CN211543726U - Capsule robot - Google Patents
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- CN211543726U CN211543726U CN202020085966.0U CN202020085966U CN211543726U CN 211543726 U CN211543726 U CN 211543726U CN 202020085966 U CN202020085966 U CN 202020085966U CN 211543726 U CN211543726 U CN 211543726U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
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Abstract
The utility model relates to a second order inverted pendulum robot technical field, concretely relates to capsule robot. The device comprises a capsule-shaped shell, a bracket, a first brushless torque motor, a first flywheel, a second brushless torque motor, a second flywheel, a battery pack and a control system, wherein the bracket, the first brushless torque motor, the first flywheel, the second brushless torque motor, the second flywheel, the battery pack and the control system are arranged in the shell; the first brushless torque motor, the first flywheel, the second brushless torque motor and the second flywheel are arranged on the bracket, the first brushless torque motor is connected with the first flywheel through a first transmission device, and the axis of the first brushless torque motor is parallel to the axis of the first flywheel; the second brushless torque motor is connected with a second flywheel through a second transmission device, the axis of the second brushless torque motor is parallel to the axis of the second flywheel, and the axis of the second flywheel is perpendicular to the axis of the first flywheel; the battery pack is electrically connected with the first brushless torque motor, the second brushless torque motor and the control system. Compact structure, small volume and wide application range, can be perfectly combined with other equipment, and improves the performance of the equipment.
Description
Technical Field
The utility model relates to a second order inverted pendulum robot technical field, concretely relates to capsule robot.
Background
By means of the high-speed development of the global robot field, cube robot Cubli is researched and developed at the leading edge of the field in recent years, and the power output mode of the cube robot Cubli has a great breakthrough. Adopt the power conduction to form the displacement with traditional robot, it all is different with drive mechanical structure motion production displacement, and it has utilized high accuracy flywheel drive to whole square robot has shared 3 customization motors and 3 customization flywheels, and two liang of mutually perpendicular structures form 3 controllable vertically space, realize the square robot to the accuse of three-dimensional space with this, can be accurate upright and the space single-point self-reliance in the space sideline. However, Cubli is heavy in overall weight, large in volume, short in endurance time and narrow in application range.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a capsule robot is provided, compact structure, the outward appearance volume is less, and the range of application is wide, can improve its performance with other equipment perfect adaptation.
In order to achieve the above object, the utility model adopts the following technical scheme:
the capsule robot comprises a capsule-shaped shell, a bracket, a first brushless torque motor, a first flywheel, a second brushless torque motor, a second flywheel, a battery pack and a control system, wherein the bracket, the first brushless torque motor, the first flywheel, the second brushless torque motor, the second flywheel, the battery pack and the control system are arranged in the shell; the first brushless torque motor, the first flywheel, the second brushless torque motor and the second flywheel are arranged on the bracket, the first brushless torque motor is connected with the first flywheel through a first transmission device, and the axis of the first brushless torque motor is parallel to the axis of the first flywheel; the second brushless torque motor is connected with a second flywheel through a second transmission device, the axis of the second brushless torque motor is parallel to the axis of the second flywheel, and the axis of the second flywheel is perpendicular to the axis of the first flywheel; the battery pack is electrically connected with the first brushless torque motor, the second brushless torque motor and the control system.
The first brushless torque motor and the second brushless torque motor both adopt high-speed brushless large torque motors; the power is more than 150w, and the rotating speed is more than 6000 r/min.
The first transmission device comprises a first gear, a second gear and a third gear; the first gear is connected with the first brushless torque motor, the first gear is meshed with the second gear, the second gear is meshed with the third gear, and the third gear is connected with the first flywheel.
The second transmission device comprises a fourth gear, a fifth gear and a sixth gear; the fourth gear is connected with the second brushless torque motor, the fourth gear is meshed with the fifth gear, the fifth gear is meshed with the sixth gear, and the sixth gear is connected with the second flywheel.
The support is a metal plate support and comprises a first square-mouth-shaped metal plate support, a second square-mouth-shaped metal plate support, a main supporting metal plate support, a first motor auxiliary positioning metal plate support and a second motor auxiliary positioning metal plate support; first mouthful shape panel beating support, first motor assistance-localization real-time panel beating support link to each other with the main tributary props the panel beating support, and the main tributary props the panel beating support and links to each other with second mouthful shape panel beating support, second motor assistance-localization real-time panel beating support.
The first bite-shaped sheet metal support comprises a first gear cavity and a first flywheel cavity; first transmission installs in first gear chamber, and first minute wheel is installed in first flywheel intracavity, and first motor is fixed at flywheel chamber top, and first motor assistance-localization real-time panel beating support one end links to each other with first brushless torque motor, and the other end links to each other with first flywheel axle.
The second mouth-shaped metal plate support comprises a second gear cavity and a second flywheel cavity; the second transmission device is installed in the second gear cavity, the second branch wheel is installed in the second flywheel cavity, the second motor is fixed to the top of the flywheel cavity, one end of the second motor auxiliary positioning metal plate support is connected with the second brushless torque motor, and the other end of the second motor auxiliary positioning metal plate support is connected with the second flywheel shaft.
The shell comprises a bottom shell, a middle lower shell, a middle upper shell and a top end cover which are sequentially connected from bottom to top; the bottom shell comprises a left bottom shell and a right bottom shell, and the left bottom shell and the right bottom shell are fastened together and then fixed through bolts; the middle lower shell comprises a left middle lower shell and a right middle lower shell, and the left middle lower shell and the right middle lower shell are fastened together and then fixed through bolts; the middle upper shell comprises a left middle upper shell and a right middle upper shell, and the left middle upper shell and the right middle upper shell are fastened together and then fixed through bolts.
The shell is made of hard plastic materials.
The control system comprises a gyroscope and a single chip microcomputer, and the gyroscope is electrically connected with the single chip microcomputer.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses the design derives from the above cube robot Cubli, but structure and control system all rather than completely different, the robot has adopted two sets of torque generators, combines self quarter butt appearance and "capsule" spherical end structure, alright in order to realize all functions of cube robot, under comparing, a set of motor and flywheel have been lacked to this robot for whole weight becomes light, and the volume is littleer, has prolonged duration. The theoretical principle of the robot follows the moment conservation, the resultant moment in the robot is unchanged, when the motor and the flywheel rotate at angular acceleration, the moment is generated, the redundant moment is offset by the moment generated by the acceleration deflection of the whole robot except the gravity moment generated by the inclination angle, and the robot changes motion macroscopically. Because the moment can act on any area of the robot, as long as the magnitude and the direction of the moment are unchanged, the generated action effect is equivalent, so that the robot can be customized and changed in design according to actual requirements in the aspect of structure when in actual application, the robot is more suitable for the requirements, and the service mission of the robot is better completed.
The special "capsule" appearance is an important prerequisite for its excellent performance in real sports. The former robot adopts humanoid extremity walking, the number of movable joints is large, and the control coordination is complex; or a pulley type driving mechanism or a crawler type driving mechanism is adopted, so that the crawler type driving mechanism is limited to move only on relatively smooth ground, and when the crawler type driving mechanism encounters a larger angle and the height exceeds the diameter of a pulley or the upper edge of a guide wheel on the upper part of a crawler, the crawler type driving mechanism cannot advance to exceed the obstacle; some robots adopt a mechanical composite type multilayer crawler driving mechanism, which can overcome the defects, but at the same time, a new problem is introduced, and in operation, a bottom plate of the robot is expanded by several times compared with a normal bottom plate, and more driving devices and power sources need to be provided for the bottom plate. "capsule" type outward appearance, special on this moment robot, the unique effect characteristics of binding force moment for it can wholly overturn and go forward and roll and go forward, its compact structure, the functioning speed is faster, and can roll and turn over and even the spring turns over the barrier of great difference in height more, can complement a great deal of not enough of above-mentioned.
The appearance of the short rod-shaped capsule lays an inner space, such as the capsule, the short rod-shaped capsule can be reasonably added with a storage space, a small amount of emergency materials (such as fire extinguishing dry ice, a compression breathing mask and the like) can be transported to be put in an emergency fire-fighting place, or the short rod-shaped capsule can be applied to military cannonballs, the transverse residual speed is used when the cannonball falls to the ground, the inner torque generator is started, the cannonball automatically extends to a target position, the explosive is ignited, the range of the original cannonball is expanded, and the position precision can be.
The utility model discloses the range of application is extensive, and it can use in the military field. The method can be used in combination with common shells, missiles, fighters and the like, and can improve the original partial attribute value to a certain extent. The military application has remarkable advantages.
Drawings
Fig. 1 is a schematic view of a three-dimensional installation and structure of a first brushless torque motor, a first flywheel and a bracket of the present invention;
fig. 2 is a schematic view of the first brushless torque motor, the first flywheel, and the bracket of the present invention, mounted at another angle and configured;
fig. 3 is a schematic front view of the first brushless torque motor, the first flywheel, the bracket, and the structure of the present invention;
fig. 4 is a schematic three-dimensional installation and structure diagram of the first bite-shaped sheet metal bracket, the main supporting sheet metal bracket and the first motor auxiliary positioning sheet metal bracket of the present invention;
fig. 5 is a schematic perspective view (excluding the housing) of the present invention.
FIG. 6 is a schematic view of the three-dimensional structure of the bottom housing of the present invention;
FIG. 7 is a schematic view of the three-dimensional structure of the middle lower shell and the middle upper shell of the present invention;
fig. 8 is a schematic perspective view of the battery pack and the housing of the present invention (excluding the top end cap);
FIG. 9 is a schematic view of the three-dimensional structure of the housing of the present invention;
fig. 10 is a circuit diagram of the motor driving circuit of the present invention;
fig. 11 is a circuit diagram of the gyroscope of the present invention;
fig. 12 is a power supply circuit diagram of the present invention;
FIG. 13 is a circuit diagram of the single chip microcomputer according to the present invention;
fig. 14 is a diagram of a neural network of the present invention;
fig. 15 is a schematic view of the force applied to the present invention.
In the figure: 1-a first brushless torque motor 2-a first flywheel 3-a second brushless torque motor 4-a second flywheel 5-a battery pack 6-a first square metal support 7-a second square metal support 8-a main support metal support 9-a first motor auxiliary positioning metal plate support 10-a second motor auxiliary positioning metal plate support 11-a first gear 12-a second gear 13-a third gear 14-a fourth gear 15-a fifth gear 16-a sixth gear 17-a left bottom shell 18-a right bottom shell 19-a left middle lower shell 20-a right middle lower shell 21-a left middle upper shell 22-a right middle upper shell 23-a top end cover
Detailed Description
The following further describes the embodiments of the present invention with reference to the attached drawings:
the capsule robot comprises a capsule-shaped shell, a support, a first brushless torque motor 1, a first flywheel 2, a second brushless torque motor 3, a second flywheel 4, a battery pack 5, a first gear 11, a second gear 12, a third gear 13, a fourth gear 14, a fifth gear 15, a sixth gear 16 and a control system, wherein the support, the first brushless torque motor, the second flywheel 2, the first gear 11, the second gear 12, the third gear 13, the fourth gear 14, the fifth gear 15, the sixth gear 16 and the control system are mounted in. The support is a sheet metal support and comprises a first square sheet metal support 6, a second square sheet metal support 7, a main support sheet metal support 8, a first motor auxiliary positioning sheet metal support 9 and a second motor auxiliary positioning sheet metal support 10. The first brushless torque motor 1 and the second brushless torque motor 2 both adopt high-speed brushless large torque motors.
As shown in fig. 1-3, the first bite-shaped sheet metal bracket 6 includes a first gear cavity and a first flywheel cavity. First gear 11, second gear 12, third gear 13 are installed in the first gear chamber from top to bottom in proper order, and first gear 11 meshes with second gear 12, and second gear 12 meshes with third gear 13, and first gear 11 links to each other with first brushless torque motor 1, and third gear 13 links to each other with first flywheel 2. First brushless torque motor 1 is fixed at flywheel chamber top, and first motor assistance-localization real-time panel beating support 9 one end links to each other with first brushless torque motor 1, and the other end links to each other with first flywheel axle.
As shown in fig. 4 and 5, the main supporting sheet metal bracket 8 is fixedly connected to the first square sheet metal bracket 6, and the second square sheet metal bracket 7 is fixedly connected to the main supporting sheet metal bracket 8. The second square sheet metal support 7 comprises a second gear cavity and a second flywheel cavity. The fourth gear 14, the fifth gear 15 and the sixth gear 16 are sequentially installed in the second gear cavity from top to bottom, the fourth gear 14 is meshed with the fifth gear 15, the fifth gear 15 is meshed with the sixth gear 16, the fourth gear 14 is connected with the second brushless torque motor 3, and the fifth gear 15 is connected with the second flywheel 4. The second brushless torque motor 3 is fixed at flywheel cavity top, and second motor assistance-localization real-time panel beating support 10 one end links to each other with second brushless torque motor 3, and the other end links to each other with the second flywheel axle. The axes of the first brushless torque motor 1 and the first flywheel 2 are parallel to each other, the axes of the second brushless torque motor 3 and the second flywheel 4 are parallel to each other, and the axes of the first brushless torque motor 1 and the second brushless torque motor 3 are perpendicular to each other.
As shown in fig. 6-9, the housing is made of hard plastic material, and includes a bottom housing, a middle lower housing, a middle upper housing and a top end cover 23, which are connected in sequence from bottom to top. The bottom case includes a left bottom case 17 and a right bottom case 18, and the left bottom case 17 and the right bottom case 18 are fastened together and fixed by bolts. The middle lower casing comprises a left middle lower casing 19 and a right middle lower casing 20, and the left middle lower casing 19 and the right middle lower casing 20 are fastened together and then fixed through bolts. The middle upper housing comprises a left middle upper housing 21 and a right middle upper housing 22, and the left middle upper housing 21 and the right middle upper housing 22 are fastened together and then fixed through bolts.
As shown in fig. 10-13, the control system includes a gyroscope and a single-chip microcomputer, and the gyroscope is electrically connected to the single-chip microcomputer. As shown in fig. 10, a signal sent by the CPU is sent to the driving circuit to control the start, stop and rotation speed of the motor. As shown in fig. 11, the gyroscope is used to detect acceleration, velocity, angle, and angular velocity in various directions of the capsule robot. As shown in fig. 12, the power supply circuit converts the voltage of the power supply into the operating voltage of the microprocessor STM32 and the motor. As shown in fig. 13, the control CPU employs an STM32F070F6 controller.
As shown in FIG. 14, the control system is a multi-input single-output comprehensive feedback regulation system and is provided with memory and learning capabilities, data in the operation process of the control system is optimally memorized in a memory, and judgment and regulation of comprehensive system analysis and error analysis are gradually relieved. The neural network is divided into a BP neural network of a 3-layer network, and the neural network is divided into an input layer, a single hidden layer and an output layer. Wherein: ax, ay, and az are accelerations in the x, y, and z directions, respectively; vx, Vy and Vz are the velocities in the x, y and z directions, respectively; cx, Cy and Cz are the angles in the x, y and z directions, respectively; y01 and y02 are current speed signals of the motor respectively; wx, Wy, and Wz are angular velocities in the x, y, and z directions, respectively; y1 and y2 are control signals of the motor, respectively.
The BP neural network has the following characteristics: the hidden unit extracts more useful information from the input mode, so that the network can complete more complex tasks; the BP neural network has connectivity, and the change of the connection domain or the change of the connection weight can cause the change of the connectivity;the excitation function of each neuron is a differentiable sigmoid function
The input layer and the hidden layer have 14 neurons; the output layer has 2 neurons.
The BP neural network forward propagation process comprises the following steps:
the hidden layer is:
the output layer is:
the above is the structure of the BP neural network. The BP neural network also needs to train the network through input and output sample sets, that is, to correct and learn the weight and threshold of the network, so that the network realizes the required input and output mapping relationship.
The learning of BP neural network is divided into two stages: a known learning sample is input in the first stage, and the output of each neuron is calculated backwards from the first layer of the network through a set network structure and the weight and the threshold of the previous iteration; the second stage is to modify the weight and the threshold, and calculate each weight and threshold from the last layer forward, and accordingly modify each weight and threshold. These two processes are repeatedly alternated until convergence is reached.
The weight correction process is as follows:
the error signal of the neuron is: e.g. of the typekj(n)＝dkj(n)-ykj(n)；
The sum of the error energies of the neurons is:
weight w on hidden layer and output layerij(n) the correction amount is:
using Delta learning rule, wijThe correction value of (n) is:
the weights on the hidden layer and the output layer are: w is aij(n+1)＝wij(n)+Δwij(n)；
Weight w on hidden layer and input layermi(n) the correction amount is:
wmithe correction value of (n) is:
the weights on the hidden layer and the output layer are: w is ami(n+1)＝wmi(n)+Δwmi(n)；
And repeatedly and alternately training by adopting the method through training samples until convergence is reached to finish training.
As shown in fig. 15, two flywheels can be regarded as rigid bodies, and if rotating at an angular acceleration a, two resultant forces (downward resultant forces F) having equal magnitudes and opposite directions are generated respectivelyRAnd a resultant force F) upwards. Two flywheels rotating at angular acceleration produce two upward forces F1And F2The resultant force thereof is F. Then there are:
in the same way, the resultant force of the downward forces generated by the two flywheels is FR(
Or
And FRF). Forces F and FRThe action points of (A) are respectively B and C, the distance from the center of mass (A) of the capsule robot is L, the self gravity (G) of the capsule robot acts on the center of mass (A), the distance from the fulcrum (D) is D, and the equilibrium of the moment is obtained by taking the fulcrum (D) as the center, wherein F (D + L) is Gd.sin β + FR(d-L) when the capsule robot is in a stationary state (equilibrium state). Then there are:
therefore, the capsule robot can be in a balanced state and still in a certain posture when the two flywheels rotate at the above-mentioned angular acceleration.
If it is not
I.e. the amount of change in angular velocity of the two flywheels, delta omega1And Δ ω2If the value is larger than the two values, the capsule robot in the horizontal state can stand up and turn over; the direction in which the capsule robot flips (clockwise and counterclockwise) is related to the direction in which the flywheel rotates.
The utility model discloses the outward appearance is like a large size "capsule", relies on high-speed brushless motor drive moment transmission to move, transmits the moment efficient that the motor produced to inertia flywheel, abides by moment balance principle and angular momentum conservation principle, so can produce the phenomenon that is similar to a second order inverted pendulum, accomplishes each item motion of this robot according to inertia flywheel's inertia moment. The capsule robot has small volume and is flexible, and can complete the space motion in a certain height volume area in a three-dimensional space. The utility model has wider application range, is expected to replace the rapid steering control technology of the side-spraying of the fighter plane, and in an ideal state, the aircraft can realize rapid in-situ steering maneuver; or the microminiature capsule robot is manufactured to be used in the medical field, and the microminiature capsule robot detects physical sign data in a patient body and helps doctors to accurately judge treatment.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (10)
1. Capsule robot, its characterized in that: the device comprises a capsule-shaped shell, a bracket, a first brushless torque motor, a first flywheel, a second brushless torque motor, a second flywheel, a battery pack and a control system, wherein the bracket, the first brushless torque motor, the first flywheel, the second brushless torque motor, the second flywheel, the battery pack and the control system are arranged in the shell; the first brushless torque motor, the first flywheel, the second brushless torque motor and the second flywheel are arranged on the bracket, the first brushless torque motor is connected with the first flywheel through a first transmission device, and the axis of the first brushless torque motor is parallel to the axis of the first flywheel; the second brushless torque motor is connected with a second flywheel through a second transmission device, the axis of the second brushless torque motor is parallel to the axis of the second flywheel, and the axis of the second flywheel is perpendicular to the axis of the first flywheel; the battery pack is electrically connected with the first brushless torque motor, the second brushless torque motor and the control system.
2. The capsule robot of claim 1, wherein: the first brushless torque motor and the second brushless torque motor both adopt high-speed brushless large torque motors; the power is more than 150W, and the rotating speed is more than 6000 r/min.
3. The capsule robot of claim 1, wherein: the first transmission device comprises a first gear, a second gear and a third gear; the first gear is connected with the first brushless torque motor, the first gear is meshed with the second gear, the second gear is meshed with the third gear, and the third gear is connected with the first flywheel.
4. The capsule robot of claim 1, wherein: the second transmission device comprises a fourth gear, a fifth gear and a sixth gear; the fourth gear is connected with the second brushless torque motor, the fourth gear is meshed with the fifth gear, the fifth gear is meshed with the sixth gear, and the sixth gear is connected with the second flywheel.
5. The capsule robot of claim 1, wherein: the support is a metal plate support and comprises a first square-mouth-shaped metal plate support, a second square-mouth-shaped metal plate support, a main supporting metal plate support, a first motor auxiliary positioning metal plate support and a second motor auxiliary positioning metal plate support; first mouthful shape panel beating support, first motor assistance-localization real-time panel beating support link to each other with the main tributary props the panel beating support, and the main tributary props the panel beating support and links to each other with second mouthful shape panel beating support, second motor assistance-localization real-time panel beating support.
6. The capsule robot of claim 5, wherein: the first bite-shaped sheet metal support comprises a first gear cavity and a first flywheel cavity; first transmission installs in first gear chamber, and first minute wheel is installed in first flywheel intracavity, and first motor is fixed at flywheel chamber top, and first motor assistance-localization real-time panel beating support one end links to each other with first brushless torque motor, and the other end links to each other with first flywheel axle.
7. The capsule robot of claim 5, wherein: the second mouth-shaped metal plate support comprises a second gear cavity and a second flywheel cavity; the second transmission device is installed in the second gear cavity, the second branch wheel is installed in the second flywheel cavity, the second motor is fixed to the top of the flywheel cavity, one end of the second motor auxiliary positioning metal plate support is connected with the second brushless torque motor, and the other end of the second motor auxiliary positioning metal plate support is connected with the second flywheel shaft.
8. The capsule robot of claim 1, wherein: the shell comprises a bottom shell, a middle lower shell, a middle upper shell and a top end cover which are sequentially connected from bottom to top; the bottom shell comprises a left bottom shell and a right bottom shell, and the left bottom shell and the right bottom shell are fastened together and then fixed through bolts; the middle lower shell comprises a left middle lower shell and a right middle lower shell, and the left middle lower shell and the right middle lower shell are fastened together and then fixed through bolts; the middle upper shell comprises a left middle upper shell and a right middle upper shell, and the left middle upper shell and the right middle upper shell are fastened together and then fixed through bolts.
9. The capsule robot of claim 1, wherein: the shell is made of hard plastic materials.
10. The capsule robot of claim 1, wherein: the control system comprises a gyroscope and a single chip microcomputer, and the gyroscope is electrically connected with the single chip microcomputer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020085966.0U CN211543726U (en) | 2020-01-15 | 2020-01-15 | Capsule robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020085966.0U CN211543726U (en) | 2020-01-15 | 2020-01-15 | Capsule robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216818A (en) * | 2020-01-15 | 2020-06-02 | 辽宁科技大学 | Capsule robot |
| CN115235422A (en) * | 2022-08-30 | 2022-10-25 | 上海申元岩土工程有限公司 | Self-balancing levelling rod |
-
2020
- 2020-01-15 CN CN202020085966.0U patent/CN211543726U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216818A (en) * | 2020-01-15 | 2020-06-02 | 辽宁科技大学 | Capsule robot |
| CN111216818B (en) * | 2020-01-15 | 2024-08-30 | 辽宁科技大学 | Capsule robot |
| CN115235422A (en) * | 2022-08-30 | 2022-10-25 | 上海申元岩土工程有限公司 | Self-balancing levelling rod |
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