Longitudinal vibration damping device, bogie and rail vehicle
By adopting a longitudinal vibration damping device in a monorail suspension vehicle and utilizing a combined structure of a longitudinal vibration damper and a traction rod, the problem of longitudinal nodding vibration of the vehicle body is solved, the comfort and safety of vehicle operation are improved, the structure is compact and the service life of the longitudinal vibration damper is extended.
Patent Information
- Application Number
- CN202410571789.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-09
- Publication Date
- 2025-09-19
- Estimated Expiration
- 2044-05-09
AI Technical Summary
The longitudinal nodding vibration of the vehicle body in existing monorail suspension vehicles is quite obvious, affecting the safety and comfort of vehicle operation.
A longitudinal vibration damping device is used, including a combined structure of a first mounting seat, a second mounting seat, a longitudinal vibration damper and a traction rod. The longitudinal vibration damper and the traction rod are arranged in parallel to form a rectangular distribution. The mutual cooperation of the longitudinal vibration damper and the traction rod is utilized to suppress the nodding movement between the car body and the bogie.
It effectively suppresses the nodding movement between the car body and the bogie, improves the comfort and safety of vehicle operation, has a compact structure, reduces the installation length, reduces the risk of eccentric wear of the longitudinal shock absorber, and extends its service life.
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Figure CN118343177B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of rail vehicles, and in particular to a longitudinal vibration damping device, a bogie and a rail vehicle. Background Art
[0002] Rail vehicles are widely used in daily transportation, with EMUs, subways, light rail, and other ground-based rail transit systems being the most common. As ground space becomes increasingly scarce, monorail vehicles are becoming increasingly common. Current monorail vehicles suffer from significant longitudinal nodding vibration, necessitating a longitudinal vibration damping device to address this issue. Summary of the Invention
[0003] The present invention provides a longitudinal vibration damping device for solving the technical problem of obvious longitudinal nodding vibration of a vehicle body in the prior art, thereby achieving safety and comfort in vehicle operation.
[0004] The present invention also provides a bogie.
[0005] The present invention also provides a rail vehicle.
[0006] The present invention provides a longitudinal vibration reduction device, comprising:
[0007] a first mounting seat adapted to be mounted on a bogie of a rail vehicle;
[0008] A second mounting base, adapted to be mounted on a body of a rail vehicle, wherein the second mounting base is configured with a first connecting end and a second connecting end spaced apart in a height direction;
[0009] a longitudinal vibration damper, one end of which is connected to the first mounting seat, and the other end of which is connected to the first connecting end;
[0010] a traction rod, one end of which is connected to the second connecting end, and the other end of which is suitable for connection to the bogie;
[0011] Wherein, the longitudinal shock absorber and the traction rod are spaced apart and arranged in parallel.
[0012] According to a longitudinal vibration damping device provided by the present invention, the first mounting seat is configured as a U-shaped structure with an opening facing upward, and the first mounting seat has a base extending in a direction away from the longitudinal vibration damper, and the base is suitable for being mounted on a bogie of a rail vehicle, wherein the two columns of the first mounting seat are respectively provided with connection holes for connecting the longitudinal vibration damper.
[0013] According to a longitudinal vibration damping device provided by the present invention, a reinforcing rib is provided on the side of the first mounting seat facing the longitudinal vibration damper, and a reinforcing plate is provided on the side of the first mounting seat facing away from the longitudinal vibration damper, wherein the reinforcing plate is connected to the upper surface of the base, wherein the width of the reinforcing plate gradually increases from top to bottom.
[0014] According to a longitudinal vibration damping device provided by the present invention, two spaced-apart connecting blocks extend upward from the upper end of the second mounting seat, and the two connecting blocks are respectively provided with a first mounting hole to form the first connecting end.
[0015] According to a longitudinal vibration damping device provided by the present invention, the second mounting seat is configured with a clearance channel extending in the height direction, and the second mounting seat is respectively provided with second mounting holes on both sides of the clearance channel to form the second connection end.
[0016] According to a longitudinal vibration damping device provided by the present invention, a slope is formed on a side of the second mounting seat away from the longitudinal vibration damper, wherein the slope gradually moves away from the longitudinal vibration damper from top to bottom.
[0017] According to a longitudinal vibration damping device provided by the present invention, the lower end of the second mounting seat extends toward the direction of the traction rod and is formed with a connecting piece, and connecting ears are respectively provided on both sides of the second mounting seat, wherein the connecting ears and the connecting piece are respectively constructed with assembly holes for connecting to the body of the rail vehicle.
[0018] According to a longitudinal vibration damping device provided by the present invention, both ends of the traction rod are respectively constructed with annular connecting parts, annular connecting nodes are installed in the annular connecting parts, and the two annular connecting nodes are respectively used to connect the second connecting end and the bogie, wherein an annular cavity is formed in the annular connecting node.
[0019] The present invention also provides a bogie comprising a frame, wherein the frame is provided with the longitudinal vibration damping device as described above.
[0020] The present invention also provides a rail vehicle, comprising a vehicle body, wherein the vehicle body is provided with the bogie as described above.
[0021] The longitudinal vibration damping device provided by an embodiment of the present invention is configured such that a first mounting seat is mounted on a bogie and a second mounting seat is mounted on a vehicle body to fix the positions of the first mounting seat and the second mounting seat respectively, a longitudinal vibration damper is mounted between the first mounting seat and the second mounting seat, and a traction rod is mounted between the second mounting seat and the bogie, so that the first mounting seat, the second mounting seat, the longitudinal vibration damper and the traction rod are roughly distributed in a rectangular shape, making the structure of the longitudinal vibration damping device compact. By utilizing the mutual cooperation of the longitudinal vibration damper and the traction rod, the nodding movement between the vehicle body and the bogie can be effectively suppressed, thereby improving the comfort and safety of vehicle operation.
[0022] The bogie provided by the embodiment of the present invention installs the aforementioned longitudinal vibration damping device on the frame, installs the first mounting seat on the bogie, and installs the second mounting seat on the car body to fix the positions of the first mounting seat and the second mounting seat respectively, installs the longitudinal vibration damper between the first mounting seat and the second mounting seat, and installs the traction rod between the second mounting seat and the bogie, so that the first mounting seat, the second mounting seat, the longitudinal vibration damper and the traction rod are roughly distributed in a rectangular shape, making the structure of the longitudinal vibration damping device compact, and utilizing the mutual cooperation of the longitudinal vibration damper and the traction rod to effectively suppress the nodding movement between the car body and the bogie, thereby improving the comfort and safety of vehicle operation.
[0023] The rail vehicle provided by the embodiment of the present invention installs the above-mentioned bogie on the car body, installs the first mounting seat on the bogie, and installs the second mounting seat on the car body to fix the positions of the first mounting seat and the second mounting seat respectively, installs the longitudinal shock absorber between the first mounting seat and the second mounting seat, and installs the traction rod between the second mounting seat and the bogie, so that the first mounting seat, the second mounting seat, the longitudinal shock absorber and the traction rod are roughly distributed in a rectangular shape, making the structure of the longitudinal shock absorber compact, and utilizing the mutual cooperation of the longitudinal shock absorber and the traction rod to effectively suppress the nodding movement between the car body and the bogie, thereby improving the comfort and safety of vehicle operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0025] Figure 1 1 is a schematic structural diagram of the longitudinal vibration reduction device provided by the present invention;
[0026] Figure 2 It is a structural schematic diagram of the first mounting base provided by the present invention;
[0027] Figure 3 It is a structural schematic diagram of the second mounting base provided by the present invention.
[0028] Reference numerals:
[0029] 100. First mounting seat; 110. Base; 120. Post; 130. Connecting hole; 140. Reinforcing rib; 150. Reinforcing plate; 200. Second mounting seat; 210. First connecting end; 220. Second connecting end; 230. Connecting block; 240. First mounting hole; 250. Clearance channel; 260. Second mounting hole; 270. Inclined surface; 280. Connecting piece; 290. Connecting ear; 2100. Assembly hole; 300. Longitudinal shock absorber; 400. Traction rod; 410. Annular connecting portion; 420. Annular connecting node. DETAILED DESCRIPTION
[0030] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.
[0031] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.
[0032] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.
[0033] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.
[0034] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.
[0035] The following combination Figure 1-Figure 3 An embodiment of the present invention is described. This embodiment provides a longitudinal vibration damping device, comprising a first mounting seat 100, a second mounting seat 200, a longitudinal vibration damper 300, and a traction rod 400. The first mounting seat 100 is suitable for mounting on a bogie of a rail vehicle. The second mounting seat 200 is suitable for mounting on a body of a rail vehicle, and the second mounting seat 200 is configured with a first connecting end 210 and a second connecting end 220 spaced apart in a height direction. One end of the longitudinal vibration damper 300 is connected to the first mounting seat 100, and the other end of the longitudinal vibration damper 300 is connected to the first connecting end 210. One end of the traction rod 400 is connected to the second connecting end 220, and the other end of the traction rod 400 is suitable for connection to the bogie. The longitudinal vibration damper 300 and the traction rod 400 are spaced apart and arranged in parallel.
[0036] In this embodiment, the first mounting seat 100 is installed on the bogie and the second mounting seat 200 is installed on the vehicle body to fix the positions of the first mounting seat 100 and the second mounting seat 200 respectively, the longitudinal shock absorber 300 is installed between the first mounting seat 100 and the second mounting seat 200, and the traction rod 400 is installed between the second mounting seat 200 and the bogie, so that the first mounting seat 100, the second mounting seat 200, the longitudinal shock absorber 300 and the traction rod 400 are roughly distributed in a rectangular shape, making the structure of the longitudinal vibration damping device compact. The mutual cooperation of the longitudinal shock absorber 300 and the traction rod 400 can effectively suppress the nodding movement between the vehicle body and the bogie, thereby improving the comfort and safety of vehicle operation.
[0037] In this embodiment, the first mounting seat 100 is suitable for being fixed to the bogie of the rail vehicle by welding. Specifically, the first mounting seat 100 is fixed to the bolster of the bogie by welding. The second mounting seat 200 is suitable for being fixed to the body of the rail vehicle by fasteners. The longitudinal shock absorber 300 is designed with specific dynamic stiffness parameters and damping characteristic parameters. Among them, the dynamic stiffness parameter of the longitudinal shock absorber 300 can be set to 10-20 MN / m, for example, 10 MN / m, 15 MN / m or 20 MN / m. The damping characteristic parameter of the longitudinal shock absorber 300 can be set to 50-100 kilonewton-seconds-per-meter, for example, 50 kilonewton-seconds-per-meter, 75 kilonewton-seconds-per-meter or 100 kilonewton-seconds-per-meter. Combined with this parameter setting, the nodding movement between the body and the bogie can be further suppressed, thereby improving the comfort and safety of the vehicle operation.
[0038] During the installation process, the longitudinal shock absorber 300 is arranged along the longitudinal direction of the vehicle body, that is, the longitudinal shock absorber 300 is installed along the running direction of the vehicle body, so as to cooperate with the first mounting seat 100, the second mounting seat 200 and the traction rod 400 to suppress the nodding movement between the vehicle body and the bogie, thereby improving the comfort and safety of the vehicle operation.
[0039] A longitudinal vibration damping device is formed by using the first mounting seat 100, the second mounting seat 200, the longitudinal vibration damper 300 and the traction rod 400. The installation length of the longitudinal vibration damping device is about 300 mm. Compared with the traditional longitudinal vibration damping arrangement, this solution greatly reduces the installation length and ensures the compactness of the longitudinal vibration damping device structure.
[0040] In this embodiment, the longitudinal damper 300 is spaced apart and arranged parallel to the traction rod 400 to effectively suppress nodding motion between the vehicle body and bogie, thereby improving vehicle operating comfort and safety. If the longitudinal damper 300 is arranged at an angle to the traction rod 400, uneven wear between the piston rod and the pressure cylinder may occur during extension or compression of the longitudinal damper 300, shortening the service life of the longitudinal damper 300.
[0041] like Figure 2 As shown, the first mounting seat 100 is configured as a U-shaped structure with an opening facing upward. The first mounting seat 100 has a base 110 extending in a direction away from the longitudinal shock absorber 300. The base 110 is suitable for installation on a bogie of a rail vehicle, wherein the two columns 120 of the first mounting seat 100 are respectively provided with connection holes 130 for connecting the longitudinal shock absorber 300.
[0042] The U-shaped first mounting base 100 has a central channel for accommodating the mounting node of the longitudinal vibration damper 300. Fasteners can be used to secure the longitudinal vibration damper 300 to the connecting holes 130 on the two uprights 120 of the first mounting base 100, thereby connecting the longitudinal vibration damper 300 to the first mounting base 100. The base 110 is integrally formed with the first mounting base 100 and is welded to the bogie's bolster to secure the first mounting base 100 in place.
[0043] Please continue to refer to Figure 2 A reinforcing rib 140 is provided on the side of the first mounting seat 100 facing the longitudinal vibration damper 300, and a reinforcing plate 150 is provided on the side of the first mounting seat 100 facing away from the longitudinal vibration damper 300. The reinforcing plate 150 is connected to the upper surface of the base 110, wherein the width of the reinforcing plate 150 gradually increases from top to bottom.
[0044] A reinforcing rib 140 is provided on the side of the first mounting base 100 facing the longitudinal vibration damper 300 to provide structural reinforcement for the front side of the first mounting base 100. A reinforcing plate 150 is provided on the side of the first mounting base 100 facing away from the longitudinal vibration damper 300. The reinforcing plate 150 is connected to the upper surface of the base 110 to provide structural reinforcement for the rear side of the first mounting base 100. The reinforcing plate 150 is roughly triangular in shape, with its width gradually increasing from top to bottom. This creates a larger connection surface between the reinforcing plate 150 and the base 110, and its triangular structure provides better structural reinforcement.
[0045] like Figure 3 As shown, two spaced-apart connecting blocks 230 extend upward from the upper end of the second mounting base 200. Each connecting block 230 defines a first mounting hole 240, forming the first connecting end 210. Fasteners engage the first mounting holes 240 to connect the longitudinal vibration damper 300. A channel is formed between the two spaced-apart connecting blocks 230 to accommodate the mounting nodes of the longitudinal vibration damper 300, facilitating its installation.
[0046] Please continue to refer to Figure 3The second mounting base 200 is configured with a clearance channel 250 extending in the height direction. Second mounting base 200 has second mounting holes 260 on either side of the clearance channel 250, forming a second connection end 220. Fasteners are used to connect the traction rod 400 through the second mounting holes 260. The clearance channel 250 accommodates the annular connecting portion 410 and the annular connection node 420 of the traction rod 400, facilitating installation of the traction rod 400. The clearance channel 250 not only reduces the weight of the second mounting base 200, but also contributes to the lightweight design of the rail vehicle. Furthermore, the clearance channel 250 provides vertical displacement space for the traction rod 400.
[0047] like Figure 1 and Figure 3 As shown, a sloped surface 270 is formed on the side of the second mounting base 200 away from the longitudinal vibration damper 300, wherein the sloped surface 270 gradually moves away from the longitudinal vibration damper 300 from top to bottom. The design of the sloped surface 270 can strengthen the structure of the second mounting base 200 and improve the strength and rigidity of the second mounting base 200.
[0048] According to the longitudinal vibration damping device provided by the present invention, the lower end of the second mounting base 200 extends toward the traction rod 400 and is formed with a connector 280. Connecting ears 290 are provided on either side of the second mounting base 200. Each of the connecting ears 290 and the connector 280 has an assembly hole 2100 configured for connection to the body of a rail vehicle. Fasteners engage the assembly holes 2100 on the connecting ears 290 and the connector 280 to securely attach the second mounting base 200 to the body of the rail vehicle.
[0049] like Figure 1 As shown, an annular connecting portion 410 is constructed at both ends of the traction rod 400, and an annular connecting node 420 is installed in the annular connecting portion 410. The two annular connecting nodes 420 are respectively used to connect the second connecting end 220 and the bogie, wherein an annular cavity is formed in the annular connecting node 420.
[0050] The annular connection node 420 with an annular cavity exhibits nonlinear load-displacement characteristics. Compared to traditional solid linear nodes, the hollow nonlinear node reduces the instantaneous stiffness during vehicle startup and braking, while gradually increasing the stiffness as displacement increases. This design effectively reduces longitudinal acceleration between the vehicle body and the frame, thereby improving vehicle operating comfort.
[0051] In this embodiment, the mounting node of the longitudinal vibration absorber 300 is a solid node, and the mounting node of the longitudinal vibration absorber 300 is a mounting node with a large deflection and torsion angle.
[0052] On the other hand, the present invention further provides a bogie including a frame, wherein the frame is provided with a longitudinal vibration damping device as described in the above embodiment. Specifically, a first mounting seat 100 of the longitudinal vibration damping device is welded and fixed to a bolster of the frame.
[0053] In this embodiment, the aforementioned longitudinal vibration damping device is installed on the frame, the first mounting seat 100 is installed on the bogie, and the second mounting seat 200 is installed on the car body to fix the positions of the first mounting seat 100 and the second mounting seat 200 respectively, the longitudinal vibration damper 300 is installed between the first mounting seat 100 and the second mounting seat 200, and the traction rod 400 is installed between the second mounting seat 200 and the bogie, so that the first mounting seat 100, the second mounting seat 200, the longitudinal vibration damper 300 and the traction rod 400 are roughly distributed in a rectangular shape, making the structure of the longitudinal vibration damping device compact. By utilizing the mutual cooperation of the longitudinal vibration damper 300 and the traction rod 400, the nodding movement between the car body and the bogie can be effectively suppressed, thereby improving the comfort and safety of vehicle operation.
[0054] In yet another aspect, the present invention provides a rail vehicle comprising a vehicle body equipped with a bogie as described in the aforementioned embodiment. Specifically, a first mounting base 100 of the longitudinal vibration damping device is welded to a bolster of the frame, and a second mounting base 200 of the longitudinal vibration damping device is connected to the vehicle body via fasteners. The rail vehicle primarily comprises a monorail suspension vehicle.
[0055] In this embodiment, the aforementioned bogie is installed on the vehicle body, the first mounting seat 100 is installed on the bogie, and the second mounting seat 200 is installed on the vehicle body to fix the positions of the first mounting seat 100 and the second mounting seat 200 respectively, the longitudinal shock absorber 300 is installed between the first mounting seat 100 and the second mounting seat 200, and the traction rod 400 is installed between the second mounting seat 200 and the bogie, so that the first mounting seat 100, the second mounting seat 200, the longitudinal shock absorber 300 and the traction rod 400 are roughly distributed in a rectangular shape, making the structure of the longitudinal vibration damping device compact. By utilizing the mutual cooperation of the longitudinal shock absorber 300 and the traction rod 400, the nodding movement between the vehicle body and the bogie can be effectively suppressed, thereby improving the comfort and safety of vehicle operation.
[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.
Claims
1. A longitudinal vibration damping device, characterized in that: include: a first mounting seat adapted to be mounted on a bogie of a rail vehicle; A second mounting base, adapted to be mounted on a body of a rail vehicle, wherein the second mounting base is configured with a first connecting end and a second connecting end spaced apart in a height direction; a longitudinal vibration damper, one end of which is connected to the first mounting seat, and the other end of which is connected to the first connecting end; a traction rod, one end of which is connected to the second connecting end, and the other end of which is suitable for connection to the bogie; Wherein, the longitudinal shock absorber is spaced apart from and arranged in parallel with the traction rod; The first mounting seat is configured as a U-shaped structure with an opening facing upward, and the first mounting seat has a base extending in a direction away from the longitudinal shock absorber, and the base is suitable for being installed on a bogie of a rail vehicle, wherein the two columns of the first mounting seat are respectively provided with connection holes for connecting the longitudinal shock absorber.
2. The longitudinal vibration damping device according to claim 1, characterized in that: A reinforcing rib is provided on the side of the first mounting seat facing the longitudinal vibration damper, and a reinforcing plate is provided on the side of the first mounting seat facing away from the longitudinal vibration damper. The reinforcing plate is connected to the upper surface of the base, wherein the width of the reinforcing plate gradually increases from top to bottom.
3. The longitudinal vibration damping device according to claim 1, characterized in that: Two spaced-apart connection blocks extend upward from the upper end of the second mounting seat, and the two connection blocks are respectively provided with a first mounting hole to form the first connection end.
4. The longitudinal vibration damping device according to claim 3, characterized in that: The second mounting seat is configured with a clearance channel extending in a height direction, and the second mounting seat is respectively provided with second mounting holes on both sides of the clearance channel to form the second connection end.
5. The longitudinal vibration damping device according to claim 4, characterized in that: A slope is formed on a side of the second mounting seat away from the longitudinal vibration damper, wherein the slope gradually moves away from the longitudinal vibration damper from top to bottom.
6. The longitudinal vibration damping device according to claim 3, characterized in that: The lower end of the second mounting seat extends toward the traction rod and is formed with a connecting piece. Connecting ears are respectively provided on both sides of the second mounting seat, wherein the connecting ears and the connecting piece are respectively constructed with assembly holes for connecting to the body of the rail vehicle.
7. The longitudinal vibration damping device according to any one of claims 1 to 6, characterized in that: Both ends of the traction rod are respectively constructed with an annular connecting part, and an annular connecting node is installed in the annular connecting part. The two annular connecting nodes are respectively used to connect the second connecting end and the bogie, wherein an annular cavity is formed in the annular connecting node.
8. A bogie, characterized in that: The invention comprises a frame provided with a longitudinal vibration damping device according to any one of claims 1 to 7.
9. A rail vehicle, characterized in that: The vehicle comprises a vehicle body provided with the bogie according to claim 8.
Citation Information
Patent Citations
Workshop vibration damping device for rail vehicle and rail vehicle
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Straddle type monorail vehicle and single-shaft bogie thereof
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