CN111218976A - Robot for cleaning sewage pipeline - Google Patents
Robot for cleaning sewage pipeline Download PDFInfo
- Publication number
- CN111218976A CN111218976A CN201911207857.XA CN201911207857A CN111218976A CN 111218976 A CN111218976 A CN 111218976A CN 201911207857 A CN201911207857 A CN 201911207857A CN 111218976 A CN111218976 A CN 111218976A
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- wall
- robot
- rod
- cleaning
- box
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- 238000004140 cleaning Methods 0.000 title claims abstract description 53
- 239000010865 sewage Substances 0.000 title claims abstract description 51
- 230000005540 biological transmission Effects 0.000 description 4
- 239000010802 sludge Substances 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/002—Cleaning sewer pipes by mechanical means
- E03F9/005—Apparatus for simultaneously pushing and rotating a cleaning device carried by the leading end of a cable or an assembly of rods
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Cleaning In General (AREA)
Abstract
The invention belongs to the technical field of environment-friendly equipment, and particularly relates to a robot for cleaning a sewage pipeline, which aims at the problems of unstable walking direction, easy slipping and small application range. The walking direction of the robot in the sewage pipeline is more stable, the stability of the robot in walking is improved, the robot passes through the turning part of the sewage pipeline, and the application range of the robot is improved.
Description
Technical Field
The invention relates to the technical field of environmental protection equipment, in particular to a robot for cleaning a sewage pipeline.
Background
When sewage is discharged by the sewage pipeline, because a lot of fine impurities exist in the sewage and are easily adhered to the side wall of the sewage pipeline, the long-term accumulation can lead the side wall of the sewage pipeline to accumulate a thick sludge layer, so that the inner diameter of the sewage pipeline is reduced, the use efficiency of the sewage pipeline is reduced, and the sludge layer on the side wall of the sewage pipeline needs to be timely treated to ensure the smooth use of the sewage pipeline.
Through retrieval, the patent with the Chinese patent application number of CN201410244030.7 discloses a pipeline dredging method and a pipeline dredging robot, which comprise a dredging robot body (20), a steel wire rope traction device, a front dredging hopper (11), a front dredging hopper lifting and overturning mechanism, a rear dredging hopper (1) and a synchronous belt transmission device. The desilting robot automobile body (20), wire rope draw gear, leading desilting fill (11), leading desilting fill lift tilting mechanism, rearmounted desilting fill (1), synchronous belt drive device in the above-mentioned patent exist following not enough:
1. the robot advances by adopting a wheel walking mode, and in a sewage pipeline, the walking direction of the robot can only be easily deviated due to the resistance of cleaning sludge, and the walking direction of the robot is unstable.
2. The inner wall of sewage pipe can be more smooth when clearance mud, and the wheel takes place to skid easily when walking in the sewage pipe, and meets when mud is more to lead to the resistance great, can lead to the robot can't advance.
3. The whole robot is in rigid connection, and when encountering a corner of a sewage pipeline, the robot is easy to clamp at the corner and cannot advance, so that the application range is small.
Disclosure of Invention
The invention provides a robot for cleaning a sewage pipeline, which is based on the technical problems that the walking direction of a dredging robot is unstable, the dredging robot is easy to slip and the application range is small.
The invention provides a robot for cleaning a sewage pipeline, which comprises a driving box, wherein a driving motor is arranged on the inner wall of one side of the driving box, a turbine is arranged on an output shaft of the driving motor, a walking box is arranged on the outer wall of one side of the driving box, the walking box is of a herringbone structure, three reversing rods distributed in an annular mode are arranged on the inner wall of the walking box, worms are arranged on the outer walls of the reversing rods and are meshed with the turbine, three hydraulic rods distributed in an annular mode are arranged on the outer wall of the walking box, wheel shells are arranged at the telescopic ends of the hydraulic rods, first through holes are arranged on the inner wall of the opposite side of each wheel shell, outer rotating sleeves are arranged on the inner walls of the first through holes, outer spokes are arranged on the outer walls of the outer rotating sleeves, the outer spokes are provided with the same outer wheel, outer air leakage holes are arranged on the outer wall of the outer wheel, and suckers, the outer wall of one side of the wheel shell, which is opposite to the wheel shell, is provided with a second through hole, the inner wall of the second through hole is provided with the same inner rod, the inner rod is arranged on the inner wall of the outer rotating sleeve, the outer wall of the inner rod is provided with inner spokes, the outer wall of the inner spokes is provided with an inner wheel, the outer wall of the inner wheel is provided with inner pressure relief holes, two sides of the outer wall of the bottom of the wheel shell are connected with stretching rods through bearing seats, the outer wall of each stretching rod is provided with an outer sleeve, the outer wall of the walking box is provided with six third through holes which are distributed in an annular shape, the outer wall of each outer sleeve is arranged on the inner wall of each third through hole, the outer wall of one side of the walking box is provided with a spring soft rod, the outer wall of one side of the spring soft rod is provided with a connecting box, the inner wall, the outer wall of one side of connecting rod sets up in the outer wall of one side of cleaning the case, the outer wall of one side of drive case is provided with the traction tube.
Preferably, both ends of the outer wall of the outer rotating sleeve are provided with sixth helical gears, the outer wall of the stretching rod is provided with third helical gears, and the third helical gears are meshed with the sixth helical gears.
Preferably, both ends of the outer wall of the inner rod are provided with second bevel gears, the outer wall of the stretching rod is provided with a first bevel gear, the second bevel gear and the first bevel gear are meshed, and the first bevel gear is located below the third bevel gear.
Preferably, the bottom of the outer wall of the outer sleeve is provided with a fourth bevel gear, the outer wall of the reversing rod is provided with a fifth bevel gear, and the fourth bevel gear is meshed with the fifth bevel gear.
Preferably, the inner wall of one side of the cleaning box is provided with a middle block, the outer wall of the middle block is provided with four springs distributed annularly, and one ends of the springs are provided with pushing blocks.
Preferably, the outer wall of the cleaning box is provided with four annularly distributed rod holes, the inner walls of the rod holes are provided with pushing rods, and the outer wall of one end of each pushing rod is arranged on the outer wall of the top of each pushing block.
Preferably, one side end outer wall of pushing ram is provided with cleans the piece, and cleans the top outer wall bonding of piece and has the brush cleaner, cleans one side outer wall of piece and is provided with the arcwall face.
Preferably, the driving motor, the cleaning motor and the hydraulic rod are all connected with an open pipe, and the switch is connected with a power supply.
The beneficial effects of the invention are as follows:
1. through setting up the walking case, the walking case is herringbone structure, and when the robot walked, the three walking wheel of installing in the walking case can support the pipeline lateral wall to the direction can not take place the skew when making the robot walk in the sewage pipeline, makes the robot walk the direction in the sewage pipeline more stable.
2. Through setting up the sucking disc, be provided with the sucking disc at the outer wall of wheel that rolls, when the robot walks, the sucking disc can adsorb on glossy pipeline lateral wall, can prevent that the robot from leading to the wheel that rolls to skid owing to clean the resistance that mud produced when walking, stability when having improved the robot and walking.
3. Further be provided with interior wheel and foreign steamer, because the drive ratio of gear is different, the rotation of interior wheel and foreign steamer is then different to make the pressure release hole on interior wheel and the foreign steamer coincidence of intermittent type nature, then make the disappointing of sucking disc ability intermittent type nature, can prevent that the suction between sucking disc and the pipeline lateral wall is too big and lead to the unable walking of robot, further improvement the stability of robot walking.
4. Through setting up the soft pole of spring, when the robot walking meets sewage pipe corner, clean the case and can pass through the corner earlier to drive the soft pole of spring crooked, and pulling walking case through the corner, thereby make the robot pass through the corner of sewage pipe, improved the application scope of robot.
5. The further arcwall face that is provided with the arcwall face in the side of cleaning the piece, when through the corner, the arcwall face can earlier with sewage pipe corner lateral wall contact, can prevent to clean the edges and corners of piece and scrape bad pipeline lateral wall, and the arcwall face can not blocked by the mud of sewage pipe corner, makes to clean the case and change and pass through the sewage pipe corner.
Drawings
Fig. 1 is a schematic view of the overall structure of a robot for cleaning a sewage pipeline according to the present invention;
FIG. 2 is a schematic structural view of a walking box of the robot for cleaning a sewage pipeline according to the present invention;
FIG. 3 is a schematic view of the structure A of a robot for clearing a sewage pipe according to the present invention;
FIG. 4 is a schematic view of a structure B of a robot for clearing a sewage pipe according to the present invention;
FIG. 5 is a schematic structural view of a cleaning box of the robot for cleaning a sewage pipe according to the present invention;
FIG. 6 is a schematic structural view of an outer sleeve of a robot for clearing a sewer line according to the present invention;
fig. 7 is a schematic structural diagram of an outer wheel of the robot for clearing the sewage pipeline.
In the figure: 1 driving box, 101 traction tube, 102 driving motor, 2 walking box, 201 rotating rod, 202 turbine, 203 worm, 204 hydraulic rod, 205 wheel shell, 206 outer sleeve, 207 first bevel gear, 208 second bevel gear, 209 inner air escape hole, 210 inner wheel, 211 outer wheel, 212 outer air escape hole, 213 suction cup, 214 inner spoke, 215 inner rod, 216 third bevel gear, 217 stretching rod, 218 outer rotating sleeve, 219 outer spoke, 220 reversing rod, 221 fourth bevel gear, 222 fifth bevel gear, 223 sixth bevel gear, 3 connecting box, 301 spring soft rod, 302 cleaning motor, 303 connecting rod, 4 cleaning box, 401 middle block, 402 spring, 403 pushing block, 404 pushing rod, 405 cleaning brush, 406 cleaning block, 407 arc surface.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-7, a robot for cleaning a sewage pipeline comprises a driving box 1, wherein the inner wall of one side of the driving box 1 is connected with a driving motor 102 through a screw, the output shaft of the driving motor 102 is connected with a turbine 202 through a coupler, the outer wall of one side of the driving box 1 is welded with a walking box 2, the walking box 2 is of a herringbone structure, the inner wall of the walking box 2 is connected with three reversing rods 220 distributed in an annular manner through bearings, the outer wall of the reversing rods 220 is sleeved with a worm 203, the worm 203 is meshed with the turbine 202, the outer wall of the walking box 2 is welded with three hydraulic rods 204 distributed in an annular manner, the telescopic ends of the hydraulic rods 204 are welded with a wheel shell 205, the inner wall of the opposite side of the wheel shell 205 is provided with a first through hole, the inner wall of the first through hole is connected with an outer rotating sleeve 218 through a bearing, the outer wall of the outer rotating sleeve 218 is welded with outer spokes, the outer wall of the outer wheel 211 is provided with an outer air leakage hole 212, the inner wall of the outer air leakage hole 212 is bonded with a sucker 213, the outer wall of the opposite side of the wheel shell 205 is provided with a second through hole, the inner wall of the second through hole is connected with the same inner rod 215 through a bearing, the inner rod 215 is inserted into the inner wall of the outer rotating sleeve 218, the outer wall of the inner rod 215 is welded with an inner spoke 214, the outer wall of the inner spoke 214 is welded with an inner wheel 210, the outer wall of the inner wheel 210 is provided with an inner pressure leakage hole 209, both sides of the outer wall of the bottom of the wheel shell 205 are connected with a stretching rod 217 through bearing seats, the outer wall of the stretching rod 217 is sleeved with an outer sleeve 206, the outer wall of the walking box 2 is provided with six third through holes distributed in an annular manner, the outer wall of the outer sleeve 206 is connected to the inner wall of the third through a bearing, the outer wall of one side of the walking box 2 is, and the output shaft of cleaning motor 302 is connected with connecting rod 303 through the shaft coupling, and the outer wall of one side of connecting box 3 welds thrust bearing, and the outer wall of one side of thrust bearing welds cleaning box 4, and the outer wall of one side of connecting rod 303 welds in the outer wall of one side of cleaning box 4, and the outer wall of one side of drive box 1 welds traction tube 101.
In the invention, both ends of the outer wall of the outer rotating sleeve 218 are connected with a sixth helical gear 223 through keys, both ends of the outer wall of the stretching rod 217 are connected with a third helical gear 216 through keys, the third helical gear 216 is meshed with the sixth helical gear 223 in the opposite direction, both ends of the outer wall of the inner rod 215 are connected with a second helical gear 208 through keys, the outer wall of the stretching rod 217 is connected with a first helical gear 207 through keys, the second helical gear 208 is meshed with the first helical gear 207 in the opposite direction, the first helical gear 207 is positioned below the third helical gear 216, the bottom of the outer wall of the outer sleeve 206 is connected with a fourth helical gear 221 through keys, the outer wall of the reversing rod 220 is connected with a fifth helical gear 22 through keys, the fourth helical gear 221 is meshed with the fifth helical gear 22, the inner wall of one side of the cleaning box 4 is welded with an intermediate block 401, the outer wall of the intermediate block 401 is welded with, the outer wall of cleaning case 4 is opened has four pole holes that the annular distributes, and the inner wall in pole hole all pegs graft and has the pushing ram 404, the one end outer wall of pushing ram 404 welds in the top outer wall of pushing ram 403, one side end outer wall welding of pushing ram 404 has cleaning block 406, and the top outer wall bonding of cleaning block 406 has cleaning brush 405, one side outer wall of cleaning block 406 is opened there is arcwall face 407, driving motor 102, cleaning motor 302 and hydraulic stem 204 all are connected with the pipe, and switch connection has the power.
When the device is used, the water inlet end of the sewage pipeline is sealed firstly, water flow in the sewage pipeline is prevented from passing through, the length of the hydraulic rod 204 is adjusted to adjust the distance from the outer wheel 211 to the central shaft of the driving motor 102, so that the sucking discs 213 can be adsorbed on the side wall of the pipeline, an electric wire, an oil pipe and a traction rope for providing power for the sewage pipeline cleaning robot are installed in the traction pipe 1, the driving motor 102 rotates to drive the turbine 202 to rotate, thereby driving the worm 203 to rotate, driving the outer sleeve 206 to rotate through gear transmission, then driving the stretching rod 217 to rotate, driving the outer sleeve 218 to rotate through gear rotation, thereby driving the outer wheel 211 to rotate, further driving the sewage pipeline cleaning robot to walk, meanwhile, the stretching rod 217 rotates to drive the inner rod 215 to rotate through gear transmission, then driving the inner wheel 210 to rotate, because the transmission ratios between the helical gears are different, the rotating speeds of the inner wheel 210 and, and the inner wheel 210 rotates faster, so that the inner air release hole 209 and the outer air release hole 212 are overlapped intermittently, and then the air release end of the sucker 213 is blocked intermittently, so that when the sewage pipeline cleaning robot walks, the sucker 213 is intermittently adsorbed on the side wall of the sewage pipeline, the sucker 213 can prevent the sewage pipeline cleaning robot from slipping when walking in the sewage pipeline, and the intermittent air release of the sucker 213 can prevent the sucker 213 from being adsorbed on the side wall of the pipeline and causing incapability of walking, meanwhile, the cleaning motor 302 rotates to drive the cleaning box 4 to rotate through the connecting rod 303, and then drives the cleaning brush 405 to rotate to clean the inner wall of the sewage pipeline, the elastic force of the spring 402 can enable the cleaning brush 405 to press on the side wall of the sewage pipeline, when walking meets the corner of the sewage pipeline, because the corner of the pipeline is connected in an arc shape, the cleaning box 4 firstly passes through the corner, and drive the soft pole of spring 301 crooked to pulling walking case 2 passes through the corner, thereby accomplish the walking of corner, and the arcwall face that cleans piece 406 can contact with pipeline corner face earlier when the corner, makes clean piece 406 can not hang the sewage pipe inner wall, and makes the corner walk more conveniently, after the mud of sewage pipe lateral wall is cleaned to cleaning brush 405, opens the sewage pipe water inlet end, sewage rivers can wash loose mud away.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The robot for cleaning the sewage pipeline comprises a driving box (1) and is characterized in that a driving motor (102) is arranged on the inner wall of one side of the driving box (1), a turbine (202) is arranged on an output shaft of the driving motor (102), a walking box (2) is arranged on the outer wall of one side of the driving box (1), the walking box (2) is of a herringbone structure, three reversing rods (220) distributed in an annular mode are arranged on the inner wall of the walking box (2), a worm (203) is arranged on the outer wall of each reversing rod (220), the worm (203) is meshed with the turbine (202), three hydraulic rods (204) distributed in an annular mode are arranged on the outer wall of the walking box (2), wheel shells (205) are arranged at the telescopic ends of the hydraulic rods (204), first through holes are formed in the inner wall of the opposite side of each wheel shell (205), and outer rotating sleeves (218) are arranged on the inner walls of the first through holes, the outer wall of the outer rotating sleeve (218) is provided with outer spokes (219), the outer wall of the outer spokes (219) is provided with the same outer wheel (211), the outer wall of the outer wheel (211) is provided with outer air leakage holes (212), the inner wall of the outer air leakage holes (212) is bonded with a sucker (213), the outer wall of the opposite side of the wheel shell (205) is provided with a second through hole, the inner wall of the second through hole is provided with the same inner rod (215), the inner rod (215) is arranged on the inner wall of the outer rotating sleeve (218), the outer wall of the inner rod (215) is provided with inner spokes (214), the outer wall of the inner spokes (214) is provided with inner wheels (210), the outer wall of the inner wheels (210) is provided with inner air leakage holes (209), the two sides of the outer wall of the bottom of the wheel shell (205) are connected with stretching rods (217) through bearing seats, the outer wall of the stretching rods (217) is provided with outer sleeves (206), the, and the outer wall of outer sleeve (206) sets up in the inner wall of third through-hole, one side outer wall of walking case (2) is provided with soft pole of spring (301), and one side outer wall of soft pole of spring (301) is provided with connecting box (3), one side inner wall of connecting box (3) is provided with cleans motor (302), and cleans the output shaft of motor (302) and be provided with connecting rod (303), one side outer wall of connecting box (3) is provided with thrust bearing, and one side outer wall of thrust bearing is provided with cleans case (4), and one side outer wall of connecting rod (303) sets up in one side outer wall of cleaning case (4), one side outer wall of drive case (1) is provided with traction tube (101).
2. The robot for clearing a sewer according to claim 1, wherein both ends of the outer wall of the outer rotating sleeve (218) are provided with sixth helical gears (223), the outer wall of the stretching rod (217) is provided with third helical gears (216), and the third helical gears (216) are engaged with the sixth helical gears (223).
3. The robot for clearing a sewer pipe according to claim 1, characterized in that the outer wall of the inner rod (215) is provided with a second bevel gear (208) at both ends, the outer wall of the stretching rod (217) is provided with a first bevel gear (207), and the second bevel gear (208) and the first bevel gear (207) are engaged, and the first bevel gear (207) is located below the third bevel gear (216).
4. The robot for clearing a sewer line according to claim 1, characterized in that the bottom of the outer wall of the outer sleeve (206) is provided with a fourth bevel gear (221), the outer wall of the reversing lever (220) is provided with a fifth bevel gear (22), and the fourth bevel gear (221) is engaged with the fifth bevel gear (22).
5. The sewer cleaning robot as claimed in claim 1, wherein the cleaning box (4) is provided with a middle block (401) on one side of the inner wall, the outer wall of the middle block (401) is provided with four springs (402) distributed annularly, and one end of each spring (402) is provided with a propelling block (403).
6. The sewer cleaning robot as claimed in claim 5, wherein the outer wall of the cleaning box (4) is provided with four annularly distributed rod holes, the inner walls of the rod holes are provided with the pushing rods (404), and the outer wall of one end of each pushing rod (404) is arranged on the outer wall of the top of the pushing block (403).
7. The sewer cleaning robot as claimed in claim 6, wherein the outer wall of one side end of the pushing rod (404) is provided with a cleaning block (406), the outer wall of the top of the cleaning block (406) is adhered with a cleaning brush (405), and the outer wall of one side of the cleaning block (406) is provided with an arc-shaped surface (407).
8. The robot for clearing a sewer pipe according to claim 1, characterized in that the driving motor (102), the cleaning motor (302) and the hydraulic rod (204) are all connected with open pipes, and the switch is connected with a power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911207857.XA CN111218976A (en) | 2019-11-30 | 2019-11-30 | Robot for cleaning sewage pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911207857.XA CN111218976A (en) | 2019-11-30 | 2019-11-30 | Robot for cleaning sewage pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111218976A true CN111218976A (en) | 2020-06-02 |
Family
ID=70808752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911207857.XA Withdrawn CN111218976A (en) | 2019-11-30 | 2019-11-30 | Robot for cleaning sewage pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111218976A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111705914A (en) * | 2020-06-29 | 2020-09-25 | 吴丹 | Municipal drainage engineering pipeline intelligence dredging system |
| CN113510692A (en) * | 2021-07-30 | 2021-10-19 | 西北工业大学 | A turnable rolling robot driven by shape memory alloy and its control method |
-
2019
- 2019-11-30 CN CN201911207857.XA patent/CN111218976A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111705914A (en) * | 2020-06-29 | 2020-09-25 | 吴丹 | Municipal drainage engineering pipeline intelligence dredging system |
| CN111705914B (en) * | 2020-06-29 | 2021-06-22 | 中铁广州工程局集团市政环保工程有限公司 | Municipal drainage engineering pipeline intelligence dredging system |
| CN113510692A (en) * | 2021-07-30 | 2021-10-19 | 西北工业大学 | A turnable rolling robot driven by shape memory alloy and its control method |
| CN113510692B (en) * | 2021-07-30 | 2022-08-12 | 西北工业大学 | A turnable rolling robot driven by shape memory alloy and its control method |
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Application publication date: 20200602 |