CN109454623A - Hatchcover switching mechanism and robot - Google Patents
Hatchcover switching mechanism and robot Download PDFInfo
- Publication number
- CN109454623A CN109454623A CN201811649222.0A CN201811649222A CN109454623A CN 109454623 A CN109454623 A CN 109454623A CN 201811649222 A CN201811649222 A CN 201811649222A CN 109454623 A CN109454623 A CN 109454623A
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- arm
- hatchcover
- switch portion
- limiting section
- switching mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of hatchcover switching mechanism and robots, including first switch portion, second switch portion, driving portion, hatchcover and support portion；Driving portion includes movement parts, rectilinear orbit and driving assembly, and the movement parts can be moved along rectilinear orbit；Support portion includes the first limiting section and the second limiting section；Wherein, the first switch portion and the second switch portion are arranged in parallel in the support portion, when first limiting section is touched by the first switch portion or the second switch portion, make the driving portion stopping driving and the hatchcover is maintained at the first stop position, when second limiting section is touched by the first switch portion or the second switch portion, makes the driving portion stopping driving and the hatchcover is maintained at the second stop position.Hatchcover switching mechanism and robot according to the present invention, can make hatchcover with specific track automatic shutter, avoid and generate interference with other shelters during hatchcover turns on or off.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of hatchcover switching mechanism and robot.
Background technique
Extensive use has been obtained in multiple fields in mobile robot.Especially dispensing machine people, need to load express delivery,
The objects such as file, food or coffee.In delivery process, needs to make to dispense object and properly places, therefore, it is generally the case that
Robot has the cabin for placing object, and cabin has hatchcover.When robot send object to target position, hatchcover is needed
It opens.Existing hatchcover unfolding mode is to be opened flat gate-type.However vertical hinged door will increase the body dimensions of robot after opening, account for
With unnecessary space, it is unfavorable for the practical application of robot.
Summary of the invention
The present invention completes in view of above-mentioned current condition, and its purpose is to provide a kind of hatchcover switching mechanisms, real
While now automatically opening hatch door, the bulk occupied after hatch door is opened is also reduced.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of hatchcover switching mechanism, comprising:
First switch portion, second switch portion, driving portion, hatchcover and support portion；
The first switch portion includes the first actuating arm and the first slave arm disposed in parallel, and first actuating arm includes
Substantially vertical perhaps vertically disposed first arm and the second arm first slave arm include substantially parallel or disposed in parallel
Third arm and the 4th arm；
The second switch portion includes the second actuating arm and the second slave arm disposed in parallel, and second actuating arm includes
Substantially vertical perhaps vertically disposed 5th arm and the 6th arm second slave arm include substantially parallel or disposed in parallel
7th arm and the 8th arm；；
The driving portion includes movement parts, rectilinear orbit and driving assembly, and the movement parts can be along the rectilinear orbit
It is mobile；
The support portion includes the first limiting section and the second limiting section；
Wherein, the first switch portion and the second switch portion are arranged in parallel in the support portion, first arm,
Three arms, the 5th arm and the 7th arm are articulated with the support portion, and second arm, the 4th arm, the 6th arm and the 8th arm are equal
It is articulated with the hatchcover, the movement parts are articulated with first arm, and the driving component is articulated with the support portion, and described
When one limiting section is touched by the first switch portion or the second switch portion, the driving portion is made to stop driving and institute
It states hatchcover and is maintained at the first stop position, second limiting section is touched by the first switch portion or the second switch portion
When touching, makes the driving portion stopping driving and the hatchcover is maintained at the second stop position.
Hatchcover switching mechanism according to the present invention can make hatchcover with specific track automatic shutter, avoid in hatchcover
Interference is generated with other shelters (such as rear shell) during turning on or off.
Wherein, the support portion includes the first support frame and the second support frame of parallel and symmetrical setting, and described first opens
Pass portion is set to first support frame, and the second switch portion is set to second support frame, and first arm is articulated with
First support frame.In this case, the opening and closing of hatchcover can be more stable.
Wherein, first slave arm includes the 9th arm, and the both ends of the 9th arm connect the third arm and the 4th arm,
Second slave arm includes the tenth arm, and the both ends of the tenth arm connect the 7th arm and the 8th arm.First is driven as a result,
Arm and the second slave arm are substantially in U-shape, and structure is simple, and can make hatchcover cut-through object during opening and closing.
Wherein, the movement parts include feed screw nut, and the rectilinear orbit includes lead screw, and the driving component includes electricity
Machine, the lead screw are connect with the motor.In this case, movement parts straight line can be made to transport by the rotation of motor driven lead screw
It moves and can be stopped in designated position.
Wherein, first limiting section and second limiting section are set to first support frame, first upper-arm circumference
When swinging with the hinged place of first support frame around it and touch first limiting section, the hatchcover stays in described first
Stop position, when first arm touches second limiting section, the hatchcover stays in second stop position.As a result,
In the first stop position, hatchcover is opened, and in the second stop position, hatchcover is closed.
Wherein, first limiting section includes travel switch and support chip, and the support chip is set to first support
Frame, the travel switch are set to the support chip.In this case, support chip can be such that travel switch is arranged in specified
Position, and then control the open position of hatchcover.
Wherein, first slave arm and second slave arm are symmetrical arranged, first actuating arm and described second
Actuating arm is symmetrical arranged.Thus, it is possible to make hatchcover stress balance, move more stable.
Wherein, there are four hinge joints altogether for the first switch portion and the second switch portion and the hatchcover, and in cabin
Along hatchcover in two rows of settings on the direction of lid opening and closing movement.It is in this case easier to control the opening and closing of hatchcover.
Wherein, the articulated position of second arm and the hatchcover is close to one end of the hatchcover, the 4th arm and institute
The articulated position of hatchcover is stated far from described one end.In such a case, it is possible to make hatchcover cut-through object during opening and closing.
The present invention also provides a kind of robot, the robot includes hatchcover switching mechanism as described above.In this feelings
Under condition, hatchcover can be made with specific track automatic shutter, avoid during hatchcover turns on or off with other shelters
(such as rear shell) generates interference.
Provided hatchcover switching mechanism and robot according to the present invention can make hatchcover with specific track automatic shutter,
It avoids and generates interference with other shelters (such as rear shell) during hatchcover turns on or off, and only need using one
A motor is driven, and manufacturing cost is reduced.
Detailed description of the invention
Fig. 1 shows the side view of hatchcover switching mechanism involved in embodiments of the present invention；
Being in hatchcover opening state Fig. 2 shows hatchcover switching mechanism involved in embodiments of the present invention, (first stops
Stop bit is set) side view；
Fig. 3 shows hatchcover switching mechanism involved in embodiments of the present invention and is in hatchcover closed state (second stops
Stop bit is set) side view；
Fig. 4 shows the schematic perspective view of hatchcover switching mechanism involved in embodiments of the present invention.
Specific embodiment
Hereinafter, explaining the preferred embodiment of the present invention in detail with reference to attached drawing.In the following description, for identical
Component assign identical symbol, the repetitive description thereof will be omitted.Scheme in addition, attached drawing is only schematical, the mutual ruler of component
Very little shape of ratio or component etc. can be with actual difference.
As shown in Figures 1 to 4, hatchcover switching mechanism 1 involved in present embodiment, including first switch portion 10, second
Switch portion (not shown), driving portion 20, hatchcover 30 and support portion 40.Hatchcover switching mechanism 1 can be applied to mobile robot, make
The hatchcover of dispensing machine people realizes automatic shutter.
In the present embodiment, first switch portion 10 includes the first actuating arm 11 disposed in parallel and the first slave arm 12.
First actuating arm 11 includes substantially vertical or vertically disposed first arm 111 and the second arm 112.First slave arm 12 includes big
Cause third arm 121 and the 4th arm 122 parallel or disposed in parallel.
In the present embodiment, second switch portion includes the second actuating arm and the second slave arm disposed in parallel.Second drives
Swing arm includes substantially vertical or vertically disposed 5th arm and the 6th arm.Second slave arm includes substantially parallel or sets in parallel
The 7th arm set and the 8th arm.
In the present embodiment, driving portion 20 includes movement parts 21, rectilinear orbit 22 and driving assembly 23.Movement parts 21 can
It is moved along rectilinear orbit 22.
In the present embodiment, support portion 40 includes the first limiting section 41 and the second limiting section 42.
In the present embodiment, first switch portion 10 and second switch portion are arranged in parallel in support portion 40.First arm 111,
Third arm 121, the 5th arm and the 7th arm are articulated with support portion 40.Second arm 112, the 4th arm 122, the 6th arm and the 8th
Arm is articulated with hatchcover 30.Movement parts 21 are articulated with the first arm 111.Driving assembly 23 is articulated with support portion 40.First limiting section
41 by first switch portion 10 or second switch portion when being touched, and makes that driving portion 20 stops driving and hatchcover 30 is maintained at first
Stop position.When second limiting section 42 is touched by first switch portion 10 or second switch portion, driving portion 20 is made to stop driving
And hatchcover 30 is maintained at the second stop position.
In this case, hatchcover switching mechanism 1 according to the present invention, can be such that hatchcover 30 opens automatically with specific track
It closes, avoids and generate interference with other shelters (such as robot shells) during hatchcover 30 turns on or off.
In the present embodiment, the first actuating arm 11 can be substantially l-shaped.First actuating arm 11 is integrally formed.It can manage
Solution, also can be set other connectors, and the first arm 111 and the second arm 112 between the first arm 111 and the second arm 112
It needs substantially vertical or is vertically arranged.It is understood that the second actuating arm can also be substantially l-shaped.
In the present embodiment, the first slave arm 12 is integrally formed.It is understood that in some instances, first from
Swing arm 12 can be formed by connecting by multistage, and third arm 121 and the 4th arm 122 are substantially parallel or be arranged in parallel.
In the present embodiment, the first slave arm 12 includes the 9th arm 123.The both ends of 9th arm 123 connect third arm 121
With the 4th arm 122.Specifically, the 9th arm 123 can be vertical or substantially vertical with third arm 121.Second slave arm includes
Tenth arm.The both ends of tenth arm connect the 7th arm and the 8th arm.The first slave arm 12 and the second slave arm are substantially in U-shape as a result,
Structure is simple, and can make cut-through object during opening and closing of hatchcover 30.
In the present embodiment, the first slave arm 12 and the second slave arm are symmetrical arranged.First actuating arm 11 and second drives
Swing arm is symmetrical arranged.Thus, it is possible to make 30 stress balance of hatchcover, move more stable.
In the present embodiment, hatchcover 30 can be rectangular panel body.It is understood that in some instances, hatchcover 30
Can also be rounded or oval etc. shapes.
In the present embodiment, there are four hinge joints altogether for first switch portion 10 and second switch portion and hatchcover 30.And
Along hatchcover 30 in two rows of settings on the direction of the opening and closing movement of hatchcover 30.It is in this case easier to control opening for hatchcover 30
It closes.
In the present embodiment, the second arm 112 is with the articulated position of hatchcover 30 close to one end of hatchcover 30, the 4th arm 122
Articulated position with hatchcover 30 is far from described one end.In the present embodiment, the articulated position of the 4th arm 122 and hatchcover 30 is close
The middle part of hatchcover 30.In such a case, it is possible to rotate hatchcover so as to cut-through object around hinge joint in opening and closing process.
In the present embodiment, support portion 40 includes the first support frame 43 and the second support frame of parallel and symmetrical setting
(not shown).In other words, the first support frame 43 and the second support frame can have identical structure.First switch portion 10 is arranged
In the first support frame 43.Second switch portion is set to the second support frame.First arm 111 is articulated with the first support frame 43.This
In the case of, the opening and closing of hatchcover can be more stable.
In the present embodiment, hatchcover switching mechanism 1 can also include erecting bed 50.Erecting bed 50 can be set in machine
On people's mobile chassis 80.First support frame 43 and the second support frame can be plate body.First support frame 43 and the second support frame can
To be vertically installed in the both sides of the edge of erecting bed 50.Opposite rear shell can be set between first support frame 43 and the second support frame
60 and front housing 70.Front housing 70, rear shell 60, the first support frame 43, the second support frame can surround cabin storage space, be used for tote
Product, such as courier packages, file, food etc..Since the first support frame 43 is identical as the structure of the second support frame, do not go to live in the household of one's in-laws on getting married herein
State the structure of the second support frame.Hatchcover 30 towards rear shell 60 direction open, the side from rear shell 60 towards front housing 70 open to
The other side of rear shell 60.After hatchcover 30 is opened, hatchcover 30 is generally towards ground inclination.First support frame 43 has opposite first
End 411 and second end 412.First end 411 is close to rear shell 60, and second end 412 is close to front housing 70.In the present embodiment, first
Arm 111 and third arm 121 are articulated with first end 411.Driving assembly 23 is articulated with the first support frame 43 and hinged place is separate
First end 411.
In the present embodiment, first end 411 has support column.Support column is set towards the direction perpendicular to erecting bed 50
It sets.Third arm 121 is articulated with the top of support column.The articulated position of first arm 111 and the first support frame 43 is lower than third arm 121
With the articulated position of support column.In such a case, it is possible to reduce the size of the first slave arm and the second slave arm, improve
Space utilization rate.
In the present embodiment, movement parts 21 include feed screw nut.Rectilinear orbit 22 includes lead screw.Driving assembly 23 includes
Motor.Lead screw is connected to motor.In the present embodiment, lead screw is connect with motor by shaft coupling.In this case, pass through
The rotation of motor driven lead screw can make movement parts 21 move along a straight line and can stop in designated position, specifically, motor stops
When only driving, lead screw stops operating, and feed screw nut is maintained at stop position, so that actuating arm is maintained at stop position, hatchcover
Realize that position stops.
In the present embodiment, the first support frame 43 further includes articulated stand 24 (see Fig. 1).Articulated stand 24 is set to
The outside of one support frame 43.Articulated stand 24 is omitted in Fig. 2 to Fig. 4.
In the present embodiment, the first limiting section 41 and the second limiting section 42 are set to the first support frame 43.First arm 111
When swinging with the hinged place of the first support frame 43 around it and touch the first limiting section 41, hatchcover 30, which stays in described first, to be stopped
Position.When first arm 111 touches the second limiting section 42, hatchcover 30 stays in second stop position.Stop as a result, first
When position, hatchcover 30 is opened, and in the second stop position, hatchcover 30 is closed.Specifically, in the first stop position, the first arm
111 with third arm 121 generally perpendicular to erecting bed 50, the 4th arm 122 is in substantially parallel relationship to hatchcover 30, and the second arm 112 is generally vertically
In hatchcover 30.In the second stop position, the first arm 111 and third arm 121 are in substantially parallel relationship to erecting bed 50, the second arm 112 and the
Four arms 122 are generally perpendicular to hatchcover 30.
In the present embodiment, the first limiting section 41 includes travel switch 413 and support chip 414.Support chip 414 is set to
First support frame 43.In the present embodiment, support chip 414 is parallel to support column and is set on support column.Travel switch 413
It is set to support chip 414.Specifically, support chip 414 is stretched out slightly toward second end 412.In this case, travel switch
413 can make travel switch 413 be arranged in specified position, and then control cabinet closer to the first arm 111, support chip 414
The open position of lid 30.
In the present embodiment, movement parts bracket 113 is arranged in the side of the first actuating arm 11.Movement parts 21 are articulated with movement
Part bracket 113.Specifically, the shell that movement parts bracket 113 can be in U-shape.In the present embodiment, movement parts bracket 113
Space is surrounded with the first arm 111, movement parts 21 are set in space, and can be freely rotated in space.?
In present embodiment, movement parts bracket 113 is substantially set to the middle part of the first arm 111.
In some instances, hatchcover 30 is substantially parallel with erecting bed 50 in the off state.In the present embodiment, hatchcover
30 tilt slightly toward erecting bed 50.Side wall can also be arranged in the outside of first support frame 43 and the second support frame.In hatchcover 30
Under closed state, hatchcover 30 is tightly attached to the side wall.
In the present embodiment, it is as follows to turn on or off working principle for hatchcover 30:
1) motor driven lead screw rotates, and motor and lead screw are put entirely around corresponding to the hinged place of the first support frame 43
It is dynamic；
2) lead screw makes movement parts 21 move linearly along lead screw；
3) movement parts 21 are rotated around with the hinged place of the first arm 111, and make the first actuating arm 11 around itself and first
The hinged place of support frame 43 is swung；
4) the first actuating arm 11 drives hatchcover 30 to rotate；
5) hatchcover 30 drives the first slave arm 12, the second slave arm, the second actuating arm driven simultaneously.Specifically, except driving
It is outer that dynamic portion 20 drives the first actuating arm 11 to swing, and the first slave arm 12, the second slave arm, the second actuating arm are driven.At this
In the case of kind, the stability that hatchcover opens and closes process gets a promotion, and reduces manufacturing cost.
The present invention also provides a kind of robot, robot includes hatchcover switching mechanism 1 as described above.It is switched about hatchcover
This will not be repeated here for mechanism 1.In this case, hatchcover can be made with specific track automatic shutter, avoid and opened in hatchcover
Or interference is generated with other shelters (such as rear shell) in closing process, and only need to be driven using a motor,
Reduce manufacturing cost.
In some instances, robot can also include mobile chassis.Mobile chassis makes robot autonomous movement.Hatchcover is opened
Shutting mechanism 1 can be set on mobile chassis.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modification, equivalent replacement and improvement etc., should be included in the protection model of the technical solution within the spiritual and principle of mode
Within enclosing.
Claims (10)
1. a kind of hatchcover switching mechanism characterized by comprising
First switch portion, second switch portion, driving portion, hatchcover and support portion；
The first switch portion includes the first actuating arm and the first slave arm disposed in parallel, and first actuating arm includes substantially
Vertical perhaps vertically disposed first arm and the second arm first slave arm include third substantially parallel or disposed in parallel
Arm and the 4th arm；
The second switch portion includes the second actuating arm and the second slave arm disposed in parallel, and second actuating arm includes substantially
Vertical perhaps vertically disposed 5th arm and the 6th arm second slave arm include substantially parallel or the disposed in parallel 7th
Arm and the 8th arm；
The driving portion includes movement parts, rectilinear orbit and driving assembly, and the movement parts can be moved along the rectilinear orbit；
The support portion includes the first limiting section and the second limiting section；
Wherein, the first switch portion and the second switch portion are arranged in parallel in the support portion, first arm, third
Arm, the 5th arm and the 7th arm are articulated with the support portion, and second arm, the 4th arm, the 6th arm and the 8th arm are cut with scissors
It is connected to the hatchcover, the movement parts are articulated with first arm, and the driving component is articulated with the support portion, and described first
When limiting section is touched by the first switch portion or the second switch portion, the driving portion is made to stop driving and described
Hatchcover is maintained at the first stop position, and second limiting section is touched by the first switch portion or the second switch portion
When, make the driving portion stopping driving and the hatchcover is maintained at the second stop position.
2. hatchcover switching mechanism as described in claim 1, which is characterized in that the support portion includes parallel and symmetrical setting
First support frame and the second support frame, the first switch portion are set to first support frame, the second switch portion setting
In second support frame, first arm is articulated with first support frame.
3. hatchcover switching mechanism as described in claim 1, which is characterized in that first slave arm includes the 9th arm, described
The both ends of 9th arm connect the third arm and the 4th arm, and second slave arm includes the tenth arm, the both ends of the tenth arm
Connect the 7th arm and the 8th arm.
4. hatchcover switching mechanism as described in claim 1, which is characterized in that the movement parts include feed screw nut, described straight
Trajectory includes lead screw, and the driving component includes motor, and the lead screw is connect with the motor.
5. hatchcover switching mechanism as claimed in claim 2, which is characterized in that first limiting section and second limiting section
It is set to first support frame, first upper-arm circumference swings with the hinged place of first support frame around it and touches described
When one limiting section, the hatchcover stays in first stop position, described when first arm touches second limiting section
Hatchcover stays in second stop position.
6. hatchcover switching mechanism as described in claim 1, which is characterized in that first limiting section includes travel switch and branch
Blade, the support chip are set to first support frame, and the travel switch is set to the support chip.
7. hatchcover switching mechanism as described in claim 1, which is characterized in that first slave arm and second slave arm
It is symmetrical arranged, first actuating arm and second actuating arm are symmetrical arranged.
8. hatchcover switching mechanism as claimed in claim 7, which is characterized in that the first switch portion and the second switch portion
There are four hinge joints altogether with the hatchcover, and are in two rows of settings along hatchcover on the direction of hatchcover opening and closing movement.
9. hatchcover switching mechanism as claimed in claim 8, which is characterized in that the articulated position of second arm and the hatchcover
Close to one end of the hatchcover, the articulated position of the 4th arm and the hatchcover is far from described one end.
10. a kind of robot, which is characterized in that the robot includes such as the described in any item hatchcover switches of claim 1-9
Mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811649222.0A CN109454623B (en) | 2018-12-30 | 2018-12-30 | Cabin cover switching mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811649222.0A CN109454623B (en) | 2018-12-30 | 2018-12-30 | Cabin cover switching mechanism and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109454623A true CN109454623A (en) | 2019-03-12 |
| CN109454623B CN109454623B (en) | 2023-12-19 |
Family
ID=65616012
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811649222.0A Active CN109454623B (en) | 2018-12-30 | 2018-12-30 | Cabin cover switching mechanism and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109454623B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110576448A (en) * | 2019-09-10 | 2019-12-17 | 饭团机器人有限公司 | Intelligent service robot |
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|---|---|---|---|---|
| CN103061635A (en) * | 2013-01-18 | 2013-04-24 | 上海科得威船舶技术工程有限公司 | Hatch cover opening device |
| CN104723334A (en) * | 2015-04-02 | 2015-06-24 | 苏州荣威工贸有限公司 | Two-axis two-way parallel track robot |
| CN106837047A (en) * | 2017-01-24 | 2017-06-13 | 麦格纳斯太尔汽车技术（上海）有限公司 | Automatic opening mechanism of vehicle trunk cover based on Four-connecting-rod hinge |
| CN206485179U (en) * | 2016-12-30 | 2017-09-12 | 衡阳泰豪通信车辆有限公司 | A kind of foldable top cover of square cabin with radar invisible function |
| CN107386858A (en) * | 2017-06-19 | 2017-11-24 | 北京航天发射技术研究所 | A kind of keying hatchcover system for transport vehicle insulated hold |
| CN207660434U (en) * | 2017-12-13 | 2018-07-27 | 中船重工中南装备有限责任公司 | A kind of hatch door headstock gear and the hatch door with the headstock gear |
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2018
- 2018-12-30 CN CN201811649222.0A patent/CN109454623B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103061635A (en) * | 2013-01-18 | 2013-04-24 | 上海科得威船舶技术工程有限公司 | Hatch cover opening device |
| CN104723334A (en) * | 2015-04-02 | 2015-06-24 | 苏州荣威工贸有限公司 | Two-axis two-way parallel track robot |
| CN206485179U (en) * | 2016-12-30 | 2017-09-12 | 衡阳泰豪通信车辆有限公司 | A kind of foldable top cover of square cabin with radar invisible function |
| CN106837047A (en) * | 2017-01-24 | 2017-06-13 | 麦格纳斯太尔汽车技术（上海）有限公司 | Automatic opening mechanism of vehicle trunk cover based on Four-connecting-rod hinge |
| CN107386858A (en) * | 2017-06-19 | 2017-11-24 | 北京航天发射技术研究所 | A kind of keying hatchcover system for transport vehicle insulated hold |
| CN207660434U (en) * | 2017-12-13 | 2018-07-27 | 中船重工中南装备有限责任公司 | A kind of hatch door headstock gear and the hatch door with the headstock gear |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110576448A (en) * | 2019-09-10 | 2019-12-17 | 饭团机器人有限公司 | Intelligent service robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109454623B (en) | 2023-12-19 |
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