CN109454623B - Cabin cover switching mechanism and robot - Google Patents
Cabin cover switching mechanism and robot Download PDFInfo
- Publication number
- CN109454623B CN109454623B CN201811649222.0A CN201811649222A CN109454623B CN 109454623 B CN109454623 B CN 109454623B CN 201811649222 A CN201811649222 A CN 201811649222A CN 109454623 B CN109454623 B CN 109454623B
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- arm
- hatch
- driving
- switch
- driven
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- 230000007246 mechanism Effects 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 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
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 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 invention provides a hatch cover switching mechanism and a robot, comprising a first switching part, a second switching part, a driving part, a hatch cover and a supporting part; the driving part comprises a moving piece, a linear rail and a driving assembly, wherein the moving piece can move along the linear rail; the supporting part comprises a first limiting part and a second limiting part; the first switch portion and the second switch portion are disposed in parallel to the support portion, when the first limit portion is touched by the first switch portion or the second switch portion, the driving portion is stopped to be driven, and the hatch is kept at a first stop position, and when the second limit portion is touched by the first switch portion or the second switch portion, the driving portion is stopped to be driven, and the hatch is kept at a second stop position. The hatch cover opening and closing mechanism and the robot can enable the hatch cover to be automatically opened and closed in a specific track, and avoid interference with other shields in the process of opening or closing the hatch cover.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a hatch cover opening and closing mechanism and a robot.
Background
Mobile robots have been widely used in a variety of fields. In particular, the dispensing robot is required to load objects such as express, documents, food, coffee, and the like. In the dispensing process, it is necessary to properly place the dispensing object, and therefore, in general, a robot has a cabin for placing the object, and the cabin has a hatch. When the robot brings an object to the target position, the hatch needs to be opened. The existing hatch cover opening mode is a vertical hinged door type. However, after the vertical hinged door is opened, the size of the body of the robot can be increased, and the unnecessary space is occupied, so that the practical application of the robot is not facilitated.
Disclosure of Invention
The present invention has been made in view of the above-described conventional circumstances, and an object thereof is to provide a hatch cover opening and closing mechanism that can automatically open a hatch door while reducing the size of the space occupied after the hatch door is opened.
In order to achieve the above object, the present invention provides the following technical solutions:
the invention provides a hatch cover switching mechanism, comprising:
the device comprises a first switch part, a second switch part, a driving part, a hatch cover and a supporting part;
the first switch part comprises a first driving arm and a first driven arm which are arranged in parallel, the first driving arm comprises a first arm and a second arm which are arranged approximately vertically or vertically, and the first driven arm comprises a third arm and a fourth arm which are arranged approximately in parallel or in parallel;
the second switch part comprises a second driving arm and a second driven arm which are arranged in parallel, the second driving arm comprises a fifth arm and a sixth arm which are arranged approximately vertically or vertically, and the second driven arm comprises a seventh arm and an eighth arm which are arranged approximately in parallel or in parallel;
the driving part comprises a moving piece, a linear rail and a driving assembly, wherein the moving piece can move along the linear rail;
the supporting part comprises a first limiting part and a second limiting part;
the first switch portion and the second switch portion are arranged in parallel to the supporting portion, the first arm, the third arm, the fifth arm and the seventh arm are all hinged to the supporting portion, the second arm, the fourth arm, the sixth arm and the eighth arm are all hinged to the hatch cover, the moving piece is hinged to the first arm, the driving assembly is hinged to the supporting portion, when the first limiting portion is touched by the first switch portion or the second switch portion, the driving portion is stopped to be driven, the hatch cover is kept at a first stop position, when the second limiting portion is touched by the first switch portion or the second switch portion, the driving portion is stopped to be driven, and the hatch cover is kept at a second stop position.
The hatch cover opening and closing mechanism can enable the hatch cover to be automatically opened and closed in a specific track, and interference with other shielding objects (such as a rear shell) in the opening or closing process of the hatch cover is avoided.
The support part comprises a first support frame and a second support frame which are arranged in parallel and symmetrically, the first switch part is arranged on the first support frame, the second switch part is arranged on the second support frame, and the first arm is hinged to the first support frame. In this case, the opening and closing of the hatch can be more stable.
The first driven arm comprises a ninth arm, two ends of the ninth arm are connected with the third arm and the fourth arm, the second driven arm comprises a tenth arm, and two ends of the tenth arm are connected with the seventh arm and the eighth arm. Therefore, the first driven arm and the second driven arm are approximately U-shaped, the structure is simple, and the hatch cover can bypass obstacles in the opening and closing process.
The moving part comprises a screw nut, the linear track comprises a screw, the driving assembly comprises a motor, and the screw is connected with the motor. In this case, the moving member can be linearly moved and can stay at a designated position by driving the screw to rotate by the motor.
The first limiting part and the second limiting part are arranged on the first supporting frame, when the first arm swings around the hinge part of the first arm and the first supporting frame and touches the first limiting part, the hatch cover stays at the first stopping position, and when the first arm touches the second limiting part, the hatch cover stays at the second stopping position. Thus, in the first stop position, the hatch is open and in the second stop position, the hatch is closed.
The first limiting part comprises a travel switch and a supporting sheet, wherein the supporting sheet is arranged on the first supporting frame, and the travel switch is arranged on the supporting sheet. In this case, the support piece may cause the travel switch to be disposed at a specified position, thereby controlling the open position of the hatch.
The first driven arm and the second driven arm are symmetrically arranged, and the first driving arm and the second driving arm are symmetrically arranged. Therefore, the cabin cover is stressed and balanced, and the movement is more stable.
The first switch part and the second switch part share four hinge points with the hatch cover, and are arranged in two rows along the hatch cover in the direction of the opening and closing movement of the hatch cover. In this case, the opening and closing of the hatch can be controlled more easily.
The hinge position of the second arm and the hatch cover is close to one end of the hatch cover, and the hinge position of the fourth arm and the hatch cover is far away from the one end. In this case, the hatch can be made to bypass the obstacle during opening and closing.
The invention also provides a robot comprising a hatch cover switching mechanism as described above. In this case, the hatch can be automatically opened and closed on a specific track, avoiding interference with other shutters (e.g., backshells) during the hatch opening or closing process.
According to the hatch cover switching mechanism and the robot, the hatch cover can be automatically switched on and off in a specific track, interference with other shielding objects (such as a rear shell) in the process of opening or closing the hatch cover is avoided, only one motor is needed for driving, and the manufacturing cost is reduced.
Drawings
FIG. 1 illustrates a side view of a hatch opening and closing mechanism according to an embodiment of the present invention;
fig. 2 shows a side view of the hatch opening and closing mechanism according to an embodiment of the invention in a hatch open state (first stop position);
fig. 3 shows a side view of the hatch opening and closing mechanism according to an embodiment of the invention in a hatch closed state (second stop position);
fig. 4 is a schematic perspective view showing a hatch cover switching mechanism according to an embodiment of the present invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.
As shown in fig. 1 to 4, the hatch cover switching mechanism 1 according to the present embodiment includes a first switching unit 10, a second switching unit (not shown), a driving unit 20, a hatch cover 30, and a support unit 40. The hatch cover opening and closing mechanism 1 can be applied to a mobile robot, and can automatically open and close the hatch cover of a dispensing robot.
In the present embodiment, the first switch section 10 includes a first drive arm 11 and a first driven arm 12 that are disposed in parallel. The first drive arm 11 includes a first arm 111 and a second arm 112 disposed substantially vertically or vertically. The first follower arm 12 includes a third arm 121 and a fourth arm 122 disposed generally parallel or parallel.
In this embodiment, the second switching unit includes a second driving arm and a second driven arm disposed in parallel. The second drive arm includes a fifth arm and a sixth arm disposed substantially vertically or vertically. The second driven arm includes a seventh arm and an eighth arm disposed substantially parallel or parallel.
In the present embodiment, the driving section 20 includes a moving member 21, a linear rail 22, and a driving assembly 23. The mover 21 is movable along a linear rail 22.
In the present embodiment, the supporting portion 40 includes a first limiting portion 41 and a second limiting portion 42.
In the present embodiment, the first switch portion 10 and the second switch portion are provided in parallel to the support portion 40. The first arm 111, the third arm 121, the fifth arm and the seventh arm are all hinged to the support portion 40. The second arm 112, the fourth arm 122, the sixth arm, and the eighth arm are all hinged to the hatch 30. The moving member 21 is hinged to the first arm 111. The drive assembly 23 is hinged to the support 40. When the first stopper 41 is touched by the first switch 10 or the second switch, the driving unit 20 is stopped and the hatch 30 is held at the first stop position. When the second stopper 42 is touched by the first switch 10 or the second switch, the driving unit 20 is stopped and the hatch 30 is held at the second stop position.
In this case, the hatch cover opening and closing mechanism 1 according to the present invention can automatically open and close the hatch cover 30 on a specific trajectory, avoiding interference with other blinds (e.g., a robot housing) during opening or closing of the hatch cover 30.
In the present embodiment, the first driving arm 11 may have a substantially L shape. The first driving arm 11 is integrally formed. It will be appreciated that other connectors may be provided between the first arm 111 and the second arm 112, and that the first arm 111 and the second arm 112 need to be disposed substantially vertically or vertically. It will be appreciated that the second drive arm may also be generally L-shaped.
In the present embodiment, the first driven arm 12 is integrally formed. It will be appreciated that in some examples, the first follower arm 12 may be formed from multiple segments connected, with the third arm 121 and the fourth arm 122 being disposed generally parallel or parallel.
In the present embodiment, the first driven arm 12 includes a ninth arm 123. The ninth arm 123 has both ends connected to the third arm 121 and the fourth arm 122. Specifically, the ninth arm 123 may be perpendicular or substantially perpendicular to the third arm 121. The second driven arm includes a tenth arm. The seventh arm and the eighth arm are connected to both ends of the tenth arm. Thus, the first and second driven arms 12 and 12 are substantially U-shaped, have a simple structure, and allow the hatch 30 to bypass an obstacle during opening and closing.
In the present embodiment, the first driven arm 12 and the second driven arm are symmetrically disposed. The first driving arm 11 is symmetrically arranged with the second driving arm. Thus, the hatch 30 can be balanced in stress and the movement is more stable.
In this embodiment, the hatch 30 may be a rectangular plate. It will be appreciated that in some examples, the hatch 30 may also be circular or oval in shape, among other shapes.
In the present embodiment, the first switch part 10 and the second switch part share four hinge points with the hatch 30. And are arranged in two rows along the hatch 30 in the direction of the opening and closing movement of the hatch 30. In this case, the opening and closing of the hatch 30 is easier to control.
In the present embodiment, the hinge position of the second arm 112 to the hatch 30 is near one end of the hatch 30, and the hinge position of the fourth arm 122 to the hatch 30 is far from the one end. In the present embodiment, the hinge position of the fourth arm 122 to the hatch 30 is near the middle of the hatch 30. In this case, the hatch can be rotated about the hinge point during opening and closing so that obstacles can be bypassed.
In the present embodiment, the support portion 40 includes a first support 43 and a second support (not shown) that are disposed in parallel and symmetrically. In other words, the first support 43 and the second support may have the same structure. The first switch 10 is provided on the first support frame 43. The second switch part is arranged on the second supporting frame. The first arm 111 is hinged to the first support 43. In this case, the opening and closing of the hatch can be more stable.
In the present embodiment, the hatch opening and closing mechanism 1 may further include a mount table 50. The mounting station 50 may be provided on a robotic movement chassis 80. The first support 43 and the second support may be plate bodies. The first support frame 43 and the second support frame may be vertically disposed at both side edges of the mounting table 50. The first support 43 and the second support may have opposite rear and front shells 60 and 70 disposed therebetween. The front shell 70, the rear shell 60, the first support frame 43, and the second support frame may enclose a storage space for loading articles, such as express packages, documents, food, and the like. Since the first supporting frame 43 has the same structure as the second supporting frame, the structure of the second supporting frame is not described here. The hatch 30 is opened in a direction toward the rear case 60, flipped from one side of the rear case 60 toward the front case 70 to the other side of the rear case 60. After the hatch 30 is opened, the hatch 30 is tilted generally toward the ground. The first support bracket 43 has opposite first and second ends 411, 412. The first end 411 is adjacent the rear housing 60 and the second end 412 is adjacent the front housing 70. In this embodiment, the first arm 111 and the third arm 121 are both hinged to the first end 411. The drive assembly 23 is hinged to the first support frame 43 and is hinged away from the first end 411.
In this embodiment, the first end 411 has a support post. The support columns are disposed toward a direction perpendicular to the mounting table 50. The third arm 121 is hinged to the top end of the support column. The hinge position of the first arm 111 and the first support frame 43 is lower than the hinge position of the third arm 121 and the support column. In this case, the first and second driven arms can be reduced in size, improving space utilization.
In the present embodiment, the mover 21 includes a lead screw nut. The linear rail 22 includes a lead screw. The drive assembly 23 comprises a motor. The lead screw is connected with the motor. In this embodiment, the screw is coupled to the motor via a coupling. In this case, the movement member 21 can be linearly moved and stopped at a specified position by driving the screw by the motor, specifically, when the motor stops driving, the screw stops rotating, the screw nut is held at the stop position, so that the drive arm is held at the stop position, and the hatch achieves the position stop.
In this embodiment, the first support bracket 43 further includes a hinge bracket 24 (see fig. 1). The hinge bracket 24 is disposed outside the first support bracket 43. The hinged support 24 is omitted from fig. 2-4.
In the present embodiment, the first stopper 41 and the second stopper 42 are provided on the first support frame 43. When the first arm 111 swings around its hinge with the first support frame 43 and touches the first stopper 41, the hatch 30 stays at the first stop position. When the first arm 111 touches the second stopper 42, the hatch 30 is stopped at the second stop position. Thus, in the first stop position, the hatch 30 is opened, and in the second stop position, the hatch 30 is closed. Specifically, in the first stop position, the first arm 111 and the third arm 121 are generally perpendicular to the mounting table 50, the fourth arm 122 is generally parallel to the hatch 30, and the second arm 112 is generally perpendicular to the hatch 30. In the second, rest position, the first and third arms 111, 121 are generally parallel to the mounting table 50, and the second and fourth arms 112, 122 are generally perpendicular to the hatch 30.
In the present embodiment, the first stopper 41 includes a travel switch 413 and a support piece 414. The supporting piece 414 is disposed on the first supporting frame 43. In the present embodiment, the supporting piece 414 is parallel to the supporting column and disposed on the supporting column. The travel switch 413 is provided on the support piece 414. Specifically, the support tab 414 protrudes slightly toward the second end 412. In this case, the travel switch 413 may be closer to the first arm 111, and the support piece 414 may cause the travel switch 413 to be disposed at a designated position, thereby controlling the open position of the hatch 30.
In the present embodiment, the side surface of the first drive arm 11 is provided with the mover bracket 113. The mover 21 is hinged to the mover carriage 113. Specifically, the mover carriage 113 may be a U-shaped housing. In the present embodiment, the moving member support 113 and the first arm 111 define a movement space, and the moving member 21 is disposed in the movement space and is rotatable freely therein. In the present embodiment, the mover stand 113 is provided substantially in the middle of the first arm 111.
In some examples, the hatch 30 is generally parallel to the mounting table 50 in the closed state. In the present embodiment, the hatch 30 is slightly inclined toward the mount table 50. The outer sides of the first supporting frame 43 and the second supporting frame may be provided with side walls. In the closed state of the hatch 30, the hatch 30 is in close contact with the side wall.
In the present embodiment, the principle of operation of opening or closing the hatch 30 is as follows:
1) The motor drives the screw rod to rotate, and the motor and the screw rod integrally swing around the hinge joint with the first support frame 43 correspondingly;
2) The screw moves the moving member 21 linearly along the screw;
3) The moving member 21 rotates around the hinge with the first arm 111 and swings the first driving arm 11 around the hinge with the first supporting frame 43;
4) The first driving arm 11 drives the hatch 30 to rotate;
5) The hatch 30 drives the first driven arm 12, the second driven arm and the second driving arm to be driven at the same time. Specifically, the first driven arm 12, the second driven arm, and the second driven arm are driven except for the driving portion 20 driving the first driving arm 11 to swing. In this case, stability of the hatch opening and closing process is improved, and manufacturing costs are reduced.
The invention also provides a robot comprising a hatch cover switching mechanism 1 as described above. The hatch cover switching mechanism 1 will not be described in detail here. In this case, the hatch can be automatically opened and closed in a specific track, interference with other shields (such as a rear shell) during the opening or closing of the hatch is avoided, and only one motor is required to be used for driving, so that the manufacturing cost is reduced.
In some examples, the robot may also include a mobile chassis. The mobile chassis enables the robot to autonomously move. The hatch opening and closing mechanism 1 may be provided on the mobile chassis.
The above-described embodiments do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the above embodiments should be included in the scope of the present invention.
Claims (7)
1. A hatch cover opening and closing mechanism, comprising:
the device comprises a first switch part, a second switch part, a driving part, a hatch cover and a supporting part;
the first switch part comprises a first driving arm and a first driven arm which are arranged in parallel, the first driving arm comprises a first arm and a second arm which are arranged approximately vertically or vertically, and the first driven arm comprises a third arm and a fourth arm which are arranged approximately in parallel or in parallel;
the second switch part comprises a second driving arm and a second driven arm which are arranged in parallel, the second driving arm comprises a fifth arm and a sixth arm which are arranged approximately vertically or vertically, and the second driven arm comprises a seventh arm and an eighth arm which are arranged approximately in parallel or in parallel;
the driving part comprises a moving part, a linear track and a driving assembly, wherein the moving part can move along the linear track;
the supporting part comprises a first limiting part and a second limiting part;
the first switch part and the second switch part are arranged in parallel on the supporting part, the first arm, the third arm, the fifth arm and the seventh arm are all hinged on the supporting part, the second arm, the fourth arm, the sixth arm and the eighth arm are all hinged on the hatch cover, the moving piece is hinged on the first arm, the driving assembly is hinged on the supporting part, when the first limiting part is touched by the first switch part or the second switch part, the driving part is stopped and the hatch cover is kept at a first stop position, and when the second limiting part is touched by the first switch part or the second switch part, the driving part is stopped and the hatch cover is kept at a second stop position;
the support part comprises a first support frame and a second support frame which are arranged in parallel and symmetrically, the first switch part is arranged on the first support frame, the second switch part is arranged on the second support frame, and the first arm is hinged to the first support frame;
the first driven arm comprises a ninth arm, two ends of the ninth arm are connected with the third arm and the fourth arm, the second driven arm comprises a tenth arm, and two ends of the tenth arm are connected with the seventh arm and the eighth arm;
the first limiting part and the second limiting part are arranged on the first supporting frame, when the first arm swings around the hinge part of the first arm and the first supporting frame and touches the first limiting part, the hatch cover stays at the first stopping position, and when the first arm touches the second limiting part, the hatch cover stays at the second stopping position.
2. The hatch switching mechanism of claim 1 wherein the moving member comprises a lead screw nut, the linear rail comprises a lead screw, the drive assembly comprises a motor, and the lead screw is coupled to the motor.
3. The hatch cover switching mechanism of claim 1, wherein the first limit portion comprises a travel switch and a support tab, the support tab being disposed on the first support frame, the travel switch being disposed on the support tab.
4. The hatch switching mechanism of claim 1 wherein the first driven arm and the second driven arm are symmetrically disposed and the first drive arm and the second drive arm are symmetrically disposed.
5. The hatch opening and closing mechanism according to claim 4, wherein the first and second opening and closing portions share four hinge points with the hatch and are arranged in two rows along the hatch in the direction of the hatch opening and closing movement.
6. The hatch opening and closing mechanism according to claim 5, wherein the second arm is hinged to the hatch proximate one end of the hatch and the fourth arm is hinged to the hatch distal from the one end.
7. A robot comprising a hatch switching mechanism according to any of claims 1-6.
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 CN109454623A (en) | 2019-03-12 |
| CN109454623B true 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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110576448B (en) * | 2019-09-10 | 2023-04-07 | 饭团机器人有限公司 | Intelligent service robot |
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 |
| 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 |
-
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109454623A (en) | 2019-03-12 |
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