CN102296901A - Device capable of automatically opening and closing cabin door in compact cabin body - Google Patents
Device capable of automatically opening and closing cabin door in compact cabin body Download PDFInfo
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- CN102296901A CN102296901A CN2011102406124A CN201110240612A CN102296901A CN 102296901 A CN102296901 A CN 102296901A CN 2011102406124 A CN2011102406124 A CN 2011102406124A CN 201110240612 A CN201110240612 A CN 201110240612A CN 102296901 A CN102296901 A CN 102296901A
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- hatch door
- potentiometer
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- cabin
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Abstract
The invention discloses a device capable of automatically opening and closing a cabin door in a compact cabin body. The device comprises a cabin door frame and a cabin door which are arranged on the cabin body, wherein the cabin door is connected with a cabin door opening and closing driving device; the cabin door opening and closing driving device comprises a motor base, a driving motor and a rope traction device; the rope traction device comprises a traction steel wire rope, a cabin door opening and closing controller, a rope tension mechanism and a cabin door opening and closing potentiometer; a second angular displacement sensor is arranged on the cabin door opening and closing potentiometer; the rope tension mechanism comprises a rope tension potentiometer and a tension guide wheel; the rope tension potentiometer comprises a rope tension potentiometer base and a rope tension potentiometer swinging arm; a first angular displacement sensor is arranged on the rope tension potentiometer; and a cabin opening and closing controller is used for automatically controlling the running of the driving motor according to data fed back by the first angular displacement sensor and the second angular displacement sensor. Due to the adoption of the device, the problem of opening and closing of the cabin door in a compact cabin body is solved, and the phenomena of possible blocking, falling of a steel wire, and the like in the entire moving process are avoided.
Description
Technical field
The present invention relates to a kind of hatch door headstock gear, belong to design of automation hatch door motion and control method field.
Background technology
Chinese patent CN201020559726.6 discloses a kind of compartment or vehicle-mounted cabin body and automatic open and close hatch door thereof, described automatic open and close hatch door comprises doorframe and is hinged on door-plate on the doorframe by hinge axis, on the side plate face of described door-plate, be provided with and the orthogonal track of described hinge axis, one end of track extends towards the hinge axis direction, be equipped with in the track by rail-guided slide block or roller, be connected with driving mechanism by the hinged connecting lever of doorframe on slide block or the roller, described connecting lever is by the hinged rocking arm of the output shaft of driving mechanism, push rod that is in transmission connection with described slide block or roller and the connecting axle of fixedlying connected rocking arm and push rod are formed, described rocking arm and push rod all radially are fixed on the connecting axle, the two ends of connecting axle are rotated by bearing support respectively and are assemblied on the doorframe, and the rotating shaft of described connecting lever and described hinge axis be arranged in parallel.Therefore as can be known, for this automatic open and close hatch door, each unlatching all is that hatch door and interlinked mechanism thereof leave the doorframe installed surface, and vertical projections is not suitable for the requirement hatch door and does not protrude in the narrow and small application scenario of installed surface and space to the inboard of hatch door doorframe installed surface.
Chinese patent CN201020300868.0 discloses a kind of hatch door headstock gear of horizontal compartment, it is provided with cart and trolley compound motion mechanism above the body of cabin, hatch door is suspended on the dolly, in described cart and the trolley compound motion mechanism, the cart guide rail is set on the rail of structure stent support, roll on the described cart guide rail and be equipped with cart, cart is connected with the cart transmission system, cart is by the cart transmission system drives, move along the cart guide rail, drive is mounted thereon the dolly of face and the hatch door of its suspention, realizes that hatch door laterally moves; On the described cart axial guidance is set, rolling on the axial guidance is equipped with dolly, and dolly is connected with the dolly transmission system by turn-screw, dolly is driven by turn-screw by the dolly transmission system, guide rail moves vertically, drives the hatch door of its suspention, realizes that hatch door laterally moves; Described hatch door is set to free suspension status, be suspended in the suspension rod mechanism of dolly, suspension rod mechanism is by suspending rod, adjusting nut, the suspention bearing, nut, slotted hole and adjusting screw(rod) constitute, by the height of adjusting nut adjusting hatch door, adjust hitch point and hatch door center of gravity relative position by adjusting screw(rod); When described hatch door and cabin body are closed, be arranged on many groups automatic locking mechanism action of cabin body openend lateral wall, with hatch door and the locking of cabin body, each organizes automatic locking mechanism by the retaining mechanism support, rear support, and cylinder, check lock lever and preceding bearing constitute; When needing the locking hatch door, position sensor output signal starts cylinder, drive hatch door and cabin and show consideration for closely, check lock lever tightens up, and hatch door flange and cabin body flange are locked, constitute the closure state of horizontal hatch door, when needing opened door, position sensor output signal starts cylinder, check lock lever loosens, drive hatch door and separate gradually with the cabin body, hatch door flange and cabin body flange are separated, and constitute the opening of horizontal hatch door.Hence one can see that, and the core technology of this scheme is to utilize gravity to keep the hatch door overhang and straight moving and safe locking, so, be not suitable for the changeable occasion of the direction of motion and movement locus.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, automatic open and close cabin door device in the body of a kind of compact cabin is provided, the hatch door that this automatic open and close cabin door device has solved in the body of compact cabin is opened and the tight closure problem, and overcomes drawbacks such as stuck, the steel wire that may occur in whole motion process come off.
For realizing above technical purpose, the present invention will take following technical scheme:
Automatic open and close cabin door device in the body of a kind of cabin, comprise the hatch door frame that is arranged at the cabin body and with the suitable hatch door of the inner edge of hatch door frame, described hatch door opens and closes drive unit with hatch door and is connected, described hatch door opens and closes drive unit and comprises motor base, drive motors and rope draw-gear, and this rope draw-gear comprises haulage cable, wire rope seat, leading block, hatch door folding potentiometer, rope strainer and hatch door folding controller; Described wire rope seat is installed hatch door; Described hatch door folding potentiometer comprises hatch door folding potentiometer pedestal and the hatch door folding potentiometer rocking arm hinged with hatch door folding potentiometer pedestal, on the hatch door folding potentiometer second angular displacement sensor that is used to feed back the hatch door folding potentiometer rocking arm anglec of rotation is installed simultaneously; Described hatch door folding potentiometer pedestal is fixedlyed connected with the cabin body; Described rope strainer comprises rope tension potentiometer and tensioning guide wheel, this rope tension potentiometer comprises rope tension potentiometer pedestal and the rope tension potentiometer rocking arm hinged with this rope tension potentiometer pedestal, described drive motors and rope tension potentiometer pedestal are fixedlyed connected with bearing respectively, incorporate motor base and installing plate are formed bearing jointly, and be fixedly mounted on the body wall of cabin, described rope tension potentiometer rocking arm is connected with the tensioning guide wheel, push torsionspring between this rope tension potentiometer pedestal and the rope tension potentiometer rocking arm simultaneously, in addition, on the described rope tension potentiometer first angular displacement sensor that is used to detect the rope tension potentiometer rocking arm anglec of rotation is installed; The clutch end of described drive motors and wire rope roll drum rigidity are connected; One group of inboard guide finger of the disposed inboard of described hatch door, one group of outside guide finger is then arranged in the outside of hatch door; Described inboard guide finger and outside guide finger place respectively in the inboard gathering sill and outside gathering sill that is provided with on the body of cabin accordingly, be connected by constant force spring between inboard guide finger and the hatch door frame simultaneously, guide finger then is connected with the potentiometric rocking arm of hatch door folding outside one of them; One end location and installation of described haulage cable is on the wire rope roll drum, and the other end of haulage cable then is connected with hatch door after the tensioning of tensioning guide wheel, leading block guiding successively, and the rope body of haulage cable is wrapped in the periphery of wire rope roll drum; Described hatch door folding controller is controlled the operation of drive motors automatically according to first angular displacement sensor and second angular displacement sensor institute feedback data.
Described hatch door split left and right is arranged to two hatch doors, and each fan hatch door is connected with the traction end of rope draw-gear respectively; Described wire rope seat is installed in the centre position in every fan hatch door outside, haulage cable one end is fixed on the wire rope seat on the hatch door, the other end is upwards walked around first leading block that is vertically fixed on the body wall of cabin, along continuous straight runs is pulled to second leading block that is horizontally fixed on one jiao of place of cabin body wall then, walk around the tension force guide wheel of strainer by this second leading block along straight direction again, finally fixedly be wrapped on the winder.
The curved setting of described hatch door, described outside gathering sill is the arc guide groove that adapts with the hatch door arc, inboard gathering sill then is a straight slot.
According to above technical scheme, can realize following beneficial effect:
The present invention adopts the opened/closed of rope draw-gear traction hatch door, is equipped with corresponding automatic control system and rope strainer simultaneously, overcomes problems such as stuck, the steel wire that may occur in the whole motion process come off effectively; In addition, the present invention can realize that hatch door is connected with compactness between the body of cabin, and especially for arc cabin body, it can be by being provided with the mode of arc guide groove, guide finger accordingly on cabin body and hatch door, and control hatch door movement locus is realized both tight closure; The present invention is arranged to deep-slotted chip breaker with gathering sill, is close to the inwall arcuate movement to horizontal direction and final tight closure from vertical direction, can meet the demand of cabin shape better.
Description of drawings
Fig. 1 is a control system composition frame chart of the present invention;
Fig. 2 is a hatch door workflow diagram of the present invention;
Fig. 3 is the elevation of automatic open and close cabin door device in the body of cabin of the present invention;
Fig. 4 is the vertical view of Fig. 3;
Fig. 5 is the movement locus figure of hatch door of the present invention;
Fig. 6 is the structural representation of hatch door of the present invention
Fig. 7 is the elevation of strainer of the present invention;
Fig. 8 is the vertical view of Fig. 7;
Number in the figure title: 1-hatch door, 2-gathering sill, 3-haulage cable, 4-drive motors, 5-hatch door folding potentiometer, 6-constant force spring, 7-inboard guide finger, 8-outside guide finger, 9-wire rope seat, 10-inboard guide finger movement locus, 11-outside guide finger movement locus, the rotating shaft of 12-potentiometer, 13-hatch door folding potentiometer rocking arm, the external wall in 14-cabin, 15-wire rope roll drum, 16-tensioning guide wheel, 17-rope tension potentiometer rocking arm, 18-torsionspring, 19-rope tension potentiometer, 20-installing plate, 21-motor base, 22-leading block.
The specific embodiment
Accompanying drawing discloses the structural representation of preferred embodiment involved in the present invention without limitation; Explain technical scheme of the present invention below with reference to accompanying drawing.
Shown in Fig. 1 to 8, automatic open and close cabin door device in the body of cabin of the present invention, comprise the hatch door frame that is arranged at the cabin body and with the suitable hatch door of the inner edge of hatch door frame, described hatch door opens and closes drive unit with hatch door and is connected, described hatch door opens and closes drive unit and comprises motor base, drive motors and rope draw-gear, and this rope draw-gear comprises haulage cable, wire rope seat, leading block, hatch door folding potentiometer, rope strainer and hatch door folding controller; Described hatch door folding potentiometer comprises hatch door folding potentiometer pedestal and the hatch door folding potentiometer rocking arm hinged with hatch door folding potentiometer pedestal, on the hatch door folding potentiometer second angular displacement sensor that is used to feed back the hatch door folding potentiometer rocking arm anglec of rotation is installed simultaneously; Described hatch door folding potentiometer pedestal is fixedlyed connected with the cabin body; Described rope strainer comprises rope tension potentiometer and tensioning guide wheel, this rope tension potentiometer comprises rope tension potentiometer pedestal and the rope tension potentiometer rocking arm hinged with this rope tension potentiometer pedestal, described drive motors and rope tension potentiometer pedestal are fixedlyed connected with bearing respectively, incorporate motor base and installing plate are formed bearing jointly, and be fixedly mounted on the body wall of cabin, described rope tension potentiometer rocking arm is connected with the tensioning guide wheel, push torsionspring between this rope tension potentiometer pedestal and the rope tension potentiometer rocking arm simultaneously, in addition, on the described rope tension potentiometer first angular displacement sensor that is used to detect the rope tension potentiometer rocking arm anglec of rotation is installed; The clutch end of described drive motors and wire rope roll drum rigidity are connected; One group of inboard guide finger of the disposed inboard of described hatch door, one group of outside guide finger is then arranged in the outside of hatch door; Described inboard guide finger and outside guide finger place respectively in the inboard gathering sill and outside gathering sill that is provided with on the body of cabin accordingly, be connected by constant force spring between inboard guide finger and the hatch door frame simultaneously, guide finger then is connected with the potentiometric rocking arm of hatch door folding outside one of them; One end location and installation of described haulage cable is on the wire rope roll drum, and the other end of haulage cable then is connected with hatch door after the tensioning of tensioning guide wheel, and the rope body of haulage cable is wrapped in the periphery of wire rope roll drum; Described hatch door folding controller is controlled the operation of drive motors automatically according to first angular displacement sensor and second angular displacement sensor institute feedback data.
For can be in tight space the switch hatch door, two partly about hatch door was divided into, left hatch door and right hatch door are arranged in promptly described hatch door split, and left hatch door is connected with the traction end of rope draw-gear respectively with right hatch door.In the accompanying drawing: every side hatch door is furnished with guide finger for four jiaos, and guide finger can move along the guide-track groove that is fixed on the fuselage deckle board.Wherein inboard guide finger is along the guide-track groove rectilinear motion, and outside guide finger is along the curvilinear motion of arc-shaped rail groove, and under the common pilots effect of interior outside guide finger, hatch door is opened to both sides on one side, on one side inwardly rotation rising.Hatch door movement locus figure.
Described wire rope seat is installed in centre position, every fan hatch door outside, haulage cable one end is fixed on the wire rope seat on the hatch door, the other end is upwards walked around first leading block that is vertically fixed on the body wall of cabin, along continuous straight runs is pulled to second leading block that is horizontally fixed on one jiao of place of cabin body wall then, walk around the tension force guide wheel of strainer by this second leading block along straight direction again, finally fixedly be wrapped on the winder.
For not taking redundant space, hatch door adopts and is close to the form that cabin body inwall opens the door in the compact closed cabin body, the curved setting of described hatch door, and described outside gathering sill is the arc guide groove that adapts with the hatch door arc, inboard gathering sill then is a straight slot.When hatch door opened and closed, surface, inside and outside, cabin did not all have projection;
In the time of need opening hatch door, drive haulage cable traction hatch door by drive motors and open.In the time of need closing hatch door, the drive motors counter-rotating is unclamped wire rope, and hatch door is closed under the constant force spring effect.The aperture of hatch door is by potentiometer measurement, and after hatch door opened or closed fully, drive motors stopped operating and self-locking.
The hatch door system controller by LPF, signal condition, hatch door aperture detect, six functions modules such as cable tension detects, the fusion control of hatch door aperture and cable tension and motor-driven form.Wherein LPF, signal condition adopt RC network and discharge circuit to realize jointly, the hatch door position probing adopts angular displacement sensor, tension force detects and adopts torsionspring and angular displacement sensor to finish jointly, the fusion control of hatch door position and cable tension is finished by analog circuit, and motor-driven adopts APEX module and typical control circuit thereof to finish.Signal transitive relation between the various piece as shown in Figure 1.
Dynamic duty principle: as shown in Figure 2, the control computer sends " hatch door is opened " control command to behind the hatch door controller, select corresponding voltage and hatch door jaw opening sensor signal to compare by " hatch door is opened " signal, drive motors drive cable wire overcomes the constant force spring pulling force along pulley traction hatch door and steadily opens to desired location, hatch door is opened the back controller fully and is fed back " reaching the position " signal to the control computer, in this process, if tension pick-up detect overtension then drive motors rotate to " passs " direction, to protect cable wire and the unlikely damage of hatch door mechanism; Otherwise in like manner; if the control computer sends " hatch door pass " control command to behind the hatch door controller; select corresponding voltage and hatch door jaw opening sensor signal to compare by " hatch door pass " signal; drive motors drives cable wire and discharges hatch door along pulley; close fully by constant force spring traction hatch door simultaneously; hatch door is closed the back controller fully to control computer feedback " pass puts in place " signal; in this process; if tension pick-up detects the too small then drive motors of tension force and rotates to " opening " direction; cable wire is unlikely to come off from pulley to protect; guarantee subnormal unlatching under the hatch door, concrete workflow as shown in Figure 2.
Claims (3)
1. automatic open and close cabin door device in the compact cabin body, comprise the hatch door frame that is arranged at the cabin body and with the suitable hatch door of the inner edge of hatch door frame, described hatch door opens and closes drive unit with hatch door and is connected, it is characterized in that: described hatch door opens and closes drive unit and comprises motor base, drive motors and rope draw-gear, and this rope draw-gear comprises haulage cable, wire rope seat, leading block, hatch door folding potentiometer, rope strainer and hatch door folding controller; Described wire rope seat is installed on the hatch door; Hatch door folding potentiometer comprises hatch door folding potentiometer pedestal and the hatch door folding potentiometer rocking arm hinged with hatch door folding potentiometer pedestal, on the hatch door folding potentiometer second angular displacement sensor that is used to feed back the hatch door folding potentiometer rocking arm anglec of rotation is installed simultaneously; Described hatch door folding potentiometer pedestal is fixedlyed connected with the cabin body; Described rope strainer comprises rope tension potentiometer and tensioning guide wheel, this rope tension potentiometer comprises rope tension potentiometer pedestal and the rope tension potentiometer rocking arm hinged with this rope tension potentiometer pedestal, described drive motors and rope tension potentiometer pedestal are fixedlyed connected with bearing respectively, incorporate motor base and installing plate are formed bearing jointly, and be fixedly mounted on the body wall of cabin, described rope tension potentiometer rocking arm is connected with the tensioning guide wheel, push torsionspring between this rope tension potentiometer pedestal and the rope tension potentiometer rocking arm simultaneously, in addition, on the described rope tension potentiometer first angular displacement sensor that is used to detect the rope tension potentiometer rocking arm anglec of rotation is installed; The clutch end of described drive motors and wire rope roll drum rigidity are connected; One group of inboard guide finger of the disposed inboard of described hatch door, one group of outside guide finger is then arranged in the outside of hatch door; Described inboard guide finger and outside guide finger place respectively in the inboard gathering sill and outside gathering sill that is provided with on the body of cabin accordingly, be connected by constant force spring between inboard guide finger and the hatch door frame simultaneously, guide finger then is connected with the potentiometric rocking arm of hatch door folding outside one of them; One end location and installation of described haulage cable is on the wire rope roll drum, and the other end of haulage cable then is connected with hatch door after the tensioning of tensioning guide wheel, leading block guiding successively, and the rope body of haulage cable is wrapped in the periphery of wire rope roll drum; Described hatch door folding controller is controlled the operation of drive motors automatically according to first angular displacement sensor and second angular displacement sensor institute feedback data.
2. automatic open and close cabin door device in the body of compact cabin according to claim 1, it is characterized in that: described hatch door split left and right is arranged to two hatch doors, and each fan hatch door is connected with the traction end of rope draw-gear respectively; Described wire rope seat is installed in the centre position in every fan hatch door outside, haulage cable one end is fixed on the wire rope seat on the hatch door, the other end is upwards walked around first leading block that is vertically fixed on the body wall of cabin, along continuous straight runs is pulled to second leading block that is horizontally fixed on one jiao of place of cabin body wall then, walk around the tension force guide wheel of strainer by this second leading block along straight direction again, finally fixedly be wrapped on the winder.
3. automatic open and close cabin door device in the body of compact cabin according to claim 1 is characterized in that: the curved setting of described hatch door, and described outside gathering sill is the arc guide groove that adapts with the hatch door arc, inboard gathering sill then is a straight slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110240612.4A CN102296901B (en) | 2011-08-22 | 2011-08-22 | Device capable of automatically opening and closing cabin door in compact cabin body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110240612.4A CN102296901B (en) | 2011-08-22 | 2011-08-22 | Device capable of automatically opening and closing cabin door in compact cabin body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102296901A true CN102296901A (en) | 2011-12-28 |
| CN102296901B CN102296901B (en) | 2014-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110240612.4A Expired - Fee Related CN102296901B (en) | 2011-08-22 | 2011-08-22 | Device capable of automatically opening and closing cabin door in compact cabin body |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103541622A (en) * | 2013-10-12 | 2014-01-29 | 南京航空航天大学 | Traction mechanism control device based on multi-sensor information fusion and control method thereof |
| CN103790460A (en) * | 2012-11-01 | 2014-05-14 | 上海新跃仪表厂 | Automatic rapid opening and closing mechanism of cabin door |
| CN105910511A (en) * | 2016-04-14 | 2016-08-31 | 江苏城市职业学院 | Infrared bait releasing device |
| CN107271160A (en) * | 2017-06-02 | 2017-10-20 | 中国商用飞机有限责任公司 | A kind of test method for verifying aircraft door durability switching function |
| CN107271161A (en) * | 2017-06-02 | 2017-10-20 | 中国商用飞机有限责任公司 | A kind of aircraft door durability test device |
| CN109779437A (en) * | 2019-02-19 | 2019-05-21 | 贵州航天天马机电科技有限公司 | A kind of car door drive |
| WO2019145962A1 (en) * | 2018-01-29 | 2019-08-01 | Greenshpon Engineering Works Ltd. | Automatic door control |
| CN110512983A (en) * | 2018-05-21 | 2019-11-29 | 菜鸟智能物流控股有限公司 | Warehouse door control equipment and warehouse system |
| CN111456555A (en) * | 2020-04-10 | 2020-07-28 | 中国科学院西安光学精密机械研究所 | Sealed cabin with hinge type self-dropping cabin door |
| CN112343447A (en) * | 2020-09-30 | 2021-02-09 | 北京空间飞行器总体设计部 | Electric sliding arc-shaped cabin outlet door for aerospace |
| CN113790013A (en) * | 2021-09-16 | 2021-12-14 | 唐亚男 | Business access control device based on property management |
| EP4116168A1 (en) | 2021-07-09 | 2023-01-11 | Bombardier Transportation GmbH | Self-closing door assembly of a sliding door, toilet cabin for a railway vehicle, and self-closing door assembly kit |
| WO2023103473A1 (en) * | 2021-12-06 | 2023-06-15 | 北京卫星制造厂有限公司 | Method for mounting double-layer linkage closed-loop rope system |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103790460A (en) * | 2012-11-01 | 2014-05-14 | 上海新跃仪表厂 | Automatic rapid opening and closing mechanism of cabin door |
| CN103790460B (en) * | 2012-11-01 | 2016-06-29 | 上海新跃仪表厂 | A kind of automatic rapidly opened and closed mechanism of hatch door |
| CN103541622B (en) * | 2013-10-12 | 2016-01-27 | 南京航空航天大学 | Based on haulage gear control device and the control method thereof of multi-sensor information fusion |
| CN103541622A (en) * | 2013-10-12 | 2014-01-29 | 南京航空航天大学 | Traction mechanism control device based on multi-sensor information fusion and control method thereof |
| CN105910511A (en) * | 2016-04-14 | 2016-08-31 | 江苏城市职业学院 | Infrared bait releasing device |
| CN105910511B (en) * | 2016-04-14 | 2017-11-03 | 江苏城市职业学院 | infrared decoy release device |
| CN107271160A (en) * | 2017-06-02 | 2017-10-20 | 中国商用飞机有限责任公司 | A kind of test method for verifying aircraft door durability switching function |
| CN107271161A (en) * | 2017-06-02 | 2017-10-20 | 中国商用飞机有限责任公司 | A kind of aircraft door durability test device |
| WO2019145962A1 (en) * | 2018-01-29 | 2019-08-01 | Greenshpon Engineering Works Ltd. | Automatic door control |
| CN110512983B (en) * | 2018-05-21 | 2021-05-28 | 菜鸟智能物流控股有限公司 | Warehouse door control equipment and warehouse system |
| CN110512983A (en) * | 2018-05-21 | 2019-11-29 | 菜鸟智能物流控股有限公司 | Warehouse door control equipment and warehouse system |
| CN109779437A (en) * | 2019-02-19 | 2019-05-21 | 贵州航天天马机电科技有限公司 | A kind of car door drive |
| CN109779437B (en) * | 2019-02-19 | 2023-10-27 | 贵州航天天马机电科技有限公司 | Cabin door driving system |
| CN111456555A (en) * | 2020-04-10 | 2020-07-28 | 中国科学院西安光学精密机械研究所 | Sealed cabin with hinge type self-dropping cabin door |
| CN112343447A (en) * | 2020-09-30 | 2021-02-09 | 北京空间飞行器总体设计部 | Electric sliding arc-shaped cabin outlet door for aerospace |
| EP4116168A1 (en) | 2021-07-09 | 2023-01-11 | Bombardier Transportation GmbH | Self-closing door assembly of a sliding door, toilet cabin for a railway vehicle, and self-closing door assembly kit |
| CN113790013A (en) * | 2021-09-16 | 2021-12-14 | 唐亚男 | Business access control device based on property management |
| WO2023103473A1 (en) * | 2021-12-06 | 2023-06-15 | 北京卫星制造厂有限公司 | Method for mounting double-layer linkage closed-loop rope system |
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| CN102296901B (en) | 2014-04-09 |
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