CN114701306A - Amphibious spherical investigation robot with variable foot wheels - Google Patents
Amphibious spherical investigation robot with variable foot wheels Download PDFInfo
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- CN114701306A CN114701306A CN202210245937.XA CN202210245937A CN114701306A CN 114701306 A CN114701306 A CN 114701306A CN 202210245937 A CN202210245937 A CN 202210245937A CN 114701306 A CN114701306 A CN 114701306A
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- spherical
- variable
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- robot
- foot
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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
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/02—Additional mass for increasing inertia, e.g. flywheels
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses a variable-foot-wheel amphibious spherical investigation robot, which comprises a spherical robot body and variable-foot-wheel devices arranged on two sides of the spherical robot body, wherein each variable-foot-wheel device comprises two mounting plates arranged at intervals, a plurality of blades arranged between the two mounting plates and an adjusting component for changing the states of the blades. The variable foot wheel devices are arranged on two sides of the spherical investigation robot, when the spherical investigation robot runs in water, all blades in the variable foot wheel devices are in an unfolded state, and the blades can generate stronger driving force when rotating together with the spherical investigation robot, so that the running speed of the spherical investigation robot in water is greatly increased, and when the spherical investigation robot runs on land, the blades are in a folded state, so that the running resistance is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a variable-foot-wheel amphibious spherical investigation robot.
Background
The amphibious spherical reconnaissance robot has a novel robot with a fully-sealed spherical shell, has the characteristics of flexible movement, high efficiency, zero-radius turning, tumbler and the like, and can move on land and on the water surface. The fully sealed spherical shell and the built-in equipment enable the robot to have higher safety and reliability. The amphibious spherical reconnaissance robot has wide market requirements and application prospects in the fields of amphibious environment areas, monitoring of toxic and harmful areas and high nuclear radiation areas, maritime disaster search and rescue, urban underground pipeline inspection, tourism photographing, military reconnaissance and the like, can even work in environments such as deserts, mudflats and the like, and has extremely strong environment adaptability.
The existing amphibious spherical robot has better land performance and certain environment adaptability, but the spherical robot has relatively weaker motion capability on the water surface because of no water-skiing device. Because water is fluid, the rolling speed of the spherical robot is low, the friction force generated by the relative motion of the spherical shell and the water is low, the starting acceleration is low, the motion speed is low, the starting time is long, and even the phenomenon that the spherical robot cannot advance due to in-situ rotation can occur.
Disclosure of Invention
The invention aims to overcome the defects and provide the amphibious spherical investigation robot with the variable foot wheels, so that the advancing speed of the spherical investigation robot in water is increased.
The technical scheme adopted by the invention is as follows:
a variable foot wheel amphibious spherical investigation robot comprises a spherical robot body and variable foot wheel devices arranged on two sides of the spherical robot body, wherein each variable foot wheel device comprises two mounting plates arranged at intervals, a plurality of blades arranged between the two mounting plates and an adjusting component used for changing the states of the blades, a plurality of connecting shafts corresponding to the number of the blades are arranged between the edges of the two mounting plates, each blade is arc-shaped, one end of each blade is hinged on one connecting shaft, the adjusting component comprises a waterproof steering engine and a connecting disc, the waterproof steering engine is arranged on one mounting plate, the connecting disc is fixedly connected to an output shaft of the waterproof steering engine, a plurality of connecting columns corresponding to the number of the blades are arranged on the end face of the connecting disc, and the connecting columns on the connecting disc are connected with the corresponding blades through the connecting rods, the one end and the spliced pole of connecting rod rotate to be connected, and the other end of connecting rod articulates the concave side at the blade, and when waterproof steering wheel rotated, there was the state of expanding and receipts in the blade, one of them the mounting panel is connected on the spherical robot body.
As a further optimization, the spherical robot body comprises a spherical shell, a central shaft fixedly arranged in the spherical shell, an energy storage flywheel rotatably arranged on the central shaft, and two groups of swing assemblies respectively arranged on two sides of the energy storage flywheel, wherein the energy storage flywheel is rotatably arranged in the middle of the central shaft, and the two groups of variable foot wheel devices are respectively fixedly arranged outside two sides of the spherical shell along the length direction of the central shaft.
As a further optimization, each group of swing assemblies comprises a mounting frame, a fixed gear ring, a swing driving motor and a balancing weight, wherein the fixed gear rings are fixedly arranged inside two sides of the spherical shell, the mounting frame is rotatably arranged on the central shaft through a shaft sleeve, the swing driving motor and the balancing weight are fixedly arranged at one end, far away from the central shaft, of the mounting frame, and an output shaft of the swing driving motor is meshed with the fixed gear rings through a gear.
As a further optimization, the energy storage flywheel is driven by two groups of symmetrically arranged flywheel motors, and the two groups of flywheel motors are respectively arranged on the mounting rack of the swinging assembly and are connected with the energy storage flywheel through a gear structure.
As a further optimization, the energy storage flywheel is further provided with two groups of symmetrically arranged brake mechanisms, each group of brake mechanisms comprises a brake steering engine and an eccentric wheel, the eccentric wheels are fixedly arranged on output shafts of the brake steering engines, and when the brake steering engines drive the eccentric wheels to rotate, the eccentric wheels are in a state of being in contact with the energy storage flywheel and a state of being separated from the energy storage flywheel.
As a further optimization, the invention further comprises power supply batteries, wherein the power supply batteries are respectively fixedly arranged on the mounting rack, charging ports are arranged on two sides of the spherical shell, the charging ports are electrically connected with the power supply batteries, and the charging ports are provided with openable sealing covers.
As a further optimization, the spherical shell comprises two groups of hemispherical spherical shells and a middle connecting sealing piece, wherein the two groups of hemispherical spherical shells are respectively connected to two sides of the middle connecting sealing piece.
As a further optimization, when the blades in the variable foot wheel structure are in a folded state, all the blades enclose an annular shape, and the adjacent blades are connected end to end.
As a further optimization, the invention also comprises a control system, wherein the control system comprises a main control module and a plurality of information acquisition modules, and the information acquisition modules comprise a GPS/INS combined navigation element, an ultrasonic distance measurement sensor, a gyroscope sensor, a sound sensor and a CMOS camera sensor.
As a further optimization, the mounting plate of the variable foot wheel structure far away from the spherical robot body is provided with a transparent cover, the transparent cover is provided with an illuminating element and an image collecting element, the two mounting plates are both provided with watertight cable connectors, the watertight cable connectors on the mounting plate near the spherical investigation robot main body are electrically connected with the internal power supply element of the spherical investigation robot main body, the watertight cable connectors on the mounting plate far away from the spherical investigation robot main body are electrically connected with the image collecting device and the illuminating device, the waterproof steering engine is electrically connected with one of the watertight cable connectors, and the rest of the watertight cable connectors between the two mounting plates are in one-to-one butt joint through the middle connectors.
The invention has the following advantages:
1. the variable foot wheel devices are arranged on two sides of the spherical investigation robot, when the spherical investigation robot runs in water, all blades in the variable foot wheel devices are in an unfolded state, and the blades can generate stronger driving force when rotating together with the spherical investigation robot, so that the running speed of the robot in water is greatly increased, and when the spherical investigation robot runs on land, the blades are in a folded state, so that the running resistance is reduced;
2. the spherical detection robot has a good sealing effect, can avoid damage to internal electronic components caused by internal water inflow of the robot, and can improve the obstacle crossing capability of the robot by arranging the flywheel and the brake assembly.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;
FIG. 3 is a schematic perspective view of the variable caster device (with the transparent cover and outer mounting plate removed);
FIG. 4 is a schematic front view of the variable caster device (with the transparent cover and outer mounting plate removed);
FIG. 5 is a schematic view of the internal structure of the spherical robot body according to the present invention;
FIG. 6 is an enlarged view of the structure at B in FIG. 5;
wherein: 1. the spherical robot comprises a spherical robot body, 2, a variable foot wheel device, 3, an inner mounting plate, 4, blades, 5, an outer mounting plate, 6, a transparent cover, 7, a watertight cable connector clip, 8, a waterproof steering engine, 9, a connecting rod, 10, a connecting disc, 11, a connecting column, 12, a hemispherical ball shell, 13, an intermediate connecting sealing element, 14, an energy storage flywheel, 15, a swinging assembly, 16, a shaft sleeve, 17, a fixed gear ring, 18, a first gear, 19, a swinging driving motor, 20, a mounting rack, 21, a power supply battery, 22, a balancing weight, 23, an eccentric wheel, 24, a brake steering engine, 25, a flywheel motor, 26, a second gear, 27, a flywheel gear, 28 and a central shaft.
Detailed Description
The present invention is further described in the following with reference to the drawings and the specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention, and the embodiments and the technical features of the embodiments can be combined with each other without conflict.
It is to be understood that the terms first, second, and the like in the description of the embodiments of the invention are used for distinguishing between the descriptions and not necessarily for describing a sequential or chronological order. The "plurality" in the embodiment of the present invention means two or more.
The term "and/or" in the embodiment of the present invention is only an association relationship describing an associated object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, B exists alone, and A and B exist at the same time. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
The embodiment provides a variable-foot-wheel amphibious spherical investigation robot, as shown in fig. 1, comprising a spherical robot body 1 and variable-foot-wheel devices 2 arranged on two sides of the spherical robot body 1, as shown in fig. 5-6, the spherical robot body 1 comprises a spherical shell, a central shaft 28 fixedly arranged in the spherical shell, an energy storage flywheel 14 rotatably arranged on the central shaft 28, and two sets of swing assemblies 15 respectively arranged on two sides of the energy storage flywheel 14, the spherical shell comprises two sets of hemispherical spherical shells 12 and an intermediate connecting sealing piece 13, the two sets of hemispherical spherical shells 12 are respectively connected on two sides of the intermediate connecting sealing piece 13, in order to ensure good sealing performance, the hemispherical spherical shells 12 are connected with the intermediate connecting sealing piece 13 in an interference fit manner and fixed by bolts, and sealing rings can be additionally arranged at the joints to avoid water inflow in the spherical shell, the central shaft 28 is fixedly arranged in the spherical shell, the energy storage flywheel 14 is rotatably arranged in the middle of the central shaft 28, and the two groups of variable foot wheel devices 2 are respectively and fixedly arranged outside two sides of the spherical shell along the length direction of the central shaft 28. Every group swing subassembly 15 all includes mounting bracket 20, fixed ring gear 17, swing driving motor 19 and balancing weight 22, fixed ring gear 17 is fixed to be set up inside the both sides of spherical shell, mounting bracket 20 rotates through axle sleeve 16 and sets up on center pin 28, swing driving motor 19 and balancing weight 22 are all fixed to be set up the one end of keeping away from center pin 28 on mounting bracket 20, and swing driving motor 19's output shaft meshes with fixed ring gear 17 through first gear 18 and is connected mutually. The energy storage flywheel 14 drives through the flywheel motor 25 that two sets of symmetries set up, and two sets of flywheel motors 25 are installed respectively on the mounting bracket 20 of swing subassembly 15, the fixed flywheel gear 27 that is provided with of the both sides of energy storage flywheel 14, flywheel motor 25 meshes with flywheel gear 27 through second gear 26 and is connected mutually. The first gear 18 on the swing driving motor 8 output shaft on the swing component 15 and the fixed gear ring 17 on the hemisphere spherical shell 12 form gear transmission, the swing driving motor 8 can control the mounting rack 20 to swing by a certain angle, so that the center of gravity of the mounting rack 20 deviates, the generated gravity eccentricity drives the spherical robot main body to roll forwards, and the robot can move straightly, turn and the like under different motion combination states of double pendulums. When the driving mounting frame 20 swings, the energy storage flywheel 14 can be driven to rotate, but the energy storage flywheel 14 is driven to rotate at a high speed mainly by the flywheel motor 25.
This embodiment energy storage flywheel 14 still is provided with the brake mechanism that two sets of symmetries set up, every group brake mechanism includes brake steering wheel 24 and eccentric wheel 23, eccentric wheel 23 is fixed to be set up on the output shaft of brake steering wheel 24, and when brake steering wheel 24 drove eccentric wheel 23 and rotates, eccentric wheel 23 has the state and the state of phase separation that contact with energy storage flywheel 14, and brake mechanism can carry out the sudden braking to energy storage flywheel 14, and the kinetic energy of energy storage flywheel 14 storage is converted into holistic kinetic energy that advances, stridees across the obstacle.
As shown in fig. 2-4, the variable foot wheel device 2 of this embodiment includes two mounting plates disposed at an interval, a plurality of blades 4 disposed between the two mounting plates, and an adjusting assembly for changing the states of the blades 4, for convenience of description, the mounting plate close to the spherical robot body 1 is defined as an inner mounting plate 3, the mounting plate far away from the spherical robot body 1 is defined as an outer mounting plate 5, the inner mounting plate 3 is fixedly connected to the spherical robot body 1, a plurality of connecting shafts corresponding to the number of the blades 4 are disposed between the edges of the inner mounting plate 3 and the outer mounting plate 5, each blade 4 is arc-shaped, one end of each blade 4 is hinged to one of the connecting shafts, the adjusting assembly includes a waterproof steering engine 8 and a connecting disc 10, the waterproof steering engine 8 is mounted on the inner mounting plate 3, the connecting disc 10 is fixedly connected to an output shaft of the waterproof steering engine 8, and the end face of the connecting disc 10 is provided with a plurality of connecting columns 11 corresponding to the number of the blades 4, the connecting columns 11 on the connecting disc are connected with the corresponding blades 4 through connecting rods 9, one ends of the connecting rods 9 are rotatably connected with the connecting columns 11, the other ends of the connecting rods 9 are hinged to the middle parts of the concave sides of the blades 4, when the waterproof steering engine 8 rotates, the blades 4 are in an unfolding state and a folding state, wherein the blades 4 are in the unfolding state shown in figures 1-4, when the blades 4 are in the folding state, all the blades 4 are enclosed into an annular shape, and the adjacent blades 4 are connected end to end. When the sensor or the image analysis system judges that the robot runs in water, the blades of the variable foot wheel device 2 enter a spreading state, and the variable foot wheel device 2 can move forwards by water in the process of rotating along with the spherical detection robot main body 1, so that a powerful propelling effect is generated, and the advancing speed is greatly increased.
The embodiment further comprises a control system, wherein the control system comprises a main control module and a plurality of information acquisition modules, and each information acquisition module comprises a GPS/INS combined navigation element, an ultrasonic ranging sensor, a gyroscope sensor, a sound sensor and a CMOS camera sensor.
The outer mounting plate 5 of the variable foot wheel device 2 of the present embodiment is provided with a transparent cover 6, and the transparent cover 6 is provided with an illuminating element and an image collecting element, wherein the image collecting element is generally a camera or a video camera.
This embodiment still includes power supply battery 21 for supply power for the whole system, power supply battery 21 is fixed the setting respectively on mounting bracket 20, the both sides of spherical shell are provided with the mouth that charges, the mouth that charges carries out the electricity with power supply battery and is connected, it is provided with the sealed lid that can open on the mouth to charge. As shown in fig. 2, the inner mounting plate 3 and the outer mounting plate 5 of the variable foot wheel device 2 are provided with a plurality of watertight cable connectors 7, the inside of the watertight cable connectors 7 on the inner mounting plate 3 is connected with a power supply battery 21, one of the watertight cable connectors 7 is used for supplying power to a waterproof steering engine 8, and the other watertight cable connectors 7 on the outer mounting plate 5 are in butt joint with each other to supply power to a lighting element and an image acquisition element which are positioned in the transparent cover 6.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. A variable-foot-wheel amphibious spherical investigation robot is characterized in that: the device comprises a spherical robot body and variable foot wheel devices arranged on two sides of the spherical robot body, wherein each variable foot wheel device comprises two mounting plates arranged at intervals, a plurality of blades arranged between the two mounting plates and an adjusting component for changing the state of the blades, a plurality of connecting shafts corresponding to the number of the blades are arranged between the edges of the two mounting plates, each blade is arc-shaped, one end of each blade is hinged on one of the connecting shafts, the adjusting component comprises a waterproof steering engine and a connecting disc, the waterproof steering engine is arranged on one of the mounting plates, the connecting disc is fixedly connected on an output shaft of the waterproof steering engine, a plurality of connecting columns corresponding to the number of the blades are arranged on the end surface of the connecting disc, the connecting columns on the connecting disc are connected with the corresponding blades through the connecting rods, and one end of each connecting column is rotatably connected with the corresponding connecting column, the other end of connecting rod articulates in the concave side of blade, and when waterproof steering wheel rotated, there was the state of expansion and receipts to the blade, one of them the mounting panel is connected on the spherical robot body.
2. The variable-foot-wheel amphibious spherical reconnaissance robot of claim 1, wherein: the spherical robot body comprises a spherical shell, a central shaft fixedly arranged in the spherical shell, an energy storage flywheel rotatably arranged on the central shaft and two groups of swing assemblies respectively arranged on two sides of the energy storage flywheel, wherein the energy storage flywheel is rotatably arranged in the middle of the central shaft, and the two groups of variable foot wheel devices are respectively fixedly arranged outside two sides of the spherical shell along the length direction of the central shaft.
3. The variable-foot-wheel amphibious spherical scout robot of claim 2, wherein: every group the swing subassembly all includes mounting bracket, fixed ring gear, swing driving motor and balancing weight, fixed ring gear is fixed to be set up inside the both sides of spherical shell, the mounting bracket passes through the axle sleeve and rotates the setting on the center pin, swing driving motor and balancing weight are all fixed to be set up the one end of keeping away from the center pin on the mounting bracket, and swing driving motor's output shaft passes through the gear and is connected with fixed ring gear meshing mutually.
4. The variable-foot-wheel amphibious spherical scout robot of claim 3, wherein: the energy storage flywheel is driven by two sets of flywheel motors which are symmetrically arranged, and the two sets of flywheel motors are respectively arranged on the mounting rack of the swinging assembly and are connected with the energy storage flywheel through a gear structure.
5. The variable-foot-wheel amphibious spherical reconnaissance robot of claim 4, wherein: the energy storage flywheel still is provided with the brake mechanism that two sets of symmetries set up, every group brake mechanism includes brake steering wheel and eccentric wheel, the eccentric wheel is fixed to be set up on the output shaft of brake steering wheel, and when the brake steering wheel drove the eccentric wheel and rotates, the eccentric wheel has the state and the state of phase separation that contact with the energy storage flywheel.
6. The variable-foot-wheel amphibious spherical reconnaissance robot of claim 1, wherein: still include the power supply battery, the power supply battery is fixed the setting on the mounting bracket respectively, the both sides of spherical shell are provided with the mouth that charges, the mouth that charges carries out the electricity with the power supply battery and is connected, it is provided with the sealed lid that can open on the mouth to charge.
7. A variable-legged amphibious spherical reconnaissance robot according to claim 2, wherein: the spherical shell comprises two groups of hemispherical spherical shells and a middle connecting sealing piece, and the two groups of hemispherical spherical shells are respectively connected to two sides of the middle connecting sealing piece.
8. The variable-foot-wheel amphibious spherical reconnaissance robot of claim 1, wherein: when the blades in the variable foot wheel structure are in a folding state, all the blades surround into an annular shape, and the adjacent blades are connected end to end.
9. The variable-caster amphibious spherical investigation robot of claim 1, wherein: the intelligent navigation system further comprises a control system, wherein the control system comprises a main control module and a plurality of information acquisition modules, and each information acquisition module comprises a GPS/INS combined navigation element, an ultrasonic ranging sensor, a gyroscope sensor, a sound sensor and a CMOS camera sensor.
10. The variable-foot-wheel amphibious spherical reconnaissance robot of claim 1, wherein: the utility model discloses a spherical robot body, including spherical robot body, variable foot wheel structure, translucent cover and image acquisition element, the mounting panel of spherical robot body is kept away from to variable foot wheel structure is provided with the translucent cover on, the translucent cover is provided with lighting element and image acquisition element, all is provided with the watertight cable plug connector on two mounting panels, is close to the inside power supply element of the watertight cable plug connector on the mounting panel of spherical investigation robot body and carries out the electricity with the spherical investigation robot body and be connected, keeps away from the watertight cable plug connector on the mounting panel of spherical investigation robot body and carries out the electricity with image acquisition equipment and lighting apparatus and be connected, waterproof steering wheel carries out the electricity with one of them watertight cable plug connector and connects, docks one by one through middle plug connector between all the other watertight cable plug connectors between two mounting panels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210245937.XA CN114701306A (en) | 2022-03-14 | 2022-03-14 | Amphibious spherical investigation robot with variable foot wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210245937.XA CN114701306A (en) | 2022-03-14 | 2022-03-14 | Amphibious spherical investigation robot with variable foot wheels |
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| CN114701306A true CN114701306A (en) | 2022-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210245937.XA Pending CN114701306A (en) | 2022-03-14 | 2022-03-14 | Amphibious spherical investigation robot with variable foot wheels |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115535105A (en) * | 2022-09-27 | 2022-12-30 | 西南科技大学 | Deformable spherical robot |
| CN116424040A (en) * | 2023-03-30 | 2023-07-14 | 湖北工业大学 | Amphibious exploration robot with water wheels |
-
2022
- 2022-03-14 CN CN202210245937.XA patent/CN114701306A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115535105A (en) * | 2022-09-27 | 2022-12-30 | 西南科技大学 | Deformable spherical robot |
| CN116424040A (en) * | 2023-03-30 | 2023-07-14 | 湖北工业大学 | Amphibious exploration robot with water wheels |
| CN116424040B (en) * | 2023-03-30 | 2024-01-26 | 湖北工业大学 | Amphibious exploration robot with water wheels |
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