CN104875804A - Wind-driven steering spherical robot with magnetic-control air valves - Google Patents
Wind-driven steering spherical robot with magnetic-control air valves Download PDFInfo
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- CN104875804A CN104875804A CN201510194631.6A CN201510194631A CN104875804A CN 104875804 A CN104875804 A CN 104875804A CN 201510194631 A CN201510194631 A CN 201510194631A CN 104875804 A CN104875804 A CN 104875804A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K16/00—Arrangements in connection with power supply of propulsion units in vehicles from forces of nature, e.g. sun or wind
Abstract
The invention relates to a wind-driven steering spherical robot with magnetic-control air valves. The wind-driven steering spherical robot comprises an outer spherical shell, an inner spherical shell and a steering and electric energy collecting device. The inner spherical shell is a sealed hard spherical shell, and two hemispherical shells are fixedly spliced with each other to form the inner spherical shell; the outer spherical shell is a perforated spherical shell with certain flexibility, two hemispherical shells are fixedly spliced with each other to form the outer spherical shell, and a plurality of air inlets are uniformly formed in the two hemispherical shells of the outer spherical shell; the steering and electric energy collecting device comprises the magnetic-control air valves, a magnetic-control and electric energy collecting combined device and an internal posture keeping mechanism; a closed cavity is formed between two layers of spherical shells under the matching effects of the outer spherical shell, the inner spherical shell and the magnetic-control air valves, and high internal pressures of the cavity can be generated under the effect of wind pressures. The wind-driven steering spherical robot has the advantages that the wind-driven steering spherical robot is simple in integral design and structure, has compact functions and is light, complicated internal transmission mechanisms can be omitted, and accordingly large quantities of spare spaces inside the wind-driven steering spherical robot can be used for carrying detection instruments.
Description
Technical field
The present invention relates to a kind of wind and drive magnetic control choker relief valve steering ball anthropomorphic robot, be a kind of ball shape robot that can apply to polar region scientific investigation detection, belong to the field of novel robot exploitation.
Background technology
The natural environment in the South Pole is extremely severe, causes open air investigate extremely hard and there is life danger.In order to can be safer, investigate more large-area South Pole landforms more easily and collect various data, utilizing a kind of robot device that can carry out polar region data acquisition to be very desirable imagination to replace people to work.Consider the particularity (low temperature, strong wind, area are vast) of polar region environment, so consider that ball shape robot is best selection.Ball shape robot has unique advantage, its all drive systems, control system and checking system all by sealed envelope in spherical shell, be very beneficial for the low temperature effect in isolated environment, avoid circuit malfunction or detect data distortion.So designing a kind of polar region ball shape robot for South Pole scientific investigation is significantly.
Ball shape robot is the very special robot of a kind of shape, and its special character is from appearance, without any exposed physical construction or electronic structure, and just pure ball.This robot receives recently and pays close attention to widely.Its specific form has following advantage relative to robot traditional at present: whole system is covered completely by shell, can obtain general protection; Have the high sport efficiency of similar wheel type movement and the stable characteristics of motion; Because the intrinsic property of geometry symmetry, the motion of ball shape robot can be omnidirectional; Every part of the shell of ball shape robot can be served as one " pin ", and it can fast quick-recovery and automatically adapt to landform and other service conditions of softness or the injustice touched after an impact.
According to current existing achievement in research, two large classes can be divided into from the energy sources of the drive system of ball shape robot: a class is self-driven, namely rely on the mechanism carrying the energy and inside of robot to produce power and robot is run.Self-driven feature is can be by force handling, and comformability is good, and the requirement for working environment is little, can carry out optimum path planning by the path of the accurate control of the control system of robot; Shortcoming be the self-driven energy of at substantial that needs for drive system, cause the flying power of robot low.
Another kind of is outer drive ball anthropomorphic robot, mainly relies on the extra power of ball shape robot place environment as drive energy, mainly contains wind drive, hydro powered, Driven by Solar Energy etc.The advantage of outer driving drives not need self-supplying energy source, drive system is greatly simplified compared to self actuating system, even disappear, all Self-prepared energies of robot can be used for the low control of consumption of current and checking system, thus the flying power of ball shape robot is greatly improved; The shortcoming of outer driving is strong to the dependence of environment, is only suitable for using in specific environment.Such as wind drive is only applicable to wind resource and enriches region, and hydro powered is only applicable to the water environment compared with mass-flow.
The outer drive ball anthropomorphic robot occurred the earliest is a kind of polar region detection spherical robot being named as Tumbleweed of calendar year 2001 NASA jet propulsion laboratory report.This is a kind of large-scale, by the inflatable spheroid of wind blows, carries the load such as various detecting instruments at ball interior.Because whole spheroid is inflatable, can exit during transport, volume is reduced to minimum degree, be easy to carry very much.Whole robot architecture is simply light, provides effective and easy method for research worker carries out data collection task in large area region.In Greenland, tumbleweed voyager completes the detection operations of the ice field passing through alone more than 130 kilometer long.The authentic data of temperature and pressure has on the way been passed back by satellite network.
Simple outer drive ball anthropomorphic robot sacrifices can be handling, cannot carry out break-in control time in need, can not design the path needing detection, also cannot realize initiatively obstacle function, make the application of such ball shape robot there is limitation.
Summary of the invention
The object of the invention is to design a wind being suitable for polar region scientific investigation and drive magnetic control choker relief valve steering ball anthropomorphic robot, wind energy can be utilized as drive energy, and design a kind of novelty simultaneously turn to mechanism, not only structure was simply but also save the energy, the electricity collection function of combining efficient again.Final realization significantly improves voyage and sense of motion can manipulation function.
For achieving the above object, design of the present invention is:
A kind of wind drives magnetic control choker relief valve steering ball anthropomorphic robot, comprises outer spherical shell, interior spherical shell, turns to and power collecting device; Described interior spherical shell is sealing hard spherical shell, spliced by two hemispherical Shells and fixedly form, certain external force can be born and do not produce large distortion, support whole spheroid form and internal control module and detection module and outer low temperature environment are come, ensureing that electronic circuit system normally works; Described outer spherical shell is the porose spherical shell with certain flexibility, is spliced and fixedly forms, two hemispherical Shells are evenly distributed with several admission ports by two hemispherical Shells; Describedly to turn to and power collecting device comprises magnetic control choker relief valve, magnetic control and power collection machinery and inner posture maintaining body; The cavity that formation one is airtight between two-layer spherical shell that cooperatively interacts of outer spherical shell, interior spherical shell and magnetic control choker relief valve, forms chamber inner high voltage under the effect of blast.
Described magnetic control choker relief valve comprises air port, air valve casing, rubber piston, spring; There are wide mouth and slot in described air port, wherein wide mouth outside spherical shell inside face aim at affixed with admission port, slot has external thread structure; Described air valve casing has larger diameter end and smaller diameter end, wherein has a bit of negative thread at larger diameter end outer end car, screws and is connected on the slot outside thread in air port; Described spring is pressing spring, and spring diameter is less than air valve casing larger diameter end internal diameter, is greater than smaller diameter end internal diameter, is placed in air valve casing larger diameter end, can moves axially; The elasticity modulus of spring ensures that magnetic control choker relief valve is opened in spherical shell higher-pressure region, closes in meiobar; Described rubber piston has major part and microcephaly, and middle with piston rod connection, rubber piston inserts in air valve casing, and microcephaly and connecting rod are through spring, and major part is pressed on spring, and whole piston can move axially.
The mechanical structure portion of described magnetic control and power collection machinery is made up of permanent magnet and magnet coil, described permanent magnet is fixed on the microcephaly of rubber piston, when robot rolls, permanent magnet moves thereupon, around magnet coil, form alternating magnetic field, thus in magnet coil, produce the electric current of alternation due to electromagnetic induction; Described magnet coil comprises a bobbin frame and two and is wound around copper coils, center on the curved beam that bobbin frame is fixed in balance bracket, and whole device has four to identical magnet coil, spaced 90 ° of layouts; When needs realize turning function, only need the magnet coil energising controlling to be positioned at certain lateral location, the permanent magnet on rubber piston is attracted to open the magnetic control choker relief valve of relative position, chamber air is sprayed outwardly by air port, and the antagonistic force of injection makes ball shape robot rotate to contrary side and realizes turning.
Described inner posture maintaining body comprises balance bracket, mass and Universal caster; Described balance bracket retrains to realize sphere with the inside face of interior spherical shell, and its exterior contour is spherical, and diameter is less than the internal diameter of interior spherical shell; Supporting region bottom balance bracket structure is divided into, fastening ring and surrounding are by 90 ° of well-distributeds, four curved beams, wherein supporting region is for fixedly mounting power supply, control module and detection module, four curved beams, for installing Motionless electromagnetic coil, make on its equatorial plane being in whole device; Described mass is served as by power module, is fixed in the bottom supporting region of balance bracket, and its effect is the center of gravity reducing posture maintaining body; Described Universal caster is fixed in the square hole of balance bracket, and the quantity of Universal caster has eight pieces, and wherein four pieces are arranged near the supporting region of bottom, and 90 °, interval is uniformly distributed; Other four pieces of apical positions being arranged on four curved beams, 90 °, interval is uniformly distributed; The rolling ball of Universal caster produces point cantact through the hole of balance bracket and the internal face of interior spherical shell, and balance bracket and interior spherical shell are kept apart by eight pieces of Universal caster combineds action; Friction between interior spherical shell and inner posture maintaining body is transformed into friction of rolling by cliding friction, thus significantly reduces the friction effects of posture maintaining body.The effect of whole posture maintaining body is to make to be arranged on control in inner housing and detection module and keeps vertical posture constant, the impact can not rolled by inner housing and rolling.
The present invention has carried out the improvement of unique innovation on the basis of original wind drive ball anthropomorphic robot, improves the performance of wind drive ball anthropomorphic robot.Its advantage and innovative point are:
(1) present design belongs to the controlled ball shape robot in direction that wind energy drives, and its 26S Proteasome Structure and Function designs mainly for South Pole special geological surrounding, and main application is the data acquisition during scientific investigation of the South Pole.It mainly drives dependence wind energy, can save a large amount of energy, only in turning process, just can consume faint energy, adds the energy collecting device of self, can improve flying power to the full extent.
(2) robot have employed very unique steering principle and steering hardware, and steering principle utilizes that spheroid surface pressure distribution in field of wind-force is uneven realizes turning function, relies on magnetic-controlled check valve to realize controlled side jet mode and turns to.The essence of steering power is the utilization of wind energy, can reduce the electric energy loss for turning to.
(3) power collecting device is the reverse utilization to the same equipment mechanism of magnetic-controlled check valve.When for turning function, it is magnetic-controlled check valve, and robot produces to electromagnet energising and attracts magnetic field; When for collecting electric energy, it is power collecting device, and the changes mechanical energy rotated by ball shape robot is electricity collection.Without the need to designing special device thus alleviating the weight of robot while realizing electricity collection function, simplify the structure.
(4) unit design structure is simple, and function is compact, and weight is light, and do not need complicated inside transmission device, inside has a large amount of clearance spaces to can be used for the lift-launch of detecting instrument.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of ball shape robot provided by the invention.
Fig. 2 is the double-layer spherical shell schematic diagram of ball shape robot provided by the invention.
Fig. 3 is the structural representation of inner posture maintaining body provided by the invention.
Fig. 4 is magnetic control air valve arrangement schematic diagram provided by the invention.
Fig. 5 is the FINAL APPEARANCE schematic diagram of ball shape robot provided by the invention.
Detailed description of the invention
The preferred embodiments of the present invention accompanying drawings is as follows:
As shown in Fig. 1, Fig. 2, Fig. 5, a kind of wind drives magnetic control choker relief valve steering ball anthropomorphic robot, comprises outer spherical shell 1, interior spherical shell 4, turns to and power collecting device; Described interior spherical shell 4 is sealing hard spherical shell, spliced by two hemispherical Shells and fixedly form, certain external force can be born and do not produce large distortion, support whole spheroid form and internal control module and detection module and outer low temperature environment are come, ensureing that electronic circuit system normally works; Described outer spherical shell 1, for having the porose spherical shell of certain flexibility, is spliced by two hemispherical Shells and fixedly forms, two hemispherical Shells are evenly distributed with 25 admission ports, whole outer spherical shell 1 has 50 admission ports; Describedly to turn to and power collecting device comprises magnetic control choker relief valve, magnetic control and power collection machinery and inner posture maintaining body; The cavity that formation one is airtight between two-layer spherical shell that cooperatively interacts of outer spherical shell 1, interior spherical shell 4 and magnetic control choker relief valve, forms chamber inner high voltage under the effect of blast.
As shown in Figure 4, described magnetic control choker relief valve comprises air port 2, air valve casing 3, rubber piston 9, spring 10; There are wide mouth and slot in described air port 2, wherein wide mouth outside spherical shell 1 inside face aim at affixed with admission port, slot has external thread structure; Described air valve casing 3 has larger diameter end and smaller diameter end, wherein has a bit of negative thread at larger diameter end outer end car, screws and is connected on the slot outside thread in air port 2; Described spring 10 is pressing spring, and spring 10 diameter is less than air valve casing 3 larger diameter end internal diameter, is greater than smaller diameter end internal diameter, is placed in air valve casing 3 larger diameter end, can moves axially; The elasticity modulus of spring 10 ensures that magnetic control choker relief valve is opened in spherical shell higher-pressure region, closes in meiobar; Described rubber piston 9 has major part and microcephaly, and middle with piston rod connection, rubber piston 9 inserts in air valve casing 3, and microcephaly and connecting rod are through spring 10, and major part is pressed on spring 10, and whole piston can move axially.
Magnetic control choker relief valve has magnetic control and non-magnetic control two kinds of mode of operations.Under non-magnetic control state, magnetic control choker relief valve realizes the function of common check valve.When the air pressure at rubber piston about 9 two ends is equal, rubber piston 9 is by the larger diameter end of top to air valve casing 3 under the effect of spring 10, and air port 2 is blocked by rubber piston 9; When rubber piston 9 left end air pressure is greater than right-hand member air pressure and can overcomes spring 10 pressure, rubber piston 9 is pushed open to the right, opens air port 2, and air can enter in chamber; When rubber piston 9 left end air pressure is less than right-hand member air pressure, rubber piston 9 is pushed to the left side and closes admission port under the combined action of spring 10 and air pressure, and chamber air cannot be discharged.This characteristic makes magnetic control choker relief valve only just can independently open in the high-pressure area of windward side, ball chamber internal gas pressure is raised gradually, forms the healthy tendency pressure reduction relative to spheroid side.
Under magnetic control state, magnetic control choker relief valve obtains the ability of reverse opening.Lead to the electric current in suitable direction at this moment to magnet coil 6, magnet coil 6 and permanent magnet 11 is made to produce the power attracted each other, just can overcome spring 10 and atmospheric pressure makes check valve reverse opening, when needs realize turning function, only need the magnet coil 6 controlling to be positioned at certain lateral location permanent magnet 11 be energized on attraction piston just can open the magnetic control choker relief valve of relative position, chamber air is sprayed outwardly by valve port, and the antagonistic force of injection makes ball shape robot rotate to contrary side and realizes turning.Chamber inner high voltage is opened by windward side magnetic control choker relief valve and is automatically maintained and reply, and can realize continuing to adjust from principal direction.
The mechanical structure portion of described magnetic control and power collection machinery is made up of permanent magnet 11 and magnet coil 6, described permanent magnet 11 is fixed on the microcephaly of rubber piston 9, when robot rolls, permanent magnet 11 moves thereupon, around magnet coil 6, form alternating magnetic field, thus in magnet coil 6, produce the electric current of alternation due to electromagnetic induction; Described magnet coil 6 comprises a bobbin frame and two and is wound around copper coils, center on the curved beam that bobbin frame is fixed in balance bracket 5, and whole device has four to identical magnet coil 6, spaced 90 ° of layouts; When needs realize turning function, the magnet coil 6 controlling to be positioned at certain lateral location is only needed to be energized, the permanent magnet 11 on rubber piston 9 is attracted to open the magnetic control choker relief valve of relative position, chamber air is sprayed outwardly by air port 2, and the antagonistic force of injection makes ball shape robot rotate to contrary side and realizes turning.
As shown in Figure 3, described inner posture maintaining body comprises balance bracket 5, mass 7 and Universal caster 8; Described balance bracket 5 retrains to realize sphere with the inside face of interior spherical shell 4, and its exterior contour is spherical, and diameter is less than the internal diameter of interior spherical shell 4; Supporting region bottom balance bracket 5 structure is divided into, fastening ring and surrounding are by 90 ° of well-distributeds, four curved beams, wherein supporting region is for fixedly mounting power supply, control module and detection module, four curved beams, for installing Motionless electromagnetic coil 6, make on its equatorial plane being in whole device; Described mass 7 is served as by power module, is fixed in the bottom supporting region of balance bracket 5, and its effect is the center of gravity reducing posture maintaining body; Described Universal caster 8 is fixed in the square hole of balance bracket 5, and the quantity of Universal caster 8 has eight pieces, and wherein four pieces are arranged near the supporting region of bottom, and 90 °, interval is uniformly distributed; Other four pieces of apical positions being arranged on four curved beams, 90 °, interval is uniformly distributed; The rolling ball of Universal caster 8 produces point cantact through the hole of balance bracket 5 and the internal face of interior spherical shell 4, and balance bracket 5 and interior spherical shell are kept apart by the combined action of eight pieces of Universal casters 8; Friction between interior spherical shell 4 and inner posture maintaining body is transformed into friction of rolling by cliding friction, thus significantly reduces the friction effects of posture maintaining body.
Claims (4)
1. wind drives a magnetic control choker relief valve steering ball anthropomorphic robot, it is characterized in that: comprise outer spherical shell (1), interior spherical shell (4), turn to and power collecting device; Described interior spherical shell (4) is sealing hard spherical shell, spliced by two hemispherical Shells and fixedly form, certain external force can be born and do not produce large distortion, support whole spheroid form and internal control module and detection module and outer low temperature environment are come, ensureing that electronic circuit system normally works; Described outer spherical shell (1), for having the porose spherical shell of certain flexibility, is spliced by two hemispherical Shells and is fixedly formed, two hemispherical Shells are evenly distributed with several admission ports; Describedly to turn to and power collecting device comprises magnetic control choker relief valve, magnetic control and power collection machinery and inner posture maintaining body; The cavity that formation one is airtight between two-layer spherical shell that cooperatively interacts of outer spherical shell (1), interior spherical shell (4) and magnetic control choker relief valve, forms chamber inner high voltage under the effect of blast.
2. wind according to claim 1 drives magnetic control choker relief valve steering ball anthropomorphic robot, it is characterized in that: described magnetic control choker relief valve comprises air port (2), air valve casing (3), rubber piston (9), spring (10); There are wide mouth and slot in described air port (2), wherein wide mouth outside spherical shell (1) inside face aim at affixed with admission port, slot has external thread structure; Described air valve casing (3) has larger diameter end and smaller diameter end, wherein has a bit of negative thread at larger diameter end outer end car, screw be connected to air port (2) slot outside thread on; Described spring (10) is pressing spring, and spring (10) diameter is less than air valve casing (3) larger diameter end internal diameter, is greater than smaller diameter end internal diameter, is placed in air valve casing (3) larger diameter end, can moves axially; The elasticity modulus of spring (10) ensures that magnetic control choker relief valve is opened in spherical shell higher-pressure region, closes in meiobar; Described rubber piston (9) has major part and microcephaly, and middle with piston rod connection, rubber piston (9) inserts in air valve casing (3), and microcephaly and connecting rod are through spring (10), and major part is pressed on spring (10), and whole piston can move axially.
3. wind according to claim 1 drives magnetic control choker relief valve steering ball anthropomorphic robot, it is characterized in that: the mechanical structure portion of described magnetic control and power collection machinery is made up of permanent magnet (11) and magnet coil (6), described permanent magnet (11) is fixed on the microcephaly of rubber piston (9), when robot rolls, permanent magnet (11) moves thereupon, alternating magnetic field is formed around magnet coil (6), thus because electromagnetic induction is at the middle electric current producing alternation of magnet coil (6); Described magnet coil (6) comprises a bobbin frame and two and is wound around copper coils, center on the curved beam that bobbin frame is fixed in balance bracket (5), and whole device has four to identical magnet coil (6), spaced 90 ° of layouts; When needs realize turning function, only need magnet coil (6) energising controlling to be positioned at certain lateral location, the permanent magnet (11) on rubber piston (9) is attracted to open the magnetic control choker relief valve of relative position, chamber air is sprayed outwardly by air port (2), and the antagonistic force of injection makes ball shape robot rotate to contrary side and realizes turning.
4. wind according to claim 1 drives magnetic control choker relief valve steering ball anthropomorphic robot, it is characterized in that: described inner posture maintaining body comprises balance bracket (5), mass (7) and Universal caster (8); Described balance bracket (5) retrains to realize sphere with the inside face of interior spherical shell (4), and its exterior contour is spherical, and diameter is less than the internal diameter of interior spherical shell (4); Supporting region bottom balance bracket (5) structure is divided into, fastening ring and surrounding are by 90 ° of well-distributeds, four curved beams, wherein supporting region is for fixedly mounting power supply, control module and detection module, four curved beams, for installing Motionless electromagnetic coil (6), make on its equatorial plane being in whole device; Described mass (7) is served as by power module, is fixed in the bottom supporting region of balance bracket (5), and its effect is the center of gravity reducing posture maintaining body; Described Universal caster (8) is fixed in the square hole of balance bracket (5), and the quantity of Universal caster (8) has eight pieces, and wherein four pieces are arranged near the supporting region of bottom, and 90 °, interval is uniformly distributed; Other four pieces of apical positions being arranged on four curved beams, 90 °, interval is uniformly distributed; The rolling ball of Universal caster (8) produces point cantact through the hole of balance bracket (5) and the internal face of interior spherical shell (4), and balance bracket (5) and interior spherical shell are kept apart by the combined action of eight pieces of Universal casters (8); Friction between interior spherical shell (4) and inner posture maintaining body is transformed into friction of rolling by cliding friction, thus significantly reduces the friction effects of posture maintaining body.
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| CN201510194631.6A CN104875804B (en) | 2015-04-23 | 2015-04-23 | Wind-driven steering spherical robot with magnetic-control air valves |
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| CN201510194631.6A CN104875804B (en) | 2015-04-23 | 2015-04-23 | Wind-driven steering spherical robot with magnetic-control air valves |
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| CN105591452A (en) * | 2016-01-16 | 2016-05-18 | 上海大学 | Spherical robot capable of balanced generation |
| CN106515891A (en) * | 2016-12-07 | 2017-03-22 | 北京工业大学 | Friction drive type throwing spherical robot |
| CN107902004A (en) * | 2017-11-20 | 2018-04-13 | 南京理工大学 | Two-wheeled self-balancing transformable robot |
| CN109143400A (en) * | 2018-09-27 | 2019-01-04 | 中国矿业大学(北京) | A kind of rescue detection ball and detection method |
| CN109248453A (en) * | 2018-11-27 | 2019-01-22 | 济南爱动动漫科技有限公司 | Spherical instrument |
| CN110877644A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | All-directional movement spherical robot structure driven by linear motor principle |
| CN111536385A (en) * | 2020-04-07 | 2020-08-14 | 河南工程学院 | Coal mine gas test monitoring device and method |
| CN112849299A (en) * | 2021-02-01 | 2021-05-28 | 大连理工大学 | Spherical rescue robot with rolling-jumping function and control method |
| CN113433043A (en) * | 2021-06-25 | 2021-09-24 | 杭州电子科技大学 | Four solenoid magnetic control formula magnetic droplet testing arrangement |
| CN114587248A (en) * | 2022-03-17 | 2022-06-07 | 淮安市第二人民医院 | Flexible flaring device for elastic self-torsion saliva adsorption conduction type oral cavity examination |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105591452A (en) * | 2016-01-16 | 2016-05-18 | 上海大学 | Spherical robot capable of balanced generation |
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| CN106515891A (en) * | 2016-12-07 | 2017-03-22 | 北京工业大学 | Friction drive type throwing spherical robot |
| CN107902004A (en) * | 2017-11-20 | 2018-04-13 | 南京理工大学 | Two-wheeled self-balancing transformable robot |
| CN107902004B (en) * | 2017-11-20 | 2024-04-05 | 南京理工大学 | Two-wheeled self-balancing deformable robot |
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| CN110877644A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | All-directional movement spherical robot structure driven by linear motor principle |
| CN111536385A (en) * | 2020-04-07 | 2020-08-14 | 河南工程学院 | Coal mine gas test monitoring device and method |
| CN112849299A (en) * | 2021-02-01 | 2021-05-28 | 大连理工大学 | Spherical rescue robot with rolling-jumping function and control method |
| CN113433043A (en) * | 2021-06-25 | 2021-09-24 | 杭州电子科技大学 | Four solenoid magnetic control formula magnetic droplet testing arrangement |
| CN114587248A (en) * | 2022-03-17 | 2022-06-07 | 淮安市第二人民医院 | Flexible flaring device for elastic self-torsion saliva adsorption conduction type oral cavity examination |
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