A terrestrial, land, and air-dwelling robot with active delivery capabilities

Abstract

This invention relates to a terrestrial, land, and air-based amphibious robot with active delivery capabilities. It includes a fuselage and two symmetrically arranged gripper mechanisms for ground movement. The fuselage includes a frame, a floating device for water movement, and a wing-like device for air flight. The gripper mechanisms include two symmetrically arranged gripper assemblies and a fixed frame. Each gripper assembly includes a first gripper blade and a roller device for contacting objects. The fixed frame is mounted on the frame, and the first gripper blade is rotatably mounted on the fixed frame. The roller device is mounted on the first gripper blade. This invention can adapt to water, land, and air environments without redundant and complex mechanisms. It does not require deformation to adapt to different environments, eliminating complex deformation mechanisms and adopting a lightweight design, allowing it to adapt to any environment with a single configuration.

Description

Technical Field

[0001] This invention relates to a habitat-type amphibious robot with active delivery capabilities, belonging to the field of robotics. Background Technology

[0002] Drones and ground rescue robots (including legged, wheeled, and tracked platforms) have demonstrated their application potential in scenarios such as flood and rubble search and rescue. For example, drones can airdrop lifebuoys to provide initial support to drowning victims, while ground robots can penetrate dangerous rubble to search for trapped individuals. However, existing systems face two major bottlenecks in practical deployment: First, high energy consumption and low efficiency. In unknown environments, drones must have continuous power output to rescue drowning victims, ensuring they are always in flight or hovering; ground robots, limited by visibility and accessibility in complex rubble, also need to perform extensive traversal searches. Both modes rely on continuous power output and long-distance movement of the platform, resulting in high overall energy consumption and delayed rescue response. Second, a single motion mode leads to insufficient precision in end-point delivery. Drones struggle to hover stably in dynamic environments such as wind disturbances, causing airdropped supplies to easily deviate from their targets and failing to meet the precise delivery requirements of the "last mile." Ground robots, when encountering narrow openings or piles of obstacles, often cannot make physical contact with those trapped, thus failing to complete reliable "hand-to-hand" delivery.

[0003] Currently, there are multi-functional robots capable of adapting to amphibious environments. These robots can transform into various forms, such as floating balls, underwater gliders, AUVs, and multi-rotor drones, by retracting and extending their rotor units. They can also use gripper units to grasp targets or recharge using wave action while floating. However, this design lacks ground mobility. There are also propeller-integrated amphibious transforming robots that use a bistable locking mechanism to quickly switch between aerial and ground modes and utilize a propeller-wheel composite structure for flight and walking. However, they cannot operate on water and lack material delivery capabilities; their overall structure is also quite bulky. Furthermore, some amphibious robots, while capable of multi-environment movement, lack gripper structures, preventing them from perching on tree trunks or accurately interacting with and delivering supplies to stranded individuals. Traditional single-media or multi-media platforms generally suffer from poor cross-media connectivity, inability to achieve low-energy perch, and a lack of precise contact delivery capabilities, limiting their effectiveness in complex rescue scenarios.

[0004] Therefore, although multimodal robot research has provided ideas for improving environmental adaptability, most existing platforms are still limited to two motion modes. They lack comprehensive mobility across water, land, and air domains, and have failed to integrate precise end-point material delivery mechanisms, making it impossible to perform complete and reliable rescue missions in real disaster chains. Summary of the Invention

[0005] This invention provides a terrestrial, land, and air-based amphibious robot with active delivery capabilities, aiming to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a terrestrial, land, and air-based amphibious robot with active delivery capabilities, capable of adapting to water, land, and air environments. It eliminates redundant and complex mechanisms, does not require deformation to adapt to different environments, removes complex deformation mechanisms, adopts a lightweight design, and can adapt to any environment with a single configuration.

[0006] The technical solution of the present invention relates, in one aspect, to a terrestrial, amphibious robot with active delivery capability, comprising: a fuselage, the fuselage including a frame, a floating device for water surface movement and a wing device for air flight; and two symmetrically arranged gripper mechanisms for ground movement, the gripper mechanisms including two symmetrically arranged gripper groups and a fixed frame, the gripper group including a first gripper piece and a roller device for contacting objects, the fixed frame being disposed on the frame, the first gripper piece being rotatably disposed on the fixed frame, and the roller device being disposed on the first gripper piece.

[0007] Furthermore, the gripper mechanism also includes a servo motor, which is mounted on the fixed frame. The output shaft of the servo motor is connected to one of the first gripper plates, and the two first gripper plates mesh to drive the two gripper mechanisms to open and close.

[0008] Furthermore, the roller device includes a roller bracket, a drive roller, and a roller motor. The roller motor is fixed to the outside of the roller bracket, and the drive roller is disposed inside the roller bracket and protrudes from the inside of the roller bracket.

[0009] Furthermore, the roller device also includes a passive roller, which is disposed on the side of the roller bracket away from the active roller and protrudes from the inner side of the roller bracket.

[0010] Furthermore, the roller bracket includes a first bracket for accommodating the active roller and a second bracket for accommodating the passive roller, wherein the first bracket and the second bracket are connected to form an obtuse angle.

[0011] Furthermore, the claw assembly also includes a wheel for ground movement, the wheel being located on the outside of the second bracket and protruding below the second bracket.

[0012] Furthermore, the claw assembly also includes a second claw piece, with the first claw piece and the second claw piece respectively disposed on both sides of the roller bracket.

[0013] Furthermore, both the first claw and the second claw are provided with teeth for contacting the object.

[0014] Furthermore, the frame includes an arm, one end of which is connected to the frame, and the other end of which is connected to the floating device. The wing body device is disposed in the middle of the arm.

[0015] Another aspect of the technical solution of the present invention relates to a control method for an amphibious robot with active delivery capability, applicable to the amphibious robot with active delivery capability described in the above embodiments; the method includes the following steps:

[0016] The robot enters flight mode by rotating the rotor using the wing-body motor;

[0017] Once the robot lands on the water, the wing motors stop working. At the same time, the floats make the robot float on the water. The underwater propulsion motor drives the underwater propeller to rotate, making the robot move on the water and thus putting the robot into water surface mode.

[0018] After adjusting the angle between the two gripper groups of the gripper mechanism so that the rotating wheel is at a suitable angle, the robot sits on the ground or object surface. The rotating wheel is driven by the rotating motor to move on the ground or crawl on the object surface (such as a tree trunk), thus putting the robot into ground mode. When a crawling command is received, or when feedback is received that the gripping mechanism has completed attaching the object, the robot crawls by rotating the active roller and adjusting the gripping force of the gripping mechanism.

[0019] When a clamping command is received, the servo motor drives the ends of the first and second claws to open the clamping mechanism and move it toward the object until the object is detected to have entered the inside of the clamping mechanism. The servo motor then closes the clamping mechanism to clamp the object. At the same time, the active roller is rotated to adjust the clamping posture of the clamping mechanism.

[0020] The beneficial effects of this invention are as follows:

[0021] This invention relates to a terrestrial, land-based, and air-based amphibious robot with active delivery capabilities. It adapts to water, land, and air environments without redundant or complex mechanisms or requiring deformation to adapt to different environments. By eliminating complex deformation mechanisms and adopting a lightweight design, it can adapt to any environment with a single configuration. The robot features an openable and closeable gripper for carrying supplies and perching on poles. The robot can perch on poles and move back and forth along them, saving energy and expanding its inspection and search and rescue range. The gripper can carry emergency supplies and deliver them to trapped victims under rubble through narrow openings via internal rollers. When moving on the ground, the openable and closing gripper allows for flexible adjustment of the wheel track, making it more adaptable to different terrains. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0023] Figure 1 The diagram shown is a schematic representation of the overall structure of an embodiment of the present invention;

[0024] Figure 2 The diagram shown is a schematic representation of the gripper in the closed state according to an embodiment of the present invention;

[0025] Figure 3 The diagram shown is a structural schematic of the gripper mechanism according to an embodiment of the present invention;

[0026] Figure 4 The figure shown is an exploded view of the gripper mechanism according to an embodiment of the present invention;

[0027] Figure 5 The diagram shown is a schematic representation of an embodiment of the present invention perched on a tree trunk;

[0028] Figure 6 The diagram shown is a schematic representation of a carryable item according to an embodiment of the present invention.

[0029] Explanation of reference numerals in the attached figures:

[0030] 100. Fuselage; 101. Frame; 102. Floats; 103. Underwater propulsion motor; 104. Underwater propeller; 105. Rotor; 106. Airfoil motor; 107. Flight control board; 108. Battery; 109. Control board;

[0031] 200. Gripper mechanism; 201. Fixing frame; 202. First gripper; 203. Second gripper; 204. Servo motor; 205. Roller bracket; 206. Roller motor; 207. Driving roller; 208. Driven roller; 209. Bearing; 210. Rotating wheel; 211. Rotating motor;

[0032] 300. Items. Detailed Implementation

[0033] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0034] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. Furthermore, the descriptions of "upper," "lower," "left," "right," "top," and "bottom" used in this invention are only relative to the relative positional relationships of the various components of the invention in the accompanying drawings.

[0035] Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

[0036] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from one another. For example, without departing from the scope of this disclosure, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0037] See Figures 1 to 6 The present invention discloses a terrestrial, land, and air-dwelling amphibious robot with active delivery capability, comprising a fuselage 100 and two symmetrically arranged gripper mechanisms 200 for ground movement. The fuselage 100 includes a frame 101, a floating device for water movement, and a wing device for air flight. The gripper mechanism 200 includes two symmetrically arranged gripper groups and a fixed frame 201. The gripper group includes a first gripper piece 202 and a roller device for contacting an object 300. The fixed frame 201 is disposed on the frame 101, the first gripper piece 202 is rotatably disposed on the fixed frame 201, and the roller device is disposed on the first gripper piece 202.

[0038] Specifically, two gripper mechanisms 200 are symmetrically arranged on the front and rear sides of the frame 101, and the two gripper groups of each gripper mechanism 200 are symmetrically arranged on the left and right sides of the frame 101. The lower ends of the two gripper groups move away from each other and towards each other to realize the opening and closing of the gripper mechanism 200 (see...). Figure 1 The open state and Figure 2 (closed state).

[0039] In some embodiments of the present invention, the fixing frame 201 of the gripper mechanism 200 is fixed to the lower side of the frame 101, and the servo motor 204 of the gripper mechanism is disposed inside the fixing frame 201. The output shaft of the servo motor 204 is connected to one of the first claw plates 202, and the two first claw plates 202 mesh to drive the two gripper mechanisms 200 to open and close. Further, the upper side of the first claw plate 202 is provided with a gear, and the gears of the two first claw plates 202 mesh with each other to achieve synchronous rotation.

[0040] See Figure 1 and Figure 2 The gripper mechanism 200 has a servo motor 204 installed inside the fixed frame 201. The output shaft of the servo motor 204 is connected to the first claw plate 202. The rotation center of the first claw plate 202 is surrounded by a meshing gear structure. The two symmetrically arranged first claw plates 202 achieve synchronous symmetrical movement through the gear transmission mechanism, so that the gripper mechanism 200 has a controllable opening and closing function, thereby completing a precise opening and closing action under the drive of the servo motor 204.

[0041] In some embodiments of the present invention, the claw assembly further includes a second claw plate 203. The first claw plate 202 and the second claw plate 203 are respectively disposed on both sides of the roller bracket 205. Further, both the first claw plate 202 and the second claw plate 203 are provided with teeth for abutting against the article 300. Specifically, the first claw plate 202 and the second claw plate 203 are respectively disposed on the front and rear sides of the roller bracket 205. When the gripper mechanism 200 clamps the article 300, the teeth of both the first claw plate 202 and the second claw plate 203 are in contact with the article 300, which can improve the gripping force or climbing force of the gripper mechanism 200.

[0042] In some embodiments of the present invention, the gripper mechanism 200 is provided with a gripper mechanism 200 and a roller device that contacts the article 300, achieving a multi-functional integrated design. Specifically, the roller device includes a roller bracket 205, an active roller 207, and a roller motor 206. The roller motor 206 is fixed to the outside of the roller bracket 205, and the active roller 207 is disposed inside the roller bracket 205 and protrudes from the inner side of the roller bracket 205. Further, the roller device also includes a passive roller 208, which is disposed on the side of the roller bracket 205 away from the active roller 207 and protrudes from the inner side of the roller bracket 205.

[0043] In some embodiments of the present invention, the gripper assembly includes a rotating wheel 210 for ground movement. The rotating wheel 210 is located on the outside of the second support and protrudes below the second support. By adjusting the opening and closing angle of the gripper mechanism 200, the rotating wheel 210 can be made perpendicular to the ground, thereby enabling the robot to move on the ground. Alternatively, depending on the surface shape of the wall or tree trunk, crawling can be achieved by adjusting the angle of the gripper mechanism 200 to suit the surface shape.

[0044] See Figure 3 and Figure 4 A rotary motor 211 is mounted on the lower part of the gripper mechanism 200, and wheels are mounted on the output shaft of the rotary motor 211. When the rotary motor 211 is running, it drives the wheels to rotate, enabling the robot to move on the ground. Furthermore, thanks to the adjustable opening and closing structure of the gripper mechanism 200, the wheel spacing on both sides can be dynamically adjusted according to terrain conditions, thereby enhancing the robot's adaptability and mobility to different ground environments.

[0045] In some embodiments of the present invention, the roller bracket 205 includes a first bracket for accommodating the active roller 207 and a second bracket for accommodating the passive roller 208, the first bracket and the second bracket being connected to form an obtuse angle. Specifically, the roller bracket 205 is a hollow frame, the first bracket is provided with a first cavity, the roller motor 206 is fixed on the upper outer side of the first bracket, the active roller 207 is disposed in the first cavity, the output shaft of the roller motor 206 passes through the roller bracket 205 and is connected to the active roller 207, the second bracket is provided with a second cavity, the passive roller 208 is disposed in the second cavity, the lower side of the first bracket is connected to the upper side of the second bracket and forms an obtuse angle, so that the axis of the active roller 207 and the axis of the passive roller 208 intersect to form an obtuse angle, which can better contact objects 300 with curved surfaces such as tree trunks and cylindrical first aid kits. Furthermore, the contact surfaces of the first claw plate 202 and the second claw plate 203 with teeth are curved surfaces, which can improve the friction between the gripper mechanism 200 and the gripper. Furthermore, a bearing 209 is provided between the active roller 207 and the passive roller 208 to enable smooth rotation and support of the roller assembly.

[0046] See Figure 4 and Figure 5The gripper mechanism 200 supports perching and movement on cylindrical structures such as tree trunks. The gripper assembly integrates a roller motor 206, an active roller 207, and a passive roller 208. When the robot flies to the vicinity of a tree trunk and lands, it can stably perch on the trunk surface by controlling the gripper mechanism 200 to close. At this time, the active roller 207 and the passive roller 208 contact the tree trunk surface and generate friction. Driven by the roller motor 206, the active roller 207 rotates, and with the support of the passive roller 208, the robot can climb and move along the tree trunk surface, thereby expanding its operating range in complex environments.

[0047] See Figure 4 and Figure 6 The gripper mechanism 200 enables precise delivery of supplies such as first-aid kits. After the gripper mechanism 200 grips the first-aid kit and lands on the ground, the roller motor 206 drives the active roller 207 to rotate. Utilizing the friction between the active roller 207 and the surface of the supplies, combined with the auxiliary support of the passive roller 208, the first-aid kit can move directionally within the gripper mechanism 200, thereby achieving precise "hand-to-hand" delivery of supplies and effectively solving the shortcomings of traditional airdrop methods in terms of last-mile delivery accuracy.

[0048] In some embodiments of the present invention, the frame 101 includes four arms, one end of which is connected to the frame 101, and the other end of which is connected to a floating device. A wing-body device is disposed in the middle of the arm. Further, the wing-body device is disposed above the arm, and the floating device is disposed below the arm.

[0049] Specifically, there are four robotic arms, the ends of which are connected to the frame 101 and form a cross shape. There are four wing body devices, each located in the middle of one robotic arm. There are two floating devices, which are symmetrically located on the left and right sides of the robot. The outer sections of the two robotic arms on the same side are connected to the front and rear ends of the floating devices, respectively.

[0050] In some embodiments of the present invention, the floating device includes a float 102, an underwater propulsion motor 103, and an underwater propeller 104. The two ends of the float 102 are respectively connected to two robotic arms. The underwater propulsion motor 103 is mounted on the float 102, and the output shaft of the underwater propulsion motor 103 is connected to the underwater propeller 104. Thus, the robot floats on the water surface through the float 102 and drives the underwater propeller 104 to rotate through the underwater propulsion motor 103, thereby achieving forward movement on the water surface.

[0051] In some embodiments of the present invention, the wing motor 106 includes a rotor 105 and a wing motor 106. The wing motor 106 is fixed to the middle of the arm. The output shaft of the wing motor 106 is connected to the rotor 105. The wing motor 106 drives the rotor 105 to rotate, so that the robot can fly in the air.

[0052] Specifically, the frame 101 includes an upper base plate, a lower base plate, and four arms. A fixing plate is located on the lower side of the lower base plate, and the upper base plate is located on the upper side of the lower base plate. A control board 109 and a battery 108 are located on the upper side of the upper base plate. A flight control board 107 is located between the upper and lower base plates. One end of each of the four arms is connected to the lower base plate. The outer end of each arm is connected to the upper side of the float 102. A wing motor 106 is located on the upper surface of the arm. The two arms on the left side are symmetrically arranged with the two arms on the right side.

[0053] See Figure 1 The robot of this invention mainly includes a gripper mechanism 200, an underwater propulsion motor 103, an underwater propeller 104, floats 102, a frame 101, a rotor 105, a wing motor 106, a flight control board 107, a battery 108, and a control board 109. The gripper mechanism 200 is fixedly connected to the lower part of the frame 101 via a mounting bracket 201. The floats 102 are symmetrically arranged on both sides of the frame 101 to provide buoyancy and stability on the water surface. The wing motor 106 is fixed to the frame 101 via a base, and its output shaft is fitted with the rotor 105, forming the robot's aerial propulsion system. The frame 101 integrates the flight control board 107, the control board 109, and the battery 108, which are responsible for flight control, system scheduling, and energy supply, respectively.

[0054] The robot of this invention possesses multimodal motion capabilities, including water surface movement, aerial flight, and ground movement. Specifically, in water surface movement mode, the float 102 provides buoyancy support, allowing the robot to float stably on the water surface. An underwater propulsion motor 103, installed at one end of the float 102, drives the underwater propeller 104, and combined with the water surface motion control algorithm provided by the control board 109, enables the robot to navigate flexibly on the water. In aerial flight mode, the rotor 105 generates lift and thrust under the drive of the wing motor 106. The flight control board 107 executes flight attitude and trajectory control algorithms, and the battery 108 provides the necessary energy for the system, supporting the robot to perform various maneuvering tasks in the air. In ground movement mode, the rotation of the wheels of the gripper mechanism 200 enables the robot to move on the ground, and the gripper mechanism 200 supports perching and movement on cylindrical structures such as tree trunks, as well as the precise delivery of supplies such as first-aid kits.

[0055] See Figures 1 to 6The control method for a terrestrial, amphibious robot with active delivery capability according to the technical solution of the present invention is applied to the terrestrial, amphibious robot with active delivery capability in the embodiments of the present invention. The method includes at least the following steps:

[0056] The rotor 105 is rotated by the wing motor 106, enabling the robot to enter flight mode;

[0057] After the robot lands on the water surface, the wing motor 106 stops working. At the same time, the float 102 is used to make the robot float on the water surface. The underwater propulsion motor 103 drives the underwater propeller 104 to rotate, so that the robot moves on the water surface and enters the water surface mode.

[0058] After adjusting the angle between the two gripper groups of the gripper mechanism 200 so that the rotating wheel 210 is at a suitable angle, the robot sits on the ground or object surface. The rotating wheel 210 is driven to rotate by the rotating motor 211, so that the robot moves on the ground or crawls on the surface of an object (such as a tree trunk), thereby enabling the robot to enter the ground mode. When a crawling command is received, or when feedback is received that the gripping mechanism has completed attaching the item 300, the robot crawls by rotating the active roller 207 and adjusting the gripping force of the gripping mechanism.

[0059] When a command to clamp the item 300 is received, the servo motor 204 drives the ends of the first claw 202 and the second claw 203 to open the clamping mechanism and move it toward the item 300 until the item 300 is detected to have entered the inside of the clamping mechanism. Then, the servo motor 204 closes the clamping mechanism to clamp the item 300. At the same time, the active roller 207 is rotated to adjust the posture of the gripper mechanism 200 clamping the item 300.

[0060] This embodiment of the amphibious robot, capable of both perched movement and precise delivery of supplies, integrates its rotor system 105, underwater propulsion system, and multi-functional gripper mechanism 200 onto a unified frame 101. This enables the robot to achieve full-range mobility, including aerial flight, water navigation, and ground movement. Through an innovative integrated design of the variable wheelbase chassis and gripper mechanism 200, it achieves flexible ground movement while providing a unified execution terminal for perching and precise delivery. The gripper mechanism 200 of this invention uses a built-in servo motor 204 to engage with the first claw plate 202 of the gear, driving the symmetrical opening and closing of the two claws. This allows for stable perching on complex structures such as tree trunks. The roller assembly integrated within the claws, driven by a motor, supports the robot's climbing and movement on the surface of its habitat, overcoming terrain limitations. Furthermore, through friction transmission, it enables precise, "hand-to-hand" controlled delivery of supplies such as first-aid kits, effectively solving the "last mile" problem of insufficient precision in traditional aerial delivery. This invention, through the high integration of multimodal motion and end-effector capabilities, enables robots to perform continuous observation and precise material delivery tasks in a habitat with minimal energy consumption, significantly improving rescue efficiency and adaptability in complex disaster environments.

[0061] It should be noted that by using materials such as stainless steel, corrosion-resistant alloys, or metals with anti-corrosion surface treatment, or by using waterproof lubricating oil, solid lubricating oil, or waterproof servo motors 204 and waterproof motors, or by separately sealing and protecting the servo motors 204 and motors, the robot of the present invention can enter the water environment without external protection.

[0062] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention, as long as they achieve the technical effects of the present invention by the same means, should be included within the scope of protection of this disclosure. Within the scope of protection of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A habitat amphibious air-land robot, characterized in that, The utility model relates to a habitat amphibious aircraft robot, which comprises a body (100) including a frame (101), a floating device for water movement and a wing device for air flight, two symmetrically arranged clamping jaw mechanisms (200) for ground movement, each of which comprises two symmetrically arranged claw groups and a fixing frame (201), wherein each claw group comprises a first claw piece (202) and a roller device for contacting an article (300), and the fixing frame (201) is arranged on the frame (101), the first claw piece (202) is rotatably arranged on the fixing frame (201), and the roller device is arranged on the first claw piece (202). The roller device comprises a roller support (205), a driving roller (207) and a roller motor (206), the roller motor (206) is fixed to the outer side of the roller support (205), and the driving roller (207) is arranged in the roller support (205) and protrudes from the inner side of the roller support (205). The roller device further comprises a driven roller (208) arranged on the side of the roller support (205) away from the driving roller (207), and the driven roller (208) protrudes from the inner side of the roller support (205). The roller support (205) comprises a first support for accommodating the driving roller (207) and a second support for accommodating the driven roller (208), and the first support and the second support are connected to form an obtuse angle. The claw group further comprises a rotating wheel (210) for ground movement, which is arranged on the outer side of the second support and protrudes below the second support. The wheel track of the rotating wheels (210) on both sides can be dynamically adjusted according to the terrain conditions by means of the adjustable opening and closing structure of the clamping jaw mechanism (200). The clamping jaw mechanism (200) further comprises a steering engine (204) arranged on the fixing frame (201), the output shaft of the steering engine (204) is connected with one of the first claw pieces (202), and the two first claw pieces (202) are engaged to drive the opening and closing of the two clamping jaw mechanisms (200). The claw group further comprises a second claw piece (203), and the first claw piece (202) and the second claw piece (203) are arranged on both sides of the roller support (205). The first claw piece (202) and the second claw piece (203) are each provided with a tooth portion for abutting against an article (300). The frame (101) comprises an arm, one end of the arm is connected with the frame (101), the other end of the arm is connected with the floating device, and the wing device is arranged in the middle part of the arm.

2. The habitat type water, land and air three-shed robot according to claim 1, characterized in that, The method is applied to the habitat amphibious aircraft robot according to any one of claims 1 to 3, and comprises the following steps:

3. The habitat type water, land and air three-shed robot according to claim 1, characterized in that, The rotating wing (105) is rotated by the wing motor (106) to make the robot enter the flight mode.

4. A control method of a habitat type amphibious aircraft robot having an active delivery capability, characterized by, ​ ​ When the robot is placed on the water surface, the wing motor (106) is stopped, and the robot is floated on the water surface by the buoy (102). Then, the underwater propeller (104) is driven to rotate by the underwater propulsion motor (103), so that the robot moves on the water surface, and then enters the water surface mode. After adjusting the angle between the two claw groups of the clamping jaw mechanism (200) to make the rotating wheel (210) at a suitable angle, and placing the robot on the ground or the surface of an object, the rotating wheel (210) is driven to rotate by the rotating motor (211), so that the robot moves on the ground or crawls on the surface of the object, and then enters the ground mode. When receiving a crawling instruction, after receiving feedback that the clamping jaw mechanism (200) has completed the attachment of the article (300), the robot crawls by rotating the driving roller (207) and adjusting the clamping force of the clamping jaw mechanism (200). When receiving an article (300) clamping instruction, the end of the first jaw piece (202) and the second jaw piece (203) is driven by the steering gear (204) to make the clamping jaw mechanism (200) enter an open state, and move the clamping jaw mechanism (200) towards the article (300) until the article (300) is detected to enter the inside of the clamping jaw mechanism (200). Then, the clamping jaw mechanism (200) enters a closed state to clamp the article (300) by the steering gear (204), and the posture of the clamping jaw mechanism (200) clamping the article (300) is adjusted by rotating the driving roller (207).

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