CN106400974A - Three-dimensional composite spring shock insulation support seat - Google Patents

Three-dimensional composite spring shock insulation support seat Download PDF

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Publication number
CN106400974A
CN106400974A CN201610906322.1A CN201610906322A CN106400974A CN 106400974 A CN106400974 A CN 106400974A CN 201610906322 A CN201610906322 A CN 201610906322A CN 106400974 A CN106400974 A CN 106400974A
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China
Prior art keywords
cable wire
hole
complex spring
end cap
fairlead
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Pending
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CN201610906322.1A
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Chinese (zh)
Inventor
沈珊
胡济福
胡济全
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Anhui Xinze Technology Co Ltd
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Anhui Xinze Technology Co Ltd
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Priority to CN201610906322.1A priority Critical patent/CN106400974A/en
Publication of CN106400974A publication Critical patent/CN106400974A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04BGENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/36Bearings or like supports allowing movement
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H9/00Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
    • E04H9/02Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
    • E04H9/021Bearing, supporting or connecting constructions specially adapted for such buildings

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Environmental & Geological Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

The invention relates to a three-dimensional composite spring shock insulation support seat. The support seat comprises an upper connecting plate, a lower connecting plate and four back pressure type composite spring dampers, wherein the upper connecting plate and the lower connecting plate are parallel to each other, the four back pressure type composite spring dampers are arranged between the upper connecting plate and the lower connecting plate, and connecting rods on both ends of each back pressure type composite spring damper are connected with the upper connecting plate and the lower connecting plate respectively by universal ball joints, so that a quadrangular frustum pyramid structure of which every two opposite side surfaces are symmetrical is formed. The three-dimensional shock insulation support seat has the effect of overturning resistance, and real three-dimensional shock insulation can be realized.

Description

A kind of complex spring three-dimensional shock isolation support
Technical field
The present invention relates to a kind of building vibration proof (or vibrations) device is and in particular to three-dimensional isolation device.
Background technology
Three-dimensional isolation device is a kind of shockproof isolating device being located between building and basis, effectively can inhale from various dimensions Receipts, the energy of dissipation outside input, thus reach the purpose of protection building safety.Three-dimensional isolation device is generally by vertical earthquake isolating Bearing and horizontal seismic isolation bearing combine, and both absorb both vertically and horizontally seismic wave respectively.
It is known that the development of three-dimensional isolation device depends on the technological progress of damper.At present, really enter practical application The damper of main flow mainly have three major types, i.e. laminated rubber damper, metal spring damper (mainly disk spring and spiral shell Rotation spring) and viscoelastic damper (larger static load can not be undertaken).Therefore, on the existing three-dimensional shock isolation support overwhelming majority is all State the combination of damper, and be essentially all that laminated rubber damper is connected up and down with metal spring damper.In order to overcome Laminated rubber resistance to tension is weak, disk spring can not draw and helical spring initial stiffness is low and stretching is different from compression property Shortcoming, has some three-dimensional shock isolation supports to be additionally arranged tensile structure (as set up steel wire rope in surrounding) in laminated rubber damper, Also there are some three-dimensional shock isolation supports by metal spring damper and viscoelastic damper (or other Stretch material, such as rhombus steel Plate etc.) it is combined, undertake static load and compression shock absorption using metal spring damper, using viscoelastic damper stretching, compression power consumption. But, the damper that multiple flexible members are combined, not only complex structure, and need when designing to consider horizontally and vertically to associate journey Degree, calculates sufficiently complex.
A kind of three-dimemsional vibration insulationg system disclosed in the patent application of Publication No. CN1560395A, this system is common Tandem compound disk spring and the viscoelastic damping being located at disk spring axis of guide center in the hole on lead for retractable pencil laminated rubber vibrating isolating device Device is realized.But, because viscoelastic material is larger with the damping characteristic difference of disk spring, and both correlation degrees have Much, these are all intended to determine by experiment;Especially, when described three-dimemsional vibration insulationg system is by being pressed to tension transition, Although disk spring is inoperative, the energy stored by disk spring can be added on viscoelastic damper, makes viscoplasticity Damper obtains larger initial acceleration, and viscoelastic damper is then a kind of velocity sensitization type damper it is clear that dish-shaped bullet The impact to viscoelastic damper for the energy stored by spring can not be ignored, and how this impact will calculate, then be a difficulty Thing.For another example a kind of three-dimensional isolation device disclosed in the patent application of Publication No. CN101761147A, this device is pressed to During tension transition, the energy of wherein six disk spring storages also can be delivered on rhombic steel plate damper by screw rod, equally There is also the problem of design dyscalculia.Additionally, slide block in the scheme of CN101761147A patent application, rail plate and height Hale Horizontal limiting and the stretch-proof organization that rope is constituted, not only make design dyscalculia, and also add whole shock isolation system Complexity.
Content of the invention
The technical problem to be solved is to provide a kind of complex spring three-dimensional shock isolation support, this three-dimensional shock isolation support Only with a kind of damper, it is not only simple in structure, and can antidumping.
The present invention solve above-mentioned technical problem technical scheme be:
A kind of complex spring three-dimensional shock isolation support, upper junction plate that this bearing includes being parallel to each other, lower connecting plate and be located at It is provided with four back pressure type complex spring dampers, each back pressure type complex spring damper two between upper junction plate and lower connecting plate Linked together by universal ball end respectively between the connecting rod of head and upper junction plate and lower connecting plate, form two opposite side surfaces The truncated rectangular pyramids structure being respectively symmetrically;
Described back pressure type complex spring damper includes a fairlead, and one of this fairlead is provided with the first end cap, separately One is provided with the second end cap;It is coaxially provided with complex spring (full name is rubber-metal spiral complex spring) in described fairlead, One drive member is put in described fairlead by the outside of the first end cap, and this drive member includes dynamic pressure plate and connecting rod, its Described in dynamic pressure plate be located at the head of complex spring, described connecting rod is located on dynamic pressure plate and the axis along fairlead extends and leads To set, end is provided with bulb;The outer surface of the second described end cap is provided with another connecting rod, in this connecting rod and drive member Connecting rod is coaxial, and end is provided with another bulb;
It is additionally provided with backpressure device, this backpressure device includes two groups of quantity at least three pre- respectively in described fairlead Compressed steel rope and two pieces of floating platens, wherein,
Two pieces of described floating platens, one piece is located between described dynamic pressure plate and complex spring, and another piece is located at the second end Between lid and complex spring;
Two groups of described precompressed cable wires are symmetrically distributed in described complex spring rotating around the axis of fairlead with linear state Center in the hole, and, in one group of precompressed cable wire, of each precompressed cable wire is fixed on the floating platen adjacent with dynamic pressure plate On, other end is fixed on the second end cap through the floating platen adjacent with the second end cap by cable wire self-locking anchorage;Another group pre- In compressed steel rope, of each precompressed cable wire is fixed on the floating platen adjacent with the second end cap, and other end passes through and dynamic pressure The adjacent floating platen of plate is fixed on dynamic pressure plate by another cable wire self-locking anchorage;
Being respectively equipped with the through hole through this precompressed cable wire through the position of described precompressed cable wire on described floating platen, The aperture of this through hole is more than the diameter of worn precompressed cable wire;
Two groups of precompressed cable wires of tensioning, make the distance between two pieces of described floating platens pre- equal to being compressed to complex spring If the length of rigidity.
In such scheme, described cable wire self-locking anchorage is made up of installing hole, jaw and check bolt, wherein,
Described installing hole is located on described second end cap or dynamic pressure plate and is made up of one section of taper hole and one section of screwed hole, its In, described taper hole is located at the side near floating platen, and tip points to floating platen, and described screwed hole is located remotely from floating pressure The side of plate;
Described jaw is to match cone with described taper hole, and is made up of 3-5 lobe, and it is provided with clamping along axis in vivo The clamping hole of precompressed cable wire;
Described check bolt is matched with described screwed hole, and is provided with diameter greater than described precompressed cable wire along axis in vivo The circular hole of diameter;
Described jaw is arranged in described taper hole, and check bolt is arranged on described screw thread in the hole.
From above-mentioned cable wire self-locking anchorage, one of described two groups of precompressed cable wires is separately fixed at described floating pressure On plate, other end is passed by the clamping hole of described cable wire self-locking tensioning anchorage and circular hole respectively, so can be exposing Fag end system is connected on traction stretching machine, monitors tension force using tension detecting instrument while drawing tensioning.When described precompressed cable wire When being tensioned to default tension force, turn check bolt and described jaw can be promoted to clamp and locked precompressed cable wire, even if shaking During dynamic two groups of precompressed cable wires repeatedly tensioning, loose in the case of also will not loosen.
In such scheme, described precompressed cable wire can be steel wire rope or prestressing force steel hinge line.
In such scheme, the angle between described back pressure type complex spring damper and lower connecting plate can be according to whole The dead load that seat is undertaken and default earthquake intensity are selected.
Damping device of the present invention has the advantages that:
(1) axial force being born by each back pressure type complex spring damper is either positive or reversely, multiple Conjunction spring all can produce elastic compression and deform and damping, and three-dimensional shock isolation support therefore of the present invention can isolate the water of seismic wave Flat durection component, vertical component and torsional component, and then realize three-dimensional isolation truly.
(2) whole bearing is mainly made up of the same back pressure type complex spring damper of two pieces of connecting plates and four, not only Structure is simple and direct, and the transfer route of power is clear, clear and definite, greatly reduces design difficulty in computation.
(3) length changing precompressed cable wire can change the initial stiffness of each back pressure type complex spring damper, therefore The initial stiffness of each damper can be calculated according to each bearing static load to be undertaken, and then ensure to build after withdrawing support The vertical displacement building thing is little, does not even produce vertical displacement.It can be seen that three-dimensional shock isolation support of the present invention be both suitable for newly-built Building shock insulation, also is adapted for the shock-insulating reconstruction of existing building.
(4) not only can achieve three-dimensional isolation truly, but also there is the effect of antidumping.
Brief description
Fig. 1~4 are the structural representation of a specific embodiment (adopting Approximate) of bearing of the present invention, its In, Fig. 1 is front view, and Fig. 2 is left view, Fig. 3 top view, and Fig. 4 is the enlarged drawing of local I in Fig. 1.
Fig. 5~10 are the structural representation of back pressure type complex spring damper in the illustrated embodiment of Fig. 1~4, wherein, Fig. 5 For front view (section view), Fig. 6 is the A A sectional view (in figure omits precompressed cable wire) of Fig. 5, and Fig. 7 is the B B sectional view (figure of Fig. 5 Middle omission precompressed cable wire), Fig. 8 is the enlarged drawing of local II in Fig. 5, and Fig. 9 is the C C sectional view of Fig. 8, and Figure 10 is local in Fig. 5 III enlarged drawing.
Specific embodiment
Referring to Fig. 1~4, upper junction plate 1 that the three-dimensional shock isolation support in this example includes being parallel to each other, lower connecting plate 2 and set It is provided with four back pressure type complex spring dampers 3 between upper junction plate 1 and lower connecting plate 2;Each back pressure type complex spring resistance Linked together by universal ball end respectively between connecting rod 3-1 at Buddhist nun's device 3 two and upper junction plate 1 and lower connecting plate 2, form one The truncated rectangular pyramids structure that left and right two side is symmetrical, former and later two sides are symmetrical.Back pressure type complex spring damping described in this example Angle between device 3 and lower connecting plate 2 is 70 °.
Between connecting rod 3-1 at above-mentioned back pressure type complex spring damper 3 two and upper junction plate 1 and lower connecting plate 2 Universal ball head connecting structure is identical, carries out below taking the universal ball head connecting structure between connecting rod 3-1 and lower connecting plate 2 as a example Description.Referring to Fig. 1 and Fig. 4, ten thousand between connecting rod 3-1 of above-mentioned back pressure type complex spring damper 3 following and lower connecting plate 2 The structure connecting to bulb includes ball-and-socket on lower connecting plate 2, the bulb 3-2 of back pressure type complex spring damper 3 following and lid Plate 4, wherein, the middle part of described cover plate 4 is provided with sphere hole, and the bulb 3-2 of back pressure type complex spring damper 3 following is by this ball Face is buckled in the ball-and-socket on connecting plate 2, covers 4 and is fixed on lower connecting plate 2 by four bolts 5.Described sphere hole interior Wall is provided with cannelure, is provided with sealing ring 6 in groove, to avoid the lubricant in the structure of universal ball end connection to spill.
Referring to Fig. 5~10, in above-mentioned three-dimensional shock isolation support back pressure type complex spring damper 3 include a fairlead 3- The top of 3, this fairlead 3-3 is provided with the first end cap 3-4, and following is provided with the second end cap 3-5;Coaxial in described fairlead 3-3 It is provided with complex spring 3-6 (being composited by rubber-metal helical spring), a drive member is put in by the outside of the first end cap 3-4 In described fairlead 3-3, this drive member includes dynamic pressure plate 3-7 and connecting rod 3-1, and wherein dynamic pressure plate 3-7 is located at compound bullet The head of spring 3-6, connecting rod 3-1 is located on dynamic pressure plate 3-7 and the axis along fairlead 3-3 extends fairlead 3-3, and end sets There is bulb 3-2;The outer surface of the second described end cap 3-5 is provided with another connecting rod 3-1, the company in this connecting rod and drive member Extension bar 3-1 is coaxial, and end is provided with another bulb 3-2.For the ease of assembling, adopt between described bulb 3-2 and connecting rod 3-1 Linked together with being screwed.
Referring to Fig. 5~10, in described fairlead 3-3, it is additionally provided with backpressure device, this backpressure device includes two groups of quantity and divides Not Wei the precompressed cable wire 3-8 and two pieces of floating platen 3-9 of four, wherein,
Two pieces of described floating platen 3-9, one piece is located between described dynamic pressure plate 3-7 and complex spring 3-6, and another piece sets Between the second end cap 3-5 and complex spring 3-6;
Two groups of described precompressed cable wire 3-8 rotating around fairlead 3-3 axis be symmetrically distributed in linear state described multiple Close the center in the hole of spring 3-6, and, in one group of precompressed cable wire 3-8, of each precompressed cable wire 3-8 is by lifting bolt 3-12 It is fixed on the floating platen 3-9 adjacent with dynamic pressure plate 3-7, other end passes through the floating platen 3-9 adjacent with the second end cap 3-5 It is fixed on the second end cap 3-5 by cable wire self-locking anchorage 10;The one of each precompressed cable wire 3-8 in another group of precompressed cable wire 3-8 Head is fixed on the floating platen 3-9 adjacent with the second end cap 3-5 by another lifting bolt 3-12, and other end passes through and dynamic pressure plate The adjacent floating platen 3-9 of 3-7 is fixed on dynamic pressure plate 3-7 by another cable wire self-locking anchorage 10;Described precompressed cable wire 3-8 is Prestressing force steel hinge line, and be on the annulus connecing and being fixed on lifting bolt 3-12 by a conventional method;
It is being respectively equipped with through this precompressed cable wire through the position of described precompressed cable wire 3-8 on described floating platen 3-9 The aperture of the through hole 3-11 of 3-8, this through hole 3-11 is more than the diameter of worn precompressed cable wire 3-8.
Referring to Fig. 5 and Figure 10, described steel wire rope self-locking tensioning anchorage 10 is by being located at dynamic pressure plate 3-7 or the second end cap 3-5 On installing hole 10-1, jaw 10-2 and check bolt 10-3 constitute;Described installing hole 10-1 is by one section of taper hole and a screw thread Hole forms, and wherein, described taper hole is located at the side near floating platen 3-9, and tip points to floating platen 3-9, described screw thread Hole is located remotely from the side of floating platen 3-9;Described jaw 10-2 is to match cone with described taper hole, and by 3 lobe groups Become, it is provided with the clamping hole of clamping precompressed cable wire 3-8 in vivo along axis;Described check bolt 10-3 and described screwed hole phase Join, and the internal circular hole being provided with along axis with diameter greater than described precompressed cable wire 3-8 diameter;Described jaw 10-2 is arranged on described In taper hole, check bolt 10-3 is arranged on described screw thread in the hole.During assembling, the other end of corresponding precompressed cable wire 3-8 is pressed from both sides Hold the clamping in the hole in jaw 10-2, end passes from the circular hole of check bolt 10-3.
Referring to Fig. 5 and Figure 10, make by the scheme of this example and assemble after described back pressure type complex spring damper 3, dew The fag end of the precompressed cable wire 3-8 going out is to be connected on traction stretching machine, using tension detecting instrument prison while drawing tensioning respectively Depending on tension force.When described precompressed steel wire rope 3-8 is tensioned to the tension force needed for early stage rigidity, turning check bolt 10-3 can promote Precompressed steel wire rope 3-8 is clamped and locked by described jaw 10-2.So, two groups of precompressed cable wire 3-8 of tensioning, make described two pieces float The distance between dynamic pressure plate 3-9 is equal to the length that complex spring 3-6 is compressed to default rigidity.
Referring to Fig. 5, when back pressure type complex spring damper 3 is subject to the external load of axial direction, no matter external load is pressure Or pulling force, if its less than above-mentioned precompression, complex spring 3-6 will not continue to deform.When external load is more than institute When stating precompression, if external load is pressure, the compression combined bullet of floating platen 3-9 that described dynamic pressure plate 3-7 promotion is adjacent Spring 3-6 produces elastic deformation and damping;If external load is pulling force, two pieces of tractive floats described two groups of precompressed steel wire rope 3-8 respectively Dynamic pressure plate 3-9 compression combined spring 3-6 produces elastic deformation and subtracts.
Referring to Fig. 1 and Fig. 3 it is assumed that being fixed on upper junction plate 1 on building, on the basis of lower connecting plate 2 is fixed on, that , if seismic wave produces a horizontal thrust from left to right, lower connecting plate 2 just moves right, four back pressure type complex springs Then the bulb 3-2 rotating around top rotates counterclockwise damper 3, and two on the left of three-dimensional shock isolation support back pressure type complex spring hinders Buddhist nun's device 3 is compressed, and two back pressure type complex spring dampers 3 in left side are then stretched;If seismic wave produces downward drawing Power, four back pressure type complex spring dampers 3 are stretched simultaneously;If it is (either clockwise that seismic wave produces a rotating torque Or counterclockwise), four back pressure type complex spring dampers 3 are also stretched simultaneously;In the same manner, if building topples toward side When, then there are two back pressure type complex spring dampers 3 to be stretched, another two back pressure type complex spring dampers 3 are compressed.This The operation principle public of other stresses of bright described three-dimensional shock isolation support can voluntarily analyze.
As seen from the above analysis, three-dimensional shock isolation support of the present invention not only can achieve three-dimensional isolation truly, But also there is the effect of antidumping.

Claims (2)

1. a kind of complex spring three-dimensional shock isolation support, upper junction plate that this bearing includes being parallel to each other, lower connecting plate and be located at It is provided with four back pressure type complex spring dampers, each back pressure type complex spring damper two between connecting plate and lower connecting plate Connecting rod and upper junction plate and lower connecting plate between linked together by universal ball end respectively, formed two opposite side surfaces divide Not symmetrical truncated rectangular pyramids structure;
Described back pressure type complex spring damper includes a fairlead, and one of this fairlead is provided with the first end cap, other end It is provided with the second end cap;It is coaxially provided with complex spring, a drive member puts in institute by the outside of the first end cap in described fairlead In the fairlead stated, this drive member includes dynamic pressure plate and connecting rod, and wherein said dynamic pressure plate is located at the head of complex spring, institute State that connecting rod is located on dynamic pressure plate and the axis along fairlead extends fairlead, end is provided with bulb;The second described end cap Outer surface be provided with another connecting rod, this connecting rod is coaxial with the connecting rod in drive member, and end is provided with another bulb;
It is additionally provided with backpressure device, this backpressure device includes the pre- compressed steel that two groups of quantity are at least three respectively in described fairlead Rope and two pieces of floating platens, wherein,
Two pieces of described floating platens, one piece is located between described dynamic pressure plate and complex spring, another piece be located at the second end cap with Between complex spring;
Two groups of described precompressed cable wires are symmetrically distributed in described complex spring with linear state rotating around the axis of fairlead Heart in the hole, and, in one group of precompressed cable wire, of each precompressed cable wire is fixed on the floating platen adjacent with dynamic pressure plate, separately One is fixed on the second end cap through the floating platen adjacent with the second end cap by cable wire self-locking anchorage;Another group of precompressed cable wire In of each precompressed cable wire be fixed on the floating platen adjacent with the second end cap, other end passes through adjacent with dynamic pressure plate Floating platen be fixed on dynamic pressure plate by another cable wire self-locking anchorage;
It is being respectively equipped with the through hole through this precompressed cable wire through the position of described precompressed cable wire, this leads on described floating platen The aperture in hole is more than the diameter of worn precompressed cable wire;
Two groups of precompressed cable wires of tensioning, make the distance between two pieces of described floating platens default firm equal to being compressed to complex spring The length of degree.
2. a kind of complex spring three-dimensional shock isolation support according to claim 1 is it is characterised in that described cable wire is from break adrift Tool is made up of installing hole, jaw and check bolt, wherein,
Described installing hole is located on described second end cap or dynamic pressure plate and is made up of one section of taper hole and one section of screwed hole, wherein, Described taper hole is located at the side near floating platen, and tip points to floating platen, and described screwed hole is located remotely from floating platen Side;
Described jaw is to match cone with described taper hole, and is made up of 3-5 lobe, and it is provided with clamping precompressed along axis in vivo The clamping hole of cable wire;
Described check bolt is matched with described screwed hole, and is provided with diameter greater than described precompressed rope diameter along axis in vivo Circular hole;
Described jaw is arranged in described taper hole, and check bolt is arranged on described screw thread in the hole.
CN201610906322.1A 2016-10-17 2016-10-17 Three-dimensional composite spring shock insulation support seat Pending CN106400974A (en)

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Publication number Priority date Publication date Assignee Title
CN110497390A (en) * 2019-08-30 2019-11-26 上海大学 Restrict spring driving freedom degree parallel connection binocular focusing bionic eye executing agency
CN110497389A (en) * 2019-08-30 2019-11-26 上海大学 The freedom degree parallel connection bionic eye executing agency that spring of restricting drives
CN114122971A (en) * 2021-11-23 2022-03-01 云南电网有限责任公司电力科学研究院 Combined type damping device, shock insulation support and power supply system

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CN105370043A (en) * 2015-09-29 2016-03-02 中国建筑第二工程局有限公司 Steel strand bundle guiding device and steel strand bundle penetrating method
CN205089885U (en) * 2015-11-17 2016-03-16 哈尔滨工业大学 Half initiative damping platform of 6 -degree of freedom
CN105937577A (en) * 2016-06-23 2016-09-14 任祥根 Multi-dimensional damping support of intelligent power distribution cabinet

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CN201136517Y (en) * 2007-12-18 2008-10-22 中国北车集团四方车辆研究所 Bidirectional buffer for pulling-pressing conversion of elastic body
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110497390A (en) * 2019-08-30 2019-11-26 上海大学 Restrict spring driving freedom degree parallel connection binocular focusing bionic eye executing agency
CN110497389A (en) * 2019-08-30 2019-11-26 上海大学 The freedom degree parallel connection bionic eye executing agency that spring of restricting drives
CN110497389B (en) * 2019-08-30 2022-06-10 上海大学 Three-degree-of-freedom parallel bionic eye actuating mechanism driven by rope spring
CN110497390B (en) * 2019-08-30 2022-06-14 上海大学 Rope spring driven three-degree-of-freedom parallel binocular focusing bionic eye actuating mechanism
CN114122971A (en) * 2021-11-23 2022-03-01 云南电网有限责任公司电力科学研究院 Combined type damping device, shock insulation support and power supply system

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