member is provided so as to be in contact with a part in the direction in which the mounting member of the rubber elastic body and the mass member face each other, the edge portion of the stopper member closest to the mass member is rubber elastic. It becomes a fulcrum that regulates body displacement. Therefore, by appropriately setting the position of the edge on the mass member side of the stopper member, the deflection width toward the one side of the mass member can be set to a desired deflection width. In addition, as the position of the edge of the stopper member on the mass member side approaches the mass member, the deflection width toward the one side of the mass member becomes smaller. This stopper member is formed of a rigid body. For example, it can be formed by employing a metal or a rigid resin having rigidity.
本発明において、ゴム弾性体は、角柱形状や円柱形状等の任意のものを採用することができるが、角柱形状のゴム弾性体は、マス部材の振動(首振り運動)方向を上下方向に安定化することができるので好ましい。角柱形状のゴム弾性体を採用した場合には、ゴム弾性体の上下両面の何れか一方の面に、ストッパ部材が面で当接するように設けられる。また、円柱形状のゴム弾性体を採用した場合には、ゴム弾性体の上方側半円弧面又は下方側半円弧面の周方向全域に亘って、ストッパ部材が当接した状態にする必要はない。即ち、ゴム弾性体の円弧状の外周面に対して、ストッパ部材の平面部を当接させるようにしてもよい。 In the present invention, the rubber elastic body may adopt any shape such as a prismatic shape or a cylindrical shape. However, the rubber elastic body having a prismatic shape stabilizes the vibration (swing motion) direction of the mass member in the vertical direction. This is preferable. When a prismatic rubber elastic body is employed, the stopper member is provided so as to come into contact with either one of the upper and lower surfaces of the rubber elastic body. Further, when the cylindrical rubber elastic body is adopted, it is not necessary to make the stopper member abut over the entire circumferential direction of the upper semicircular arc surface or the lower semicircular arc surface of the rubber elastic body. . That is, you may make it contact | abut the flat part of a stopper member with respect to the circular-arc-shaped outer peripheral surface of a rubber elastic body.
本発明のダイナミックダンパは、取付部材に、ゴム弾性体の上下両面の何れか一方の面に当接してゴム弾性体の一方側への変位を規制するストッパ部材が設けられているため、他の部材との干渉を有利に防止することができる。 In the dynamic damper of the present invention, the mounting member is provided with a stopper member that abuts on one of the upper and lower surfaces of the rubber elastic body and regulates the displacement of the rubber elastic body to one side. Interference with the member can be advantageously prevented.
以下、本発明の実施形態を図面に基づいて説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
図1は本実施形態に係るダイナミックダンパの取付け状態を示す側面図であり、図2はそのダイナミックダンパの取付け状態を示す平面図であり、図3は本実施形態に係るダイナミックダンパの平面図であり、図4はそのダイナミックダンパの正面図であり、図5はそのダイナミックダンパの側面図である。 FIG. 1 is a side view illustrating a mounting state of the dynamic damper according to the present embodiment, FIG. 2 is a plan view illustrating the mounting state of the dynamic damper, and FIG. 3 is a plan view of the dynamic damper according to the present embodiment. 4 is a front view of the dynamic damper, and FIG. 5 is a side view of the dynamic damper.
本実施形態のダイナミックダンパは、図3〜図5に示すように、振動体に固定される取付部材1と、取付部材1と所定距離を隔てて対向配置されるマス部材2と、マス部材2と取付部材1に固着されて両部材を一体的に連結し取付部材1に対してマス部材2を弾性支持するゴム弾性体3と、から構成されている。 As shown in FIGS. 3 to 5, the dynamic damper according to the present embodiment includes an attachment member 1 that is fixed to the vibrating body, a mass member 2 that is disposed to face the attachment member 1 at a predetermined distance, and a mass member 2. And a rubber elastic body 3 which is fixedly attached to the mounting member 1 and integrally connects both members and elastically supports the mass member 2 with respect to the mounting member 1.
取付部材1は、金属板により所定の形状に形成されており、上下方向の2箇所には、取付ボルト(図示せず)が挿通される取付孔1a、1aが設けられている。マス部材2は、鉄系金属により断面が長方形に近い台形のブロック状に形成されており、所定の質量を有する。また、ゴム弾性体3は、ゴム材料を加硫成形して角柱形状に形成されたものであり、一端面が取付部材1に加硫接着されていると共に、他端面がマス部材2に加硫接着されている。 The mounting member 1 is formed in a predetermined shape by a metal plate, and mounting holes 1a and 1a through which mounting bolts (not shown) are inserted are provided at two locations in the vertical direction. The mass member 2 is formed in a trapezoidal block shape whose cross section is close to a rectangle by an iron-based metal, and has a predetermined mass. The rubber elastic body 3 is formed by vulcanizing and molding a rubber material into a prismatic shape. One end surface is vulcanized and bonded to the mounting member 1 and the other end surface is vulcanized to the mass member 2. It is glued.
このダイナミックダンパは、図1及び図2に示すように、振動体Sとしてのデファレンシャルのブラケットに対して、取付部材1の取付孔1a、1aが上下方向に位置する状態で、取付孔1a、1aに挿通された2本の取付ボルト1b、1bにより取付けられている。これにより、取付部材1とマス部材2は、水平方向において対向する状態に取付けられており、振動入力時には、ゴム弾性体3の剪断変形を介してマス部材2が主として上下方向に振動(首振り運動)するようにされている。 As shown in FIGS. 1 and 2, the dynamic damper has mounting holes 1 a, 1 a with the mounting holes 1 a, 1 a of the mounting member 1 positioned in the vertical direction with respect to the differential bracket as the vibrating body S. Are attached by two mounting bolts 1b and 1b. As a result, the mounting member 1 and the mass member 2 are mounted in a state of being opposed to each other in the horizontal direction. At the time of vibration input, the mass member 2 vibrates mainly in the vertical direction through shear deformation of the rubber elastic body 3 (oscillating). Exercise).
そして、取付部材1の上方部には、断面L字形状のストッパ部材4が取付けられている。このストッパ部材4は、長方形平板状の取付基板4aと、取付基板4aの幅方向一端側に屈曲形成された長方形平板状の当接基部4bとからなり、当接基部4bの方が取付基部4aよりも肉厚に形成されている。このストッパ部材4は、振動体Sのブラケットに対して、取付基部4aが取付部材1に重ね合わされた状態で、一方(上方側)の取付ボルト1bにより取付部材1と共に取付けられており、取付基板4aの下方に位置する当接基部4bの下面がゴム弾性体3の上面に当接している。 A stopper member 4 having an L-shaped cross section is attached to the upper portion of the attachment member 1. The stopper member 4 includes a rectangular flat plate-shaped mounting substrate 4a and a rectangular flat plate-shaped contact base portion 4b bent at one end in the width direction of the mounting substrate 4a. It is formed thicker than. The stopper member 4 is attached to the bracket of the vibrating body S together with the attachment member 1 by one (upper side) attachment bolt 1b in a state where the attachment base 4a is superimposed on the attachment member 1. The lower surface of the contact base portion 4 b located below 4 a is in contact with the upper surface of the rubber elastic body 3.
この当接基部4bは、ゴム弾性体3の上面の取付部材1とマス部材2とが対向する方向において、取付部材1側の端部から中央部までの範囲Bの全域に当接しており、当接基部4bのマス部材2側のエッジは、取付部材1とマス部材2とが対向する方向の略中央に位置している。これにより、ゴム弾性体3の上面の取付部材1側の略1/2の部分は、ストッパ部材4の当接基部4bにより上方側への変位が規制されるため、マス部材2の上方側への振動(首振り運動)が略1/2に抑制されるようになっている。なお、当接基部4bの長手方向の長さは、ゴム弾性体3の幅方向の長さよりも少し長くされている。 The contact base 4b is in contact with the entire region in the range B from the end on the mounting member 1 side to the center in the direction in which the mounting member 1 and the mass member 2 on the upper surface of the rubber elastic body 3 face each other. The edge on the mass member 2 side of the abutting base 4b is located at the approximate center in the direction in which the mounting member 1 and the mass member 2 face each other. As a result, the upper half of the upper surface of the rubber elastic body 3 on the mounting member 1 side is restricted from being displaced upward by the contact base 4b of the stopper member 4, so that the mass member 2 is moved upward. Vibration (swinging motion) is suppressed to approximately ½. Note that the length in the longitudinal direction of the abutting base portion 4 b is slightly longer than the length in the width direction of the rubber elastic body 3.
以上のように振動体Sに設置された本実施形態のダイナミックダンパは、振動体Sに振動が入力した際に、ゴム弾性体3の剪断変形を介してマス部材2が上下方向に首振り運動をするように共振する。このとき、ゴム弾性体3は、その上面に当接するようにして取付部材1に設けられているストッパ部材4によって、上方側への変位が規制されることにより、上方側へのマス部材2の振れ幅が、ストッパ部材4が無い場合の振れ幅(A)の略1/2程度(0.5A)に小さく抑制される(図1参照。)。これにより、マス部材2とその上方側の近傍に配設された他の部材との干渉が有効に防止される。なお、マス部材2が下方側に首振り運動をするときには、下方側へのマス部材2の振れ幅は、ストッパ部材4が無い場合の振れ幅(A)の1.5倍程度(1.5A)となり、上下方向の全振れ幅は略2Aとなるので、ストッパ部材4が無い場合と略同じである。 As described above, in the dynamic damper of the present embodiment installed on the vibrating body S, when vibration is input to the vibrating body S, the mass member 2 swings up and down through shear deformation of the rubber elastic body 3. Resonates like At this time, the elastic elastic body 3 is restrained from being displaced upward by the stopper member 4 provided on the mounting member 1 so as to be in contact with the upper surface thereof, so that the mass member 2 upwards The deflection width is suppressed to be approximately half (0.5 A) of the deflection width (A) when the stopper member 4 is not provided (see FIG. 1). Thereby, interference with the mass member 2 and the other member arrange | positioned in the vicinity of the upper side is prevented effectively. When the mass member 2 swings downward, the downward deflection of the mass member 2 is about 1.5 times the deflection width (A) when the stopper member 4 is not provided (1.5 A). ) And the total runout width in the vertical direction is approximately 2A, which is substantially the same as when the stopper member 4 is not provided.
図6には、本実施形態のダイナミックダンパが首振り運動を行って共振するときの荷重−たわみ特性と、図7に示すストッパ部材4が設けられていない従来のダイナミックダンパが首振り運動を行って共振するときの荷重−たわみ特性が示されている。この場合、本実施形態の場合の動ばね定数kdと従来の場合の動ばね定数kdは、略同じになっている。 FIG. 6 shows a load-deflection characteristic when the dynamic damper according to the present embodiment resonates and resonates, and a conventional dynamic damper not provided with the stopper member 4 shown in FIG. The load-deflection characteristics when resonating are shown. In this case, the dynamic spring constant kd in the present embodiment and the conventional dynamic spring constant kd are substantially the same.
以上のように、本実施形態のダイナミックダンパは、取付部材1に、ゴム弾性体3の上面に当接してゴム弾性体3の一方側(上方側)への変位を規制するストッパ部材4が設けられているため、他の部材との干渉を有利に防止することができる。 As described above, in the dynamic damper of this embodiment, the mounting member 1 is provided with the stopper member 4 that abuts on the upper surface of the rubber elastic body 3 and restricts the displacement of the rubber elastic body 3 to one side (upper side). Therefore, interference with other members can be advantageously prevented.
なお、本実施形態においては、ゴム弾性体3の上面にストッパ部材4を当接させて、マス部材2が上方側へ振動したときの他の部材との干渉を防止するようにしているが、マス部材2が下方側へ振動したときの他の部材との干渉を防止するようにする場合には、ストッパ部材4をゴム弾性体3の下面に当接するように設ければよい。 In the present embodiment, the stopper member 4 is brought into contact with the upper surface of the rubber elastic body 3 to prevent interference with other members when the mass member 2 vibrates upward. In order to prevent interference with other members when the mass member 2 vibrates downward, the stopper member 4 may be provided in contact with the lower surface of the rubber elastic body 3.
1、11…取付部材 1a…取付孔 1b…取付ボルト 2、12…マス部材 3、13…ゴム弾性体 4…ストッパ部材 4a…取付基板 4b…当接基部 S…振動体 DESCRIPTION OF SYMBOLS 1, 11 ... Mounting member 1a ... Mounting hole 1b ... Mounting bolt 2, 12 ... Mass member 3, 13 ... Rubber elastic body 4 ... Stopper member 4a ... Mounting board 4b ... Contact base S ... Vibrating body
Claims (3)
前記取付部材に、前記ゴム弾性体の上下両面の何れか一方の面に当接して前記ゴム弾性体の一方側への変位を規制するストッパ部材が設けられていることを特徴とするダイナミックダンパ。 An attachment member fixed to the vibrating body, a mass member disposed opposite to the attachment member at a predetermined distance, and fixed to the mass member and the attachment member so that both members are integrally connected to the attachment member. In a dynamic damper provided with a rubber elastic body that elastically supports the mass member, and installed so that the mass member mainly vibrates in the vertical direction through shear deformation of the rubber elastic body at the time of vibration input,
A dynamic damper, wherein the mounting member is provided with a stopper member that abuts on one of upper and lower surfaces of the rubber elastic body and restricts displacement of the rubber elastic body to one side.
Priority Applications (1)
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JP2007248527A JP2009079647A (en) | 2007-09-26 | 2007-09-26 | Dynamic damper |
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JP2007248527A JP2009079647A (en) | 2007-09-26 | 2007-09-26 | Dynamic damper |
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JP2009079647A true JP2009079647A (en) | 2009-04-16 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109982913A (en) * | 2016-11-21 | 2019-07-05 | 三菱重工工程株式会社 | Rail-type vehicle |
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JPH07310782A (en) * | 1994-05-19 | 1995-11-28 | Tokico Ltd | Vibration damping device |
JPH0979316A (en) * | 1995-09-08 | 1997-03-25 | Nok Megurasutikku Kk | Dynamic damper |
JP2002235798A (en) * | 2001-02-13 | 2002-08-23 | Tokai Rubber Ind Ltd | Air pressure controlled vibration damper |
JP2003262252A (en) * | 2002-03-08 | 2003-09-19 | Nok Corp | Dynamic damper |
JP2006144998A (en) * | 2004-11-24 | 2006-06-08 | Tokai Rubber Ind Ltd | Dynamic damper |
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Publication number | Priority date | Publication date | Assignee | Title |
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JPS5888245A (en) * | 1981-11-17 | 1983-05-26 | Nissan Motor Co Ltd | Vibro-isolating device |
JPS6199749A (en) * | 1984-10-22 | 1986-05-17 | Nissan Motor Co Ltd | Torque detecting device |
JPS6213238A (en) * | 1985-07-10 | 1987-01-22 | Riken Corp | Chiller constructing body |
JPH0311150A (en) * | 1989-05-20 | 1991-01-18 | Robert Bosch Gmbh | Fuel injection pump for internal combustion engine |
JPH07310782A (en) * | 1994-05-19 | 1995-11-28 | Tokico Ltd | Vibration damping device |
JPH0979316A (en) * | 1995-09-08 | 1997-03-25 | Nok Megurasutikku Kk | Dynamic damper |
JP2002235798A (en) * | 2001-02-13 | 2002-08-23 | Tokai Rubber Ind Ltd | Air pressure controlled vibration damper |
JP2003262252A (en) * | 2002-03-08 | 2003-09-19 | Nok Corp | Dynamic damper |
JP2006144998A (en) * | 2004-11-24 | 2006-06-08 | Tokai Rubber Ind Ltd | Dynamic damper |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109982913A (en) * | 2016-11-21 | 2019-07-05 | 三菱重工工程株式会社 | Rail-type vehicle |
CN109982913B (en) * | 2016-11-21 | 2021-02-09 | 三菱重工工程株式会社 | Rail vehicle |
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