CN209737599U - Magnetic adsorption robot driving wheel structure - Google Patents
Magnetic adsorption robot driving wheel structure Download PDFInfo
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- CN209737599U CN209737599U CN201920550261.9U CN201920550261U CN209737599U CN 209737599 U CN209737599 U CN 209737599U CN 201920550261 U CN201920550261 U CN 201920550261U CN 209737599 U CN209737599 U CN 209737599U
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- brushless motor
- direct current
- driving wheel
- wheel structure
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Abstract
The utility model discloses a magnetism adsorbs robot drive wheel structure, the drive wheel structure has permanent magnet and electric coil simultaneously, the permanent magnet is used for producing permanent magnetic force, the electric coil is used for producing variable magnetic force, and the magnetic force that the two produced superposes each other or offsets, is used for making the drive wheel structure has controllable magnetic adsorption power. The utility model provides a drive wheel structure has the permanent magnetism power that the permanent magnet produced and the variable magnetic force that the electric coil produced simultaneously, makes it have controllable magnetic adsorption power, and the wall climbing robot who is equipped with this drive wheel structure has that the application scenario is wide, adsorption power is controllable, easy and adsorbed advantages such as surface separation.
Description
Technical Field
The utility model belongs to the technical field of the robot, involve the magnetism and adsorb the robot, concretely relates to magnetism adsorbs robot driving wheel structure.
Background
The magnetic adsorption wall-climbing robot is widely applied to the aspects of ship hull cleaning, pipeline welding and the like. The wall climbing robot is provided with a permanent magnet or an electromagnet on a driving wheel and a driven wheel of a chassis to adsorb on the metal surface of a ship or a structure, and overcomes the self gravity of the robot by utilizing the combined action of the magnetic adsorption force of the wheels and the friction force of the wheels, so that the robot can do crawling motion on the inclined or even vertical metal surface.
For the driving wheel adsorbed by the permanent magnet, the magnetic field is constant, the magnetic field does not need to be additionally driven and controlled, and the use is simple; the driving wheel and the adsorbed surface of the permanent magnet are not easy to separate, the adsorption force cannot be controlled, the adsorption surface is easy to damage, and the use occasion is limited. For the driving wheel adsorbed by the electromagnet, the main advantages are that the adsorption force can be controlled by controlling the electromagnetic field, and the adsorbed surface can be easily separated; the disadvantage is that when the power is cut off accidentally, the wheels lose the adsorption force due to the loss of the electromagnetic field, and the robot falls off.
SUMMERY OF THE UTILITY MODEL
Among the prior art, magnetism adsorbs robot drive wheel structure mainly has following problem: (1) the magnetic adsorption force of the permanent magnet magnetic adsorption driving wheel structure is constant, the magnetic adsorption force cannot be controlled, the adsorbed surface is easy to damage, and the application occasion is limited; (2) the wheel with the permanent magnet magnetic adsorption driving wheel structure is not easy to separate from the adsorption surface; (3) when the driving wheel adsorbed by the electromagnet is powered off accidentally, the wheel loses adsorption force due to the loss of an electromagnetic field, and the robot drops.
To the above-mentioned problem that exists among the prior art, the utility model provides a magnetism adsorbs robot driving wheel structure, this driving wheel structure has the permanent magnetism power that the permanent magnet produced and the variable magnetic force that the electric coil produced simultaneously, makes it have controllable magnetic adsorption power, and the wall climbing robot who is equipped with this driving wheel structure has that the application is wide, adsorption power is controllable, easy and adsorbed surface separation advantage such as.
Therefore, the utility model adopts the following technical scheme:
The utility model provides a magnetism adsorbs robot drive wheel structure, the drive wheel structure has permanent magnet and electric coil simultaneously, the permanent magnet is used for producing permanent magnetism power, the electric coil is used for producing variable magnetic force, and the magnetic force that the two produced superposes each other or offsets, is used for making the drive wheel structure has controllable magnetism adsorption affinity.
Preferably, the driving wheel structure is provided with a direct current brushless motor, a speed reducer, a pure copper coil winding, a cap-shaped driving wheel hub, a permanent magnet and a wear-resistant wheel from inside to outside along the radial direction; the abrasion-resistant wheel is of a hollow annular structure and is positioned on the outer surface of the driving wheel structure, and one side of the abrasion-resistant wheel is provided with an inward annular edge-shaped flange surface; a flange hole is formed in the brim on one side of the cap-shaped driving hub and matched with the flange surface of the wear-resistant wheel; the permanent magnet is positioned between the cap-shaped driving hub and the wear-resistant wheel; the pure copper coil winding is positioned on the inner side of the cap-shaped driving hub and used for generating variable magnetic force, and the inner surface of the pure copper coil winding is matched with the outer surface of the direct current brushless motor; the speed reducer and the direct current brushless motor are both positioned on the inner side of the pure copper coil winding, and the direct current brushless motor is respectively connected with the speed reducer and the pure copper coil winding.
Preferably, the grinding wheel-resistant flange surface, the inner magnetic conduction ring, the permanent magnet and the outer magnetic conduction ring are sequentially and closely mounted on the upper cap edge of the outer cylindrical surface of the cap-shaped driving hub two by two; the outer cylindrical surfaces of the inner magnetic conduction ring, the permanent magnet and the outer magnetic conduction ring are tightly matched with the inner cylindrical surface of the wear-resistant wheel; a fourth fastening bolt penetrates through a flange hole of the cap-shaped driving hub and a flange surface of the wear-resistant wheel and is fixed on the inner magnetic conduction ring, and the fourth fastening bolt, the flange hole of the cap-shaped driving hub and the flange surface of the wear-resistant wheel are fastened together; the cap-shaped driving hub and the outer magnetic conduction ring are sealed through an O-shaped ring.
preferably, an outer magnetic ring pressing ring is arranged on the outer side of the outer magnetic ring and used for pressing the outer magnetic ring; the outer magnetic conduction ring clamp ring is provided with an inner flange hole and an outer flange hole, the outer magnetic conduction ring clamp ring is fastened to a bolt hole in the top of the cap-shaped driving hub cap through the inner flange hole by a first fastening bolt, and a third fastening bolt is connected to a flange threaded hole of the outer magnetic conduction ring through the outer flange hole.
Preferably, the dc brushless motor mainly comprises a cap-shaped dc brushless motor housing, a motor end cover, a dc brushless motor stator, a dc brushless motor rotor, a deep groove ball bearing, a double-row angular contact bearing, and a motor end cover fastening bolt; the inner cylindrical surface of the direct current brushless motor shell is provided with the direct current brushless motor stator, and the direct current brushless motor stator are fixed in an interference fit manner; the pure copper coil winding is fixed on the outer cylindrical surface of the direct current brushless motor shell, and one side of the pure copper coil winding is tightly attached to the hat-shaped edge of the direct current brushless motor shell; the cap-shaped edge of the direct current brushless motor shell is provided with a threaded hole along the circumferential direction, and a motor end cover fastening bolt penetrates through a flange hole of the motor end cover to fix the motor end cover on the direct current brushless motor shell; the other side of the DC brushless motor shell is provided with a double-row angular contact bearing, a deep groove ball bearing is arranged on a shaft hole of the motor end cover, and shaft shoulders on two sides of the DC brushless motor rotor are respectively installed with the double-row angular contact bearing and the deep groove ball bearing in a transition fit manner; a kidney-shaped through groove is formed in the motor end cover, and a phase line of the direct-current brushless motor penetrates through the through groove to be connected with an external motor driving circuit; and the outer side of the pure copper coil winding is connected with a winding current control circuit through the through hole and a kidney slot of a motor end cover.
Preferably, the speed reducer is fastened to the end face of the output shaft of the housing of the dc brushless motor through a flange face thereof by a fastening bolt, the input shaft hole of the speed reducer is engaged with the output shaft of the rotor of the dc brushless motor, and the output shaft of the speed reducer is fastened to the cap-shaped drive hub by a second fastening bolt.
Preferably, the driving wheel structure is further provided with a motor encoder for controlling the position and the rotating speed of the driving wheel.
Preferably, the motor encoder is arranged in the encoder magnetic shielding protective shell, and an extension shaft of the motor encoder is matched with a hole of a sensor joint arranged at the shaft end of the direct current brushless motor rotor.
Preferably, one side of the encoder magnetic shielding protective shell is provided with an encoder magnetic shielding shell end cover, and the encoder magnetic shielding shell end cover is fixed on the flange end face of the encoder magnetic shielding protective shell through a fifth fastening bolt; the encoder magnetic shielding protective shell is fixed on the motor end cover through a sixth fastening bolt.
Preferably, the driving wheel structure is applied to a wall-climbing robot.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) The driving wheel structure is provided with the permanent magnet and the electromagnet at the same time, and the magnetic adsorption crawling robot with the driving wheel structure does not have the risk of falling due to power loss.
(2) The adsorption force on the magnetic wheel can be adjusted by controlling the current magnitude and direction of the electromagnet coils on the driving wheel, different adsorption forces are controlled according to different adsorption surfaces, the adsorbed surfaces are protected, and the magnetic wheel can be applied to a plurality of special occasions.
(3) The current magnitude and direction of the electromagnet coil on the driving wheel are controlled, so that the magnetic force lines generated by the coil offset the magnetic force lines of the permanent magnet, the magnetic adsorption wheel can be easily separated from the adsorbed object, and the underwater floating robot is particularly suitable for being applied to an underwater floating robot which needs to be frequently separated from the adsorbed surface.
Drawings
Fig. 1 is a front view of a driving wheel structure of a magnetic adsorption robot provided by the present invention.
Fig. 2 is a left side view of the driving wheel structure of the magnetic adsorption robot provided by the utility model.
Fig. 3 is a right side view of the driving wheel structure of the magnetic adsorption robot provided by the utility model.
Fig. 4 is a perspective view of the driving wheel structure of the magnetic adsorption robot provided by the present invention.
Fig. 5 is a schematic structural diagram of a dc brushless electrode housing of a driving wheel structure of a magnetic adsorption robot provided by the present invention.
Description of reference numerals: 1. a wear resistant wheel; 2. an outer magnetically conductive ring; 3. an O-shaped ring; 4. an outer magnetic conductive ring clamp ring; 5. a cap-shaped drive hub; 6. a first fastening bolt; 7. a double row angular contact bearing; 8. a second fastening bolt; 9. a speed reducer; 10. a pure copper coil winding; 11. a third fastening bolt; 12. a permanent magnet; 13. a DC brushless motor housing; 14. a DC brushless motor stator; 15. a DC brushless motor rotor; 16. an inner magnetic conductive ring; 17. external wiring of the pure copper coil winding; 18. a fourth fastening bolt; 19. a motor end cover fastening bolt; 20. a motor end cover; 21. a deep groove ball bearing; 22. a sensor connector; 23. an encoder magnetic shielding protective shell; 24. a motor encoder; 25. an encoder magnetic shielding shell end cover; 26. a motor sensor circuit board; 27. a phase line of the motor; 28. a fifth fastening bolt; 29. and a sixth fastening bolt.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are only used for explaining the present invention, but not for limiting the present invention.
The utility model discloses a magnetism adsorbs robot drive wheel structure, the drive wheel structure has permanent magnet and electric coil simultaneously, the permanent magnet is used for producing permanent magnetic force, the electric coil is used for producing variable magnetic force, and the magnetic force that the two produced superposes each other or offsets, is used for making the drive wheel structure has controllable magnetic adsorption power.
Specifically, as shown in fig. 1-5, the driving wheel structure is provided with a dc brushless motor, a speed reducer 9, a pure copper coil winding 10, a cap-shaped driving hub 5, a permanent magnet 12 and a wear-resistant wheel 1 from inside to outside along the radial direction; the abrasion-resistant wheel 1 is of a hollow annular structure and is positioned on the outer surface of the driving wheel structure, and one side of the abrasion-resistant wheel 1 is provided with an inward annular edge-shaped flange surface; a flange hole is formed in the brim on one side of the cap-shaped driving hub 5 and matched with the flange surface of the wear-resistant wheel 1; the permanent magnet 12 is positioned between the cap-shaped driving hub 5 and the wear-resistant wheel 1; the pure copper coil winding 10 is positioned on the inner side of the cap-shaped driving hub 5 and used for generating variable magnetic force, and the inner surface of the pure copper coil winding 10 is matched with the outer surface of the direct current brushless motor; the speed reducer 9 and the direct-current brushless motor are both located on the inner side of the pure copper coil winding 10, and the direct-current brushless motor is connected with the speed reducer 9 and the pure copper coil winding 10 respectively.
Specifically, the flange surface of the grinding wheel 1, the inner magnetic conductive ring 16, the permanent magnet 12 and the outer magnetic conductive ring 2 are sequentially and closely mounted on the cap edge of the outer cylindrical surface of the cap-shaped driving hub 5 two by two; the outer cylindrical surfaces of the inner magnetic conductive ring 16, the permanent magnet 12 and the outer magnetic conductive ring 2 are tightly matched with the inner cylindrical surface of the wear-resistant wheel 1; a fourth fastening bolt 18 passes through the flange hole of the cap-shaped driving hub 5 and the flange surface of the wear-resistant wheel 1 and is fixed on the inner magnetic conductive ring 16 to fasten the three together; the cap-shaped driving hub 5 and the outer magnetic conduction ring 2 are sealed through an O-shaped ring 3.
Specifically, an outer magnetic conductive ring pressing ring 4 is arranged on the outer side of the outer magnetic conductive ring 2 and used for pressing the outer magnetic conductive ring 2; the outer magnetic conduction ring clamp ring 4 is provided with an inner flange hole and an outer flange hole, the outer magnetic conduction ring clamp ring 4 is fastened to a bolt hole at the top of the cap-shaped driving hub 5 through the inner flange hole by a first fastening bolt 6, and a third fastening bolt 11 is connected to a flange threaded hole of the outer magnetic conduction ring 2 through the outer flange hole.
Specifically, the dc brushless motor mainly comprises a cap-shaped dc brushless motor housing 13, a motor end cover 20, a dc brushless motor stator 14, a dc brushless motor rotor 15, a deep groove ball bearing 21, a double-row angular contact bearing 7, and a motor end cover fastening bolt 19; the inner cylindrical surface of the direct current brushless motor shell 13 is provided with the direct current brushless motor stator 14, and the direct current brushless motor stator are fixed in an interference fit manner; the pure copper coil winding 10 is fixed on the outer cylindrical surface of the direct current brushless motor shell 13, and one side of the pure copper coil winding 10 is tightly attached to the hat-shaped edge of the direct current brushless motor shell 13; threaded holes along the circumferential direction are formed in the hat-shaped edge of the direct current brushless motor shell 13, and a motor end cover fastening bolt 19 penetrates through a flange hole of the motor end cover 20 to fix the motor end cover 20 to the direct current brushless motor shell 13; the other side of the direct current brushless motor shell 13 is provided with a double-row angular contact bearing 7, a deep groove ball bearing 21 is arranged on a shaft hole of the motor end cover 20, and shaft shoulders on two sides of the direct current brushless motor rotor 15 are respectively installed with the double-row angular contact bearing 7 and the deep groove ball bearing 21 in a transition fit mode; a kidney-shaped through groove is formed in the motor end cover 20, and a phase line 27 of the direct-current brushless motor penetrates through the through groove to be connected with an external motor driving circuit; through holes are machined on the hat-shaped edge of the direct current brushless motor shell 13 close to the outer cylindrical surface along the circumference, and external wiring 17 of the pure copper coil winding is connected with a winding current control circuit through the through holes and a kidney slot of a motor end cover 20.
Specifically, the speed reducer 9 is fastened to the end face of the output shaft of the dc brushless motor housing 13 by a fastening bolt through a flange face thereof, the input shaft hole of the speed reducer 9 is fitted with the output shaft of the dc brushless motor rotor 15, and the output shaft of the speed reducer 9 is fastened to the cap-shaped drive hub 5 by a second fastening bolt 8.
In particular, the drive wheel structure is further provided with a motor encoder 24 for controlling the position and rotational speed of the drive wheel.
Specifically, the motor encoder 24 is installed in the encoder magnetic shielding protective shell 23, and an extending shaft of the motor encoder 24 is matched with a hole of the sensor joint 22 installed at the shaft end of the direct current brushless motor rotor 15. One end of the brushless dc motor rotor 15 close to the sensor connector 22 is provided with a motor sensor circuit board 26.
Specifically, an encoder magnetic shielding shell end cover 25 is arranged on one side of the encoder magnetic shielding protective shell 23, and the encoder magnetic shielding shell end cover 25 is fixed on the flange end face of the encoder magnetic shielding protective shell 23 through a fifth fastening bolt 28; the encoder magnetic shield protective case 23 is fixed to the motor end cover 20 by a sixth fastening bolt 29.
In particular, the driving wheel structure is applied to a wall-climbing robot.
Examples
The utility model provides a magnetism adsorbs robot driving wheel structure, this driving wheel structure mainly includes resistant emery wheel 1, interior magnetic ring 16, permanent magnet 12, outer magnetic ring 2, cap form drive wheel hub 5, reduction gear 9, pure copper coil winding 10, DC brushless motor, motor encoder 24 and various bolt fastener and O type circle sealing attachment, DC brushless motor mainly comprises DC brushless motor shell 13, motor end cover 20, DC brushless motor stator 14, DC brushless motor rotor 15, deep groove ball bearing 21, double row angular contact bearing 7 and motor end cover fastening bolt 19, and this driving wheel structure's work flow is as follows: the DC brushless motor is controlled by a motor encoder 24, and an output shaft of the DC brushless motor drives a speed reducer 9 so as to drive an inner magnetic conductive ring 16, a permanent magnet 12, an outer magnetic conductive ring 2 and a grinding wheel 1 which are arranged on a hat-shaped driving hub 5 to rotate; the direct current brushless motor shell 13 has a hat-shaped appearance, is fixed with pure copper coil winding 10 on the outer face of cylinder of direct current brushless motor shell 13, and through adjusting the electric current size and the direction of pure copper coil winding 10, pure copper coil winding 10 can produce with permanent magnet 12 syntropy stack or the magnetic flux that reduces in the opposite direction to strengthen or reduce the magnetic attraction of the absorption surface of magnetism of wheel. Through the combination, the wall-climbing robot with the magnetic adsorption driving wheel structure has the advantages of wide application occasions, controllable adsorption force, easy separation from an adsorbed surface and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and scope of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a magnetism adsorbs robot driving wheel structure which characterized in that: the driving wheel structure has permanent magnet and electric coil simultaneously, the permanent magnet is used for producing permanent magnetism power, the electric coil is used for producing variable magnetic force, and the magnetic force that the two produced superposes each other or offsets, is used for making the driving wheel structure has controllable magnetic adsorption power.
2. the magnetic adsorption robot driving wheel structure of claim 1, characterized in that: the driving wheel structure is provided with a direct current brushless motor, a speed reducer, a pure copper coil winding, a cap-shaped driving wheel hub, a permanent magnet and a wear-resistant wheel from inside to outside along the radial direction; the abrasion-resistant wheel is of a hollow annular structure and is positioned on the outer surface of the driving wheel structure, and one side of the abrasion-resistant wheel is provided with an inward annular edge-shaped flange surface; a flange hole is formed in the brim on one side of the cap-shaped driving hub and matched with the flange surface of the wear-resistant wheel; the permanent magnet is positioned between the cap-shaped driving hub and the wear-resistant wheel; the pure copper coil winding is positioned on the inner side of the cap-shaped driving hub and used for generating variable magnetic force, and the inner surface of the pure copper coil winding is matched with the outer surface of the direct current brushless motor; the speed reducer and the direct current brushless motor are both positioned on the inner side of the pure copper coil winding, and the direct current brushless motor is respectively connected with the speed reducer and the pure copper coil winding.
3. The magnetic adsorption robot driving wheel structure of claim 2, wherein: the upper brim positions of the outer cylindrical surface of the cap-shaped driving hub are sequentially and pairwise closely provided with a grinding wheel-resistant flange surface, an inner magnetic conduction ring, a permanent magnet and an outer magnetic conduction ring; the outer cylindrical surfaces of the inner magnetic conduction ring, the permanent magnet and the outer magnetic conduction ring are tightly matched with the inner cylindrical surface of the wear-resistant wheel; a fourth fastening bolt penetrates through a flange hole of the cap-shaped driving hub and a flange surface of the wear-resistant wheel and is fixed on the inner magnetic conduction ring, and the fourth fastening bolt, the flange hole of the cap-shaped driving hub and the flange surface of the wear-resistant wheel are fastened together; the cap-shaped driving hub and the outer magnetic conduction ring are sealed through an O-shaped ring.
4. The magnetic adsorption robot driving wheel structure of claim 3, wherein: an outer magnetic conductive ring pressing ring is arranged on the outer side of the outer magnetic conductive ring and used for pressing the outer magnetic conductive ring; the outer magnetic conduction ring clamp ring is provided with an inner flange hole and an outer flange hole, the outer magnetic conduction ring clamp ring is fastened to a bolt hole in the top of the cap-shaped driving hub cap through the inner flange hole by a first fastening bolt, and a third fastening bolt is connected to a flange threaded hole of the outer magnetic conduction ring through the outer flange hole.
5. The magnetic adsorption robot driving wheel structure of claim 2, wherein: the direct current brushless motor mainly comprises a cap-shaped direct current brushless motor shell, a motor end cover, a direct current brushless motor stator, a direct current brushless motor rotor, a deep groove ball bearing, a double-row angular contact bearing and a motor end cover fastening bolt; the inner cylindrical surface of the direct current brushless motor shell is provided with the direct current brushless motor stator, and the direct current brushless motor stator are fixed in an interference fit manner; the pure copper coil winding is fixed on the outer cylindrical surface of the direct current brushless motor shell, and one side of the pure copper coil winding is tightly attached to the hat-shaped edge of the direct current brushless motor shell; the cap-shaped edge of the direct current brushless motor shell is provided with a threaded hole along the circumferential direction, and a motor end cover fastening bolt penetrates through a flange hole of the motor end cover to fix the motor end cover on the direct current brushless motor shell; the other side of the DC brushless motor shell is provided with a double-row angular contact bearing, a deep groove ball bearing is arranged on a shaft hole of the motor end cover, and shaft shoulders on two sides of the DC brushless motor rotor are respectively installed with the double-row angular contact bearing and the deep groove ball bearing in a transition fit manner; a kidney-shaped through groove is formed in the motor end cover, and a phase line of the direct-current brushless motor penetrates through the through groove to be connected with an external motor driving circuit; and the outer side of the pure copper coil winding is connected with a winding current control circuit through the through hole and a kidney slot of a motor end cover.
6. The magnetic adsorption robot driving wheel structure of claim 5, wherein: the speed reducer is fastened to the end face of an output shaft of the direct current brushless motor shell through a flange face of the speed reducer through fastening bolts, an input shaft hole of the speed reducer is matched with an output shaft of a direct current brushless motor rotor, and the output shaft of the speed reducer is fastened to the cap-shaped driving hub through a second fastening bolt.
7. The magnetic adsorption robot driving wheel structure of claim 5, wherein: the driving wheel structure is also provided with a motor encoder for controlling the position and the rotating speed of the driving wheel.
8. The magnetic adsorption robot driving wheel structure of claim 7, wherein: the motor encoder is arranged in the encoder magnetic shielding protective shell, and an extending shaft of the motor encoder is matched with a hole of a sensor connector arranged at the shaft end of the direct current brushless motor rotor.
9. The magnetic adsorption robot driving wheel structure of claim 8, wherein: an encoder magnetic shielding shell end cover is arranged on one side of the encoder magnetic shielding protective shell and is fixed on the flange end face of the encoder magnetic shielding protective shell through a fifth fastening bolt; the encoder magnetic shielding protective shell is fixed on the motor end cover through a sixth fastening bolt.
10. The magnetic adsorption robot driving wheel structure according to any one of claims 1 to 9, characterized in that: the driving wheel structure is applied to the wall-climbing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920550261.9U CN209737599U (en) | 2019-04-22 | 2019-04-22 | Magnetic adsorption robot driving wheel structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920550261.9U CN209737599U (en) | 2019-04-22 | 2019-04-22 | Magnetic adsorption robot driving wheel structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209737599U true CN209737599U (en) | 2019-12-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920550261.9U Active CN209737599U (en) | 2019-04-22 | 2019-04-22 | Magnetic adsorption robot driving wheel structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209737599U (en) |
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2019
- 2019-04-22 CN CN201920550261.9U patent/CN209737599U/en active Active
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