CN107719049A - Land and air double-used quadrotor - Google Patents
Land and air double-used quadrotor Download PDFInfo
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- CN107719049A CN107719049A CN201711127156.6A CN201711127156A CN107719049A CN 107719049 A CN107719049 A CN 107719049A CN 201711127156 A CN201711127156 A CN 201711127156A CN 107719049 A CN107719049 A CN 107719049A
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- land
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- fixed support
- air double
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- 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
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- 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
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
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Abstract
The invention provides a kind of land and air double-used quadrotor, including fixed support and dual-purpose state switch motor, support bracket fastened both ends are rotatably connected to runing rest respectively, the both ends of runing rest are provided with rotor motor vertically upward, rotor is directly connected on the output shaft of rotor motor, and the end of rotor is provided with rotary wing wheel；Dual-purpose state switch motor is installed on fixed support, chute is provided with the one side of remote rotor motor on runing rest, one end of lower link is provided with sliding block and sliding block is slideably positioned in chute, the output axis connection of the other end of lower link and dual-purpose state switch motor.By the length for rationally designing chute, when sliding block slides into one end of chute, runing rest and fixed support parallel coincidence just, land and air double-used quadrotor is in state of flight, when sliding block slides into the other end end of chute, runing rest is just vertical with fixed support, and land and air double-used quadrotor is in ground running state.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of land and air double-used quadrotor.
Background technology
Quadrotor is a kind of relatively conventional and classical small aircraft, is widely used in military surveillance, resource is surveyed
Survey, the civilian technical field such as take photo by plane.The Flight Vehicle Structure is compact, motion is flexible, suitably makes in small space or complex environment
With.Aircraft lands are needed to scout under some particular cases, such as inside building, small space inside the thick grass woods.In order to
The multifunction development of aircraft to be realized, it is carried out picture photographing on land, and can is observed investigation from the air,
So proposing the concept of land and air double-used aircraft, and preferably developed in recent years.But empty land of the prior art is dual-purpose
The structure of aircraft is mostly directly to add four wheels on quadrotor, or is still empty by the rotation forces of rotor
Gas moves ahead, and these aircraft, which exist, controls the defect such as low with complicated in mechanical structure, ground running efficiency.
Also occur the quadrotor that can be switched between state of flight and walking states in the prior art,
Rotor is driven to rotate by switching mechanism so that rotor switches parallel to ground and between ground, so as to real
Existing offline mode and walking mode.But the conversion of offline mode and walking mode fully relies on motor angle of rotation in the prior art
Degree is controlled, and is sometimes difficult to ensure that rotor is in horizontally or vertically state, is influenceed to fly or walk.
The content of the invention
It is a primary object of the present invention to provide a kind of land and air double-used quadrotor, to provide a kind of mechanical structure,
Ensure that quadrotor after the conversion of offline mode and walking mode, is at fully horizontal or plumbness.
To achieve these goals, the invention provides a kind of land and air double-used quadrotor, including fixed support and
Dual-purpose state switch motor, support bracket fastened both ends are rotatably connected to runing rest respectively, and the both ends of runing rest are vertically upward
Rotor motor is installed, rotor is directly connected on the output shaft of rotor motor, and the end of rotor is provided with rotary wing wheel；Dual-purpose shape
State switch motor is installed on fixed support, and chute, lower link are provided with the one side of the remote rotor motor on runing rest
One end be provided with sliding block and sliding block is slideably positioned in chute, the output of the other end of lower link and dual-purpose state switch motor
The output shaft of the bearing of trend of axis connection and lower link and dual-purpose state switch motor is axially vertical, dual-purpose state switch motor band
Dynamic lower link is rotated so as to, along slide, and then drive runing rest to be rotated around fixed support with movable slider, when sliding block slides
To chute one end end when, runing rest and fixed support parallel coincidence just, land and air double-used quadrotor, which is in, to fly
Row state, when sliding block slides into the other end end of chute, runing rest is just vertical with fixed support, land and air double-used four rotation
Rotor aircraft is in ground running state.
Further, the inner side of rotary wing wheel corresponds to rotor and is provided with deck, and the end of rotor is connected in deck.
Further, the outside of rotary wing wheel makes for rubber.
Further, land and air double-used quadrotor also includes liftable device lift, liftable device lift
In land and air double-used quadrotor from during state of flight is switched to walking states, liftable device lift, which declines, to be made
The radius that the distance between fixed support and ground are more than rotary wing wheel is obtained, liftable device lift flies in land and air double-used four rotor
Row device is completed after state of flight is switched to walking states, and liftable device lift, which rises, to be caused between fixed support and ground
Distance be less than rotary wing wheel radius.
Further, liftable device lift includes undercarriage, lifting motor, upper connecting rod, lifts motor
Support bracket fastened upper surface is installed on, the upper end of undercarriage through the hole on fixed support and passes through upper connecting rod with lifting driving electricity
The output axis connection of machine, the bearing of trend of upper connecting rod and the output shaft for lifting motor are axially perpendicular, lift motor
Work drives upper connecting rod to be rotated in perpendicular, so as to drive undercarriage to move up and down.
Further, undercarriage includes four supporting legs, and supporting leg is fixedly connected on the lower surface of support flat board, supports flat board
Upper surface be connected with vertical axes, vertical axes are rotatablely connected through the hole on fixed support and its upper end with upper connecting rod.
Further, the outer cover of vertical axes is provided with spring, and one end apical grafting of spring is on support flat board, other end apical grafting
In on fixed support.
Further, liftable device lift also includes driving wheel disc, and driving wheel disc is directly with lifting motor
On output shaft, upper connecting rod and driving wheel disc rotation connection.
Further, rotor support is also equipped between rotor motor and runing rest, rotor support is installed on rotation branch
On frame, rotor motor is installed on the both ends of rotor support.
Further, rotor, deck, rotor support, runing rest, undercarriage, driving wheel disc, upper connecting rod, fixed support,
Lower link, chute are made of PLA poly-lactic acid materials.
Apply the technical scheme of the present invention, when dual-purpose state switch motor rotates, drive the sliding block edge of lower link end sliding
Groove slides, so as to promote runing rest to rotate, by rationally designing the length of chute, and when sliding block slides into one end of chute,
Runing rest is in state of flight with fixed support parallel coincidence just, land and air double-used quadrotor, when sliding block slides into
During the other end end of chute, runing rest is just vertical with fixed support, and land and air double-used quadrotor is in ground row
Walk state.The present invention ensures the standard of rotor position by the length of chute by providing a kind of mechanical structure of rod slide
Really, ensure the accurate switching of state of flight and walking states, increase reliability of structure.Meanwhile flight and walking of the invention
State switching structure is simple, it is convenient to realize, practical, is worth of widely use.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing a further understanding of the present invention, and of the invention shows
Meaning property embodiment and its illustrate be used for explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 shows the three dimensional structure diagram of the state of flight of the land and air double-used quadrotor of the present invention；
Fig. 2 shows the three dimensional structure diagram of the walking states of the land and air double-used quadrotor of the present invention；
Fig. 3 shows the mplifying structure schematic diagram of the liftable device lift in Fig. 1 and Fig. 2；
Fig. 4 shows the undercarriage of the liftable device lift in Fig. 3, lifting motor, upper connecting rod and driving wheel disc
Mplifying structure schematic diagram；
Fig. 5 shows dual-purpose state switch motor in Fig. 1 and Fig. 2, chute, the mplifying structure schematic diagram of lower link part.
Wherein, above-mentioned accompanying drawing marks including the following drawings：
10th, fixed support；11st, runing rest；20th, rotor；21st, rotor motor；22nd, rotary wing wheel；23rd, deck；24th, rotor branch
Frame；30th, dual-purpose state switch motor；31st, chute；32nd, lower link；40th, undercarriage；41st, motor is lifted；42nd, upper connecting rod；
43rd, spring；44th, wheel disc is driven.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
In the present invention, in the case where not making opposite explanation, the noun of locality such as " upper and lower, top, bottom " used is typically pin
For direction shown in the drawings, or for part in itself on vertical, vertical or gravity direction for；Equally
Ground, for ease of understanding and describing, " inside and outside " refers to the inside and outside of the profile relative to each part in itself, but the above-mentioned noun of locality is not
For limiting the present invention.
To provide a kind of mechanical structure, ensure that quadrotor, can after the conversion of offline mode and walking mode
In fully horizontal or plumbness, the invention provides a kind of land and air double-used quadrotor.
As shown in Figures 1 to 5, land and air double-used quadrotor includes fixed support 10 and dual-purpose state switch motor
30, the both ends of fixed support 10 are rotatably connected to runing rest 11 respectively, and the both ends of runing rest 11 are provided with rotation vertically upward
Wing motor 21, rotor 20 are directly connected on the output shaft of rotor motor 21, and the end of rotor 20 is provided with rotary wing wheel 22；, two
It is installed on fixed support 10 with state switch motor 30, is provided with the one side of the remote rotor motor 21 on runing rest 11
Chute 31, one end of lower link 32 is provided with sliding block and sliding block is slideably positioned in chute 31, the other end of lower link 32 and two
With the output axis connection of state switch motor 30 and the output shaft of the bearing of trend of lower link 32 and dual-purpose state switch motor 30
Axially vertical, dual-purpose state switch motor 30 drives lower link 32 to rotate so as to be slided with movable slider along chute 31, and then drives
Runing rest 11 rotates around fixed support 10, when sliding block slides into one end end of chute 31, runing rest 11 and fixed branch
The parallel coincidence just of frame 10, land and air double-used quadrotor are in state of flight, when sliding block slides into the other end of chute 31
During end, runing rest 11 is just vertical with fixed support 10, and land and air double-used quadrotor is in ground running state.
When dual-purpose state switch motor 30 rotates, the sliding block of the end of lower link 32 is driven to be slided along chute 31, so as to promote
Runing rest 11 rotates, by rationally designing the length of chute 31, when sliding block slides into one end of chute 31, and runing rest 11
With the parallel coincidence just of fixed support 10, land and air double-used quadrotor is in state of flight, when sliding block slides into chute 31
The other end end when, runing rest 11 is just vertical with fixed support 10, and land and air double-used quadrotor is in ground row
Walk state.The present invention ensures the standard of rotor position by the length of chute by providing a kind of mechanical structure of rod slide
Really, ensure the accurate switching of state of flight and walking states, increase reliability of structure.
Specifically, the inner side of rotary wing wheel 22 corresponds to rotor 20 and is provided with deck 23, and the end of rotor 20 is connected in deck 23
It is interior.By deck 23, so as to realize being fixedly connected between rotor 20 and rotary wing wheel 22.
Preferably, the outside of rotary wing wheel 22 makes for rubber.Rubber can buffer the impact that ground is come, so as to increase ground
Stationarity during walking.
As depicted in figs. 1 and 2, rotor support 24, rotor support are also equipped between rotor motor 21 and runing rest 11
24 are installed on runing rest 11, and rotor motor 21 is installed on the both ends of rotor support 24.By setting rotor support 24, so as to
Increase rotary wing wheel 22 from the upper surface of runing rest 11 with a distance from, prevent above rotary wing wheel 22 and fixed support 10 and runing rest 11
The equipment interference of carrying.
As shown in Figures 1 to 4, land and air double-used quadrotor also includes liftable device lift, and liftable device rises
Fall mechanism in land and air double-used quadrotor from during state of flight is switched to walking states, liftable device lift
Decline and cause the distance between fixed support 10 and ground more than the radius of rotary wing wheel 22, so as to avoid rotary wing wheel 22 from horizontal
State touches ground during being switched to vertical state, ensure to change the smooth realization of brick process, liftable device lift is in land
Empty dual-purpose quadrotor is completed after state of flight is switched to walking states, and liftable device lift, which rises, to fix
The distance between support 10 and ground are less than the radius of rotary wing wheel 22, so that rotary wing wheel contacts with ground, realize walking shape
State.Due to the presence of liftable device lift, land and air double-used quadrotor can realize flight and walking states automatically
Between switching, changed after without people, land and air double-used quadrotor is picked up, increase state switching convenience.
Specifically, as shown in Figures 1 to 4, liftable device lift include undercarriage 40, lifting motor 41, on
Connecting rod 42, lifting motor 41 are installed on the upper surface of fixed support 10, and the upper end of undercarriage 40 is passed through on fixed support 10
Hole and pass through upper connecting rod 42 and the output axis connection of lifting motor 41, the bearing of trend of upper connecting rod 42 and lifting driving electricity
The output shaft of machine 41 is axially perpendicular, and the lifting work of motor 41 drives upper connecting rod 42 to be rotated in perpendicular, so as to band
Dynamic undercarriage 40 moves up and down.
As shown in Figures 1 to 4, undercarriage 40 includes four supporting legs, and supporting leg is fixedly connected on the lower surface of support flat board,
The upper surface of support flat board is connected with vertical axes, and vertical axes rotate through the hole on fixed support 10 and its upper end with upper connecting rod 42
Connection, the outer cover of vertical axes are provided with spring 43, and one end apical grafting of spring 43 is on support flat board, and other end apical grafting is in fixed branch
On frame 10.Spring 43 can buffer the impact on ground when land and air double-used quadrotor lands, and reduce ground shock and bring pair
The destruction of land and air double-used quadrotor.
Specifically, if shown in 1 to Fig. 4, liftable device lift also includes driving wheel disc 44, and driving wheel disc 44 is direct
On output shaft with lifting motor 41, upper connecting rod 42 is rotatablely connected with driving wheel disc 44, is risen by driving wheel disc 44 to realize
Being reliably connected between drop motor 41 and upper connecting rod 42.
Preferably, rotor 20, deck 23, rotor support 24, runing rest 11, undercarriage 40, driving wheel disc 44, upper connecting rod
42nd, fixed support 10, lower link 32, chute 31 are made of PLA poly-lactic acid materials, so as to effectively reduce land and air double-used four rotation
The overall weight of rotor aircraft, ensure that all parts because long-time support is without deforming, increase intensity.
As can be seen from the above description, the above embodiments of the present invention realize following technique effect：.
1. controlling the angle of the rotation of rotor 20 by mechanical structure, ensure that rotor 20 is in horizontally or vertically state；
2. fixed support 10 is controlled apart from the height on ground by liftable device lift, so as to ensure that rotor 20 can be real
Now automatically switch.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, work, device, component and/or combinations thereof.
It should be noted that term " comprising " and " tool in the description and claims of this application and above-mentioned accompanying drawing
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment are not necessarily limited to those steps clearly listed or unit, but may include without clear
It is listing to Chu or for the intrinsic other steps of these processes, method, product or equipment or unit.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. land and air double-used quadrotor, it is characterised in that including：Fixed support（10）, the fixed support（10）Both ends be rotatably connected to runing rest respectively（11）, the rotation branch Frame（11）Both ends rotor motor is installed vertically upward（21）, rotor（20）It is directly connected in the rotor motor（21）It is defeated On shaft, the rotor（20）End rotary wing wheel is installed（22）；Dual-purpose state switch motor（30）, the dual-purpose state switch motor（30）It is installed on the fixed support（10）On, institute State runing rest（11）On the remote rotor motor（21）One side on be provided with chute（31）, lower link（32）One end It is provided with sliding block and the sliding block is slideably positioned in the chute（31）In, the lower link（32）The other end with it is described dual-purpose State switch motor（30）Output axis connection and the lower link（32）Bearing of trend and the dual-purpose state switch motor （30）Output shaft it is axially vertical, the dual-purpose state switch motor（30）Drive the lower link（32）Rotate so as to drive Sliding block is stated along the chute（31）Slide, and then drive the runing rest（11）Around the fixed support（10）Rotate, work as institute State sliding block and slide into the chute（31）One end end when, the runing rest（11）With the fixed support（10）Just it is flat Row overlaps, and the land and air double-used quadrotor is in state of flight, when the sliding block slides into the chute（31）It is another During the end of one end, the runing rest（11）With the fixed support（10）Just it is vertical, land and air double-used four rotor flying Device is in ground running state.
- 2. land and air double-used quadrotor according to claim 1, it is characterised in that the rotary wing wheel（22）Inner side The corresponding rotor（20）It is provided with deck（23）, the rotor（20）End be connected in the deck（23）It is interior.
- 3. land and air double-used quadrotor according to claim 1, it is characterised in that the rotary wing wheel（22）Outside Made for rubber.
- 4. land and air double-used quadrotor according to claim 1, it is characterised in that land and air double-used four rotor flies Row device also includes liftable device lift, and the liftable device lift is in land and air double-used quadrotor from flight shape During state is switched to walking states, the liftable device lift, which declines, causes the fixed support（10）With ground it Between distance be more than the rotary wing wheel（22）Radius, the liftable device lift is complete in land and air double-used quadrotor Into after being switched to walking states from state of flight, the liftable device lift, which rises, causes the fixed support（10）With ground The distance between face is less than the rotary wing wheel（22）Radius.
- 5. land and air double-used quadrotor according to claim 4, it is characterised in that the liftable device lift Including undercarriage（40）, lifting motor（41）, upper connecting rod（42）, the lifting motor（41）It is installed on the fixation Support（10）Upper surface, the undercarriage（40）Upper end pass through the fixed support（10）On hole and pass through the upper company Bar（42）With the lifting motor（41）Output axis connection, the upper connecting rod（42）Bearing of trend with it is described lifting drive Dynamic motor（41）Output shaft it is axially perpendicular, the lifting motor（41）Work drives the upper connecting rod（42）Vertical Rotation with surface, so as to drive the undercarriage（40）Move up and down.
- 6. land and air double-used quadrotor according to claim 5, it is characterised in that the undercarriage（40）Including four Bar supporting leg, the supporting leg are fixedly connected on the lower surface of support flat board, and the upper surface of the support flat board is connected with vertical axes, The vertical axes pass through the fixed support（10）On hole and its upper end and the upper connecting rod（42）Rotation connection.
- 7. land and air double-used quadrotor according to claim 6, it is characterised in that the outside of the vertical axes is arranged There is spring（43）, the spring（43）One end apical grafting in it is described support flat board on, other end apical grafting is in the fixed support （10）On.
- 8. land and air double-used quadrotor according to claim 5, it is characterised in that the liftable device lift Also include driving wheel disc（44）, the driving wheel disc（44）Directly with the lifting motor（41）Output shaft on, it is described Upper connecting rod（42）With the driving wheel disc（44）Rotation connection.
- 9. land and air double-used quadrotor according to claim 1, it is characterised in that the rotor motor（21）And institute State runing rest（11）Between be also equipped with rotor support（24）, the rotor support（24）It is installed on the runing rest（11） On, the rotor motor（21）It is installed on the rotor support（24）Both ends.
- 10. land and air double-used quadrotor as claimed in any of claims 1 to 9, it is characterised in that the rotation The wing（20）, deck（23）, the rotor support（24）, the runing rest（11）, the undercarriage（40）, the driving wheel disc （44）, the upper connecting rod（42）, the fixed support（10）, the lower link（32）, the chute（31）Using the poly- breasts of PLA Sour material is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711127156.6A CN107719049A (en) | 2017-11-15 | 2017-11-15 | Land and air double-used quadrotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711127156.6A CN107719049A (en) | 2017-11-15 | 2017-11-15 | Land and air double-used quadrotor |
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| CN107719049A true CN107719049A (en) | 2018-02-23 |
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| CN201711127156.6A Pending CN107719049A (en) | 2017-11-15 | 2017-11-15 | Land and air double-used quadrotor |
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Cited By (10)
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| CN110254151A (en) * | 2019-07-29 | 2019-09-20 | 谌薏冰 | A kind of land and air double-used smart machine |
| CN110975301A (en) * | 2019-12-25 | 2020-04-10 | 刘佳田 | Actuating mechanism for simulating air-ground dual-purpose automobile model and automobile model |
| CN111409404A (en) * | 2020-03-02 | 2020-07-14 | 上海工程技术大学 | Turbojet-driven air-ground amphibious transportation aircraft |
| WO2021078205A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Land-air dual-use unmanned aerial vehicle |
| CN112810392A (en) * | 2021-01-27 | 2021-05-18 | 杭州师范大学钱江学院 | Road-air dual-purpose aircraft with adjustable shock absorber and operation method thereof |
| CN113276613A (en) * | 2021-06-17 | 2021-08-20 | 北京理工大学 | Configuration-variable air-ground unmanned platform capable of air-ground joint debugging |
| CN114801616A (en) * | 2022-05-25 | 2022-07-29 | 江苏科技大学 | Multifunctional robot moving platform |
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| CN114801616B (en) * | 2022-05-25 | 2024-07-16 | 江苏科技大学 | Multifunctional robot moving platform |
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| US11897603B1 (en) * | 2016-07-13 | 2024-02-13 | Hyalta Aeronautics, Inc. | Convertible ducted fan engine |
| US11754085B1 (en) * | 2016-07-13 | 2023-09-12 | Hyalta Aeronautics, Inc. | Convertible fan engine |
| US11454245B1 (en) * | 2016-07-13 | 2022-09-27 | Hyalta Aeronautics, Inc. | Convertible ducted fan engine |
| CN110254151B (en) * | 2019-07-29 | 2022-08-09 | 河北达尔电子科技有限公司 | Air-ground dual-purpose intelligent equipment |
| CN110254151A (en) * | 2019-07-29 | 2019-09-20 | 谌薏冰 | A kind of land and air double-used smart machine |
| WO2021078205A1 (en) * | 2019-10-22 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Land-air dual-use unmanned aerial vehicle |
| CN110975301A (en) * | 2019-12-25 | 2020-04-10 | 刘佳田 | Actuating mechanism for simulating air-ground dual-purpose automobile model and automobile model |
| CN111409404B (en) * | 2020-03-02 | 2022-10-04 | 上海工程技术大学 | Turbojet-driven air-ground amphibious transportation aircraft |
| CN111409404A (en) * | 2020-03-02 | 2020-07-14 | 上海工程技术大学 | Turbojet-driven air-ground amphibious transportation aircraft |
| CN112810392B (en) * | 2021-01-27 | 2022-05-31 | 杭州师范大学钱江学院 | Road-air dual-purpose aircraft with adjustable shock absorber and operation method thereof |
| CN112810392A (en) * | 2021-01-27 | 2021-05-18 | 杭州师范大学钱江学院 | Road-air dual-purpose aircraft with adjustable shock absorber and operation method thereof |
| CN113276613A (en) * | 2021-06-17 | 2021-08-20 | 北京理工大学 | Configuration-variable air-ground unmanned platform capable of air-ground joint debugging |
| CN114801616A (en) * | 2022-05-25 | 2022-07-29 | 江苏科技大学 | Multifunctional robot moving platform |
| CN114801616B (en) * | 2022-05-25 | 2024-07-16 | 江苏科技大学 | Multifunctional robot moving platform |
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