CN208515717U - Robot and its Athey wheel - Google Patents
Robot and its Athey wheel Download PDFInfo
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- CN208515717U CN208515717U CN201820947820.5U CN201820947820U CN208515717U CN 208515717 U CN208515717 U CN 208515717U CN 201820947820 U CN201820947820 U CN 201820947820U CN 208515717 U CN208515717 U CN 208515717U
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- outer toothed
- toothed portion
- external tooth
- tooth
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Abstract
It includes belt wheel and crawler belt that the utility model, which provides a kind of robot and its Athey wheel, the Athey wheel,.The lateral surface of belt wheel includes the first outer toothed portion and the second outer toothed portion in the width direction, and the external tooth in the first outer toothed portion is staggered with the external tooth in the second outer toothed portion；The inner wall of crawler belt is divided into the first interior teeth portion and the second interior teeth portion along its width direction, and multiple internal tooths are equipped in the first interior teeth portion and the second interior teeth portion, and the internal tooth in the first interior teeth portion is staggered with the internal tooth in the second interior teeth portion.The internal tooth on external tooth and crawler belt on belt wheel is in interlaced arrangement, and contact area is bigger when on the one hand making external tooth and interior tooth engagement, so that the binding force between crawler belt and belt wheel is more, to efficiently reduce a possibility that side set slides between belt wheel and crawler belt；On the other hand block can be formed between staggered external tooth and internal tooth, avoiding belt wheel from occurring on crawler belt, jump flank is sliding, and guarantee Athey wheel moves on scheduled route, it is ensured that the mobile smoothness of Athey wheel.
Description
Technical field
The utility model relates to robot device field, in particular to a kind of robot and its Athey wheel.
Background technique
In recent years, with development in science and technology, the application of robot increasingly increases.Under many scenes, in order to make robot more intelligence
Task is completed on energy ground, needs that robot is allowed to have locomotivity.Currently, the movement of robot mostly uses wheeled or crawler type.
Wherein, Athey wheel is higher for the adaptability on road surface, and compared with wheeled construction, crawler belt has bigger ground plane
Product.By carrying out line and grouser, Athey wheel has more preferably ground grip ability, robot can be made to have bigger versatility, with suitable
Answer more road environments.But existing Athey wheel, belt wheel are easy to slide from crawler belt.Especially in face of especially severe
When environment, Athey wheel is easy jump flank and slides, and causes robot movement to have some setbacks, deviates projected route when moving.
Utility model content
Utility model aims to solve that can occur when Athey wheel in the prior art is mobile, jump flank is sliding, is easy to deviate
The problem of projected route.
In order to solve the above technical problems, the utility model provides a kind of Athey wheel, including belt wheel and crawler belt, the outside of belt wheel
Face includes the first outer toothed portion and the second outer toothed portion in the width direction；In first outer toothed portion and second outer toothed portion
Equipped with multiple external tooths, circumferentially-spaced arrangement of multiple external tooths along the belt wheel；External tooth and institute in first outer toothed portion
The external tooth stated in the second outer toothed portion is staggered；Crawler belt, annularly；The inner wall of the crawler belt is divided into first along its width direction
Teeth portion and the second interior teeth portion, first interior teeth portion and second interior teeth portion are annular in shape；First interior teeth portion and described
Multiple internal tooths are equipped in second interior teeth portion, the internal tooth can cooperate with the outer tooth engagement, and multiple internal tooths are described in
The circumferentially-spaced arrangement of crawler belt；Internal tooth in first interior teeth portion is staggered with the internal tooth in second interior teeth portion；Institute
State the outside that crawler belt is wound around the belt wheel, first outer toothed portion and second outer toothed portion and first interior teeth portion and institute
State the second interior teeth portion one-to-one correspondence, interior tooth engagement on the external tooth and the crawler belt on the belt wheel.
Preferably, the belt wheel includes the first main body and the second main body being detachably connected, first main body and described
Second main body is oppositely arranged；First main body includes first outer toothed portion and is fixed on the first outer toothed portion width direction
First mounting plate of side, second main body include the second outer toothed portion and are fixed on the second outer toothed portion width direction side
The second mounting plate.
Preferably, the external tooth in first outer toothed portion is the first external tooth, and the is constituted between adjacent two first external tooth
One outer teeth groove；External tooth in second outer toothed portion is the second external tooth, constitutes the second external tooth between adjacent two second external tooth
Slot；When first main body and the second main body are detachably connected, in the width direction of the belt wheel, first external tooth and institute
It is opposite to state the second outer teeth groove, first outer teeth groove is opposite with second external tooth.
Preferably, first outer toothed portion and first mounting plate are enclosed the first mounting groove, first installation
The inner wall of slot is equipped with buckle；Second outer toothed portion and second mounting plate are enclosed the second mounting groove, and described second
The bottom of mounting groove is equipped with extending arm, and the extending arm exceeds second external tooth outward, and the extending arm exceeds described second
The part of external tooth is equipped with bayonet；The bayonet is clasped with described, so that second main body and first main body are removable
Unload connection.
Preferably, the bottom of second mounting groove is equipped with positioning column, and the positioning column exceeds second external tooth outward；
The position that first mounting groove corresponds to the positioning column is equipped with mounting post, and the mounting post is equipped with and mutually fits with the positioning column
The location hole matched.
Preferably, blocking arm is additionally provided in first mounting groove, the blocking arm includes the baffle and company of a pair of opposing
Connect the connecting plate between two baffles；Two baffles are fixedly connected with the inner wall of first mounting groove, and respectively
The two sides of the buckle are set；It is described buckle with the bayonet be engaged by clamping when, the two sides of the extending arm respectively with two institutes
The medial surface of baffle abuts against.
Preferably, the first installation trench bottom is equipped with the first extension, described in the bottom of first mounting groove is corresponding
The position of buckle is equipped with the notch of perforation；The bottom of second mounting groove is equipped with multiple second extensions, wherein one described the
In cross, the second cross extension extends outwardly the outer profile of two extensions close to the side of first main body
Flange is formed, the end of the flange is equipped with fixed plate.
Preferably, the edge of first mounting plate exceeds the edge of first outer toothed portion, second installation outward
The edge of plate exceeds the edge of second outer toothed portion outward；When the crawler belt is wound around on the belt wheel, the crawler width
The two sides in direction are connected to the inside at first mounting plate edge and second mounting plate edge respectively.
Preferably, the outer profile of first mounting plate and the second mounting plate is rounded.
The application also provides a kind of robot comprising above-mentioned Athey wheel.
As shown from the above technical solution, the utility model has the following beneficial effects:
In the robot and its Athey wheel of the utility model, the internal tooth on external tooth and crawler belt on belt wheel is in staggeredly cloth
It sets, contact area is bigger when on the one hand making external tooth and interior tooth engagement, so that the binding force between crawler belt and belt wheel is more, to have
Reduce a possibility that side set slides between belt wheel and crawler belt in effect ground；On the other hand gear can be formed between staggered external tooth and internal tooth
Only, avoiding belt wheel from occurring on crawler belt, jump flank is sliding, and guarantee Athey wheel moves on scheduled route, it is ensured that Athey wheel movement
Smoothness.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model Athey wheel embodiment.
Fig. 2 is the structural schematic diagram of belt wheel in the utility model Athey wheel embodiment.
Fig. 3 is another structural schematic diagram of belt wheel in the utility model Athey wheel embodiment.
Fig. 4 is the structural schematic diagram of crawler belt in the utility model Athey wheel embodiment.
Fig. 5 is another structural schematic diagram of crawler belt in the utility model Athey wheel embodiment.
Fig. 6 is the structural schematic diagram of the first main body in the utility model Athey wheel embodiment.
Fig. 7 is another structural schematic diagram of the first main body in the utility model Athey wheel embodiment.
Fig. 8 is the another structural schematic diagram of the first main body in the utility model Athey wheel embodiment.
Fig. 9 is the structural schematic diagram of the second main body in the utility model Athey wheel embodiment.
Figure 10 is another structural schematic diagram of the second main body in the utility model Athey wheel embodiment.
Figure 11 is the another structural schematic diagram of the second main body in the utility model Athey wheel embodiment.
The reference numerals are as follows: 1, Athey wheel；11, belt wheel；11a, the first main body；11b, the second main body；111, first
Outer toothed portion；1111, the first external tooth；1112, the first outer teeth groove；112, the second outer toothed portion；1121, the second external tooth；1122, outside second
Tooth socket；113, the first mounting plate；114, the second mounting plate；115, the first mounting groove；1151, it buckles；1152, notch；1153, it keeps off
Arm；1153a, baffle；1153b, connecting plate；1154, mounting post；1155, location hole；1156, the first extension；116, the second peace
Tankage；1161, extending arm；1162, bayonet；1163, positioning column；1164, the second extension；1165, flange；1166, fixed plate；
12, crawler belt；121, the first interior teeth portion；1211, the first internal tooth；1212, the first internal spline；122, the second interior teeth portion；1221, second
Internal tooth；1222, the second internal spline.
Specific embodiment
The exemplary embodiment for embodying the utility model features and advantages will describe in detail in the following description.It should be understood that
Be that the utility model can have various variations in different embodiments, all do not depart from the model of the utility model
It encloses, and the descriptions and illustrations are essentially for illustration purposes, rather than to limit the utility model.
Preferred implementation in order to further illustrate the principles of the present invention and structure, now in conjunction with attached drawing to the utility model
Example is described in detail.
Refering to fig. 1 to Fig. 4, the application provides a kind of Athey wheel 1, is particularly suitable for robot field.The Athey wheel 1 can be with
Make robot that there are more preferably ground grip ability, to be adapted to more road environments.In the present embodiment, Athey wheel 1 includes band
Wheel 11 and crawler belt 12.
Specifically, the lateral surface of belt wheel 11 includes the first outer toothed portion 111 and the second outer toothed portion 112 in the width direction.
Be equipped with multiple external tooths in first outer toothed portion 111 and the second outer toothed portion 112, multiple external tooths along belt wheel 11 circumferentially-spaced arrangement,
The external tooth interlaced arrangement on external tooth and the second outer toothed portion 112 in first outer toothed portion 111.
The crawler belt 12 of the present embodiment is annular in shape, and the inner wall of the crawler belt 12 is divided into 121 He of the first interior teeth portion along its width direction
Second interior teeth portion 122, the first interior teeth portion 121 and the second interior teeth portion 122 are annular in shape.First interior teeth portion 121 and the second interior teeth portion
Multiple internal tooths are equipped on 122, internal tooth can cooperate with outer tooth engagement, multiple internal tooths along crawler belt 12 circumferentially-spaced arrangement,
Internal tooth in one interior teeth portion 121 is staggered with the internal tooth in the second interior teeth portion 122.
The outside of 12 winding belt wheel 11 of crawler belt, the first outer toothed portion 111 and the second outer toothed portion 112 and the first interior teeth portion 121 and
Second interior teeth portion 122 corresponds, the interior tooth engagement on external tooth and crawler belt 12 on belt wheel 11.In the present embodiment, Athey wheel 1
Including two belt wheels 11, when in use, two belt wheels 11 engage cooperation with crawler belt 12 and tighten crawler belt 12 Athey wheel 1.
In the present embodiment, refering to 4 and Fig. 5, crawler belt 12 is flexible structure, can change shape according to use state.
Internal tooth in first interior teeth portion 121 of crawler belt 12 is the first internal tooth 1211, and the internal tooth in the second interior teeth portion 122 of crawler belt 12 is the
Two internal tooths 1221.Constitute the first internal spline 1212 between two neighboring first internal tooth 1211, two neighboring second internal tooth 1221 it
Between constitute the second internal spline 1222.
In the width direction of crawler belt 12, the first internal tooth 1211 and the second internal spline 1222 are opposite, the first internal spline 1212
It is opposite with the second internal tooth 1221, to realize being staggered for the first internal tooth 1211 and the second internal tooth 1221.
Further, refering to Fig. 2 and Fig. 3, belt wheel 11 includes the first main body 11a and the second main body 11b being detachably connected,
First main body 11a and the second main body 11b are oppositely arranged.Such setting can be such that the first main body 11a and the second main body 11b holds jointly
The stress of belt wheel 11 is carried on a shoulder pole, a possibility that side set slides occurs to be effectively reduced belt wheel 11.
As shown in Figure 6 to 8, the first main body 11a includes the first outer toothed portion 111 and the first mounting plate 113, the first mounting plate
113 are arranged in the side of 111 width direction of the first outer toothed portion, and the first outer toothed portion 111 and the first mounting plate 113 are enclosed first
Mounting groove 115.Wherein, the external tooth in the first outer toothed portion 111 is the first external tooth 1111, and multiple first external tooths 1111 are along the first main body
The circumferentially-spaced arrangement of 11a constitutes the first outer teeth groove 1112 between two neighboring first external tooth 1111.
In the first main body 11a of the present embodiment, the inner wall of the first mounting groove 115 is equipped with buckle 1151.The present embodiment
Buckle 1151 be provided with multiple, 1151 being centrosymmetrically arranged about the first main body 11a of multiple buckles.In the present embodiment,
The position of the corresponding buckle 1151 in the bottom of first mounting groove 115 is equipped with notch 1152, which penetrates through the first mounting plate
113。
As shown in Figures 9 to 11, the second main body 11b includes the second outer toothed portion 112 and the second mounting plate 114, the second installation
The side of 112 width direction of the second outer toothed portion is arranged in plate 114, and the second outer toothed portion 112 and the second mounting plate 114 are enclosed
Two mounting grooves 116.Wherein, the external tooth in the second outer toothed portion 112 is the second external tooth 1121, and multiple second external tooths 1121 are main along second
The circumferentially-spaced arrangement of body 11b constitutes the second outer teeth groove 1122 between two neighboring second external tooth 1121.
In the second main body 11b of the present embodiment, the bottom of the second mounting groove 116 is equipped with extending arm 1161, extending arm
1161 close to the second mounting groove 116 inner wall be arranged.Extending arm 1161 exceeds the second external tooth 1121 outward, which 1161 surpasses
The part of the second external tooth 1121 is equipped with bayonet 1162 out.
In the present embodiment, extending arm 1161 is provided with multiple, multiple extending arms 1161 with it is multiple in the first main body 11a
Buckle 1151 corresponds.Buckle 1151 is engaged by clamping with bayonet 1162, so that the first main body 11a and the second main body 11b are removable
It connects with unloading.
Buckle 1151 is when being connected in the bayonet 1162 of extending arm 1161, the first outer toothed portion 111 and the second outer toothed portion 112
Side abuts against, and the first main body 11a and the second main body 11b connect and compose belt wheel 11.In the width direction of belt wheel 11, outside first
Tooth 1111 and the second outer teeth groove 1122 are opposite, and the first outer teeth groove 1112 and the second external tooth 1121 are opposite, i.e. 1111 He of the first external tooth
Second external tooth, 1121 interlaced arrangement.
Further, refering to Fig. 7, blocking arm 1153 is additionally provided in the first mounting groove 115.The cross section of blocking arm 1153 is C-shaped,
The baffle 1153a of the blocking arm 1153 including a pair of opposing and connecting plate 1153b being connected between two baffle 1153a.
Two baffle 1153a are fixedly connected with the inner wall of the first mounting groove 115, and are separately positioned on the two sides of buckle 1151.
When buckling 1151 and being engaged by clamping with bayonet 1162, the two sides of extending arm 1161 are respectively with two baffle 1153a's
Medial surface abuts against.Two baffle 1153a form block in the two sides of extending arm 1161 respectively, in 1 moving process of Athey wheel
In prevent extending arm 1161 and buckle 1151 be detached from, guarantee the integrally-built stability of belt wheel 11.
Respectively refering to Fig. 7 and Figure 10, the bottom of the second mounting groove 116 is equipped with positioning column 1163, and positioning column 1163 is super outward
Second external tooth 1121 out.The position of the corresponding positioning column 1163 of first mounting groove 115 is equipped with mounting post 1154, sets in mounting post 1154
There is location hole 1155 compatible with positioning column 1163.It can be the first main body when positioning column 1163 and location hole 1155 cooperate
11a and the second main body 11b connection provide positioning and guiding, guarantee that the first main body 11a and the second main body 11b is located by connecting.
In the present embodiment, positioning column 1163 and mounting post 1154 are provided with multiple.Positioning column 1163 is close to the second peace
The inner wall of tankage 116 is arranged, and multiple positioning columns 1163 are arranged symmetrically about the center of the second main body 11b.Mounting post 1154
Inner wall close to the first mounting groove 115 is arranged, and multiple mounting posts 1154 are arranged symmetrically about the center of the first main body 11a.
Further, refering to Fig. 7 and Fig. 8, in the first main body 11a, the bottom of the first mounting groove 115 is equipped with the first extension
Portion 1156, the first extension 1156 extend other external components for Athey wheel 1.In robot field, the first extension 1156
It can be used for extending the components such as bolt.
In the present embodiment, the center in the first portion main body 11a is arranged in the first extension 1156.First extension 1156
For both ends open and the cylinder of inner hollow, the first extension 1156 is applied in the first mounting plate 113, and the first extension
1156 two sides exceed the surface of the first mounting plate 113 outward.
Refering to Fig. 9 and Figure 10, in the second main body 11b, the bottom of the second mounting groove 116 is equipped with multiple second extensions
1164.Second extension 1164 of the present embodiment is the through-hole for penetrating through the second mounting plate 114, and the second extension 1164 is close to first
The side of main body 11a extends outward to form flange 1165.Second extension 1164 can be not only used for extension other component, may be used also
To provide deformation surplus when the first main body 11a and the second main body 11b assembling and belt wheel 11 and crawler belt 12 assemble, make each portion
Cooperation between part is even closer, to avoid because stress is excessive to lead to side set the problem of.
In the present embodiment, one of them second extension 1164 is arranged in the center of the second main body 11b, and this
The outer profile of two extensions 1164 is in cross.The end of the flange 1165 of cross second extension 1164 is equipped with fixed plate
1166, to ensure the integrally-built stability of belt wheel 11.The outer profile of remaining the second extension 1164 is rounded, and is spaced
Ground is arranged in the side of cross second extension 1164.
Preferably, in the present embodiment, the edge of the first mounting plate 113 exceeds the first external tooth outward refering to fig. 1 to Fig. 3
The edge in portion 111, the edge of the second mounting plate 114 exceed the edge of the second outer toothed portion 112 outward.Belt wheel is wound around in crawler belt 12
When on 11, the two sides of 12 width direction of crawler belt are connected to the interior of 114 edge of 113 edge of the first mounting plate and the second mounting plate respectively
Side.The edge of the edge of first mounting plate 113 and the second mounting plate 114 can be formed in the two sides of crawler belt 12 and be limited, and make crawler belt
12 do not deviate by when moving, to further avoid sliding there is a situation where jumping flank between belt wheel 11 and crawler belt 12.
In the present embodiment, the outer profile of the first mounting plate 113 and the second mounting plate 114 is rounded, to comply with crawler belt
The movement of wheel 1.
For the Athey wheel 1 of the present embodiment, the internal tooth on external tooth and crawler belt 12 on belt wheel 11 is in interlaced arrangement, a side
Contact area is bigger when face makes external tooth and interior tooth engagement, so that the binding force between crawler belt 12 and belt wheel 11 is more, effectively subtracts
A possibility that side set slides between few belt wheel 11 and crawler belt 12；On the other hand block can be formed between staggered external tooth and internal tooth,
Avoiding belt wheel 11 from occurring on crawler belt 12, jump flank is sliding, and guarantee Athey wheel 1 moves on scheduled route, it is ensured that Athey wheel 1 moves
Dynamic smoothness.
In addition, the application also provides a kind of robot, which includes above-mentioned Athey wheel 1.The Athey wheel 1 can make machine
Device people moves on scheduled route, will not deviate；And it can guarantee the preferable ground grip ability of robot, and effectively
It avoids sliding there is a situation where jumping flank in robot moving process, it is ensured that smoothness when robot is mobile.
Although describing the utility model with reference to several exemplary embodiments, it is to be understood that, term used is to say
Term bright and exemplary, and not restrictive.Since the utility model can be embodied in a variety of forms without departing from practical
Novel spirit or essence, it should therefore be appreciated that above embodiment is not limited to any of the foregoing details, and should be in accompanying right
Widely explained in spirit and scope defined by it is required that, thus fall into whole variations in claim or its equivalent scope and
Remodeling all should be appended claims and be covered.
Claims (10)
1. a kind of Athey wheel characterized by comprising
Belt wheel, lateral surface include the first outer toothed portion and the second outer toothed portion in the width direction；First outer toothed portion and described
Multiple external tooths, circumferentially-spaced arrangement of multiple external tooths along the belt wheel are equipped in second outer toothed portion；First external tooth
External tooth in portion is staggered with the external tooth in second outer toothed portion；
Crawler belt, annularly；The inner wall of the crawler belt is divided into the first interior teeth portion and the second interior teeth portion along its width direction, and described first
Interior teeth portion and second interior teeth portion are annular in shape；It is equipped in first interior teeth portion and second interior teeth portion in multiple
Tooth, the internal tooth can cooperate with the outer tooth engagement, circumferentially-spaced arrangement of multiple internal tooths along the crawler belt；Described
Internal tooth in one interior teeth portion is staggered with the internal tooth in second interior teeth portion；
The crawler belt is wound around the outside of the belt wheel, first outer toothed portion and second outer toothed portion and first internal tooth
Portion and second interior teeth portion correspond, interior tooth engagement on the external tooth and the crawler belt on the belt wheel.
2. Athey wheel according to claim 1, which is characterized in that the belt wheel include the first main body for being detachably connected and
Second main body, first main body and second main body are oppositely arranged；
First main body includes first outer toothed portion and the first peace for being fixed on the first outer toothed portion width direction side
Loading board, second main body include the second outer toothed portion and the second installation for being fixed on the second outer toothed portion width direction side
Plate.
3. Athey wheel according to claim 2, which is characterized in that the external tooth in first outer toothed portion is the first external tooth,
The first outer teeth groove is constituted between adjacent two first external tooth；External tooth in second outer toothed portion is the second external tooth, adjacent two
The second outer teeth groove is constituted between second external tooth；
When first main body and the second main body are detachably connected, in the width direction of the belt wheel, first external tooth with
Second outer teeth groove is opposite, and first outer teeth groove is opposite with second external tooth.
4. Athey wheel according to claim 3, which is characterized in that first outer toothed portion and first mounting plate enclose
The first mounting groove is formed, the inner wall of first mounting groove is equipped with buckle；
Second outer toothed portion and second mounting plate are enclosed the second mounting groove, and the bottom of second mounting groove is equipped with
Extending arm, the extending arm exceed second external tooth outward, and the extending arm is equipped with card beyond the part of second external tooth
Mouthful；The bayonet is clasped with described, so that second main body and first main body are detachably connected.
5. Athey wheel according to claim 4, which is characterized in that the bottom of second mounting groove is equipped with positioning column, institute
It states positioning column and exceeds second external tooth outward；The position that first mounting groove corresponds to the positioning column is equipped with mounting post, institute
Mounting post is stated equipped with location hole compatible with the positioning column.
6. Athey wheel according to claim 4, which is characterized in that be additionally provided with blocking arm, the gear in first mounting groove
Arm includes the baffle of a pair of opposing and the connecting plate that is connected between two baffles；Two baffles are with described first
The inner wall of mounting groove is fixedly connected, and is separately positioned on the two sides of the buckle；When the buckle is engaged by clamping with the bayonet,
Medial surface of the two sides of the extending arm respectively with two baffles abuts against.
7. Athey wheel according to claim 4, which is characterized in that the first installation trench bottom is equipped with the first extension,
The position that the bottom of first mounting groove corresponds to the buckle is equipped with the notch of perforation；
The bottom of second mounting groove is equipped with multiple second extensions, wherein the outer profile of second extension is in cross
Type, the second cross extension extend outward to form flange, the end of the flange close to the side of first main body
Portion is equipped with fixed plate.
8. Athey wheel according to claim 2, which is characterized in that the edge of first mounting plate exceeds described outward
The edge of one outer toothed portion, the edge of second mounting plate exceed the edge of second outer toothed portion outward；The crawler belt winding
When on the belt wheel, the two sides in the crawler width direction are connected to first mounting plate edge and second peace respectively
The inside at loading board edge.
9. Athey wheel according to claim 8, which is characterized in that the outer profile of first mounting plate and the second mounting plate
It is rounded.
10. a kind of robot, which is characterized in that including Athey wheel as described in any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820947820.5U CN208515717U (en) | 2018-06-19 | 2018-06-19 | Robot and its Athey wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820947820.5U CN208515717U (en) | 2018-06-19 | 2018-06-19 | Robot and its Athey wheel |
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| Publication Number | Publication Date |
|---|---|
| CN208515717U true CN208515717U (en) | 2019-02-19 |
Family
ID=65326518
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820947820.5U Active CN208515717U (en) | 2018-06-19 | 2018-06-19 | Robot and its Athey wheel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924033A (en) * | 2020-08-14 | 2020-11-13 | 广东电网有限责任公司梅州供电局 | View and browse vehicle |
| WO2023150935A1 (en) * | 2022-02-09 | 2023-08-17 | Beijing Smorobot Technology Co., Ltd | Pool cleaning robot with track lap structure |
-
2018
- 2018-06-19 CN CN201820947820.5U patent/CN208515717U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924033A (en) * | 2020-08-14 | 2020-11-13 | 广东电网有限责任公司梅州供电局 | View and browse vehicle |
| WO2023150935A1 (en) * | 2022-02-09 | 2023-08-17 | Beijing Smorobot Technology Co., Ltd | Pool cleaning robot with track lap structure |
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