CN106004285A - Land and air dual-purpose robot - Google Patents
Land and air dual-purpose robot Download PDFInfo
- Publication number
- CN106004285A CN106004285A CN201610384073.4A CN201610384073A CN106004285A CN 106004285 A CN106004285 A CN 106004285A CN 201610384073 A CN201610384073 A CN 201610384073A CN 106004285 A CN106004285 A CN 106004285A
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- Prior art keywords
- wheel
- land
- propeller
- module
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/006—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0046—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
A land and air dual-purpose robot comprises a framework, a power module, a flight module, a land walking module and a control module. The land walking module comprises a front wheel, a rear wheel, a left wheel and a right wheel. Each wheel is provided with a direct-current motor. An output rotary shaft of each direct-current motor is connected with a set of transmission gears, and each wheel is controlled to rotate through engagement of the corresponding transmission gears and gear grooves in the inner wall of a rim of the wheel. The flight module comprises a front propeller, a rear propeller, a left propeller and a right propeller, and each propeller is provided with a model airplane motor and an electron speed regulator. The connecting point of blades of each propeller falls to the circle center of the plane where the corresponding wheel is located, the length of each blade is smaller than the inner radius of each wheel, and the rotating face of the blades is perpendicular to the plane where the corresponding wheel is located and evenly divides the plane where the corresponding wheel is located into an upper part and a lower part. The control module is connected with the direct-current motors and the model airplane motors and controls the robot to make corresponding actions by adjusting the rotation speeds of the motors. By the adoption of the land and air dual-purpose robot, land and air dual purposes can be achieved, and a land walking mode and an air walking mode can be well switched.
Description
Technical field
The present invention relates to robot and unmanned air vehicle technique field, a kind of land and air double-used machine people.
Background technology
Four-axle aircraft is being searched and rescued at present, and investigation field plays the hugest effect, multi-functional four-axle aircraft one
As possess and take photo by plane, the function such as GPS location, distant control etc. can be realized, earthquake, speedily carrying out rescue work of the natural disaster such as flood
Middle play increasing effect.But four general rotor wing unmanned aerial vehicles do not have land and air double-used function, general unmanned plane
When meeting with the vile weather of high wind one class, it is impossible to use.Simultaneously when unmanned plane lands, easy and collision on the ground, damage
Bad unmanned plane frame or blade, owing to blade rotary speed is exceedingly fast, be susceptible to hurt sb.'s feelings or damage other article.
Summary of the invention
Goal of the invention: for solving above-mentioned technical problem, it is provided that one i.e. can again can be with ground running with aviation flight, and energy
The robot of enough conversions well completed between the sky walking mode of land, the present invention proposes a kind of land and air double-used machine people.
Technical scheme: for realizing above-mentioned technique effect, the technical scheme that the present invention proposes is:
A kind of land and air double-used machine people, including: skeleton, power module, flight module, land walking module and control mould
Block；Wherein,
Land walking module includes front, rear, left and right wheel, and each wheel is equipped with a direct current generator；Described wheel
Including wheel rim and spoke, spoke is open circles ring flat-plate, and wheel rim is set on spoke and is uniformly provided with teeth groove, spoke on inwall
Evenly spaced on excircle it is provided with one group of travelling gear matched with the teeth groove on wheel rim；The outfan of direct current generator with
Transmission gear rotational shaft on corresponding wheel is connected, and is engaged the rotating speed exported by direct current generator with wheel rim teeth groove by travelling gear
Pass to wheel rim；
Described flight module includes four, front, rear, left and right propeller, and each propeller is equipped with a model plane motor and
Individual electron speed regulator；The outfan of model plane motor is connected with the rotating shaft of corresponding propeller, input and corresponding electronic speed regulation
Device is connected；The blade junction point of front, rear, left and right propeller respectively falls on the center of circle of front, rear, left and right wheel,
Propeller blade length is less than spoke inside radius, and the surfaces of revolution of propeller blade is perpendicular to corresponding wheel place plane and by car
Wheel place plane is divided into upper and lower two parts；
Described control module includes master controller, remote control receiver and remote controller；The outfan of master controller respectively with directly
Stream motor is connected with electron speed regulator, and input is connected with remote control receiver；Beeper sends instruction by remote controller,
Master controller receives instruction by remote control receiver and the rotating speed according to instruction adjustment direct current generator and model plane motor is controlled
Robot processed makes corresponding actions.
Further, described land and air double-used machine people also includes data-set；Master controller built-in attitude transducer module,
Data-set is connected with master controller, described land and air double-used machine attitude transducer module in master controller collected
Human body posture data send beeper to, send instruction for beeper and provide reference；Described athletic posture data include
Inclination angle data and direction of motion data.
Concrete, described data-set is 3DR433 type data-set.
Described land and air double-used machine people also includes GPS module, GPS module by data-set by gps signal and described
The altitude information of land and air double-used machine people is delivered to earth station, positions for described land and air double-used machine people.
Further, described land and air double-used machine people also includes photographic head, and photographic head is fixed on skeleton, implements to gather institute
State land and air double-used machine people's ambient condition information and be sent to ground slave computer by data-set.
Beneficial effect: compared with prior art, present invention have the advantage that
The land and air double-used machine people that the present invention provides is using four rotors as flight module, by changing turning of 4 model plane motors
Speed controls skyborne various attitude；Using independent four-wheel drive as land walking module.This robot can complete in real time
Image transmitting, GPS positions, the function such as automatically make a return voyage.Ground mode use 4 direct current generators to four motorized wheels,
Change motor speed and realize differential steering, owing to four-wheel has entangled blade, it is to avoid blade is front and back and the touching of vertical direction
Hit, blade can be effectively protected and reduce danger, can well complete the conversion between the sky walking mode of land, energy simultaneously
Enough adapt to the physical features of various complexity, select most suitable mode of operation according to surrounding bad border.This land and air double-used machine people can be
Help the relevant personnel to detect, play significant role during search and rescue, alleviate the workload of rescue worker.Simultaneously because
This land and air double-used machine people's motility is high, and good stability is provided simultaneously with land sky pattern, it is possible to send out in express transportation industry
Wave great function.
Accompanying drawing explanation
Fig. 1 is the structure chart of the embodiment of the present invention；
Fig. 2 is the front view of embodiment；
Fig. 3 is the left view of embodiment；
Fig. 4 is the top view of embodiment；
In figure: 1, skeleton, 2, horn, 3, electron speed regulator, 4, model plane motor, 5, data-set, 6, straight
Stream motor, 7, motor fixing seat, 8, travelling gear, 9, wheel rim, 10 spokes, 11, master controller, 12, remote control
Device receiver, 13, propeller, 14, GPS module, 15, GPS support, 16, photographic head, 17 batteries.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described.
Embodiment: if Fig. 1 is to as described in 4 being the structure chart of the present embodiment, including: skeleton 1, horn 2, electronic speed regulation
Device 3, model plane motor 4, data-set 5, direct current generator 6, motor fixing seat 7, travelling gear 8, wheel rim 9, wheel
Spoke 10, master controller 11, remote control receiver 12, propeller 13, GPS module 14, GPS support 15, photographic head
16, battery 17.This land and air double-used machine people is divided into skeleton 1, power module, flight module, land walking module and control
Molding block.
Skeleton 1 uses 3K carbon fiber board to be made, and skeleton 1 has 4 horns 2 being distributed in X-shaped.
Described land walking module includes front, rear, left and right wheel, and each wheel is equipped with a direct current generator 6, directly
Stream motor 6 is fixed on skeleton 1 by motor fixing seat 7；Described wheel includes wheel rim 9 and spoke 10, spoke 10
For open circles ring flat-plate, wheel rim 9 is set on spoke and is uniformly provided with on inwall teeth groove, and on spoke 10 excircle, interval is all
Even is provided with one group of travelling gear 8 matched with the teeth groove on wheel rim 9；The outfan of direct current generator 6 and corresponding wheel
On travelling gear 8 input rotating shaft and be connected, engage the rotating speed biography of direct current generator output with wheel rim teeth groove by travelling gear
Pass wheel rim.Planting the kind of drive of single overall spoke transmission of motor gear engagement, one decreases similar Caterpillar transmission mechanism
The weight increased, two can reduce the size of block mold.
Described flight module includes four, front, rear, left and right propeller 13, and each propeller 13 is equipped with a model plane electricity
Machine 4 and an electron speed regulator 3；4 electron speed regulators 3 are tied up respectively on four horns 2,4 model plane motors 4
Being separately fixed at four horn 2 afterbodys, the output revolving shaft of model plane motor 4 is provided with propeller 13, model plane motor 4 defeated
Enter end to be connected with corresponding electron speed regulator 3；The blade junction point of front, rear, left and right propeller respectively fall in forward and backward,
On the center of circle of left and right wheel, propeller 13 blade length is less than the inside radius of spoke 10, the blade rotation of propeller 13
Turn face be perpendicular to corresponding wheel place plane and wheel place plane is divided into upper and lower two parts.Owing to four-wheel has entangled oar
Leaf, it is to avoid blade, front and back and the collision of vertical direction, can be effectively protected blade and reduce danger.And wheel
The vibrations causing the conversion of land sky have cushioning effect, wheel to entangle propeller 13, play a protective role propeller.
Described control module includes master controller 11, remote control receiver 12 and remote controller；Control module is with master controller
11 are programmed controlling as control centre, and master controller 11 accepts, by remote controller receiver, the signal that remote controller sends.
The input of master controller 11 is connected with remote control receiver 12, the outfan of master controller 11 respectively with direct current generator 6
It is connected with electron speed regulator 3；Beeper sends instruction by remote controller, and master controller 11 is by remote control receiver 12
Receive instruction and the rotating speed according to instruction adjustment direct current generator and model plane motor controls robot and makes corresponding actions.Work as place
When the pattern of land, by change 4 direct current generators 6 rotating speed, it is achieved robot movement on the ground with turn to；
When being in offline mode, by changing the rotating speed of model plane motor 4, drive 4 spirals being distributed on skeleton 1 in X
Oar 13 makes land and air double-used machine people complete flight and the posture changing of aerial mode.
Data-set 5 is fixed on skeleton 1, and its model is 3DR433.The input of data-set 5 and main control
Device 11 is connected, and carries out data interaction for the slave computer with ground.Robot pose is particularly flown by data-set 5
Orientation during row, self heeling condition, height etc. send back mobile phone or computer earth station in real time, in order to operator
Can control in time.GPS module 14 is placed on GPS support 15, can be passed by gps signal by data-set 5
It is delivered to earth station, it is simple to this robot localization.Photographic head 16 is fixed on overall skeleton 1, and transmission image is extremely in real time
Display screen, when operator is away from robot, it is simple to operator observes and makes robot have detection and reconnaissance capability simultaneously.
Battery 17 is fixed on overall skeleton 1, provides power for whole robot.
The land and air double-used machine people that the present invention provides is possible not only to aviation flight, is also added into this module of ground running,
The exploration of tera incognita, overcomes rugged physical features to play an important role.Land and air double-used combining, both are complementary, earth module
Flight module can be played a protective role, can farthest play the advantage of aircraft, protect blade simultaneously,
Reduce danger.The range of application making aircraft more extensively and incites somebody to action the increasingly marketization, therefore, land and air double-used machine
People has the finest development prospect.
The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art
For, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications are also
Should be regarded as protection scope of the present invention.
Claims (5)
1. a land and air double-used machine people, it is characterised in that including: skeleton, power module, flight module, land
Walking module and control module；Wherein,
Land walking module includes front, rear, left and right wheel, and each wheel is equipped with a direct current generator；Described wheel
Including wheel rim and spoke, spoke is open circles ring flat-plate, and wheel rim is set on spoke and is uniformly provided with teeth groove, spoke on inwall
Evenly spaced on excircle it is provided with one group of travelling gear matched with the teeth groove on wheel rim；The outfan of direct current generator with
Transmission gear rotational shaft on corresponding wheel is connected, and is engaged the rotating speed exported by direct current generator with wheel rim teeth groove by travelling gear
Pass to wheel rim；
Described flight module includes four, front, rear, left and right propeller, and each propeller is equipped with a model plane motor and
Individual electron speed regulator；The outfan of model plane motor is connected with the rotating shaft of corresponding propeller, input and corresponding electronic speed regulation
Device is connected；The blade junction point of front, rear, left and right propeller respectively falls on the center of circle of front, rear, left and right wheel,
Propeller blade length is less than spoke inside radius, and the surfaces of revolution of propeller blade is perpendicular to corresponding wheel place plane and by car
Wheel place plane is divided into upper and lower two parts；
Described control module includes master controller, remote control receiver and remote controller；The outfan of master controller respectively with directly
Stream motor is connected with electron speed regulator, and input is connected with remote control receiver；Beeper sends instruction by remote controller,
Master controller receives instruction by remote control receiver and the rotating speed according to instruction adjustment direct current generator and model plane motor is controlled
Robot processed makes corresponding actions.
One the most according to claim 1 land and air double-used machine people, it is characterised in that also include data-set；
Master controller built-in attitude transducer module, data-set is connected with master controller, by attitude transducer in master controller
The described land and air double-used machine human body posture data that module collects send beeper to, send instruction for beeper and carry
For reference；Described athletic posture data include inclination angle data and direction of motion data.
One the most according to claim 2 land and air double-used machine people, it is characterised in that described data-set is
3DR433 type data-set.
One the most according to claim 2 land and air double-used machine people, it is characterised in that also include GPS module,
The altitude information of gps signal and described land and air double-used machine people is delivered to earth station by data-set by GPS module,
Position for described land and air double-used machine people.
One the most according to claim 2 land and air double-used machine people, it is characterised in that also include photographic head, take the photograph
As head is fixed on skeleton, implement gather described land and air double-used machine people's ambient condition information and sent by data-set
To ground slave computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610384073.4A CN106004285A (en) | 2016-06-01 | 2016-06-01 | Land and air dual-purpose robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610384073.4A CN106004285A (en) | 2016-06-01 | 2016-06-01 | Land and air dual-purpose robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106004285A true CN106004285A (en) | 2016-10-12 |
Family
ID=57089519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610384073.4A Pending CN106004285A (en) | 2016-06-01 | 2016-06-01 | Land and air dual-purpose robot |
Country Status (1)
| Country | Link |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128487A (en) * | 2017-04-28 | 2017-09-05 | 杨明远 | A kind of aircraft with multipurpose structure changes protecting frame |
| CN107495812A (en) * | 2017-10-09 | 2017-12-22 | 黄文佳 | A kind of express delivery box structure |
| CN107719652A (en) * | 2017-10-09 | 2018-02-23 | 黄文佳 | A kind of express delivery box |
| CN107757917A (en) * | 2017-10-09 | 2018-03-06 | 黄文佳 | Remote control express delivery box |
| CN108016225A (en) * | 2017-12-29 | 2018-05-11 | 安徽理工大学 | A kind of land and air double-used aircraft |
| CN108189633A (en) * | 2017-12-20 | 2018-06-22 | 深圳先进技术研究院 | A kind of land and air double-used machine people Reconnaissance system |
| CN109455051A (en) * | 2018-10-30 | 2019-03-12 | 佛山市神风航空科技有限公司 | A kind of 4 wheel driven hovercar |
| CN109702756A (en) * | 2019-01-14 | 2019-05-03 | 浙江理工大学 | Eight bar reconnaissance robot of land, water and air |
| CN111959742A (en) * | 2020-07-17 | 2020-11-20 | 北京理工大学 | Wheel and duct shared air-ground unmanned vehicle |
| WO2020243925A1 (en) * | 2019-06-05 | 2020-12-10 | 中国科学院深圳先进技术研究院 | Rotor structure and rolling and crawling robot using same |
| CN112498673A (en) * | 2020-12-08 | 2021-03-16 | 歌尔科技有限公司 | Actuating mechanism and unmanned aerial vehicle |
| CN112498034A (en) * | 2020-11-15 | 2021-03-16 | 南京理工大学 | Wheel-propeller integrated air-ground amphibious robot |
| US11491989B2 (en) * | 2019-08-29 | 2022-11-08 | Hyundai Motor Company | Vehicle using eccentric wheel |
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| CN104470601A (en) * | 2012-06-07 | 2015-03-25 | 维托尔德·米尔尼克泽克 | Propulsion system for a vehicle or a toy vehicle |
| CN204965188U (en) * | 2015-08-24 | 2016-01-13 | 武汉好奥航空技术有限公司 | A two remaining flight control for many rotor unmanned aerial vehicle of remote control |
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| WO2011149544A1 (en) * | 2010-05-26 | 2011-12-01 | Aerovironment Inc. | Reconfigurable battery-operated vehicle system |
| CN104470601A (en) * | 2012-06-07 | 2015-03-25 | 维托尔德·米尔尼克泽克 | Propulsion system for a vehicle or a toy vehicle |
| CN204965188U (en) * | 2015-08-24 | 2016-01-13 | 武汉好奥航空技术有限公司 | A two remaining flight control for many rotor unmanned aerial vehicle of remote control |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128487A (en) * | 2017-04-28 | 2017-09-05 | 杨明远 | A kind of aircraft with multipurpose structure changes protecting frame |
| CN108438542B (en) * | 2017-10-09 | 2020-05-01 | 瑞安市如果建材有限公司 | Express delivery box |
| CN107495812A (en) * | 2017-10-09 | 2017-12-22 | 黄文佳 | A kind of express delivery box structure |
| CN107719652A (en) * | 2017-10-09 | 2018-02-23 | 黄文佳 | A kind of express delivery box |
| CN107757917A (en) * | 2017-10-09 | 2018-03-06 | 黄文佳 | Remote control express delivery box |
| CN107719652B (en) * | 2017-10-09 | 2018-07-24 | 黄文佳 | A kind of express delivery box |
| CN108438542A (en) * | 2017-10-09 | 2018-08-24 | 黄文佳 | A kind of express delivery box |
| CN108189633A (en) * | 2017-12-20 | 2018-06-22 | 深圳先进技术研究院 | A kind of land and air double-used machine people Reconnaissance system |
| CN108016225A (en) * | 2017-12-29 | 2018-05-11 | 安徽理工大学 | A kind of land and air double-used aircraft |
| CN109455051A (en) * | 2018-10-30 | 2019-03-12 | 佛山市神风航空科技有限公司 | A kind of 4 wheel driven hovercar |
| CN109702756A (en) * | 2019-01-14 | 2019-05-03 | 浙江理工大学 | Eight bar reconnaissance robot of land, water and air |
| CN109702756B (en) * | 2019-01-14 | 2023-11-03 | 浙江理工大学 | Water, land and air eight-rod reconnaissance robot |
| WO2020243925A1 (en) * | 2019-06-05 | 2020-12-10 | 中国科学院深圳先进技术研究院 | Rotor structure and rolling and crawling robot using same |
| US11491989B2 (en) * | 2019-08-29 | 2022-11-08 | Hyundai Motor Company | Vehicle using eccentric wheel |
| CN111959742A (en) * | 2020-07-17 | 2020-11-20 | 北京理工大学 | Wheel and duct shared air-ground unmanned vehicle |
| CN112498034A (en) * | 2020-11-15 | 2021-03-16 | 南京理工大学 | Wheel-propeller integrated air-ground amphibious robot |
| CN112498673A (en) * | 2020-12-08 | 2021-03-16 | 歌尔科技有限公司 | Actuating mechanism and unmanned aerial vehicle |
| CN112498673B (en) * | 2020-12-08 | 2022-03-25 | 歌尔科技有限公司 | Actuating mechanism and unmanned aerial vehicle |
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| C06 | Publication | ||
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Application publication date: 20161012 |