CN206455668U - Steering wheel mainboard and robot - Google Patents
Steering wheel mainboard and robot Download PDFInfo
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- CN206455668U CN206455668U CN201621452162.XU CN201621452162U CN206455668U CN 206455668 U CN206455668 U CN 206455668U CN 201621452162 U CN201621452162 U CN 201621452162U CN 206455668 U CN206455668 U CN 206455668U
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Abstract
The utility model discloses a kind of steering wheel mainboard and robot, applied to a steering wheel, steering wheel mainboard includes main control chip, including control signal output and induced voltage input；Driving chip, including control signal receiving terminal and induced-current end, control signal receiving terminal connection corresponding with the control signal output of main control chip, to the motor rotation for receiving the control signal of main control chip output and being arranged on according to control signal output driving pulse signal with driving in steering wheel；Acquisition chip, including induced-current input, signal processing unit and output end, the induced-current end connection of induced-current input and driving chip, current working current to gather motor, the induced voltage input connection of output end and main control chip, and the work state information of motor is fed back into main control chip.By the above-mentioned means, the utility model can reduce the peripheral circuit element of acquisition chip, saves circuit board space and reduce circuit board size.
Description
Technical field
The utility model is related to automatic control technology field, more particularly to a kind of steering wheel mainboard and robot.
Background technology
With the development of science and technology robot technology has obtained greatly developing, it has little by little come into the day of people
Often in life.In robot technology, steering wheel mainboard is its important component, controls robot to perform various operations.
It is usually that the current electric current letter of motor is gathered by sampling resistor and amplifier chip in existing steering wheel mainboard
Breath, and the more peripheral circuit of number of elements is typically provided with around acquisition chip, cause mainboard wiring cumbersome, and after element loss
Mainboard can not normal work.
The content of the invention
The utility model provides a kind of steering wheel mainboard and robot, can reduce acquisition chip peripheral circuit element,
Save circuit board space and reduce circuit board size.
The utility model use a technical scheme be：A kind of steering wheel mainboard is provided, applied to a steering wheel, the steering wheel
Mainboard includes：Main control chip, including control signal output and induced voltage input；And driving chip, including control signal
Receiving terminal and induced-current end, the control signal receiving terminal connection corresponding with the control signal output of the main control chip,
To receive the control signal of the main control chip output and be set according to the control signal output driving pulse signal with driving
Put the motor rotation in the steering wheel, current working current of the induced-current end to detect the motor；Gather core
Piece, including induced-current input and output end, signal processing unit, the induced-current input and the driving chip
Induced-current end is connected, to gather the current working current of the motor to detect the work state information of the motor；Institute
Stating signal processing unit is used for the current signal that sensitive current input terminal is collected, and the current signal is converted into correspondence
Feedback voltage signal after enhanced processing；The output end is connected with the induced voltage input of the main control chip, and by institute
State the electric signal after signal processing unit amplification and feed back to the main control chip.
Wherein, the induced-current input further comprises：First pin, second pin, the 3rd pin and the 4th
The polarity of pin, first pin and second pin is identical, the polarity of the 3rd pin and the 4th pin it is identical and with
The opposite polarity of first pin and second pin；Wherein, first pin, second pin, the 3rd pin and the 4th
The first end of pin is packaged in the acquisition chip and is mutually coupled, first pin, the second end of second pin and institute
State the induced-current output end coupling of driving chip, the second end ground connection of the 3rd pin and the 4th pin.
Wherein, the signal processing unit further comprises sensor circuit, is correspondingly arranged with the induced-current input,
To sense the current working current of the motor by the induced-current input, and the current working current is changed
For corresponding feedback voltage signal.
Wherein, the signal processing unit further comprises discharge circuit, couples, uses with the output end of the sensor circuit
So that the voltage signal to be handled, and further comprise：First transport and placing device, it includes input and output end, wherein, institute
The output end that input is electrically connected to the sensor circuit is stated, to receive the feedback voltage signal；Second transport and placing device, it is wrapped
Input and output end are included, wherein, the input is electrically connected to the output end of first transport and placing device, and the output end is electrically connected
The induced voltage input of the main control chip is connect, it is described to cause to feed back the voltage signal to the main control chip
Main control chip adjusts the rotating speed of the motor according to the voltage signal.
Wherein, the steering wheel mainboard also includes angle acquisition chip, and the angle acquisition chip connects with the main control chip
Connect, the angle acquisition chip is used for the angle information for obtaining steering wheel rotation, and the angle information fed back to described
Main control chip, the main control chip controls the motion of the steering wheel according to the angle information.
Wherein, the angle acquisition chip is magnetic coding chip, wherein, the magnetic coding chip is adopted according to changes of magnetic field
Collect the angle information of the steering wheel deflection, and the magnetic coding chip further comprises feedback pin, the control of the first deflection angle
Pin and the second deflection angle controlling switch, wherein, the main control chip further comprises the second feedback pin, the first deflection angle
Controlling switch and the second deflection angle controlling switch are spent, wherein, the feedback pin of the magnetic coding chip connects the master
Control second feedback pin of chip and the main control chip is fed back to the angle information for deflecting the steering wheel, and the master
Control chip the first deflection angle controlling switch and the second deflection angle controlling switch respectively with the magnetic coding chip
The first deflection angle controlling switch and the connection of the second deflection angle controlling switch, by the main control chip according to feedback
The angle information of steering wheel deflection and the angle control signal that produces is exported to the magnetic coding chip, with by described
Angle acquisition and control chip and the angle for controlling steering wheel deflection.
Wherein, the steering wheel mainboard also includes the power supply chip and electric power detection chip being connected with main control chip, the electricity
Source chip is used to provide power supply for the steering wheel, and the electric power detection chip is used for the electricity for gathering a battery inside steering wheel.
Wherein, the steering wheel mainboard also includes temperature acquisition chip, is connected with the main control chip, and described for gathering
The temperature of motor, if the temperature of the motor collected is more than a predetermined threshold value, the main control chip controls the motor to stop
Spin-ended turn, or the speed that the reduction motor rotates.
Wherein, the steering wheel mainboard also includes communication chip, is connected with the main control chip and host computer, for maintaining
The communication of the main control chip and host computer.
In order to solve the above technical problems, another technical scheme that the utility model is used is to provide a kind of robot, institute
Robot is stated including central processing unit, CAN and multiple steering wheels, each steering wheel includes any of the above-described described respectively
Steering wheel mainboard.
The beneficial effects of the utility model are：A kind of steering wheel mainboard and robot are provided, by the way that driving chip is sensed
The current operating current of motor be transferred directly to driving chip and handled and feed back to main control chip, collection core can be reduced
The peripheral circuit element of piece, saves circuit board space, reduces circuit board size.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the utility model steering wheel mainboard one；
Fig. 2 is the structural representation of the embodiment of the utility model acquisition chip one；
Fig. 3 is the structural representation of the another embodiment of the utility model steering wheel mainboard；
Fig. 4 is the structural representation of the utility model main control chip and the embodiment of angle acquisition chip one；
Fig. 5 is the structural representation of the embodiment of the utility model robot one.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Referring to Fig. 1, Fig. 1 is the structural representation of the embodiment of the utility model steering wheel mainboard one.As illustrated, the rudder
Mainboard 10 is applied to a steering wheel 33, and the steering wheel mainboard 10 includes：Main control chip 11, driving chip 12 and acquisition chip
13。
Wherein, main control chip 11 includes control signal output a and induced voltage input b.
Further, driving chip 12 include control signal receiving terminal c and induced-current end d, control signal receiving terminal c with
The control signal output a correspondences of main control chip 11 are connected, to receive the control signal of the output of main control chip 11 and according to control
The motor 20 that signal output drive pulse signal processed is arranged in steering wheel 33 with driving rotates, wherein, induced-current end d is to detect
The current working current of measured motor 20.
Further, acquisition chip 13 includes induced-current input e, signal processing unit 130
And Ausgang.Wherein, induced-current input e is connected with the induced-current end d of driving chip 12, to gather
The current working current of motor 20 is to detect the work state information of motor 20, signal processing unit, for sensitive electric current
The current signal that input e is collected, and the current signal is converted into enhanced processing after corresponding feedback voltage signal；Output
End f is connected with the induced voltage input b of main control chip 11, and the work state information of the motor 20 is fed back into the master
Control chip.
Also referring to Fig. 2, Fig. 2 is the structural representation of the embodiment of the utility model acquisition chip one.Such as Fig. 2 institutes
Show, the induced-current input e of the acquisition chip 13 further comprises：First pin 1, second pin 2, the 3rd pin 3 and
4th pin 4.Wherein, the polarity of the first pin 1 and second pin 2 is identical and is all just the 3rd pin 3 and the 4th pin 4
Polarity it is identical and opposite polarity of with the first pin 1 and second pin 2 is negative.Certainly in other embodiments, first draws
The polarity of pin 1 and second pin 2 can also be negative, and the utility model is not specifically limited.
Further, the first end of the first pin 1, second pin 2, the 3rd pin 3 and the 4th pin 4 is packaged in collection
Chip 13 is interior and is mutually coupled, the induced-current output end d couplings of the first pin 1, the second end of second pin 2 and driving chip 12
Connect, the current working current to gather motor 20, the 3rd pin 3 and the 4th pin 4 are worked as to the motor 20 that will receive
Preceding operating current ground connection.
Further referring to Fig. 2, signal processing unit 131 further comprises sensor circuit 1311.The sensor circuit 1311
It is correspondingly arranged with induced-current input e, and it is separated by a distance with induced-current input e, to defeated by induced-current
Enter to hold the current working current of e induction machines 20, and current working current is converted into corresponding feedback voltage signal.
In the application scenarios of the utility model one, described sensor circuit 1311 can be Hall element, certainly, other
In embodiment, or other electromagnetic induction elements.Wherein, the Hall element is the semiconductor using Hall effect.Specifically
Ground, when Hall effect refers to carrier of the magnetic fields in current-carrying wire conductor, semiconductor, produces the physics of horizontal potential difference
Phenomenon.Therefore magnetic field and its change can be detected, used in the various occasions relevant with magnetic field, its precision is high, the linearity is good.
Further, in the present embodiment, due to there is magnetic field around the conductor of energization, therefore by induced-current input e
The magnetic field induced circuit 1311 that the current working current of motor 20 is produced is received, i.e. Hall element is sensed, produced laterally
Potential difference, will the current operating current of the motor 20 be converted to corresponding feedback voltage signal.
Further, the Hall element also includes input g, output end h, and the input g is to receive external power source
Vcc, output end h is to export the feedback voltage signal.
Please continue to refer to Fig. 2, the signal processing unit 131 further comprises discharge circuit 1312, and the discharge circuit
1312 couple with the output end h of sensor circuit 1311, feedback voltage signal to be handled, and further comprise：First
Transport and placing device A and the second transport and placing device B.
Wherein, the first transport and placing device A, in a particular embodiment, first transport and placing device A can increase for including but not limited to coarse adjustment
Beneficial device, for voltage signal to be amplified.It further comprises input i and output end j, wherein, input i is electrically connected to sense
The output end h of circuit 1311 is answered, the voltage signal changed by Hall element is received.
Further, the second transport and placing device B, can be to include but is not limited to fine setting gain device, for voltage signal to be entered
One step is amplified.And it includes input k and output end l, wherein, input k is electrically connected to the output end j of the first transport and placing device, defeated
Go out to hold l to electrically connect the induced voltage input b of main control chip 11, to the feedback voltage signal of main control chip 11, so that winner
Control the rotating speed that chip 11 adjusts motor 20 according to the voltage signal.
It should be noted that the feedback voltage signal that main control chip 11 is received is by (the Hall member of sensor circuit 1311
Part) the current operating current of the motor 20 sensed is transformed into the signal of voltage form.
Further, when main control chip 11 receives the feedback voltage signal of the output of acquisition chip 13, judge to drive with this
Whether the electric current that dynamic chip 11 is detected exceedes predetermined current threshold, if exceeding, the control signal by main control chip 11 is defeated
Go out to hold a to send the control signal stopped operating to motor 20.
Above-mentioned embodiment, is carried out by the way that the current operating current of the motor sensed 20 is transferred directly into driving chip
Processing, can reduce the peripheral circuit element of acquisition chip, save circuit board space, reduce circuit board size.
Please with reference to Fig. 3, Fig. 3 is the structural representation of the another embodiment of the utility model steering wheel mainboard.As schemed
Show, the steering wheel mainboard 10 also includes an at least filter circuit 14, and filter circuit 14 be connected to driving chip 12 and motor 20 it
Between, and for being filtered processing to drive pulse signal.
Further, driving chip 12 is used to receive the control signal of the transmission of main control chip 11 and exported according to control signal
The motor 20 that one drive pulse signal is arranged in steering wheel 33 with driving rotates.Wherein, control signal includes angle control letter
Number, speed control signal and enable signal.Specifically, driving chip 12 according to angle control signal, speed control signal with
And signal output two-way drive pulse signal is enabled, it is transmitted separately to the two ends of motor 20.Filter circuit 14 is used for driving arteries and veins
Rush signal and be filtered processing.
Also referring to Fig. 4, Fig. 4 is that the utility model main control chip and the structure of the embodiment of angle acquisition chip one are shown
It is intended to.
Wherein, the steering wheel mainboard 10 also includes angle acquisition chip 15, and 15, the angle acquisition core connects with main control chip 11
Connect.Specifically, the angle acquisition chip 15 is used for the angle information for obtaining the rotation of steering wheel 33, and angle information is fed back into master control
Chip 11, main control chip 11 controls the motion of steering wheel 33 according to angle information.
Specifically, the angle acquisition chip 15 can be magnetic coding chip.Specifically, magnetic coding chip 15 becomes according to magnetic field
Change and gather the angle information of the deflection of steering wheel 33, and the magnetic coding chip 15 further comprises feedback pin MOSI, the first deflection
Angle controlling switch CS and the second deflection angle controlling switch MISO.
Wherein, main control chip 11 further comprises the second feedback pin mosi, the first deflection angle controlling switch cs and
Two deflection angle controlling switch miso, wherein, the second feedback of the feedback pin connection main control chip 11 of magnetic coding chip 15 is drawn
Pin MOSI feeds back to main control chip 11 with the angle information for deflecting steering wheel 33, and the first deflection angle of main control chip 11 is controlled
Pin cs and the second deflection angle controlling switch miso respectively with the first deflection angle controlling switch CS of magnetic coding chip 15 and
Second deflection angle controlling switch MISO connections, main control chip 11 is produced according to the angle information that the steering wheel 33 of feedback is deflected
Raw angle control signal is exported to magnetic coding chip 15, to control steering wheel 33 to deflect by angle acquisition and control chip 11
Angle.
Specifically, main control chip 11 is contrasted according to the current angular information received with default angle value, concurrent angle of departure
Control signal is spent to magnetic coding chip 15, further to adjust the current angle of steering wheel 33 to predetermined angle, if current angular is believed
Breath reaches default angle value, then main control chip 11 sends the control signal stopped operating to motor 20.Certainly, implement other
In example, angle acquisition chip 15 can also be that potentiometer is constituted, and obtain what steering wheel 33 was rotated according to the change in location of motor
Angle information.
Further referring to Fig. 4, the steering wheel mainboard 10 also includes the power supply chip 16 and electricity being connected with main control chip 11
Detection chip 17, and power supply chip 16, for providing power supply for steering wheel 33, electric power detection chip 17 is used to gather inside steering wheel 33
The electricity of one battery, and transmit to main control chip 11, main control chip 11 further controls electricity in steering wheel 33 according to the electricity of battery
The rotation of machine 20.In the utility model embodiment, power supply chip 16 can provide 15V, 5V and 3.3V electricity to steering wheel 33
Source voltage.
Further, the steering wheel mainboard 10 also includes temperature acquisition chip 18, is connected with main control chip 11, and for gathering
The temperature of motor 20, if the temperature of the motor 20 collected is more than a predetermined threshold value, the controlled motor 20 of main control chip 11 is stopped
Spin-ended turn, or the speed that reduction motor 20 rotates.Wherein, predetermined threshold value can be arranged as required to, and this is not restricted.
Further, the steering wheel mainboard 10 also includes communication chip 19, is connected, is used for main control chip 11 and host computer
Maintain the communication of main control chip 11 and host computer.Specifically, communication chip block 19 is used for and upper level and/or next stage steering wheel 33
Communicated, receive identifier or identifier and action command information from the upper level steering wheel being connected with steering wheel 33, or
Transmit the identifier or identifier and action command information for the next stage steering wheel being connected with steering wheel 33.Specifically, in steering wheel 33
During initialization, main control chip 11 receives upper level steering wheel by communication chip 19 and distributes to the identifier that this grade of steering wheel 33 is distributed,
Action command information is received simultaneously, and is transmitted to main control chip 11；And transmit the corresponding identification distributed to next stage steering wheel
Number, simultaneous transmission action command information can complete being sequentially allocated for the identifier in all initialization procedures of steering wheel 33, it is to avoid
The identifier of steering wheel 33 is fixed and causes assembling inconvenience.
Further, in 33 normal work of steering wheel, main control chip 11 by communication chip 19 and upper level steering wheel and/or
Next stage steering wheel carries out half duplex communication, to transmit corresponding identifier and action command information.Certainly, of the present utility model
, can also only transmission action command information, and carry in the action command information corresponding identifier in other embodiment.
Referring to Fig. 5, Fig. 5 is the structural representation of the embodiment of the utility model robot one.As shown in figure 5, machine
People 30 includes central processing unit 31, CAN 32 and multiple steering wheels 33.Each steering wheel 33 includes steering wheel mainboard as described above
10, each steering wheel mainboard 10 is communicated by CAN 32 with central processing unit 31.
The current operating current of the motor sensed, is transferred directly to drive core by above-mentioned embodiment by driving chip
Piece is handled and feeds back to main control chip, can reduce the peripheral circuit element of acquisition chip, is saved circuit board space, is reduced
Circuit board size.
In summary, it should be readily apparent to one skilled in the art that the utility model provides a kind of steering wheel mainboard and robot, lead to
The current operating current of the motor sensed is transferred directly to driving chip and is handled and feed back to master control by chip of overdriving
Chip, can reduce the peripheral circuit element of acquisition chip, saves circuit board space and reduce circuit board size.
Embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, it is all
It is the equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or directly or indirectly uses
In other related technical fields, similarly it is included in scope of patent protection of the present utility model.
Claims (10)
1. a kind of steering wheel mainboard, applied to a steering wheel, it is characterised in that the steering wheel mainboard includes：
Main control chip, including control signal output and induced voltage input；And
Driving chip, including control signal receiving terminal and induced-current end, the control signal receiving terminal and the main control chip
Control signal output correspondence connect, to receive the control signal of main control chip output and according to the control signal
The motor rotation that output driving pulse signal is arranged in the steering wheel with driving, the induced-current end is to detect the electricity
The current working current of machine；
Acquisition chip, including induced-current input, output end and signal processing unit, the induced-current input with it is described
The induced-current end connection of driving chip, to gather the current working current of the motor to detect the work shape of the motor
State information；The signal processing unit is used to sense the current signal that the induced-current input is collected, and by the electricity
Stream signal is converted to enhanced processing after corresponding feedback voltage signal；The output end and the induced voltage of the main control chip are defeated
Enter end connection, and the electric signal after signal processing unit amplification is fed back into the main control chip.
2. steering wheel mainboard according to claim 1, it is characterised in that the induced-current input further comprises：The
The polarity of one pin, second pin, the 3rd pin and the 4th pin, first pin and second pin is identical, and described
The polarity of three pins and the 4th pin it is identical and with first pin and the opposite polarity of second pin；
Wherein, the first end of first pin, second pin, the 3rd pin and the 4th pin is packaged in the acquisition chip
Interior and be mutually coupled, first pin, the second end of second pin and the induced-current output end of the driving chip are coupled,
The second end ground connection of 3rd pin and the 4th pin.
3. steering wheel mainboard according to claim 1, it is characterised in that the signal processing unit further comprises induced electricity
Road, is correspondingly arranged with the induced-current input, to sense the current of the motor by the induced-current input
Operating current, and the current working current is converted into corresponding feedback voltage signal.
4. steering wheel mainboard according to claim 3, it is characterised in that the signal processing unit further comprises amplifier electricity
Road, couples with the output end of the sensor circuit, the voltage signal to be handled, and further comprises：
First transport and placing device, it includes input and output end, wherein, the input is electrically connected to the output of the sensor circuit
End, to receive the feedback voltage signal；
Second transport and placing device, it includes input and output end, wherein, the input is electrically connected to the defeated of first transport and placing device
Go out end, the output end electrically connects the induced voltage input of the main control chip, to feed back described to the main control chip
Voltage signal, to cause the main control chip to adjust the rotating speed of the motor according to the voltage signal.
5. steering wheel mainboard according to claim 1, it is characterised in that the steering wheel mainboard also includes angle acquisition chip,
The angle acquisition chip is connected with the main control chip, and the angle acquisition chip is used for the angle for obtaining the steering wheel rotation
Information, and the angle information is fed back into the main control chip, the main control chip is according to being controlled the angle information
The motion of steering wheel.
6. steering wheel mainboard according to claim 5, it is characterised in that the angle acquisition chip is magnetic coding chip, its
In, the magnetic coding chip gathers the angle information of the steering wheel deflection according to changes of magnetic field, and the magnetic coding chip enters
One step includes feedback pin, the first deflection angle controlling switch and the second deflection angle controlling switch, wherein, the main control chip
Further comprise the second feedback pin, the first deflection angle controlling switch and the second deflection angle controlling switch, wherein, the magnetic
The feedback pin of coding chip connects angle of second feedback pin of the main control chip so that the steering wheel to be deflected
Feedback of the information is spent to the main control chip, and the first deflection angle controlling switch of the main control chip and the second deflection angle
Degree controlling switch is drawn with the first deflection angle controlling switch of the magnetic coding chip and the control of the second deflection angle respectively
Pin is connected, and the angle that the main control chip is produced according to the angle information that the steering wheel of feedback is deflected controls to believe
Number output is to the magnetic coding chip, to control the angle of the steering wheel deflection by the angle acquisition and control chip.
7. steering wheel mainboard according to claim 1, it is characterised in that the steering wheel mainboard also includes being connected with main control chip
Power supply chip and electric power detection chip, the power supply chip be used for provide power supply, the electric power detection chip for the steering wheel
Electricity for gathering a battery inside steering wheel.
8. steering wheel mainboard according to claim 1, it is characterised in that the steering wheel mainboard also includes temperature acquisition chip,
It is connected, and for gathering the temperature of the motor, is preset if the temperature of the motor collected is more than one with the main control chip
Threshold value, then the main control chip controls the motor to stop the rotation, or the speed that the reduction motor rotates.
9. steering wheel mainboard according to claim 1, it is characterised in that the steering wheel mainboard also includes communication chip, with institute
State main control chip and host computer connection, the communication for maintaining the main control chip and host computer.
10. a kind of robot, it is characterised in that the robot includes central processing unit, CAN and multiple steering wheels, often
The individual steering wheel includes the steering wheel mainboard as described in claim 1-9 is any respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621452162.XU CN206455668U (en) | 2016-12-27 | 2016-12-27 | Steering wheel mainboard and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621452162.XU CN206455668U (en) | 2016-12-27 | 2016-12-27 | Steering wheel mainboard and robot |
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| Publication Number | Publication Date |
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| CN206455668U true CN206455668U (en) | 2017-09-01 |
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ID=59698338
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621452162.XU Active CN206455668U (en) | 2016-12-27 | 2016-12-27 | Steering wheel mainboard and robot |
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| CN (1) | CN206455668U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695789A (en) * | 2016-12-27 | 2017-05-24 | 深圳市优必选科技有限公司 | Steering engine mainboard and robot |
-
2016
- 2016-12-27 CN CN201621452162.XU patent/CN206455668U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695789A (en) * | 2016-12-27 | 2017-05-24 | 深圳市优必选科技有限公司 | Steering engine mainboard and robot |
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