CN109578539B - A horizontal push moving device and its crank arm device - Google Patents
A horizontal push moving device and its crank arm device Download PDFInfo
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- CN109578539B CN109578539B CN201910044841.5A CN201910044841A CN109578539B CN 109578539 B CN109578539 B CN 109578539B CN 201910044841 A CN201910044841 A CN 201910044841A CN 109578539 B CN109578539 B CN 109578539B
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- horizontal push
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- 238000013519 translation Methods 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 11
- 230000000903 blocking effect Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 description 24
- 230000005540 biological transmission Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/16—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for interconverting rotary motion and reciprocating motion
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a flat pushing and moving device and a crank arm thereof, wherein the crank arm device at least comprises a first support arm and a second support arm which can freely rotate in the same plane, and the first support arm and the second support arm are arranged in a stacked manner and are hinged through a near end; the distal ends of the first arm and the second arm are provided with connectors for fitting in this stacking order. The flat pushing device and the crank arm device thereof adopt the first support arm and the second support arm which are arranged in a stacking way and can rotate freely, and the flat pushing device is realized by utilizing the free and flexible rotating structure of the crank arm.
Description
Technical Field
The invention relates to an improvement of a translation device and parts, in particular to an improvement of a translation moving device and a crank arm device thereof.
Background
Currently, electrically driven translating devices, such as a sliding door, include an electrically retractable door that opens or closes in a telescoping manner and a translating door that opens or closes in a translating manner. The conventional sliding door is generally composed of a door body and rollers arranged at the bottom or the top of the door body, and needs to be provided with sliding rail assistance to ensure straight line operation, and the door body is driven to operate along a track by a crank arm or a chain.
The sliding door is inconvenient to install due to the fact that the sliding door needs to be paved with the rails, is high in manufacturing and installation cost, is complex in structure, increases gaps due to abrasion of sliding parts after the sliding door is operated for a period of time, shakes and noise of the gate are increased, and faults are prone to occurring.
In addition, the conventional crank arm driving structure of the sliding door is complex in structure, usually, one crank arm is utilized, and the radius of the crank arm is provided to be large enough, so that the gate plate performs approximate translational movement (actually, a section of circular arc with smaller radian) and cannot ensure horizontal and vertical translational movement.
In addition, the existing electric translation device is applied to an automatic processing workshop and daily furniture families, and the driving modes are different, but the problems of complex structure, inconvenient installation, high cost and the like exist, and the problems of stability of translation operation, poor working selectivity and the like are caused.
Accordingly, the prior art is still in need of improvement and development.
Disclosure of Invention
The invention aims to provide a flat pushing and moving device and a crank arm device thereof, which have the advantages of simple structure, convenient and quick installation, safe use, firm structure, durability, stable operation, low noise, low manufacturing cost and low failure rate, and can accurately realize electric position translation.
The technical scheme of the invention is as follows:
A crank arm device, at least comprising a first support arm and a second support arm which can freely rotate in the same plane, wherein the first support arm and the second support arm are arranged in a stacking way and are hinged through a proximal end; the distal ends of the first arm and the second arm are provided with connectors for fitting in this stacking order.
The crank arm device is characterized in that a torsion spring limiting the torsion direction of the crank arm is arranged on the hinge shaft between the first support arm and the second support arm.
The crank arm device is characterized in that a hinge shaft between the first support arm and the second support arm adopts a bearing connection mode.
The crank arm device, wherein the connector part is provided as a shaft lever, and a bearing stop pin is arranged on the shaft lever.
The crank arm device comprises a crank arm device body, wherein the distal end of the first support arm or the second support arm is provided with an opening groove, a shaft hole for accommodating a driving shaft is arranged in the opening groove, the shaft hole is parallel to a hinge shaft at the proximal end, and screw holes are arranged in the front and the rear of the shaft hole and perpendicular to the opening groove and used for fastening the shaft hole.
The crank arm device is characterized in that a clamping groove for adapting to a blocking part on the driving shaft is further formed in the shaft hole.
A flat pushing moving device adopting any crank arm device, which comprises a base for installation and a flat pushing base for translation, wherein at least one first crank arm and at least one second crank arm are hinged between the base and the flat pushing base, the first crank arm can freely rotate in a horizontal plane, and the second crank arm can freely rotate in a vertical plane; the first crank arm and the second crank arm are used for translating the horizontal pushing base on the base; the first crank arm and the second crank arm adopt the structure of the crank arm device.
The flat pushing device is characterized in that a first protruding part is arranged on the base and is used for being hinged with one far end of the first crank arm; a second projection is also provided on the base for hingedly connecting a distal end of the second crank arm.
The flat pushing device is characterized in that a third crank arm and a fourth crank arm are further hinged between the base and the flat pushing base, the third crank arm is arranged in a mode of parallel movement with the first crank arm, and the fourth crank arm is arranged in a mode of parallel movement with the second crank arm.
The flat pushing device is characterized in that a driving motor is further arranged on the base, a fifth crank arm is further connected between the output rotating shaft of the driving motor and the flat pushing base, and the fifth crank arm is arranged in a mode of parallel movement with the first crank arm or the second crank arm and is used for fastening the output rotating shaft to be connected with one far end of the fifth crank arm to realize driving translation.
According to the flat pushing device and the crank arm device thereof, the first support arm and the second support arm which are arranged in a stacked mode and can rotate freely are adopted, the flat pushing device is realized by utilizing the free and flexible rotating structure of the crank arm, when the crank arms which are perpendicular to each other are arranged to work, the realization of flat pushing can be completely and straightly ensured, and the crank arm structure is a mature mechanical structure scheme in the mechanical crank arm, so that the process cost is lower, and the precise control is easier to realize.
Drawings
Fig. 1 is a schematic view of a part of a cross section of a proximal joint of a crank arm in a horizontal pushing and pulling device and a crank arm device according to the present invention.
FIG. 2 is a schematic view of a preferred embodiment of a horizontal pushing motion device and a crank arm of the crank arm device according to the present invention.
FIG. 3 is a schematic view of two preferred embodiments of the horizontal pushing motion device and the crank arm device according to the present invention.
FIG. 4 is a schematic view of a flat pushing device and a crank arm device according to three preferred embodiments of the invention.
Fig. 5 is a right-side development schematic view of a preferred embodiment of the horizontal pushing and pulling device and the crank arm device of the present invention.
Fig. 6 is a left-hand development schematic view of a preferred embodiment of the horizontal pushing and pulling device and the crank arm device of the present invention.
Fig. 7 is a right-side development schematic view of another preferred embodiment of the horizontal pushing and pulling device and the crank arm device of the present invention.
FIG. 8 is a left side expanded view of the preferred embodiment of the horizontal pushing motion device and the crank arm device of the present invention shown in FIG. 7.
Fig. 9 is a schematic drawing of the flat pushing movement device and the crank arm device of the flat pushing movement device in the fully contracted state.
Detailed Description
The preferred embodiments of the present invention are described in detail below. It should be noted that the following descriptions of the present invention, such as proximal, distal, in horizontal plane, in vertical plane, etc., are used for convenience of description, and are not limited to the description of the present invention, and should be construed as the claims of the present invention when the position and angle of the whole structure of the present invention are changed.
In the preferred embodiment of the sliding motion device and the crank arm device of the present invention, as shown in fig. 1,2, 3 and 4, the crank arm device 500 includes a first arm 510 and a second arm 520 that can rotate freely in the same plane, and the relative free rotation of the arms means that the hinge between the two arms adopts a stacked arrangement, otherwise, it is difficult to realize a freely rotatable hinge. The connecting ends of the two arms are defined as proximal ends 21, opposite which the other connecting end of the arms is distal end 22. The distal end of each arm of the crank arm device 500 is provided with a socket member 512 assembled in the order of stacking the first arm 510 and the second arm 520, that is, when the proximal end of the first arm 510 is above and the proximal end of the second arm 520 is below in a hinge manner, as shown in fig. 2, 3 and 4, the distal end of the first arm 510 is provided with the socket member 512 upward and the distal end of the second arm 520 is provided with another socket member 512 downward. And vice versa. The degree of freedom between the articulation joints is maintained by the crank arms formed by the first and second arms being arranged in the same order of layering.
In alternative embodiments of the crank arm assembly, the crank arm assembly may be provided with a greater number of arms, but preferably the arms are connected in a sequential manner so as to provide free rotation in a plane perpendicular to the hinge axis. If the structure and assembly are not formed in this sequential stacking manner, the two end (proximal and distal) structural members connected to the same arm will interfere with each other, thereby affecting the working efficiency of the crank arm device, resulting in waste of material of the product, and difficulty in controlling the movable space of the crank arm.
In different embodiments of the present invention, as shown in fig. 2, 3 and 4, the crank arm device may be configured to have different thicknesses and lengths according to actual strength and space requirements, but within a designed translational range, it is preferable that the lengths of the arms of each crank arm may be consistent, so that a large-scale market may be better formed, and later costs for maintenance and repair may be easier.
A torsion spring 511 for limiting the twisting direction of the crank arm may be provided at the hinge shaft joint of the proximal hinge between the first arm 510 and the second arm 520 of the crank arm device according to the present invention, and as shown in fig. 1, the torsion spring 511 may be provided with a driving restoring force for maintaining the two arms flat, or may be provided with opposite driving restoring forces for maintaining the two arms in a folded state, or at other positions and angles. When the two arms of the crank arm are not in the original position, energy can be stored by the torsion spring 511. Therefore, the crank arm device can have driving force kept to an original position state in the working process, and energy distribution and use in application are facilitated.
In the coaxial position of the torsion spring 511, a bearing 513 may be further disposed on the hinge shaft for hinging between the two arms, for example, a micro bearing may be used according to the size requirement, so that the service life of the joint of the hinge shaft is longer, and the rotation of the hinge shaft is more flexible.
The torsion spring 511 and the bearing 513 are not limited to the above-mentioned proximal connection hinge shaft between the arms, but may be provided at a distal insertion member position. In the flat pushing device and the crank arm device according to the present invention, the insertion member 512 is provided as a shaft (of course, not limited to this structure, but in the case of equivalent replacement, the shaft may be provided on another side structure, and the distal end of the arm is provided as an insertion shaft hole), and a bearing stop pin is further provided on the shaft.
The bearing stop pin can limit the free rotation angle of the support arm, however, on one hand, the free rotation used in the specification only refers to the stacking arrangement mode of the crank arm device, but not the free rotation of any support arm in the actual structure arrangement, after all, in the actual product, the twisting directions of the two support arms of the crank arm involve space, the space occupied by folding or unfolding of the two support arms needs to be reserved, and meanwhile, the two support arms can be blocked at a certain position in the folding or unfolding rotation process, for example, when the far end hinge shafts and the near end hinge shafts of the two support arms are exactly positioned on the same line, the two support arms can be stopped and blocked at the position, and therefore, the torsion spring is arranged to drive the crank arm device to skip the position. On the other hand, the translational movement always has a boundary, and therefore, in the setting of the crank arm device, it is always necessary to set in advance a possible boundary thereof to prevent the components of the transitional collision boundary position, such as the door, the hinge shaft, and the like. Thus, bearings with bearing stop pins may be provided at each hinge shaft position of the crank arm device of the present invention.
As shown in fig. 2 and 3, the arm of the two embodiments of the crank device of the present invention has different thicknesses, and the length and thickness of the distal hinge shaft used are slightly different. The crank arm device of the invention can be provided and designed in more models according to the requirements of actual products.
In another preferred embodiment of the crank arm device of the present invention, as shown in fig. 4, the crank arm device 500 may be used as a driving crank arm, wherein the insertion part 512 provided at the distal end of the first arm 510 is an open groove 514, and the shaft hole 515 for receiving the driving shaft is provided in the open groove 514, and the shaft hole 515 is parallel to the direction of the hinge axis of the proximal end. The drive shaft is primarily an external drive structure such as, but not limited to, an output spindle of a motor. Screw holes 516 are provided in front and rear of the shaft hole 515, perpendicular to the open slot 514, and the opening degree of the open slot 514 can be controlled by bolts, so that an external driving shaft is firmly fastened in the shaft hole 515, and the external driving is realized to drive the crank arm device to rotate. A detent 517 for fitting a corresponding blocking portion on the drive shaft is also provided in the shaft hole 515.
In the preferred embodiment of the translational motion device of the present invention using the crank arm device, as shown in fig. 5 to 9, the translational motion device comprises a base 100 for installation, and the base 100 may be used as a component of the translational motion device mechanism of the present invention, or may be directly embodied on an integral installation site in some implementations, for example, an installation site of a bus, a subway, a high-speed train, etc., and may be a carriage, where a corresponding installation structure may be provided.
On the base 100, a translational pushing base 200 is provided, and it should be noted that the translational pushing base 200 of the present invention may also be embodied as other translational moving components, such as a sliding door, stable translational transportation of components in a workshop, and a structure required for translational transmission in daily life. In a preferred embodiment of the present invention, a first crank arm 210 and a second crank arm 220 are provided between the base 100 and the flat pushing base for hinged connection, and the first crank arm 210 and the second crank arm 220 both employ the crank arm device 500 of the present invention.
The first crank arm 210 arrangement includes freely rotatable arms with a rotational direction in a horizontal plane, wherein the distal end of one arm is arranged to be hinged to the base 100 and the distal end of the other arm is arranged to be hinged to the translation base 200.
To achieve free rotation of the first crank arm 210 in a horizontal plane, a first protrusion 101 is provided upwardly from the base 100, and a distal end 22 of one arm of the first crank arm is hinged to the first protrusion 101 from below; in turn, the proximal end of the other arm is hinged below the proximal end of the previous arm, while its distal end is hinged above the hinge point of the flat push base 200. The arms of the first crank arm 210 so formed are free to rotate. The components between the hinge points may also be arranged to hinge in such a manner that they overlap.
Of course, in other embodiments, the three hinge points between the base, the two ends of the first arm, the two ends of the second arm and the flat pushing base may be set not to fall or rise accordingly, but in this way, the lengths of the arms need to be set to be limited, and even blocking and collision may occur between the arms, so that the flat pushing width of the flat pushing base is limited.
Similarly, the two arms of the second crank arm 220 are also hinged in a similar manner to allow free rotation in the vertical plane. The preferred connection manner is to stack the connection arms in this way, as shown in fig. 5, a second protrusion 102 may be disposed upward from the base 100, where the top end of the second protrusion 102 is hinged to the distal end of one arm that can freely rotate in the vertical plane, the proximal end of the other arm is hinged to the outer side of the proximal end of the previous arm, and the hinge point of the flat pushing base 200 is hinged to the outer side of the distal end of the next arm. Or in the opposite direction.
In the preferred embodiment of the sliding motion device and the crank arm device thereof, at least a first crank arm 210 and a second crank arm 220 can be disposed between the base 100 and the sliding base 200, and the two crank arms can respectively rotate freely in mutually perpendicular planes (i.e. the structure characteristic is that when the sliding motion device is not assembled between the sliding base and the base), namely, in the embodiment of the invention, the first crank arm 210 can rotate freely in a horizontal plane, the second crank arm 220 has a structure capable of rotating freely in a vertical plane, in fact, the end points of the first crank arm 210 and the second crank arm 220 can form two mutually perpendicular circular planes in geometric principle, and the intersecting line of the two circular planes is a horizontal straight line, that is, the hinge point of the first crank arm 210 and the second crank arm 220 and the sliding base 200 can only translate on the horizontal straight line of the intersecting line through the connection of the sliding base 200, thereby forming the basic scheme of the sliding motion device of the invention. In another preferred embodiment of the present invention, the sliding base 200 may be provided with a sliding door 201, as shown in fig. 6 and 8.
In a preferred embodiment, the first crank arm 210 and the second crank arm 220 may have a plurality of similar crank arms moving in parallel between the base 100 and the pushing base 200, and a third crank arm 230 is also provided, as shown in fig. 5 and 6, and implemented by the crank arm device 500 of the present invention, which is similar to the first crank arm 210 and drives the pushing base in a horizontal plane. And a fourth crank arm 240, also implemented using the crank arm device 500 of the present invention, which is coupled to the base 100 and the push base 200 in a similar manner to the second crank arm 220, and which is capable of driving the movement of the push base 200 in a vertical plane.
As long as the same number and size of arms are used for each crank arm (if not the same size of arms, the same size will be limited by the minimum size, similar to the barrel principle), and the horizontal pushing base is driven to move in the parallel horizontal planes or the parallel vertical planes respectively, the horizontal pushing base can be finally ensured to move on the intersection line of the horizontal planes and the vertical planes, and the more crank arms are used for driving the horizontal pushing base to move, the more stable and firm the horizontal pushing device is. Of course, care should be taken that the planes of motion of the same type of crank arms (in horizontal or vertical planes) should ensure strict parallelism, otherwise the flat pushing base may not move smoothly.
In the preferred embodiment of the horizontal pushing device and the crank arm device, the electric horizontal pushing mode is mainly realized, and the horizontal pushing device and the crank arm device are not limited to the electric driving mode of the motor, and other driving modes, such as hand pushing, cylinder driving and the like, can be adopted in the technical scheme of different embodiments of the invention.
As shown in fig. 5 and 6, in the preferred embodiment, the first driving motor 310 disposed on the base 100 may be disposed along the length direction of the base, and the driving force is mainly directed to the rotation mode in the horizontal plane, so that the driving force may be output to any crank arm rotating in the horizontal plane, and the rotation driving may be implemented at the hinge point on the base. In the preferred embodiment of the present invention, a fifth crank 250 is disposed between the output shaft of the first driving motor 310 and the flat pushing base, and the fifth crank is provided with the crank device of the present invention as shown in fig. 4, and two arms parallel to the first crank and capable of freely rotating in a horizontal plane are provided, and the distal end of one arm is fixedly connected to the output shaft of the first driving motor 310, note that it is not hinged here, so that the first driving motor 310 can drive the crank to rotate, thereby driving the flat pushing base 200 to move. The distal end of the other arm is hingedly connected to the push base 200. For effective driving, the first driving motor 310 is firmly fixed to the base 100, and as shown in fig. 5 and 6, the first driving motor 310 is fixed to a third protrusion 103 on the base 100.
In this embodiment, the first crank arm 210 and the third crank arm 230 are rotatable in a horizontal plane, and are disposed on the upper and lower sides of the side edge of the flat pushing base 200, so as to better realize supporting, and the support arm of the third crank arm 230 adopts a thicker and stronger rod structure. And the second crank arm 220 and the fourth crank arm 240 are provided as crank arms freely rotatable in a vertical plane and are provided at intermediate positions of the side edges of the flat pushing base 200, and the thickness of the arms thereof is set correspondingly according to the strength of the supporting force required. The flat push base 200 may be provided with a width to facilitate assembly of the distal arm ends of each crank arm.
In another preferred embodiment, a second driving motor 320 is further disposed on the base 100, as shown in fig. 7 and 8, and a sixth crank arm 260 is disposed between the output shaft and the flat pushing base 200, and the sixth crank arm 260 is provided with two arms freely rotatable in a vertical plane, wherein a distal end of one arm is fixedly connected to the output shaft of the second driving motor 320, so as to controllably drive the translation of the flat pushing base. The distal end of the other support arm is hinged on the horizontal pushing base. The second driving motor 320 may be assembled in the hole of the base and disposed vertically to the base because the output shaft thereof needs to be horizontally disposed so as to be able to drive the sixth crank arm 260 to rotate in the vertical plane.
Thus, the crank arm is driven to stretch and retract from the vertical plane, so that the translation of the flat pushing base body can be driven. In this embodiment, only the second crank arm 220 is a crank arm moving in a vertical plane, and the sixth crank arm 260 can also be regarded as a fourth crank arm that performs a function as a driving crank arm by driving of a driving motor. In various embodiments, the thickness of each crank arm may be set as required, and whether the crank arm is connected to a driving motor is implemented as a driving crank arm, which is not described in detail.
In the preferred embodiment of the invention, the length of the support arm of each crank arm can be, but not limited to, uniform length, so that the length of each support arm can be fully utilized in the process of opening, closing and translating the flat pushing base body, and the material waste of some support arms is avoided. As shown in fig. 9, the crank arms are retracted to the minimum position, and the flat pushing base 200 is at the intermediate position. According to the horizontal pushing moving device, the moving distance range of the horizontal pushing base can be set within the maximum moving distance of the horizontal pushing base according to actual needs, the driving range of the first or second driving motor can be set through the setting of the range, and the driving range of the driving motor can be set in real time through a management program, so that the control and the setting of the moving range of the horizontal pushing base are realized.
Besides the crank arm implementation modes of the two support arms, the crank arm implementation mode adopting more than two support arms can be also provided, preferably, a support arm mode of one-time superposition connection is adopted for each crank arm, and the contraction movement space of the crank arm is considered on the whole moving device, so that collision and blocking are prevented, and the free horizontal moving device can be realized. Of course, the crank arm solution with more than two arms is not as simple as crank arm control with two arms for electric drive, however further solutions may be desired to be improved and developed.
The flat pushing device and the crank arm device thereof can be applied to various flat pushing devices which are common at present, such as flat pushing doors in building decoration, flat pushing doors of automobiles and railway carriages, etc., the application and realization scene is very wide, the realized structure mainly adopts a mechanical mode, and the structure is simple and the cost is low.
The invention contributes to effectively solving the problems of the traditional translational movement driving mechanism. According to the invention, through crank arm transmission, a pair of transmission crank arms are respectively arranged at two points for determining a straight line at least in the horizontal direction and the vertical direction, a straight line track is jointly determined by a first crank arm in the horizontal direction and a second crank arm in the vertical direction, and a crank arm mechanism is driven to reciprocate through the crank arm synchronous motion principle, so that a flat pushing substrate is opened or closed and always keeps vertical and moves in the horizontal direction.
In the crank arm transmission and crank arm driving structure, the flat pushing substrate can be fixed through the crank arm support arm, the manufacture is simple and convenient, and higher manufacturing precision is easy to obtain, so that the installation efficiency can be greatly improved, and the cost is saved. The crank arm transmission controls the matrix to keep vertical and run in the horizontal direction through the horizontal direction transmission crank arm and the vertical direction transmission crank arm, so that friction and noise can be greatly reduced, the structure is safe and reliable, the horizontal translation process of the matrix is ensured to be stable, and the service life is long. Through crank arm transmission and driving structure, can improve the motion stroke greatly, practice thrift equipment space. The invention also has the advantages of simple structure, convenient and quick installation, stable operation, low failure rate and the like.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (5)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910044841.5A CN109578539B (en) | 2019-01-17 | 2019-01-17 | A horizontal push moving device and its crank arm device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910044841.5A CN109578539B (en) | 2019-01-17 | 2019-01-17 | A horizontal push moving device and its crank arm device |
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| CN109578539A CN109578539A (en) | 2019-04-05 |
| CN109578539B true CN109578539B (en) | 2024-11-15 |
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| CN201910044841.5A Active CN109578539B (en) | 2019-01-17 | 2019-01-17 | A horizontal push moving device and its crank arm device |
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| CN110181505B (en) * | 2019-04-22 | 2021-09-07 | 珠海格力智能装备有限公司 | Robot speed reducer determination method and robot |
| CN114187774B (en) * | 2021-12-06 | 2023-03-10 | 宁波工程学院 | Intelligent vehicle parking system |
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| CN203835994U (en) * | 2014-05-12 | 2014-09-17 | 温岭市宇龙宣机电有限公司 | Coupler |
| ITUB20156022A1 (en) * | 2015-11-30 | 2017-05-30 | Leandro Cappellotto | MOVEMENT MECHANISM OF FURNITURE DOORS |
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| CN202987456U (en) * | 2012-12-06 | 2013-06-12 | 莆田市奔腾工贸有限公司 | Motorcycle chain tensioner |
| CN203050389U (en) * | 2012-12-11 | 2013-07-10 | 必凯威(北京)建筑材料有限公司 | Horizontal pushing window system with locking function |
| JP2014169536A (en) * | 2013-03-01 | 2014-09-18 | Kinkei System Corp | Automatic door |
| CN209444765U (en) * | 2019-01-17 | 2019-09-27 | 深圳市爱克信智能股份有限公司 | A kind of flat-pushing mobile device and its device of cranking arm |
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| CN109578539A (en) | 2019-04-05 |
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