CN108297638A - Land and air double-used bionical Hexapod Robot - Google Patents
Land and air double-used bionical Hexapod Robot Download PDFInfo
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- CN108297638A CN108297638A CN201810239763.XA CN201810239763A CN108297638A CN 108297638 A CN108297638 A CN 108297638A CN 201810239763 A CN201810239763 A CN 201810239763A CN 108297638 A CN108297638 A CN 108297638A
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- 241000238631 Hexapoda Species 0.000 title claims abstract description 36
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000005021 gait Effects 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052802 copper Inorganic materials 0.000 claims description 4
- 239000010949 copper Substances 0.000 claims description 4
- 239000011094 fiberboard Substances 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 3
- 239000011120 plywood Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 241000124008 Mammalia Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000005287 neuromuscular process controlling balance Effects 0.000 description 1
Classifications
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to amphibious robot technical fields, and in particular to a kind of land and air double-used bionical Hexapod Robot can be used for complicated landform.The land and air double-used bionical Hexapod Robot of one kind of the present invention, is made of control assembly, six groups of walking components and six groups of flight components.Control assembly include microcontroller, electron speed regulator, main body support plate and respectively with the fixed flight control panel of main body support plate, motor driver and servos control plate.Every group of walking component includes the steering engine III being connected with main body support plate, the steering engine II being connected with steering engine III by four-bladed vane and the pedipulator being connected with steering engine II by U-shaped board.Every group of flight component includes the motor being connected with electron speed regulator and propeller folding-unfolding mechanism.The land and air double-used bionical Hexapod Robot of the present invention greatly overcomes the two disadvantages by the combination of legged type robot and multiaxis unmanned plane, and motor and propeller can make robot crossing over blockage, realizes short distance flight, while can also reach faster speed.
Description
Technical field
The invention belongs to amphibious robot technical fields, and in particular to a kind of land and air double-used bionical Hexapod Robot can be used
In complicated landform.
Background technology
Under real human society and natural conditions, there is the robot of conventional wheel or the crawler belt method of operation to be difficult to pass through
Complicated rugged landform.However, Pterigota class insect but can easily go beyond all kinds of obstacles by appropriate use of foot and wing.
Currently, existing bionical Hexapod Robot generally existing independence, adaptability, stability and lightweight deficiency, high energy consumption, mobile speed
The problems such as degree is slow and is difficult to cross heavy grade obstacle, seriously constrains the popularization of such humanoid robot.
Invention content
It is an object of the invention in view of the above shortcomings of the prior art, provide a kind of land and air double-used bionical six sufficient machine
Unmanned plane and the ingenious combination of multi-foot robot are enable bio-robot with Different Exercise Mode to adapt to difference by people
Landform, and can realize that short distance is flown, it can be used as manhole cover hoisting device and applied.
A kind of land and air double-used bionical Hexapod Robot, by 100, six groups of walking components 200 of control assembly and six groups of flight crews
Part 300 is constituted；Wherein, control assembly 100 include microcontroller 102, electron speed regulator 106, main body support plate 104 and respectively with
104 fixed flight control panel 101 of main body support plate, motor driver 103 and servos control plate 105, and 101 He of flight control panel
Servos control plate 105 controls with microcontroller 102 connect respectively；
Every group of walking component 200 includes the steering engine III 208 being connected with main body support plate 104, by four-bladed vane 207 and rudder
Pedipulator machine III 208 connected steering engine II 206 and be connected with steering engine II 206 by U-shaped board 205；
Every group of flight component 300 includes the motor 301 being connected with electron speed regulator 106 and propeller folding-unfolding mechanism,
The motor 301 is fixed on the electric machine support 302 of propeller folding-unfolding mechanism, decelerating motor 305 in propeller folding-unfolding mechanism
Rotation can drive electric machine support 302 to rotate, the receipts that each decelerating motor 305 passes through 103 synchronous control propeller of motor driver
Exhibition；
Machine is completed in the movement that the servos control plate 105 can control steering engine I 204, steering engine II 206 and steering engine III 208
The different gaits of people；The flight control panel 101 regulates and controls the flight attitude of robot by electron speed regulator 106.
The flight control panel 101 is fixed on main body top plate 104a, main body top plate 104a and main body middle plate
104b is connected by long hexagonal copper post, and servos control plate 105 and motor driver 103 are separately fixed at main body middle plate 104b
On, it is fixed by glass fiberboard bolt between main body middle plate 104b and main body lower plywood 104c.
The control assembly 100 further includes the battery 107 being fixed on main body support plate 104.
The pedipulator is made of sufficient end snubber block 201, V-type plate 202, leg plate 203, steering engine I 204, the foot end
Snubber block 201 is connected with 202 lower end of V-type plate, and V-type plate 202 is connected with 203 lower end of leg plate, and leg plate 203 is fixed with steering engine I 204,
Steering engine I 204 is connected by U-shaped board 205 with steering engine II 206.
The electric machine support 302 is mounted on 203 upper end of leg plate, and gasket is housed between leg plate 203.
The walking component 200 further includes the sensor 209 being mounted on sufficient end snubber block 201.
The flight component 300 further includes propeller and decelerating motor support plate 306, and decelerating motor 305 passes through decelerating motor
Support plate 306 is fixed on leg plate 203.
The propeller folding-unfolding mechanism further includes gear wheel 303 and pinion gear 304, and the electric machine support 302 is mounted on machine
On the leg plate 203 of tool leg, rotary shaft is connected with gear wheel 303, and gear wheel 303 is engaged with pinion gear 304, and pinion gear 304 is set
It sets on decelerating motor 305.
Compared with prior art, the beneficial effects of the present invention are：
Although 1, conventional multi-foot robot far above wheeled or wheel legged type robot but is gone back in adaptive capacity to environment
Have great limitation, such as be difficult to cross higher barrier, movement speed slowly etc., our land and air double-used bionical six sufficient machines
Device people greatly overcomes the two disadvantages by the combination of legged type robot and multiaxis unmanned plane, and motor and propeller can be with
Make robot crossing over blockage, realizes short distance flight, while can also reach faster speed；
2, robot copies insect, by selecting stable accurate steering engine to replace the muscle of insect, and by steering engine
Leg is directly constituted with necessary connector, obstacle climbing ability is being kept, is subtracting to the full extent under the premise of the advantages such as bearing capacity
Light total quality；
3, land and air double-used bionical Hexapod Robot cleverly combines the general character of multiaxis unmanned plane and multi-foot robot, in foot
The top of formula robot minor details foot directly installs the flight equipments such as propeller bracket and motor additional so that the structure of robot is more tight
It is close, improve space availability ratio；
4, use gear drive, gear tight between the propeller bracket and decelerating motor of land and air double-used bionical Hexapod Robot
It is tightly fitted on the leg plate of robot, substantially increases space availability ratio, while decelerating motor is made by positive and negative rotation band moving gear
It obtains each propeller bracket to be directly rotated on extreme position, improves the fault-tolerance of robot；Robot architecture is compact so that
In the main body rack of robot other than various controllers and battery are installed also there are larger spaces can be according to different realities
Border requires the equipment such as installation camera, further improves the applicability of robot；
5, robot is expert at after the propeller ability of taking down the exhibits of land and air double-used bionical Hexapod Robot makes propeller fold
Self disorder smaller under walking modes, while robot being made to be easier to store after folding；
6, land and air double-used bionical Hexapod Robot sufficient end install sensor, this make robot landing when safety more
Secure, this is that conventional multiaxis unmanned plane is unapproachable, also, carries out Real-time Feedback in sufficient end installation pressure sensor,
Robot constantly collects processing data and carries out automatic regulation of balance, also improves reliability and adaptability under non-structural landform；
7, six legs of land and air double-used bionical Hexapod Robot are distributed as six side of axial symmetry on robot body's holder
Shape, the structure are conducive to robot and switch between imitative insect gait and imitative mammal gait.
Description of the drawings
Fig. 1 is the robot block mold figure of land and air double-used bionical Hexapod Robot；
Fig. 2 is the single leg side view of land and air double-used bionical Hexapod Robot；
Fig. 3 is land and air double-used bionical Hexapod Robot leg plate and folding-unfolding mechanism composition model；
Fig. 4 is that folding-unfolding mechanism folds schematic diagram；
Fig. 5 is folding-unfolding mechanism expanded schematic diagram；
Fig. 6 is main body-side view.
In figure, 100. control assemblies 200. walking 300. flight component of component, 101. flight control panel, 102. microcontroller
103. 107. battery of motor driver 104. main body support plate, 105. servos control plate, 106. electron speed regulator, 108. hexagonal copper
Sufficient II 207.s of end 206. steering engine of snubber block 202.V template 203. leg plate, 203 204. steering engine, I 205.U templates of column 201.
303. gear wheel of four-bladed vane 208. steering engine, III 209. sensor, 301. motor, 302. electric machine support, 304. pinion gear 305.
306. decelerating motor support plate of decelerating motor.
Specific implementation mode
Below in conjunction with the accompanying drawings, the present invention is described further by embodiment：
A kind of land and air double-used bionical Hexapod Robot, by 100, six groups of walking components 200 of control assembly and six groups of flight crews
Part 300 is constituted, and each component specific location is as shown in Figure 1.
Wherein, control assembly 100 by flight control panel 101, microcontroller 102, motor driver 103, main body support plate 104,
Servos control plate 105, electron speed regulator 106 and the composition of battery 107 being fixed on main body support plate 104.The flight control panel
101, motor driver 103 and servos control plate 105 are fixed with main body support plate 104 respectively.The flight control panel 101 and steering engine
Control panel 105 controls with microcontroller 102 connect respectively.
As shown in figure 5, the flight control panel 101 is fixed on by 4 M3 screws on main body top plate 104a, in main body
Laminate 104a is connected with main body middle plate 104b by 4 40mm long hexagonals copper posts 108, and servos control plate 105 and motor drive
Dynamic device 103 is respectively fixed on by 4 M3 screws on main body middle plate 104b, main body middle plate 104b and main body lower plywood 104c it
Between bolt is carried out by glass fiberboard identical with main board material connect and be fixed.
As Figure 2-Figure 5, every group of walking component 200 is by U-shaped board 205, steering engine II 206, four-bladed vane 207, steering engine
208, sensor 209 and the pedipulator being made of sufficient end snubber block 201, V-type plate 202, leg plate 203, steering engine I 204 are constituted,
And it is controlled by servos control plate 105.
Steering engine III 208 is connect with walking 200 junction of component by M3 screws by main body support plate 104, and steering engine II 206 passes through
Four-bladed vane 207 is connect with steering engine III 208, and screw connects steering engine II 206 and the U-shaped board 205 of steering engine I 204, and leg plate 203 passes through
M2 screws and steering engine I 204 assemble, and the propellers folding-unfolding mechanisms such as electric machine support 302 are installed in 203 upper end of leg plate.203 lower end of leg plate is logical
It crosses screw to connect with V-type plate 202,202 lower end of V-type plate is connect with sufficient end snubber block 201.
Sensor 209, the sensor when robot touches ground with normal gait are installed on sufficient end snubber block 201
209 give microcontroller 102 signal, and robot is made to carry out next step action, and work as robot and occur stepping on empty situation, i.e., without touching
The action that sensor 209 is then retreated at once is sent out to protect robot, and touches warning device.Under offline mode, machine
Occur also touching the warning device when landing place out-of-flatness when device people is landed, gives manipulator's signal, protection is land and air double-used
Bionical Hexapod Robot.
Every group of flight component 300 is by motor 301,306 structure of propeller folding-unfolding mechanism, propeller and decelerating motor support plate
At.The propeller folding-unfolding mechanism is made of electric machine support 302, gear wheel 303 and pinion gear 304.
The electric machine support 302 is mounted on the leg plate 203 of pedipulator, and rotary shaft is connected with gear wheel 303, gear wheel
303 engage with pinion gear 304, and pinion gear 304 is arranged on decelerating motor 305.Motor 301 by the stud of four M4*12 with
Electric machine support 302 connects.The output end of decelerating motor 305 is stretched out from aperture, connects pinion gear 304, pinion gear 304 and gear wheel
303 engagements, the rotary shaft of electric machine support 302 are connected with gear wheel 303, and the decelerating motor 305 that pinion gear 304 rotates is driven to pass through
Screw-nut is fixed on decelerating motor support plate 306, and decelerating motor support plate 306 is connected by bolt to be connected with leg plate 203.
Realize that land and air double-used function mainly has benefited from the improvement of robot leg structure, especially propeller folding-unfolding mechanism
Installation.The work of the propeller folding-unfolding mechanism of land and air double-used bionical Hexapod Robot is that electric machine support 302 connects gear wheel
303, gear wheel is engaged with the pinion gear 304 above decelerating motor 305, and electric machine support is driven by the rotation of decelerating motor 305
302 rotation, to complete taking down the exhibits for propeller.Wherein, decelerating motor is fixed on robot leg by decelerating motor support plate 306
On plate 203.6 decelerating motors 305 synchronize control by motor driver 103, synchronize to be carried out at the same time and take down the exhibits, and it is empty to reduce land
The error rate of dual-purpose bionical Hexapod Robot.When robot needs to pack up motor and propeller, decelerating motor 305 turns counterclockwise
It is dynamic, it drives electric machine support 302 to rotate clockwise 90 degree along slideway, becomes unfolded state, it is counter to turn 90 degrees the expansion shape for switching to fold
State.
The motor 301 of land and air double-used bionical Hexapod Robot connects electron speed regulator 106 and flight control panel 101 to realize
Control under robot offline mode.Meanwhile the steering engine connection servos control plate 105 of land and air double-used bionical Hexapod Robot is real
Control under existing robot ambulation pattern.And flight control panel 101 and servos control plate 105 are all connected with microcontroller 102, operator
Two kinds of motor patterns are controlled by remote controler depending on external environment situation.
Under walking mode, the movement of robot is transmitted to servos control plate 105 by microcontroller 102 and controls signal, steering engine control
Making sheet (105) and then the movement for controlling each steering engine, complete different gaits.
Under offline mode, the movement of robot is transmitted to flight control panel 101 by microcontroller 102 and controls signal, flight control
Making sheet 101 regulates and controls the flight attitude of robot by electron speed regulator 106.
In addition, being equipped with gasket between the electric machine support 302 and leg plate 203 of land and air double-used bionical Hexapod Robot, play slow
The effect rushed and reduced friction loss.
The land and air double-used bionical Hexapod Robot of the present invention, when by larger higher barrier, unmanned plane has uniqueness
Advantage, thus the land and air double-used formula robot adaptation of existing traditional group woven robot for complicated ground on crossing over blockage
Advantage also has the ability of unmanned plane high-speed cruising and crossing over blockage.Land and air double-used machine people is for example detecting, monitoring and is detecing
It examines, dig up mine and there is unique advantage in the extreme environments operations such as lumbering, Post disaster relief.
Claims (8)
1. a kind of land and air double-used bionical Hexapod Robot, it is characterised in that：By control assembly (100), six groups of walking components (200)
It is constituted with six groups of flight components (300)；Wherein, control assembly (100) includes microcontroller (102), electron speed regulator (106), master
Body support plate (104) and respectively with the fixed flight control panel (101) of main body support plate (104), motor driver (103) and rudder
Machine control panel (105), and flight control panel (101) and servos control plate (105) control with microcontroller (102) connect respectively；
Every group of walking component (200) includes the steering engine III (208) being connected with main body support plate (104), by four-bladed vane (207)
The steering engine II (206) being connected with steering engine III (208) and the pedipulator being connected with steering engine II (206) by U-shaped board (205)；
Every group of flight component (300) includes the motor (301) being connected with electron speed regulator (106) and propeller is taken down the exhibits machine
Structure, the motor (301) are fixed on the electric machine support (302) of propeller folding-unfolding mechanism, and slow down electricity in propeller folding-unfolding mechanism
The rotation of machine (305) can drive electric machine support (302) to rotate, and each decelerating motor (305) is synchronous by motor driver (103)
Control propeller is taken down the exhibits；
The movement that the servos control plate (105) can control steering engine I (204), steering engine II (206) and steering engine III (208) is completed
The different gaits of robot；The flight control panel (101) carries out the flight attitude of robot by electron speed regulator (106)
Regulation and control.
2. the land and air double-used bionical Hexapod Robot of one kind according to claim 1, it is characterised in that：The flight control panel
(101) it is fixed on main body top plate (104a), main body top plate (104a) and main body middle plate (104b) pass through long hexagonal copper
Column is connected, and servos control plate (105) and motor driver (103) are separately fixed on main body middle plate (104b), in main body
It is fixed by glass fiberboard bolt between laminate (104b) and main body lower plywood (104c).
3. the land and air double-used bionical Hexapod Robot of one kind according to claim 1, it is characterised in that：The control assembly
(100) further include the battery (107) being fixed on main body support plate (104).
4. the land and air double-used bionical Hexapod Robot of one kind according to claim 1, it is characterised in that：The pedipulator is by foot
End snubber block (201), V-type plate (202), leg plate (203), steering engine I (204) are constituted, the foot end snubber block (201) and V
Template (202) lower end is connected, and V-type plate (202) is connected with leg plate (203) lower end, and leg plate (203) is fixed with steering engine I (204), rudder
Machine I (204) is connected by U-shaped board (205) with steering engine II (206).
5. the land and air double-used bionical Hexapod Robot of one kind according to claim 4, it is characterised in that：The electric machine support
(302) it is mounted on leg plate (203) upper end, and gasket is housed between leg plate (203).
6. the land and air double-used bionical Hexapod Robot of one kind according to claim 1, it is characterised in that：The walking component
(200) further include the sensor (209) being mounted on sufficient end snubber block (201).
7. the land and air double-used bionical Hexapod Robot of one kind according to claim 1, it is characterised in that：The flight component
(300) further include propeller and decelerating motor support plate (306), decelerating motor (305) is fixed on by decelerating motor support plate (306)
On leg plate (203).
8. the land and air double-used bionical Hexapod Robot of one kind according to claim 1, it is characterised in that：The propeller is taken down the exhibits
Mechanism further includes gear wheel (303) and pinion gear (304), and the electric machine support (302) is mounted on the leg plate (203) of pedipulator
On, rotary shaft is connected with gear wheel (303), and gear wheel (303) is engaged with pinion gear (304), and pinion gear (304) setting is subtracting
On speed motor (305).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810239763.XA CN108297638A (en) | 2018-03-22 | 2018-03-22 | Land and air double-used bionical Hexapod Robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810239763.XA CN108297638A (en) | 2018-03-22 | 2018-03-22 | Land and air double-used bionical Hexapod Robot |
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| CN108297638A true CN108297638A (en) | 2018-07-20 |
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ID=62850339
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| CN201810239763.XA Pending CN108297638A (en) | 2018-03-22 | 2018-03-22 | Land and air double-used bionical Hexapod Robot |
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Cited By (9)
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| CN110978921A (en) * | 2019-12-22 | 2020-04-10 | 长春工程学院 | Land all-terrain duct cross-domain robot and cross-domain method thereof |
| CN111354166A (en) * | 2020-03-16 | 2020-06-30 | 山东省地矿工程集团有限公司地质环境工程分公司 | Goaf collapse alarm device |
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| CN112937235A (en) * | 2021-02-26 | 2021-06-11 | 杭州师范大学钱江学院 | Road-air dual-purpose unmanned aerial vehicle with stair climbing and jumping functions and operation method thereof |
| CN113147294A (en) * | 2021-04-30 | 2021-07-23 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
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| CN114633823A (en) * | 2022-03-07 | 2022-06-17 | 清华大学 | Triphibian robot |
| CN116374041A (en) * | 2023-05-06 | 2023-07-04 | 深圳技术大学 | Land-air multi-mode four-foot bionic robot and control method |
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| CN111354166A (en) * | 2020-03-16 | 2020-06-30 | 山东省地矿工程集团有限公司地质环境工程分公司 | Goaf collapse alarm device |
| CN111354166B (en) * | 2020-03-16 | 2021-05-07 | 山东省地矿工程集团有限公司 | Goaf collapse alarm device |
| CN114368255B (en) * | 2020-10-14 | 2024-03-19 | 中南大学 | Amphibious robot |
| CN114368255A (en) * | 2020-10-14 | 2022-04-19 | 中南大学 | Water, land and air multi-purpose robot |
| CN112277551A (en) * | 2020-10-28 | 2021-01-29 | 北京航空航天大学 | Variable structure multi-mode mobile robot |
| CN112277551B (en) * | 2020-10-28 | 2022-04-15 | 北京航空航天大学 | Variable structure multi-mode mobile robot |
| CN112937235A (en) * | 2021-02-26 | 2021-06-11 | 杭州师范大学钱江学院 | Road-air dual-purpose unmanned aerial vehicle with stair climbing and jumping functions and operation method thereof |
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| CN113147294B (en) * | 2021-04-30 | 2022-06-14 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
| CN113147294A (en) * | 2021-04-30 | 2021-07-23 | 东南大学 | Air-ground amphibious autonomous investigation robot and working method |
| CN114347739A (en) * | 2022-02-24 | 2022-04-15 | 南京理工大学 | Air-ground amphibious robot with variable structure |
| CN114633823A (en) * | 2022-03-07 | 2022-06-17 | 清华大学 | Triphibian robot |
| CN116374041A (en) * | 2023-05-06 | 2023-07-04 | 深圳技术大学 | Land-air multi-mode four-foot bionic robot and control method |
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