Abstract: The present invention discloses an all-round observation under-actuated capsule robot and an axis rolling-over locomotion method thereof by magnetic field control. A radially magnetized NdFeB magnet ring is loaded into an inner cavity of a capsule sphere in a non-connected way, and the NdFeB magnet ring independently idles with the rotating magnetic field around a capsule axis and is completely suspended in the inner cavity filled with silicone oil in the capsule sphere. Under the drive of a coaxial following magnetic moment, the under-actuated capsule sphere cannot rotate around the capsule axis, but the capsule axis can roll synchronously with the rotation axis of the magnetic field. The present invention increases the scanning range of the capsule, enhances environmental adaptability, and has high accuracy of fixed point posture adjustment of the capsule, rolling locomotion stability, good visual observation effect and good application prospect.

Abstract: A method and apparatus for producing high-purity nitrogen and low-purity oxygen using three-column rectification are provided, in which: nitrogen and oxygen undergo rectification in different columns, with high-purity nitrogen and low-purity oxygen being separated out of air simultaneously, thereby overcoming the shortcomings of conventional low-purity oxygen production equipment, and also reducing equipment investment, lowering energy consumption, increasing product added value, and realizing a circular economy effect.

Abstract: An electromagnetic drive spherical robotic wrist with two degrees of freedom and a control method therefor, which is particularly a highly integrated active spherical robotic wrist, realizes pitch and yaw rotation with two degrees of freedom under the direct drive of a coaxial following magnetic torque of a spatial universal rotational magnetic field through a built-in permanent magnet cylinder with radial magnetization of a following mechanism formed by coaxial connection of two output ends of internal and external universal joints with the same rotation center. The electromagnetic drive spherical robotic wrist overcomes the disadvantages of a complex transmission mechanical wrist, and a wrist transmission system has a simple and light structure, high transmission efficiency, good static and dynamic performance, and fast control response.

Abstract: A method and apparatus for producing high-purity nitrogen and low-purity oxygen using three-column rectification are provided, in which: nitrogen and oxygen undergo rectification in different columns, with high-purity nitrogen and low-purity oxygen being separated out of air simultaneously, thereby overcoming the shortcomings of conventional low-purity oxygen production equipment, and also reducing equipment investment, lowering energy consumption, increasing product added value, and realizing a circular economy effect.

Abstract: The present disclosure belongs to the technical field of automation engineering, and relates to an electromagnetic drive spherical robotic wrist with two degrees of freedom and a control method therefor, which is particularly a highly integrated active spherical robotic wrist that realizes pitch and yaw rotation with two degrees of freedom under the direct drive of a coaxial following magnetic torque of a spatial universal rotational magnetic field through a built-in permanent magnet cylinder with radial magnetization of a following mechanism formed by coaxial connection of two output ends of internal and external universal joints with the same rotation center. The present disclosure overcomes the disadvantages of a complex transmission mechanical wrist, and a wrist transmission system has a simple and light structure, high transmission efficiency, good static and dynamic performance, and fast control response.