CN109907697A - A kind of sweeping robot with rotation-limited structure - Google Patents
A kind of sweeping robot with rotation-limited structure Download PDFInfo
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- CN109907697A CN109907697A CN201910034803.1A CN201910034803A CN109907697A CN 109907697 A CN109907697 A CN 109907697A CN 201910034803 A CN201910034803 A CN 201910034803A CN 109907697 A CN109907697 A CN 109907697A
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- rotor
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- installation cavity
- sweeping robot
- limit sliding
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Abstract
The present invention relates to a kind of household cleaning electric appliances, especially a kind of sweeping robot with rotation-limited structure, including matrix, pedestal, traction unit, guide wheel on biased device, installation cavity is provided on the pedestal, and shaft is provided in installation cavity, biased device is installed in installation cavity and rotates relative to shaft, one of them upper setting limit sliding chutes of the installation cavity and biased device, corresponding rotation prevention portion is set on another, the biased device is formed by rotation-limited structure with rotation prevention portion and is rotated around the axis being located at limit sliding chutes, wherein, using spindle central as the center of circle, the angle of rotation of the biased device is α, 0 < α < 180 °.The rotation-limited structure that there is sweeping robot of the invention limitation guide wheel to rotate 180 °, so that the pedestal of sweeping robot will not have the heeling condition that rear end is low and front end is high, so as to guarantee that sweeping robot has the function of steadily carrying out.
Description
Technical field
The present invention relates to a kind of household cleaning electric appliance, especially a kind of sweeping robot with rotation-limited structure.
Background technique
An existing number of patent application is CN201480016918.3, and the invention of entitled " mobile robot " is special
Benefit application.Disclose a kind of mobile robot of floor cleaning in the patent application, including pedestal, ontology, roughly circular outer
Cover and separator, and be installed on the traction unit of pedestal front and be installed on the biased device of base rear portion, biased device
It is installed in the alcove of pedestal, since biased device has predetermined force, guide wheel can be made to be biased into expanded position, and climbing
During slope, and it can make to realize that mobile robot can walk under different road conditions in stator portion storage to alcove
And it cleans.
A kind of structure of biased device is also disclosed in the patent application simultaneously, in addition to can store in alcove or phase
It is outer to alcove expansion, also have the function of that biased device can be rotated relative to 180 ° of pedestal, biased device opposite direction may be implemented
It advances, such as the attached drawing 17c of above-mentioned patent application.
For above scheme, when normally advancing, biased device drive guide wheel is located at the most rear side of sweeping robot, such as
Shown in Fig. 1, the pedestal of sweeping robot is in horizontality, advances steady.When sweeping robot encounters during traveling
When front and left and right sides Fang Jun have barrier, can first it retreat, biased device will drive guide wheel and rotate 180 ° relative to pedestal, thus
Carry out realization negative line feed.But at the same time, since guide wheel has rotated 180 °, guide wheel to sweeping robot central axis it is horizontal away from
From being obviously less than with a distance from when normal advance is advanced, according to lever principle, torque reduces pressure and increases, what biased device was subject to
Pressure increases, to will drive guide wheel and partially be stored in alcove, the base rear portion height for forming sweeping robot is reduced, and
The heeling condition that front is raised, as shown in Fig. 2, especially when sweeping robot is retreated to there is the height such as carpet or ground cushion on ground
When not high ground obstacle, then the retrogressing of sweeping robot can be accordingly hindered, sweeping robot can not be moved there are stuck
Possibility.
Summary of the invention
Present invention purpose to be achieved is just to provide a kind of sweeping robot with limit moving structure, the sweeper
There is device people limitation guide wheel to rotate 180 ° of rotation-limited structure so that the pedestal of sweeping robot will not have rear end it is low and
The high heeling condition in front end, so as to guarantee that sweeping robot has the function of steadily carrying out.
In order to achieve the above object, the present invention adopts the following technical scheme: a kind of sweeper with rotation-limited structure
Device people, including matrix, positioned at base bottom pedestal, be mounted on the base and two for driving pedestal and matrix to move lead
The guide wheel for drawing unit, being set to the biased device of base rear portion and being installed on biased device is provided with installation on the pedestal
Chamber, and shaft is provided in installation cavity, the biased device is installed in installation cavity and rotates relative to shaft, and biased device
With the first position being stored in installation cavity and the second position being unfolded out of installation cavity, it is characterised in that: the installation cavity
Limit sliding chutes are set with biased device, another is upper to be arranged corresponding rotation prevention portion, and the biased device is in place on one of them
It is formed by rotation-limited structure and rotates around the axis with rotation prevention portion in limit sliding chutes, wherein is described using spindle central as the center of circle
The angle of rotation of biased device is α, 0 < α < 180 °.
Further, the spindle central and the perpendicular where the line of base center are M, vertical perpendicular of opposite M
Straight plane is W, and when the biased device is in the first position being stored in installation cavity, the biased device drives guide wheel in place
It is rotated in W plane close to the rear end side of sweeping robot.
Further, the biased device includes:
First rotor is installed in the shaft in installation cavity, and opposite shaft can be rotated；
Second rotor, opposite first rotor can a side to overturn, the first position is that the second rotor is stored in peace
In behaveing affectedly, the second position is that the second rotor is unfolded out of installation cavity；
Torsionspring is set between the first rotor and the second rotor, for providing elastic force, so that the second rotation
Body can be unfolded out of installation cavity；
Wherein, the guide wheel is installed on the second rotor, and guide wheel supports sweeping robot to walk together with traction unit；
The limit sliding chutes have two positive stop ends that spline structure is cooperatively formed with rotation prevention portion, and two positive stop ends are located at and turn
The two sides of perpendicular M where the line of axis center and base center.
Further, the limit sliding chutes are set on the bottom wall of installation cavity, and the rotation prevention portion is to be set to the first rotation
The bottom of body and the protrusion in limit sliding chutes being protruded into, first rotor turns to protrusion and supports when terminating in positive stop end, and described the
One rotor rotation stop；
Alternatively, the limit sliding chutes are set to the bottom of the first rotor, it is provided with and protrudes on the bottom wall of the installation cavity
Protrusion in limit sliding chutes, first rotor turn to protrusion and support when terminating in positive stop end, the first rotor rotation stop.
Further, using spindle central as the center of circle, corresponding two positive stop ends of the limit sliding chutes are formed by central angle
For β, it is γ that the protrusion both ends, which are formed by central angle, wherein α=β-γ.
Further, 100 °≤β≤160 °, 0.5 °≤γ≤10 °.
Further, the limit sliding chutes are located in the circumferential direction of installation cavity, and positive stop end is sliding for installation cavity peripheral wall upper limit
The end wall of slot, the rotation prevention portion are to be set on the second rotor peripheral wall and the first pillar and the second pillar of outwardly convex, institute
Stating the first rotor drives the second rotor to turn to the first pillar or the second pillar to when terminating in end wall, and described first rotates
Body rotation stop, wherein first pillar opposite with the second pillar second is put down vertically where turning the line at center and guide wheel center
Face is symmetrical arranged.
Further, using spindle central as the center of circle, corresponding two positive stop ends of the limit sliding chutes are formed by central angle
For β, first pillar and the second pillar are formed by central angle as δ, wherein α=β-δ.
Further, the anti-avulsion muscle outwardly protruded is provided on rear side of first rotor, at second rotor
When the second position, the anti-avulsion muscle is supported and is terminated on the second rotor；
Alternatively, the side of second rotor rear portion towards the first rotor is provided with boss, second rotor
When in the second position, the back edge of first rotor, which supports, to be terminated on boss.
Further, first rotor and or the second rotor on be provided with the card slot that convex ribs are surrounded, it is described
The extension end of torsionspring is limited in card slot；
Alternatively, 80 °≤α≤150 °.
For the present invention, installation cavity and biased device one of them be provided with limit sliding chutes, be provided on another
Corresponding rotation prevention portion, rotation prevention portion is limited in limit sliding chutes, and slides in limit sliding chutes, so that biased device drive is led
Wheel, which is only formed by rotation-limited structure in limit sliding chutes with rotation prevention portion, to rotate around the axis, wherein limit sliding chutes and rotation prevention portion
The rotation-limited structure to guide wheel is formd, also, biased device rotates the angle of rotation 0 in section defined by limit sliding chutes
< α < 180 °, so that 180 ° of steering will not occur for guide wheel.According to lever principle, the bigger stress of torque is smaller, and torque is smaller
Stress is bigger, and the pressure when pressure of biased device suffered sweeping robot at this time rotates 180 ° compared to guide wheel wants small, because
This, the part that biased device is unfolded out of installation cavity is more, even if pedestal is tilted, gradient will not be too big, pedestal
Still almost horizontality is kept to advance.Encounter in front of the sweeping robot barrier need to retreat and retreat on ground have carpet or
When person's ground cushion, situation stuck, that traveling can not be retreated also occurs less than in being stopped by carpet or ground cushion.Meanwhile the present invention
Sweeping robot also there is biased device, have preferable upslope and turning function.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is the schematic diagram that existing sweeping robot is normally advanced forward；
Fig. 2 is that existing sweeping robot retreats the schematic diagram advanced；
Fig. 3 is a kind of structural schematic diagram of embodiment of pedestal of sweeping robot of the present invention；
Fig. 4 is the decomposition texture schematic diagram of biased device in Fig. 3；
Fig. 5 is schematic cross-section when biased device is in the second position；
Fig. 6 is the structural schematic diagram of the first rotor；
Fig. 7 is the structural schematic diagram of the second rotor；
Fig. 8 is the top view of pedestal of the embodiment of the present invention；
Fig. 9 is the enlarged diagram in Fig. 8 at A；
The partial schematic diagram of another rotation-limited structure of Figure 10 present invention；
Figure 11 is the cut-away view of biased device in Figure 10.
Specific embodiment
Embodiment one:
It as shown in Figure 3, Figure 4, is the structural schematic diagram of an embodiment of the present invention.A kind of sweeping robot, including matrix
(being not drawn into figure), positioned at base bottom pedestal 1, be installed on pedestal 1 and for driving mobile two of pedestal 1 and matrix
Traction unit (being not drawn into figure), the biased device 2 for being set to base rear portion and the guide wheel 3 being installed on biased device 2, it is described
It is provided with installation cavity 10 on pedestal 1, and is provided with shaft 11 in installation cavity 10, the biased device 2 is installed in installation cavity 10
And it is rotated relative to shaft 11, and biased device 2 has the first position being stored in installation cavity 10 and opens up out of installation cavity 10
The second position opened is provided with limit sliding chutes 12 in the installation cavity 10, and being provided on the biased device 2 can be in limit sliding chutes
The rotation prevention portion of upper sliding, the biased device 2 are being formed by 11 rotation around the shaft in rotation section positioned at limit sliding chutes 12,
In, using 11 center of shaft as the center of circle, angle of rotation of the biased device 2 in rotation section is α, 0 < α < 180 °.
In the present embodiment, the biased device 2 includes:
First rotor 21 is installed in the shaft 11 in installation cavity 10 by bearing 24, and opposite shaft 11 can be rotated；
Second rotor 22, opposite first rotor 21 can a side to overturn, the first position is that the second rotor 22 is deposited
It is stored in installation cavity 10, the second position is that the second rotor 22 is unfolded out of installation cavity 10；
Torsionspring 23 is set between the first rotor 21 and the second rotor 22, for providing elastic force, so that the
Two rotors 22 can be unfolded out of installation cavity 10；
Wherein, the guide wheel 3 is installed on the second rotor 22, and guide wheel 3 props up together with traction unit (being not drawn into figure)
Support sweeping robot walking；The limit sliding chutes 12 have two positive stop ends that spline structure is cooperatively formed with rotation prevention portion, and should
The two sides of perpendicular M where two positive stop ends are located at spindle central and the line of base center, wherein opposite M is vertical
Perpendicular be W, when the biased device is in the first position being stored in installation cavity, the biased device drives guide wheel
It is rotated being located at W plane close to the rear end side of sweeping robot.
In the present embodiment, the limit sliding chutes 12 are set on the bottom wall of installation cavity 10, and the rotation prevention portion is to be set to
The bottom of first rotor 21 and the protrusion 212 in limit sliding chutes 12 is protruded into, first rotor 21 turns to protrusion 212 and supports
When terminating in positive stop end, 21 rotation stop of the first rotor.Meanwhile in the present embodiment, the rear side of the first rotor 21 be provided with to
The anti-avulsion muscle 211 of outer protrusion, when second rotor 22 is in the second position, the anti-avulsion muscle 211 supports and terminates in the second rotation
On body 22 (as shown in Figure 5).Due to the presence of anti-avulsion muscle 211, it can both limit the second rotor 22 and not be twisted spring 23
Elastic effect and continue to be unfolded, realize the rotation stop between the first rotor 21 and the second rotor 22, but can prevent it is artificial because
It is plain reversely to pull the second rotor 22 of pressure, cause the second rotor 22 to separate with the first rotor 21, and what torsionspring 23 was deviate from
Problem.
Also, multiple convex ribs 25 are provided on the first rotor 21 and the second rotor 22 and (are also possible to one of them
Upper setting), also, card slot 26 is defined between adjacent two upper rib 25, wherein the extension end of torsionspring 23 is limited in card slot
In 26 (as shown in Figure 6, Figure 7), can prevent biased device in the course of rotation torsionspring from the first rotor and second
It frequently shifts and deviates between rotor.
For the present embodiment, due to being provided with limit sliding chutes in the installation cavity of pedestal, it is provided with only on biased device
Transfer part, rotation prevention portion is limited in limit sliding chutes, and slides in limit sliding chutes, so that biased device drives guide wheel only limiting
Sliding slot is formed by rotation section and rotates around the axis, wherein limit sliding chutes and rotation prevention portion form the rotation-limited to guide wheel
Structure, also, biased device rotates angle of rotation 0 < α < 180 ° in section defined by limit sliding chutes, so that guide wheel is not
180 ° of steering can occur.According to lever principle, the bigger stress of torque is smaller, and the smaller stress of torque is bigger, and biased device is at this time
The pressure when pressure of suffered sweeping robot rotates 180 ° compared to guide wheel wants small, and therefore, biased device is out of installation cavity
The part of expansion is more, even if pedestal is tilted, gradient will not be too big, and pedestal still almost keeps horizontality row
Into.It encounters barrier in front of the sweeping robot to need to retreat and retreat on ground when having carpet or ground cushion, also less than in quilt
Carpet or ground cushion stop and situation that is stuck, can not retreating traveling occur.Meanwhile the sweeping robot of the present embodiment also has
Biased device still has preferable upslope and turning function.
It should be noted that as shown in Figure 8, Figure 9, being with spindle central for the sweeping robot of the present embodiment
The center of circle, it is β that corresponding two positive stop ends of the limit sliding chutes, which are formed by central angle, and the protrusion both ends are formed by central angle
For γ, wherein biased device angle α=β-γ.For the present embodiment, β=100 °~160 °, γ=0.5 °~10 °.Due to
The biased device of the present embodiment both requirement cannot 180 ° steering, again have preferable upslope enter turning function, therefore, α=
80 °~150 °, wherein α is preferably 90 °~120 °.Certainly, for the present embodiment, the setting of limit sliding chutes and rotation prevention portion
Also it can be reversed setting, for example, limit sliding chutes are arranged in the bottom of the first rotor, limit is protruded into setting on the bottom wall of installation cavity
Rotation prevention portion (protrusion) in the sliding slot of position, when the first rotor turns to rotation prevention portion (protrusion) to positive stop end is terminated in, the first rotation
Body rotation stop.Certainly, disclosed scheme is not limited to the present embodiment for the structure of limit sliding chutes and rotation prevention portion.
It should be noted that can be the traction unit of track structure for the sweeping robot of the present embodiment,
Or the traction unit of wheeled construction, for the move mode structure of sweeping robot, the scheme be not limited to the present embodiment.
It should also be noted that, the above structure variation for the present embodiment is readily applicable in other embodiments of the invention.
Embodiment two:
It as shown in Figure 10, Figure 11, is the structural schematic diagram of another embodiment of the present invention.The present embodiment and embodiment one are not
Be with place: in the present embodiment, limit sliding chutes 12 are located in the circumferential direction of installation cavity, and positive stop end is installation cavity peripheral wall upper limit
The end wall 121 of sliding slot, the rotation prevention portion are to be set on 22 peripheral wall of the second rotor and the first pillar 221 of outwardly convex and
Two pillars 222, when the first rotor 21 drives, the second rotor 22 turns to the first pillar 221 or the second pillar 222 supports only
When end wall 121, the first rotor rotation stop, wherein the first pillar 221 and opposite second rotor, 22 center of the second pillar 222
It is symmetrical arranged with perpendicular N where the line at guide wheel center.
In the present embodiment, using spindle central as the center of circle, corresponding two end walls of the limit sliding chutes are formed by center
Angle is β, and first pillar and the second pillar are formed by central angle as δ, wherein angle of rotation α=β-δ of biased device.?
In the present embodiment, β > 180 °, and δ > 90 °, α=90 °~120 °.
In addition, in the present embodiment, as shown in figure 11, not set anti-avulsion convex ribs on the first rotor 21, the first rotor 21
Rotation stop anti-avulsion between the second rotor 22 is by setting in side of 22 rear portion of the second rotor towards the first rotor 21
Boss 223 is set, when the second rotor 22 is in the second position, the back edge of the first rotor 21, which supports, to be terminated on boss 223,
To realize the rotation stop of the first rotor 21 and the second rotor 22, prevent torsionspring from deviating from.
The present embodiment has the identical beneficial effect of embodiment one, and details are not described herein again.It should be noted that for this reality
The above structure variation for applying example is readily applicable in other embodiments of the invention.
Those skilled in the art should be understood that the present invention including but not limited to attached drawing and above specific embodiment
Described in content.Any range that claims are intended to be included in without departing from the modification of function and structure principle of the invention
In.
Claims (10)
1. a kind of sweeping robot with rotation-limited structure, including matrix, positioned at base bottom pedestal, be installed on pedestal
Two traction units that are upper and being used to drive pedestal and matrix movement are set to the biased device of base rear portion and are installed on bias
Guide wheel on device is provided with installation cavity on the pedestal, and is provided with shaft in installation cavity, and the biased device is installed on peace
It is rotated in behaveing affectedly and relative to shaft, and biased device has the first position being stored in installation cavity and is unfolded out of installation cavity
The second position, it is characterised in that: the installation cavity and biased device one of them it is upper limit sliding chutes are set, setting on another
Corresponding rotation prevention portion, the biased device are formed by rotation-limited structure around the shaft positioned at limit sliding chutes and rotation prevention portion
Rotation, wherein using spindle central as the center of circle, the angle of rotation of the biased device is α, 0 < α < 180 °.
2. according to claim 1 with rotation-limited structure sweeping robot, it is characterised in that: the spindle central with
Perpendicular where the line of base center is M, and opposite M vertical perpendicular is W, and the biased device is in and is stored in
When first position in installation cavity, the biased device drives guide wheel being located at W plane close to the rear end side of sweeping robot
Rotation.
3. the sweeping robot according to claim 1 or claim 2 with rotation-limited structure, it is characterised in that: the bias box
Part includes:
First rotor is installed in the shaft in installation cavity, and opposite shaft can be rotated；
Second rotor, opposite first rotor can a side to overturn, the first position is that the second rotor is stored in installation cavity
Interior, the second position is that the second rotor is unfolded out of installation cavity；
Torsionspring is set between the first rotor and the second rotor, for providing elastic force, so that the second rotor can
It is unfolded out of installation cavity；
Wherein, the guide wheel is installed on the second rotor, and guide wheel supports sweeping robot to walk together with traction unit；It is described
Limit sliding chutes have two positive stop ends that spline structure is cooperatively formed with rotation prevention portion, and two positive stop ends are located in shaft
The two sides of perpendicular M where the heart and the line of base center.
4. according to claim 3 with the sweeping robot of rotation-limited structure, it is characterised in that: the limit sliding chutes are set
It being placed on the bottom wall of installation cavity, the rotation prevention portion is to be set to the bottom of the first rotor and protrude into the protrusion in limit sliding chutes,
First rotor turns to protrusion and supports when terminating in positive stop end, the first rotor rotation stop；
Alternatively, the limit sliding chutes are set to the bottom of the first rotor, it is provided on the bottom wall of the installation cavity and protrudes into limit
Protrusion in sliding slot, first rotor turn to protrusion and support when terminating in positive stop end, the first rotor rotation stop.
5. according to claim 4 with rotation-limited structure sweeping robot, it is characterised in that: with spindle central be circle
The heart, it is β that corresponding two positive stop ends of the limit sliding chutes, which are formed by central angle, and the protrusion both ends are formed by central angle and are
γ, wherein α=β-γ.
6. according to claim 5 with the sweeping robot of rotation-limited structure, it is characterised in that: 100 °≤β≤160 °,
0.5°≤γ≤10°。
7. according to claim 3 with the sweeping robot of rotation-limited structure, it is characterised in that: the limit sliding chutes position
In in the circumferential direction of installation cavity, and positive stop end is the end wall of installation cavity peripheral wall upper limit sliding slot, and the rotation prevention portion is to be set to second
On rotor peripheral wall and the first pillar and the second pillar of outwardly convex, first rotor drive the second rotor to turn to
First pillar or the second pillar support when terminating in end wall, the first rotor rotation stop, wherein first pillar and second convex
Column is symmetrical arranged with respect to perpendicular where the line at the second swivel center and guide wheel center.
8. according to claim 7 with rotation-limited structure sweeping robot, it is characterised in that: with spindle central be circle
The heart, it is β that corresponding two positive stop ends of the limit sliding chutes, which are formed by central angle, and first pillar is formed with the second pillar
Central angle be δ, wherein α=β-δ.
9. according to claim 3 with the sweeping robot of rotation-limited structure, it is characterised in that: first rotor
Rear side be provided with the anti-avulsion muscle outwardly protruded, when second rotor is in the second position, the anti-avulsion muscle, which supports, terminates in the
On two rotors；
Alternatively, the side of second rotor rear portion towards the first rotor is provided with boss, second rotor is in
When the second position, the back edge of first rotor, which supports, to be terminated on boss.
10. according to claim 3 with the sweeping robot of rotation-limited structure, it is characterised in that: first rotation
Body and or the second rotor on be provided with the card slot that convex ribs are surrounded, the extension end of the torsionspring is limited in card slot；
Alternatively, 80 °≤α≤150 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910034803.1A CN109907697A (en) | 2019-01-15 | 2019-01-15 | A kind of sweeping robot with rotation-limited structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910034803.1A CN109907697A (en) | 2019-01-15 | 2019-01-15 | A kind of sweeping robot with rotation-limited structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109907697A true CN109907697A (en) | 2019-06-21 |
Family
ID=66960360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910034803.1A Pending CN109907697A (en) | 2019-01-15 | 2019-01-15 | A kind of sweeping robot with rotation-limited structure |
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| Country | Link |
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|---|---|---|---|---|
| CN101288576A (en) * | 2007-04-20 | 2008-10-22 | 圣托玛有限公司 | Improved moquette carpet cleaning machine operable in pull-back mode |
| CN102149547A (en) * | 2009-11-23 | 2011-08-10 | 李承烈 | Caster |
| CN105142478A (en) * | 2013-01-29 | 2015-12-09 | 戴森技术有限公司 | Mobile robot |
| CN205871628U (en) * | 2016-08-12 | 2017-01-11 | 浙江易得力脚轮有限公司 | Spacing truckle |
| DE202017004094U1 (en) * | 2017-08-04 | 2017-09-19 | Daniel Hostmann | Wheel with integrated steering system for mobile frame racks |
| CN207384216U (en) * | 2017-03-29 | 2018-05-22 | 艾罗伯特公司 | Sweeping robot |
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2019
- 2019-01-15 CN CN201910034803.1A patent/CN109907697A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101288576A (en) * | 2007-04-20 | 2008-10-22 | 圣托玛有限公司 | Improved moquette carpet cleaning machine operable in pull-back mode |
| CN102149547A (en) * | 2009-11-23 | 2011-08-10 | 李承烈 | Caster |
| CN105142478A (en) * | 2013-01-29 | 2015-12-09 | 戴森技术有限公司 | Mobile robot |
| CN205871628U (en) * | 2016-08-12 | 2017-01-11 | 浙江易得力脚轮有限公司 | Spacing truckle |
| CN207384216U (en) * | 2017-03-29 | 2018-05-22 | 艾罗伯特公司 | Sweeping robot |
| DE202017004094U1 (en) * | 2017-08-04 | 2017-09-19 | Daniel Hostmann | Wheel with integrated steering system for mobile frame racks |
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Application publication date: 20190621 |