A multi-rotor amphibious gripper

Abstract

The application relates to the technical field of robot far-end actuators, and discloses a multi-rotor water-air amphibious gripper, which comprises a rack, a gripper control module, a plurality of gripper modules and a rotor module, the plurality of gripper modules are arranged on the rack and rotate around the axis of the rack, the plurality of gripper modules rotate under the drive of the gripper control module and have an extended state in which the far end of the gripper module moves away from the rack and a gripping state in which the gripper module moves close to the rack. According to the application, the gripper module is arranged on the rack, the gripper control module can control the gripper module to rotate and have the extended state or the gripping state, the gripper module simultaneously functions as a robot arm and a gripper, the rack no longer needs to be additionally equipped with a gripper, the volume of the gripper module can be reduced, the ability of passing through narrow spaces is greatly enhanced, and the proportion of the gripper module to the carrier is much larger than that of a conventional robot, so that the ability of passing through narrow spaces is enhanced and the gripping capacity is also enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot forward actuators, in particular to a multi-rotor amphibious gripper. BACKGROUND

[0002] Unmanned aerial vehicles (UAVs) and underwater robots (URs) are two different types of automated equipment, both of which can be equipped with grippers to perform specific tasks. For example, to grasp and carry small objects, deliver rescue supplies, and capture small unmanned aerial vehicles; or to grasp underwater objects, such as scientific samples, lost items, or to maintain underwater facilities.

[0003] For example, the Prodrone PD6B-AW-ARM has two grippers mounted on a common quadcopter, which can capture and carry objects in the air; for example, the Prodrone PD6B-AW-ARM unmanned aerial vehicle has an aerial gripping function; for example, the FIFISH PRO V6PLUS underwater robot performs a gripping task underwater.

[0004] Existing unmanned aerial vehicles, underwater robots, or conventional amphibious robots usually need to be equipped with additional grippers when performing gripping tasks. However, due to the limitations of carrying capacity, the volume of the equipped grippers is usually not too large, and when deployed, it is usually not larger than the robot arm, which weakens the gripping ability. In addition, the robot arm is not deformable, and the additional equipped gripper increases the weight and volume of the vehicle, which has a greater impact on the ability to pass through narrow spaces, which further limits the gripping ability.

[0005] Therefore, the prior art still needs to be improved and developed, and there is a lack of a water-air amphibious gripper device with strong ability to pass through narrow spaces and gripping ability. SUMMARY

[0006] To overcome the shortcomings of the prior art, the present application sets the gripper module on the rack, and the gripper control module can control the gripper module to rotate to have an extended state or a gripping state. The gripper module simultaneously functions as a robot arm and a gripper, so there is no need for additional grippers on the rack. The gripper module can be reduced in size, greatly enhancing the ability to pass through narrow spaces. Moreover, the ratio of the gripper module to the vehicle is much larger than that of conventional robots, enhancing the ability to pass through narrow spaces and also enhancing the gripping ability.

[0007] To solve the above technical problems, the technical solution adopted by the present application is as follows: a multi-rotor amphibious gripper, comprising: a rack;

[0008] A plurality of hand module groups, the plurality of hand module groups are arranged on the frame and rotate around the axis of the frame;

[0009] A hand control module, the hand control module is arranged on the frame, and the plurality of hand module groups rotate under the drive of the hand control module and have an extended state and a gripping state;

[0010] A plurality of rotor module groups, the plurality of rotor module groups are arranged on the plurality of hand module groups respectively;

[0011] In the extended state, the distal ends of the plurality of hand module groups move away from the axis of the frame;

[0012] In the gripping state, the distal ends of the plurality of hand module groups move towards the axis of the frame and close to each other.

[0013] Further, the hand control module comprises a drive assembly arranged on the frame;

[0014] A sliding block arranged on the drive assembly, the sliding block moves linearly along the axis of the frame under the drive of the sliding block;

[0015] The plurality of hand module groups are all pivotally connected to the sliding block and have the extended state and the gripping state under the linear motion of the sliding block.

[0016] Further, the hand module group comprises a finger root member connected to the sliding block, the finger root member rotates under the drive of the sliding block;

[0017] A middle finger member is pivotally connected to one end of the finger root member away from the frame;

[0018] A fingertip member is pivotally connected to one end of the middle finger member away from the middle finger member;

[0019] The finger root member rotates on the frame under the linear motion of the sliding block to move close to or away from the axis of the frame;

[0020] The middle finger member rotates on the finger root member under the rotation of the finger root member to move close to or away from the axis of the frame;

[0021] The fingertip member rotates on the middle finger member under the rotation of the middle finger member to move close to or away from the axis of the frame.

[0022] Further, in the gripping state, the knuckle members are obliquely arranged and have a first oblique angle, which is the angle between the knuckle members and the frame towards the axis of the frame;

[0023] The middle finger members are obliquely arranged and have a second oblique angle, which is the angle between the middle finger members and the knuckle members towards the axis of the frame;

[0024] The first oblique angle is equal to the second oblique angle, and the distal ends of the several fingertip members abut against each other.

[0025] Further, the knuckle members include a first knuckle rocker, one end of the first knuckle rocker towards the frame is pivotally connected with the frame;

[0026] A knuckle connecting rod, one end of the slider and one end of the first knuckle rocker away from the frame are respectively pivotally connected with two ends of the knuckle connecting rod;

[0027] Wherein, the knuckle connecting rod is driven to rotate on the slider by the linear motion of the slider, so as to drive the second knuckle rocker to rotate on the frame;

[0028] A second knuckle rocker, one end of the second knuckle rocker towards the frame is pivotally connected with the frame, and the second knuckle rocker rotates synchronously with the first knuckle rocker.

[0029] Further, the middle finger members include a middle finger rocker, one end of the middle finger rocker towards the frame is pivotally connected with the frame;

[0030] A middle finger connecting rod, one end of the second knuckle rocker away from the frame and one end of the middle finger rocker away from the frame are respectively pivotally connected with two ends of the middle finger connecting rod;

[0031] Wherein, the middle finger connecting rod is driven to rotate on the middle finger rocker by the rotation of the second knuckle rocker, and the middle finger rocker is driven to rotate on the frame;

[0032] A middle finger extension rod, the middle finger extension rod is fixedly arranged on the middle finger connecting rod, and the middle finger connecting rod rotates synchronously with the middle finger extension rod.

[0033] Further, the fingertip members include a fingertip rocker, one end of the fingertip rocker towards the frame is pivotally connected with the frame;

[0034] A fingertip connecting rod, one end of the middle finger extension rod away from the middle finger connecting rod and one end of the fingertip rocker away from the frame are respectively pivotally connected with two ends of the fingertip connecting rod;

[0035] Wherein, the rotation of the middle finger extension rod drives the rotation of the fingertip connecting rod on the fingertip connecting rod and drives the rotation of the fingertip rocker on the frame;

[0036] A fingertip extension rod is fixedly arranged on the fingertip connecting rod, and the fingertip extension rod rotates synchronously with the fingertip connecting rod.

[0037] Further, the fingertip member further comprises a gripping rod arranged at one end of the fingertip extension rod away from the fingertip connecting rod, and the end of the gripping rod away from the fingertip extension rod is inclined towards the shaft center of the frame.

[0038] In the gripping state, the ends of the gripping rods away from the fingertip extension rods abut against each other.

[0039] Further, the middle finger rocker is arranged in cross with the second finger root rocker and the fingertip connecting rod, and the ends of the fingertip rocker, the first finger root rocker and the second finger root rocker towards the shaft center of the frame are coaxially arranged.

[0040] Further, the gripper module is provided with four, and the rotor module is arranged in one-to-one correspondence with the gripper module.

[0041] In the gripping state, the rotor module is arranged at the end of the middle part of the second finger root rocker towards the shaft center of the frame.

[0042] Beneficial effects: the gripper module is arranged on the frame, the gripper control module can control the rotation of the gripper module to have an extension state or a gripping state, the gripper module simultaneously functions as a robot arm and a gripper, the frame no longer needs to be additionally equipped with a gripper, the volume of the gripper module can be reduced, the ability to pass through narrow spaces is greatly enhanced, and the ratio of the gripper module to the carrier is much larger than that of a conventional robot, so that the ability to pass through narrow spaces is enhanced, and the gripping ability is also enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 A structure schematic view of a bottom view of the multi-rotor amphibious gripper provided by the present application (when the gripper module is extended);

[0044] Figure 2 A structure schematic view of a top view of the multi-rotor amphibious gripper provided by the present application (when the gripper module is extended);

[0045] Figure 3 A structure schematic view of a top view of the multi-rotor amphibious gripper provided by the present application (when the gripper module is extended); Figure 1

[0046] Figure 4 ​The structure schematic view of the bottom view angle of the multi-rotor amphibious gripper (when the hand gripper module is gripped) provided by the present application is shown in the figure.

[0047] Figure 5 The structure schematic view of the top view angle of the multi-rotor amphibious gripper (when the hand gripper module is gripped) provided by the present application is shown in the figure.

[0048] Figure 6 The sectional view schematic view of the multi-rotor amphibious gripper provided by the present application is shown in the figure.

[0049] Figure 7 The motion state schematic view of the multi-rotor amphibious gripper provided by the present application is shown in the figure.

[0050] The marks in the figure are: 100, the frame; 200, the hand gripper module; 210, the finger root component; 211, the finger root connecting rod; 212, the first finger root rocker; 213, the second finger root rocker; 220, the middle finger component; 221, the middle finger rocker; 222, the middle finger connecting rod; 223, the middle finger extension rod; 230, the finger tip component; 231, the finger tip rocker; 232, the finger tip connecting rod; 233, the finger tip extension rod; 240, the gripping rod; 300, the hand gripper control module; 310, the driving assembly; 320, the sliding block; 400, the rotor module; 500, the gathering point. DETAILED DESCRIPTION

[0051] The present application provides a kind of multi-rotor amphibious gripper, to make the purpose, technical scheme and effect of the present application more clear, definite, the present application is further described in detail with reference to the drawings and examples.It should be understood that the specific examples described herein are only used to explain the present application and not to limit the present application.

[0052] It should be noted that when a component is referred to as "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component.When a component is referred to as "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0053] It should also be noted that the same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components;In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore, the terms describing the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as limiting the present patent, and for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0054] In addition, the terms "first", "second", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Therefore, the features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0055] The content of the application will be further described by the description of the embodiments in combination with the drawings.

[0056] The present embodiment provides a multi-rotor amphibious gripper, as shown in Figures 1 to 6 To solve the above technical problems, the technical scheme adopted by the present application is as follows: The present embodiment provides a multi-rotor amphibious gripper, as shown in Figures 1 to 7 To solve the above technical problems, the technical scheme adopted by the present application is as follows: The present embodiment provides a multi-rotor amphibious gripper, as shown in

[0057] A plurality of gripper modules 200 are arranged around the axis of the frame 100 and are respectively arranged to rotate on the frame 100. Specifically, the plurality of gripper modules 200 are symmetrically arranged about the center of the axis of the frame 100. Preferably, four gripper modules 200 are provided, and adjacent two gripper modules 200 are perpendicular to each other.

[0058] The gripper control module 300 is arranged on the frame 100. A plurality of rotor modules 400 are respectively arranged on the plurality of gripper modules 200. Specifically, the flight principles in water and in air are based on the lift generated by the rotor modules 400, and the attitude, direction and balance of flight are controlled by adjusting the speed and direction of each rotor module 400. Preferably, the rotor modules 400 are arranged one by one corresponding to the gripper modules 200. In order to make the rotor modules 400 work normally in underwater environment, waterproof paint is used for the rotor modules 400 and their gripper control modules 300 and other components. Such coating can prevent water from entering and protect internal electronic components. Motors and related electronic devices can be placed in a sealed housing (fixed with the frame 100), and all electrical connections use waterproof connectors and connectors to ensure the sealing in underwater environment.

[0059] The plurality of gripper modules 200 are driven by the gripper control module 300 to rotate and have an extended state and a grasping state; wherein, in the extended state, the distal ends of the plurality of gripper modules 200 move away from the axis of the frame 100; in the grasping state, the distal ends of the plurality of gripper modules 200 move toward the axis of the frame 100 and move closer to each other. For ease of description, it is assumed that when the gripper modules 200 are in the extended state, the gripper modules 200 are all arranged horizontally, and the axis of the frame 100 is arranged vertically; there is a gathering point 500 (such as Figure 4 ), when several gripper modules 200 are in the grasping state, their distal ends (the axial direction of the gripper module 200 away from the frame 100 is the distal direction, and the axial direction toward the frame 100 is the proximal direction, and the distal end of the gripper module 200 is the end away from the axis of the frame 100) are against the gathering point 500. When the gripper module 200 is in the extended state, the gripper module 200 acts as an arm; when the gripper module 200 is in the extended state or the grasping state, the gripper module 200 acts as an arm and a gripper at the same time. The frame 100 no longer needs to be equipped with an additional gripper, and the gripper module 200 can be reduced in size, greatly enhancing its ability to pass through a narrow space, and the ratio of the gripper module 200 to the carrier is much larger than that of a conventional robot, which enhances its ability to pass through a narrow space while also enhancing its grasping ability.

[0060] In one embodiment, Figures 1 to 7 As shown in , the gripper control module 300 includes: a driving component 310 and a slider 320.

[0061] The drive assembly 310 is mounted on the frame 100. A slider 320 is mounted on the drive assembly 310 and is driven to move linearly along the axis of the frame 100. Several gripper modules 200 are pivotally connected to the slider 320 and can be in an extended state and a gripping state through the linear motion of the slider 320. Specifically, the drive assembly 310 is a linear motor or a lead screw motor, and the slider 320 is driven by the linear motor or lead screw motor fixed to the frame 100.

[0062] In one embodiment, Figures 1 to 7 As shown in the figure, the gripper module 200 includes: a finger base component 210, a finger middle component 220 and a fingertip component 230, which can make the gripper module 200 have a stronger grasping ability like a human finger. Compared with ordinary grippers, it has more joints and can better grasp objects.

[0063] The base member 210 is connected to the slider 320 and rotates when driven by the slider 320. The middle member 220 is pivoted at one end of the base member 210 away from the frame 100. The tip member 230 is pivoted at one end of the middle member 220 away from the middle member 220.

[0064] Wherein, the slider 320 drives the proximal phalanx member 210 to rotate on the frame 100 to approach or move away from the axis of the frame 100, the proximal phalanx member 210 drives the middle phalanx member 220 to rotate on the proximal phalanx member 210 to approach or move away from the axis of the frame 100, the middle phalanx member 220 drives the fingertip member 230 to rotate on the middle phalanx member 220 to approach or move away from the axis of the frame 100.

[0065] In one embodiment, as shown in Figures 1 to 7 In the gripping state, the proximal phalanx member 210 is inclined and has a first inclination angle, the first inclination angle is the angle between the proximal phalanx member 210 and the frame 100 towards the axis of the frame 100; the middle phalanx member 220 is inclined and has a second inclination angle, the second inclination angle is the angle between the middle phalanx member 220 and the proximal phalanx member 210 towards the axis of the frame 100. The first inclination angle is equal to the second inclination angle, the rotor module 400 is arranged in the middle of the proximal phalanx member 210, so that the rotor module 400 has a larger activity space.

[0066] Preferably, the fingertip member 230 is inclined and has a third inclination angle, the third inclination angle is the angle between the fingertip member 230 and the middle phalanx member 220 towards the axis of the frame 100, the first inclination angle, the second inclination angle and the third inclination angle are all equal, the distal ends of the plurality of fingertip members 230 abut each other. The first inclination angle, the second inclination angle and the second inclination angle are all equal to 135 degrees.

[0067] In one embodiment, as shown in Figures 1 to 7 The proximal phalanx member 210 includes a proximal phalanx connecting rod 211, a first proximal phalanx rocker 212 and a second proximal phalanx rocker 213.

[0068] The first proximal phalanx rocker 212 is pivoted to the frame 100 at one end thereof, the slider 320 and the first proximal phalanx rocker 212 are pivoted to the two ends of the proximal phalanx connecting rod 211 away from the frame 100, wherein the slider 320 drives the proximal phalanx connecting rod 211 to rotate on the slider 320 to drive the second proximal phalanx rocker 213 to rotate on the frame 100; the second proximal phalanx rocker 213 is pivoted to the frame 100 at one end thereof, and the second proximal phalanx rocker 213 rotates synchronously with the first proximal phalanx rocker 212. Preferably, the proximal phalanx connecting rods 211 of the four gripper modules 200 are connected to the slider 320 at the same time, and the four proximal phalanx connecting rods 211 move synchronously through the slider 320.

[0069] Specifically, as shown in Figure 7As shown in the figure, the slider 320 is A1 (moving pair), the pivot point between the slider 320 and the finger root link 211 is point B (rotation pair), the pivot point between the finger root link 211 and the first finger root rocker 212 is point C (rotation pair), and the pivot points between the first finger root rocker 212, the second finger root rocker 213 and the frame 100 are all point D (rotation pair).

[0070] When the slider 320A1 moves straight upward, point C of the finger-base connecting rod 211 rotates around point B toward the axis of the frame 100 (toward the upper left in the figure), and drives point C of the first finger-base rocker 212 to rotate around point D toward the axis of the frame 100 (toward the upper left in the figure), and then drives the end of the second finger-base rocker 213 away from point D to rotate toward the axis of the frame 100 (toward the lower left in the figure).

[0071] The slider 320, the finger root connecting rod 211 and the first finger root rocker 212 form a slider 320 rocker mechanism, and the degree of freedom of the slider 320 rocker mechanism is 1. The movement of the slider 320A1 (prime mover) can determine the movement state of the second finger root rocker 213 and the remaining movable components.

[0072] In one embodiment, Figures 1 to 7 As shown in FIG, the middle finger component 220 includes a middle finger rocker 221 , a middle finger connecting rod 222 and a middle finger extending rod 223 .

[0073] The middle finger rocker 221 is pivotally connected to the frame 100 at one end thereof. The second finger-base rocker 213 and the middle finger rocker 221, facing away from the frame 100, are pivotally connected to both ends of the middle finger connecting rod 222, respectively. The rotation of the second finger-base rocker 213 drives the middle finger connecting rod 222 to rotate on the middle finger rocker 221, and in turn drives the middle finger rocker 221 to rotate on the frame 100. The middle finger extension rod 223 is fixedly mounted on the middle finger connecting rod 222, and rotates synchronously with the middle finger connecting rod 222. Preferably, the middle finger extension rod 223 is disposed perpendicular to the middle finger connecting rod 222.

[0074] Specifically, such as Figure 7 As shown in FIG, the pivot point between the middle finger rocker 221 and the frame 100 is point E (rotation pair), and the pivot points between the middle finger rocker 221, the second finger base rocker 213 and the middle finger connecting rod 222 are point F (rotation pair) and point G (rotation pair) respectively.

[0075] When the end of the second finger base rocker 213 (G point) away from the D point rotates towards the axial direction of the rack 100 (left down in the figure), the F point of the middle finger rocker 221 can be pushed to rotate around the E point towards the axial direction of the rack 100 (left down in the figure), during which the relative positions of the G point and the F point of the middle finger connecting rod 222 change, driving the end of the middle finger extension rod 223 away from the middle finger connecting rod 222 to rotate around the G point and / or the F point towards the axial direction of the rack 100 (left down in the figure).

[0076] The second finger base rocker 213, the middle finger rocker 221 and the middle finger connecting rod 222 constitute a planar four-bar mechanism. The planar four-bar mechanism has one degree of freedom, and the movement of the slider 320A1 (the original driving member) can determine the movement state of the middle finger extension rod 223 and the rest of the movable members.

[0077] In an embodiment, as shown in Figures 1 to 7 The fingertip member 230 includes a fingertip rocker 231, a fingertip connecting rod 232 and a fingertip extension rod 233.

[0078] The end of the fingertip rocker 231 towards the rack 100 is pivotally connected to the rack 100; the end of the middle finger extension rod 223 away from the middle finger connecting rod 222 and the end of the fingertip rocker 231 away from the rack 100 are respectively pivotally connected to the two ends of the fingertip connecting rod 232; wherein the rotation of the middle finger extension rod 223 drives the fingertip connecting rod 232 to rotate on the fingertip connecting rod 232 and drives the fingertip rocker 231 to rotate on the rack 100; the fingertip extension rod 233 is fixedly arranged on the fingertip connecting rod 232, and the fingertip extension rod 233 rotates synchronously with the fingertip connecting rod 232.

[0079] Specifically, as shown in Figure 7 The pivot point of the middle finger rocker 221 and the rack 100 is the D point (revolute pair), and the pivot points of the fingertip rocker 231, the middle finger extension rod 223 and the fingertip connecting rod 232 are the H point (revolute pair) and the I point (revolute pair) respectively.

[0080] When the end of the middle finger extension rod 223 (I point) away from the middle finger connecting rod 222 rotates around the G point and / or the F point towards the axial direction of the rack 100 (left down in the figure), the H point of the fingertip rocker 231 can be pushed to rotate around the D point towards the axial direction of the rack 100 (left down in the figure), during which the relative positions of the I point and the H point of the fingertip connecting rod 232 change, driving the end of the fingertip extension rod 233 away from the middle finger connecting rod 222 to rotate around the I point and / or the H point towards the axial direction of the rack 100 (left down in the figure), at this time, the gripper module 200 changes from the stretched state to the gripping state, can grasp the articles, at the same time, also reduces the volume, is conducive to passing through the narrow space.

[0081] The planar four-bar mechanism composed of the second proximal rocker 213, the middle rocker 221 and the middle connecting rod 222 can be regarded as a variable connecting rod, which, together with the fingertip rocker 231, the fingertip connecting rod 232 and the rack 100, also forms a planar four-bar mechanism, which has one degree of freedom, and the movement of the slider 320A1 (the original driving member) can determine the movement state of the fingertip extension rod 233 and the rest movable members.

[0082] In one embodiment, as shown in Figures 1 to 7 The fingertip member 230 further comprises a gripping rod 240, which is arranged at the end of the fingertip extension rod 233 away from the fingertip connecting rod 232, and the end of the gripping rod 240 away from the fingertip extension rod 233 is inclined towards the axis of the rack 100.

[0083] In the gripping state, the ends of the gripping rods 240 away from the fingertip extension rod 233 abut against each other. Preferably, as shown in Figure 4 and Figure 5 The size of the gripper module 200 in the gripping state is shown. The length, width and height of the gripper module 200 in the gripping state are about 166mm*166mm*182mm, the length of each gripper module 200 in the extended state is about 180mm, each knuckle (the proximal member 210, the middle member 220 and the fingertip member 230) is equal in length, and the length of the fingertip extension rod 233 is half the length of the knuckle, so that the front view of the gripper module 200 in the closed gripping state is approximately an octagon.

[0084] In one embodiment, as shown in Figures 1 to 7 The middle rocker 221 is arranged crosswise with the second proximal rocker 213 and the fingertip connecting rod 232, and the end of the fingertip rocker 231 towards the axis of the rack 100, the end of the first proximal rocker 212 towards the axis of the rack 100 and the end of the second proximal rocker 213 towards the axis of the rack 100 are coaxially arranged. Specifically, as shown in Figures 1 to 6 In each gripper module 200, the proximal connecting rod 211, the first proximal rocker 212, the second proximal rocker 213, the middle rocker 221, the middle connecting rod 222, the middle extension rod 223, the fingertip rocker 231, the fingertip connecting rod 232 and the fingertip extension rod 233 can be provided with one or two, so that each gripper module 200 is symmetrically arranged, and the specific case can be arranged as needed. For example, the middle rocker 221 is provided with one, and the second proximal rocker 213 is provided with two, the middle rocker 221 is arranged between the two second proximal rockers 213, so that the middle rocker 221 is arranged crosswise with the second proximal rockers 213.

[0085] In one embodiment, as shown in Figures 1 to 7As shown in , there are four gripper modules 200, and the rotor modules 400 are arranged one by one corresponding to the gripper modules 200. In the grasping state, the rotor module 400 is arranged at one end of the middle part of the second finger root rocker 213 toward the axis of the frame 100.

[0086] Better, such as Figures 1 to 2 As shown in Figure 2, the rotor module 400 is fixed to the second finger-base rocker 213. When the gripper module 200 is fully extended, the second finger-base rocker 213 and the rotor module 400 remain horizontal. When the gripper is closed, the rotor module 400 tilts, generating lift that is decomposed into vertical and horizontal components. The vertical component provides anti-gravity force, while the horizontal component generates propulsion and control force. By controlling the output power of different rotor modules 400, the multi-rotor amphibious gripper can be steered.

[0087] Specifically, such as Figure 1 and Figure 2 The figure shows the dimensions of the gripper module 200 in its extended state. The length, width, and height of the gripper module 200 are approximately 463mm x 463mm x 57mm. Each knuckle (base member 210, middle member 220, and tip member 230) is fully extended, and the three knuckles (base member 210, middle member 220, and tip member 230) are parallel and horizontal. In normal flight (i.e., extended), the diagonal wheelbase of the four rotor modules 400 is 120mm.

[0088] In one embodiment, Figures 1 to 7 As shown in FIG, the first finger base rocker 212 and the second finger base rocker 213 are integrated, and the first finger base rocker 212 and the second finger base rocker 213 are arranged in an L shape.

[0089] Preferably, the middle portion of the first finger-base rocker 212 is recessed away from the rotor module 400, and the rotor of the rotor module 400 can pass through the recess, so that a larger rotor can be provided to increase the propulsion capability of the rotor module 400. Specifically, the rotor module 400 is a brushless motor rotor module 400.

[0090] In summary, the present application relates to the technical field of robot tele-actuators, and discloses a multi-rotor water-air amphibious gripper, which includes a frame, a gripper control module, a plurality of gripper modules, and a rotor module. The plurality of gripper modules are arranged around the axis of the frame and are rotatably mounted on the frame. The plurality of gripper modules are driven by the gripper control module to rotate and have an extended state in which their distal ends move away from the frame, and a gripping state in which they move closer to the frame. The present invention arranges the gripper module on the frame, and the gripper control module can control the gripper module to rotate so that it has an extended state or a gripping state. The gripper module acts as both a machine arm and a gripper, and the frame no longer needs to be equipped with an additional gripper. The gripper module can be reduced in size, greatly enhancing its ability to pass through narrow spaces. The ratio of the gripper module to the carrier is much larger than that of conventional robots, which enhances its ability to pass through narrow spaces while also enhancing its gripping ability.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A multi-rotor amphibious gripper, comprising: The utility model relates to a kind of multi-fingered robot hand, including: Frame; Several paw modules, several The paw module revolves around the axis of the frame and is respectively rotationally arranged on the frame; Paw control module, the paw control module is arranged on the frame, and several The paw module is rotated by the drive of the paw control module and has extension state and gripping state; Several rotor modules, several The rotor module is respectively arranged on several The paw module; Wherein, in extension state, the distal end of several The paw module moves away from the axis of the frame; In gripping state, the distal end of several The paw module moves towards the axis of the frame and closes to each other; The paw control module includes: drive assembly, the drive assembly is arranged on the frame; Slide, the slide is arranged on the drive assembly, and the slide is linearly moved along the axis of the frame by the drive of the slide; Several The paw module is all pivotally connected on the slide, and has extension state and gripping state by the linear motion of the slide; The paw module includes: finger root component, the finger root component is connected with the slide, and the finger root component is rotated by the drive of the slide; Finger middle component, the finger middle component is pivotally connected at one end of the finger root component away from the frame; Fingertip component, the fingertip component is pivotally connected at one end of the finger middle component away from the finger middle component; Wherein, the finger root component is rotated on the frame by the linear motion of the slide to drive to approach or away from the axis of the frame; The finger middle component is rotated on the finger root component by the rotation of the finger root component to drive to approach or away from the axis of the frame; The fingertip component is rotated on the finger middle component by the rotation of the finger middle component to drive to approach or away from the axis of the frame; In gripping state, the finger root component is obliquely arranged and has first oblique angle, and the first oblique angle is the angle of the included angle between the finger root component and the frame towards the axis of the frame; The finger middle component is obliquely arranged and has second oblique angle, and the second oblique angle is the angle of the included angle between the finger middle component and the finger root component towards the axis of the frame; The first oblique angle is equal to the second oblique angle, and the distal end of several The fingertip component abuts each other.

2. The multi-copter amphibious gripper of claim 1, wherein, The finger root component includes: first finger root rocker, one end of the first finger root rocker towards the frame is pivotally connected with the frame; Finger root connecting rod, the slide, one end of the first finger root rocker away from the frame is respectively pivotally connected with both ends of the finger root connecting rod; Wherein, the finger root connecting rod is rotated on the slide by the linear motion of the slide to drive second finger root rocker to rotate on the frame; Second finger root rocker, one end of the second finger root rocker towards the frame is pivotally connected with the frame, and the second finger root rocker is synchronously rotated with the first finger root rocker.

3. The multi-copter amphibious gripper of claim 2, wherein, The finger middle component includes: finger middle rocker, one end of the finger middle rocker towards the frame is pivotally connected with the frame; A middle finger connecting rod, two ends of the middle finger connecting rod are respectively pivoted with one end of the second finger root rocker away from the rack and one end of the middle finger rocker away from the rack; Wherein, the middle finger connecting rod is driven to rotate on the middle finger rocker and the middle finger rocker is driven to rotate on the rack by rotation of the second finger root rocker; A middle finger extension rod, the middle finger extension rod is fixedly arranged on the middle finger connecting rod, and the middle finger extension rod rotates synchronously with the middle finger connecting rod.

4. The multi-copter amphibious gripper of claim 3, wherein, The tip member comprises: a tip rocker, one end of the tip rocker away from the rack is pivoted with the rack; A tip connecting rod, two ends of the tip connecting rod are respectively pivoted with one end of the middle finger extension rod away from the middle finger connecting rod and one end of the tip rocker away from the rack; Wherein, the tip connecting rod is driven to rotate on the tip connecting rod and the tip rocker is driven to rotate on the rack by rotation of the middle finger extension rod; A tip extension rod, the tip extension rod is fixedly arranged on the tip connecting rod, and the tip extension rod rotates synchronously with the tip connecting rod.

5. The multi-copter amphibious gripper of claim 4, wherein, The tip member further comprises: a gripping rod, the gripping rod is arranged at one end of the tip extension rod away from the tip connecting rod, and one end of the gripping rod away from the tip extension rod is inclined towards the axis of the rack; In the gripping state, the ends of the gripping rods away from the tip extension rods abut against each other.

6. The multi-copter amphibious gripper of claim 4, wherein, The middle finger rocker is arranged intersecting with the second finger root rocker and the tip connecting rod, and one end of the tip rocker towards the axis of the rack, one end of the first finger root rocker towards the axis of the rack and one end of the second finger root rocker towards the axis of the rack are coaxially arranged.

7. The multi-copter amphibious gripper of claim 4, wherein, The claw module is arranged in four, and the rotor module is arranged corresponding to the claw module one by one; In the gripping state, the rotor module is arranged at one end of the second finger root rocker towards the axis of the rack.

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