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CN104033538A - Variable hydraulic damping torsion vibration reduction device - Google Patents

Variable hydraulic damping torsion vibration reduction device Download PDF

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Publication number
CN104033538A
CN104033538A CN201410212498.8A CN201410212498A CN104033538A CN 104033538 A CN104033538 A CN 104033538A CN 201410212498 A CN201410212498 A CN 201410212498A CN 104033538 A CN104033538 A CN 104033538A
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China
Prior art keywords
oil
hydraulic
vibration reduction
push rod
torsional vibration
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CN201410212498.8A
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Chinese (zh)
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CN104033538B (en
Inventor
王桥医
王乾坤
张泽
方敏
陈娟
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Hangzhou Dianzi University
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Hangzhou Dianzi University
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Abstract

本发明公开了一种可变液压阻尼扭转减振装置。本发明包括法兰盘、扭转减振部件及端盖,法兰盘与端盖分别位于环形壳体的两侧并通过螺钉与之连接,组成一个整体转动部件。扭转减振部件包括联轴筒、连接杆、活塞推杆、液压缸和调节螺钉;联轴筒与一主动旋转轴连接,主动旋转轴带动联轴筒旋转并通过连接杆带动活塞推杆旋转,活塞推杆一方面压缩减振弹簧,另一方面挤压液压油,使液压油通过活塞杆内部的油道,流向另一液压缸,活塞推杆上装有可对液压油流量进行调节的调节螺钉,从而实现可变液压阻尼扭转减振的功能。本发明结构简单,便于拆装及维修,能实现可变液压阻尼扭转减振的功能,扭转减振效果好。

The invention discloses a variable hydraulic damping torsional shock absorbing device. The invention comprises a flange plate, a torsional damping part and an end cover. The flange plate and the end cover are respectively located on both sides of the annular shell and connected with it by screws to form an integral rotating part. The torsional damping components include a coupling cylinder, a connecting rod, a piston push rod, a hydraulic cylinder and an adjusting screw; the coupling cylinder is connected with an active rotating shaft, and the active rotating shaft drives the coupling cylinder to rotate and drives the piston push rod to rotate through the connecting rod. On the one hand, the piston push rod compresses the damping spring, and on the other hand squeezes the hydraulic oil, so that the hydraulic oil flows through the oil passage inside the piston rod to another hydraulic cylinder. The piston push rod is equipped with an adjusting screw that can adjust the flow of hydraulic oil. , so as to realize the function of variable hydraulic damping torsional vibration reduction. The invention has simple structure, is convenient for disassembly and maintenance, can realize the function of variable hydraulic damping torsional vibration reduction, and has good effect of torsional vibration reduction.

Description

Hydraulic variable damping torsional vibration damper
Technical field
The present invention relates to a kind of torsional vibration damper, especially relate to the hydraulic variable damping torsional vibration damper of a kind of connection two transmission shafts.
Background technique
The torsional vibration of transmission system is extensively present in industrial production and vehicle traveling process, such as in plate sheet and strip process because of the torsional vibration of the main transmission that causes in the situations such as acceleration and deceleration, gear engagement, transmitting torque fluctuates, make transmission unstability, torsional vibration and milling train vertical vibration intercouple, thereby affect the quality of Strip product, improve Strip quality and just must suppress the torsional vibration of main transmission; In vehicle traveling process, the torsional vibration meeting of transmission system produces noise, the travelling comfort that impact is taken, and torsional vibration meeting affects the life-span of the parts such as transmission shaft, accelerates the replacement cycle, can cause the fracture of transmission shaft when serious, brings economic loss.Therefore the torsional vibration that suppresses transmission system is extremely necessary.
At present, for fear of resonance, relax the suffered impulsive load of transmission system, improve the life-span of part, conventionally the inhibition of transmission system torsional vibration is mainly adopted to spring torsional vibration damper or mass flywheel formula torsional vibration damper, these torsional vibration dampers can effectively suppress torsional vibration, but also all there is shortcoming separately, and can not to inhibition degree, make a change according to actual vibration situation, therefore versatility is poor, each transmission system needs to manufacture the torsional vibration damper matching, and just can reach good inhibition, causes economic loss.
Summary of the invention
The present invention completes in order to solve deficiency of the prior art, and its object is to provide hydraulic variable damping torsional vibration damper between a kind of two rotary components, can inhibition degree be made a change according to actual vibration situation, improves torsional vibration inhibition.
The technological scheme that technical solution problem of the present invention is taked is:
The present invention includes flange plate, torsion damping parts and end cap, flange plate and end cap lay respectively at the both sides of torsion damping parts and are attached thereto by screw, and rotatable parts form a whole; Described torsion damping parts comprise shaft coupling cylinder, connecting rod, piston push rod, oil hydraulic cylinder and adjusting screw; Shaft coupling cylinder is connected with an active rotation axle, active rotation axle drives the rotation of shaft coupling cylinder and drives piston push rod to rotate by connecting rod, piston push rod compresses shock-absorbing spring on the one hand, squeezed fluid force feed on the other hand, make hydraulic oil pass through the oil duct of piston rod inside, flow to another oil hydraulic cylinder, the adjusting screw that can regulate hydraulic fluid flow rate is housed on piston push rod, thereby realize the function of hydraulic variable damping torsion damping.
Furtherly, described torsion damping parts have two oil hydraulic cylinders at least, described oil hydraulic cylinder is arc oil hydraulic cylinder, respectively there is an arc oil pocket at each arc oil hydraulic cylinder two ends, two oil pockets are not communicated with, centre is separated by entity, and the flange that arc oil hydraulic cylinder stretches out by the right and left is fixedly connected with toroidal shell with bolt.
Furtherly, described piston push rod is arc push rod, in the middle of arc push rod, is provided with arc oil duct, and arc push rod two ends are connected to two adjacent oil pockets by piston, and the hydraulic oil in two oil pockets circulates mutually by oil duct.
Furtherly, described hydraulic cylinder is fixedly connected with oil hydraulic cylinder by screw, prevents the extraction of piston and causes the leakage of hydraulic oil, and one end of hydraulic cylinder contacts with shock-absorbing spring, plays the effect of spring seat.
Furtherly, described shock-absorbing spring is through on piston push rod, and two ends are pressed against respectively on the hydraulic cylinder on both sides of piston push rod, play auxiliary damping effect, and when stable rotation, bear the effect of moment of rotation.
Furtherly, described oil-feed screw is connected with oil pocket after running through toroidal shell, oil hydraulic cylinder.
Furtherly, described oil-draining screw is connected with oil pocket after running through toroidal shell, oil hydraulic cylinder.
Beneficial effect of the present invention: the present invention has not only taken into account the advantage of traditional torsional vibration damper but also made up its deficiency, simple in structure, be convenient to dismounting and maintenance, can to inhibition degree, make a change according to actual vibration situation, improve torsional vibration inhibition, realize the function of hydraulic variable damping torsion damping.
Accompanying drawing explanation
Fig. 1 is the total figure of hydraulic variable damping torsional vibration damper assembling of the present invention;
Fig. 2 is the preferred flange plate schematic diagram of the present invention;
Fig. 3 is the preferred torsion damping block diagram of the present invention;
Fig. 4 is the preferred torsion damping parts of the present invention sectional views;
In accompanying drawing: 1. flange plate; 2. toroidal shell; 3. end cap; 4. shaft coupling cylinder; 5. connecting rod; 6. shock-absorbing spring; 7. piston push rod; 8. hydraulic cylinder; 9. set screw; 10. oil hydraulic cylinder; 11. connecting bolts; 12. oil-draining screws; 13. oil-feed screws; 14. set screws; 15. adjusting screw; 16. seal rings.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, hydraulic variable damping torsional vibration damper of the present invention, comprises flange plate 1, torsion damping parts and end cap 3, and flange plate 1 lays respectively at the both sides of toroidal shell 2 and is attached thereto by set screw 14 with end cap 3, and rotatable parts form a whole.
As shown in Figure 2, flange plate 1 is connected with toroidal shell 2 on the one hand, passes through spline joint on the one hand with driven running shaft, and moment of torsion is passed to driven running shaft from torsion damping parts.
As shown in Figure 3, described torsion damping parts are comprised of toroidal shell 2, oil hydraulic cylinder 10, seal ring 16, piston push rod 7, hydraulic cylinder 8, shock-absorbing spring 6, connecting rod 5, shaft coupling cylinder 4, oil-feed screw 13, oil-draining screw 12, adjusting screw 15, connecting bolt 11 and set screw 9.
As shown in Fig. 3 or 4, described oil hydraulic cylinder 10 is arc oil hydraulic cylinder, and respectively there is an arc oil pocket at each arc oil hydraulic cylinder 10 two ends, and two oil pockets are not communicated with, centre is separated by entity, and the flange that arc oil hydraulic cylinder stretches out by the right and left is fixedly connected with toroidal shell 2 with connecting bolt 11.Described torsion damping parts have the arc oil hydraulic cylinder 10 described in two, and each oil hydraulic cylinder 10 has two mutual disconnected oil pockets.
As shown in Fig. 3 or 4, described piston push rod 7 is arc push rod, in the middle of arc push rod 7, be provided with arc oil duct, arc push rod 7 two ends are connected to two two oil pockets that oil hydraulic cylinder 10 is adjacent by piston, hydraulic oil in two oil pockets can circulate mutually by oil duct, arc push rod 7 is provided with adjusting screw 15, and turn adjusting screw 15 is the flow of hydraulic oil in adjustable oil duct, thereby changes the size of hydraulic damping.
As shown in Fig. 3 or 4, described hydraulic cylinder 8 is fixedly connected with oil hydraulic cylinder 10 by set screw 9, can prevent the extraction of piston and cause the leakage of hydraulic oil, and one end of hydraulic cylinder 8 contacts with shock-absorbing spring 6, plays the effect of spring seat.
As shown in Fig. 3 or 4, described shock-absorbing spring 6 is through on piston push rod 7, and two ends are pressed against respectively on the hydraulic cylinder 8 on both sides of piston push rod 7, play auxiliary damping effect, and when stable rotation, bear the effect of moment of rotation.
As shown in Fig. 3 or 4, described shaft coupling cylinder 4 is for connecting active rotation axle, and is connected with piston push rod 7 by connecting rod 5, the rotation that rotarily drives shaft coupling cylinder 4 of active rotation axle, and pass through the rotation of connecting rod 5 drive piston push rods 7.
As shown in Fig. 3 or 4, described oil-feed screw 13 runs through toroidal shell 2 and oil hydraulic cylinder 10, is connected with oil pocket, rotates shaft coupling cylinder 4, makes oil suction chamber reach maximum, screws out oil-feed screw 13, can be by oil inlet hole to oil hydraulic cylinder oil pocket injection liquid force feed.
As shown in Fig. 3 or 4, described oil-draining screw 12 runs through toroidal shell 2 and oil hydraulic cylinder 10, is connected with oil pocket, screws out oil-draining screw 12, rotates shaft coupling cylinder 4, can discharge the hydraulic oil in oil hydraulic cylinder oil pocket by drain oil.
In conjunction with Fig. 1-4, a specific embodiment of the present invention is:
Shaft coupling cylinder 4 is connected with active rotation axle, and flange plate 1 is connected with driven running shaft, and moment of torsion passes to driven running shaft from active rotation axle by hydraulic variable damping torsional vibration damper.Active rotation axle drives shaft coupling cylinder 4 to rotate and passes through connecting rod 5 and drives piston push rod 7 rotations, piston push rod 7 compresses shock-absorbing spring 6 on the one hand, squeezed fluid force feed on the other hand, make hydraulic oil pass through the oil duct of piston push rod 7 inside, flow to another oil hydraulic cylinder, adjusting screw 15 is housed on piston push rod 7, can regulates hydraulic fluid flow rate, thereby realize the function of hydraulic variable damping torsion damping.When adjusting screw 15 screws in completely, oil in two oil hydraulic cylinders 10 can not circulate by oil duct, now only there is shock-absorbing spring 6 to play torsion damping effect, when adjusting screw 15 screws out gradually, oil in oil hydraulic cylinder 10 can circulate by oil duct, shock-absorbing spring 6 and hydraulic oil all can play torsion damping effect, and the screw-in of adjusting screw 15 screws out damping size that can regulator solution force feed, thereby can change effectiveness in vibration suppression according to actual vibration situation.Oil hydraulic cylinder 10 is connected with toroidal shell 2 use connecting bolts 11, under the effect of shock-absorbing spring 6 and hydraulic damping, drive toroidal shell 2 rotations, toroidal shell 2 is connected with flange plate 1, end cap 3 use set screws 14, thereby toroidal shell 2 drives flange plate 1 rotation, flange plate 1 and then drive driven shaft are rotated.
During assembling, first shock-absorbing spring 6, hydraulic cylinder 8 are set on piston push rod 7, then piston push rod 7 is pushed in oil hydraulic cylinder 10, again oil hydraulic cylinder 10 and the flange of toroidal shell 2 by oil hydraulic cylinder 10 both sides are coupled together with connecting bolt 11, finally rotate the oil hydraulic cylinder oil pocket that shaft coupling cylinder 4 makes oil-feed screw 13 those sides and reach maximum, injection liquid force feed, screws oil-feed bolt 13.During dismounting, first rotate the oil hydraulic cylinder oil pocket that shaft coupling cylinder 4 makes oil discharge screw 12 those sides and reach maximum, then adjusting screw 15 is screwed into minimum, oil duct is not circulated, screw out oil discharge screw 12, reversion shaft coupling cylinder 4, gets rid of hydraulic oil again, the connecting bolt 11 of finally dismantling between oil hydraulic cylinder 10 and toroidal shell 2, takes out oil hydraulic cylinder 10.
One skilled in the art will understand that the embodiments of the invention shown in foregoing description and accompanying drawing only limit the present invention as an example and not.Every equivalence variation of making according to the design spirit in the present invention or modification or equal proportion zoom in or out etc., all should think and fall into protection scope of the present invention.

Claims (7)

1. 可变液压阻尼扭转减振装置,其特征在于:包括法兰盘、扭转减振部件及端盖,法兰盘与端盖分别位于扭转减振部件的两侧并通过螺钉与之连接,组成一个整体转动部件; 1. The variable hydraulic damping torsional vibration reduction device is characterized in that it includes a flange, a torsional vibration reduction component and an end cover. The flange and the end cover are respectively located on both sides of the torsional vibration reduction component and are connected to it by screws. form an integral rotating part; 所述的扭转减振部件包括联轴筒、连接杆、活塞推杆、液压缸和调节螺钉;联轴筒与一主动旋转轴连接,主动旋转轴带动联轴筒旋转并通过连接杆带动活塞推杆旋转,活塞推杆一方面压缩减振弹簧,另一方面挤压液压油,使液压油通过活塞杆内部的油道,流向另一液压缸,活塞推杆上装有可对液压油流量进行调节的调节螺钉,从而实现可变液压阻尼扭转减振的功能。 The torsional damping component includes a coupling cylinder, a connecting rod, a piston push rod, a hydraulic cylinder and an adjusting screw; the coupling cylinder is connected with an active rotating shaft, and the active rotating shaft drives the coupling cylinder to rotate and drives the piston to push through the connecting rod. When the rod rotates, the piston push rod compresses the damping spring on the one hand, and squeezes the hydraulic oil on the other hand, so that the hydraulic oil flows through the oil passage inside the piston rod to another hydraulic cylinder. The piston push rod is equipped with a device to adjust the flow of hydraulic oil Adjusting screw, so as to realize the function of variable hydraulic damping torsional vibration reduction. 2.根据权利要求1所述的可变液压阻尼扭转减振装置,其特征在于:所述的扭转减振部件至少有两个液压缸,所述液压缸为弧形液压缸,每个弧形液压缸两端各有一个弧形油腔,两油腔不连通,中间被实体隔开,弧形液压缸通过左右两边伸出的凸缘用螺栓与环形壳体固定连接。 2. The variable hydraulic damping torsional vibration reduction device according to claim 1, characterized in that: the torsional vibration reduction component has at least two hydraulic cylinders, and the hydraulic cylinders are arc-shaped hydraulic cylinders, each arc-shaped There is an arc-shaped oil chamber at both ends of the hydraulic cylinder. The two oil chambers are not connected, and the middle is separated by a solid body. The arc-shaped hydraulic cylinder is fixedly connected with the annular housing by bolts through the flanges protruding from the left and right sides. 3.根据权利要求1所述的可变液压阻尼扭转减振装置,其特征在于:所述的活塞推杆为弧形推杆,弧形推杆中间设有弧形油道,弧形推杆两端通过活塞分别连接于相邻的两个油腔,两油腔内的液压油通过油道互相流通。 3. The variable hydraulic damping torsional vibration reduction device according to claim 1, characterized in that: the piston push rod is an arc-shaped push rod, an arc-shaped oil passage is arranged in the middle of the arc-shaped push rod, and the arc-shaped push rod The two ends are respectively connected to two adjacent oil chambers through pistons, and the hydraulic oil in the two oil chambers communicates with each other through oil passages. 4.根据权利要求1所述的可变液压阻尼扭转减振装置,其特征在于:所述的液压缸盖通过螺钉与液压缸固定连接,防止活塞的抽出而造成液压油的泄漏,液压缸盖的一端与减振弹簧接触,起到弹簧座的作用。 4. The variable hydraulic damping torsional vibration reduction device according to claim 1, characterized in that: the hydraulic cylinder head is fixedly connected with the hydraulic cylinder by screws to prevent the leakage of hydraulic oil caused by the extraction of the piston, and the hydraulic cylinder head One end is in contact with the damping spring and acts as a spring seat. 5.根据权利要求1所述的可变液压阻尼扭转减振装置,其特征在于:所述的减振弹簧穿在活塞推杆上,两端分别压靠在活塞推杆的两边的液压缸盖上,起到辅助减振作用,并且在稳定转动时承担转动力矩的作用。 5. The variable hydraulic damping torsional vibration reduction device according to claim 1, characterized in that: the damping spring is worn on the piston push rod, and the two ends are respectively pressed against the hydraulic cylinder heads on both sides of the piston push rod On the top, it plays the role of auxiliary vibration reduction, and bears the role of rotational moment during stable rotation. 6.根据权利要求1所述的可变液压阻尼扭转减振装置,其特征在于:所述进油螺钉贯穿环形壳体、液压缸后与油腔连接。 6 . The variable hydraulic damping torsional vibration reduction device according to claim 1 , wherein the oil inlet screw passes through the annular casing and the hydraulic cylinder and is connected to the oil chamber. 7 . 7.根据权利要求1所述的可变液压阻尼扭转减振装置,其特征在于:所述放油螺钉贯穿环形壳体、液压缸后与油腔连接。 7. The variable hydraulic damping torsional vibration reduction device according to claim 1, characterized in that: the oil drain screw penetrates through the annular casing and the hydraulic cylinder and is connected to the oil chamber.
CN201410212498.8A 2014-05-19 2014-05-19 Variable hydraulic damping torsional vibration reduction device Expired - Fee Related CN104033538B (en)

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107165982A (en) * 2017-06-05 2017-09-15 杭州电子科技大学 Torsional vibration damper based on hydraulic damping cam
CN109058312A (en) * 2018-08-21 2018-12-21 银隆新能源股份有限公司 Damping spring coupling
CN109139725A (en) * 2018-09-28 2019-01-04 安徽江淮汽车集团股份有限公司 Torque transmitter
CN109236984A (en) * 2018-10-25 2019-01-18 华中农业大学 A kind of vibration and noise reducing gear and its assembly technology
CN109899448A (en) * 2019-03-11 2019-06-18 汉腾汽车有限公司 A kind of automobile twisting vibration wideband vibration and noise reducing device
CN111120564A (en) * 2020-01-21 2020-05-08 东风汽车集团有限公司 Active torsion vibration damper
CN111877842A (en) * 2020-09-01 2020-11-03 马鞍山辰慕芸智能科技发展有限公司 Power transmission tower with ascending extending arm and hydraulically reset metal damper
CN112303182A (en) * 2020-11-19 2021-02-02 杭州电子科技大学 Hierarchical vibration damper based on magnetic force
CN112303181A (en) * 2020-11-20 2021-02-02 杭州电子科技大学 A multi-stage spring torsional vibration damping device
CN112405594A (en) * 2020-11-10 2021-02-26 珠海格力电器股份有限公司 Robot joint vibration damping device and robot
CN112467646A (en) * 2019-11-28 2021-03-09 孙倩兰 Cable fixing device for electrical engineering and fixing method thereof
CN110966343B (en) * 2019-11-26 2021-03-23 重庆工商职业学院 Vibration isolation device for mounting building equipment
CN113417968A (en) * 2021-06-01 2021-09-21 杭州电子科技大学 Hierarchical torsion damping device capable of adaptively adjusting hydraulic damping based on rotating speed of transmission shaft
CN115182964A (en) * 2022-07-18 2022-10-14 杭州电子科技大学 Electromagnetic Torsional Vibration Damping Device Based on Current Feedback Regulation
CN118752524A (en) * 2024-09-09 2024-10-11 湖南大学 A tower arch robot arm system

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CN1746524A (en) * 2004-09-10 2006-03-15 卢克摩擦片和离合器两合公司 Device for coupling two shafts having an axial offset
CN203146639U (en) * 2013-02-03 2013-08-21 湖北三环离合器有限公司 Clutch driven disc in hydraulic damping structure

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US2198763A (en) * 1937-01-27 1940-04-30 Draminsky Per Hydraulic oscillation damper
EP1491784A1 (en) * 2003-06-28 2004-12-29 MAN Nutzfahrzeuge Aktiengesellschaft Positive shaft - hub connection with vibration decoupling and fluid damping
CN1746524A (en) * 2004-09-10 2006-03-15 卢克摩擦片和离合器两合公司 Device for coupling two shafts having an axial offset
CN203146639U (en) * 2013-02-03 2013-08-21 湖北三环离合器有限公司 Clutch driven disc in hydraulic damping structure

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107165982A (en) * 2017-06-05 2017-09-15 杭州电子科技大学 Torsional vibration damper based on hydraulic damping cam
CN109058312A (en) * 2018-08-21 2018-12-21 银隆新能源股份有限公司 Damping spring coupling
CN109139725A (en) * 2018-09-28 2019-01-04 安徽江淮汽车集团股份有限公司 Torque transmitter
CN109139725B (en) * 2018-09-28 2020-08-21 安徽江淮汽车集团股份有限公司 Torque transmission device
CN109236984A (en) * 2018-10-25 2019-01-18 华中农业大学 A kind of vibration and noise reducing gear and its assembly technology
CN109899448A (en) * 2019-03-11 2019-06-18 汉腾汽车有限公司 A kind of automobile twisting vibration wideband vibration and noise reducing device
CN110966343B (en) * 2019-11-26 2021-03-23 重庆工商职业学院 Vibration isolation device for mounting building equipment
CN112467646A (en) * 2019-11-28 2021-03-09 孙倩兰 Cable fixing device for electrical engineering and fixing method thereof
CN112467646B (en) * 2019-11-28 2022-04-08 谷守全 Cable fixing device for electrical engineering and fixing method thereof
CN111120564A (en) * 2020-01-21 2020-05-08 东风汽车集团有限公司 Active torsion vibration damper
CN111877842A (en) * 2020-09-01 2020-11-03 马鞍山辰慕芸智能科技发展有限公司 Power transmission tower with ascending extending arm and hydraulically reset metal damper
CN112405594A (en) * 2020-11-10 2021-02-26 珠海格力电器股份有限公司 Robot joint vibration damping device and robot
CN112303182A (en) * 2020-11-19 2021-02-02 杭州电子科技大学 Hierarchical vibration damper based on magnetic force
CN112303181A (en) * 2020-11-20 2021-02-02 杭州电子科技大学 A multi-stage spring torsional vibration damping device
CN113417968A (en) * 2021-06-01 2021-09-21 杭州电子科技大学 Hierarchical torsion damping device capable of adaptively adjusting hydraulic damping based on rotating speed of transmission shaft
CN113417968B (en) * 2021-06-01 2022-05-27 杭州电子科技大学 Hierarchical torsion damping device capable of adaptively adjusting hydraulic damping based on rotating speed of transmission shaft
CN115182964A (en) * 2022-07-18 2022-10-14 杭州电子科技大学 Electromagnetic Torsional Vibration Damping Device Based on Current Feedback Regulation
CN115182964B (en) * 2022-07-18 2023-07-18 杭州电子科技大学 Electromagnetic Torsional Vibration Damping Device Based on Current Feedback Regulation
CN118752524A (en) * 2024-09-09 2024-10-11 湖南大学 A tower arch robot arm system
CN118752524B (en) * 2024-09-09 2024-12-20 湖南大学 Arch tower robot arm system

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