Continuous adaptive passive gripping and following rolling end effector and robot

Abstract

This invention relates to an end effector and robot for continuous adaptive passive gripping and following rolling, comprising a gripper mechanism, a gripper bar, and a base. The gripper mechanism and base are disposed at both ends of the gripper bar. The gripper mechanism includes a first gripper group, a second gripper group, a spring for providing opening force, a clamping device for providing clamping force, and two following rolling units for adjusting the gripping posture of the object. The two ends of the spring are respectively connected to the first gripper group and the second gripper group. The clamping device is fixed to the base and passes through the gripper bar to connect to the first gripper group and the second gripper group respectively. The two following rolling units are respectively disposed on the first gripper group and the second gripper group to contact the object. This invention has a compact overall structure, achieving a high degree of unity between multifunctionality and lightweight design, and can perform continuous and efficient cyclic operations.

Description

Technical Field

[0001] This invention relates to an end effector and robot with continuous adaptive passive gripping and following rolling, belonging to the field of robotics. Background Technology

[0002] With the rapid development of robotics technology and the continuous expansion of its application scenarios, drones, underwater robots, and ground mobile robots are playing increasingly important roles in various complex tasks. The application areas of robotic systems have gradually expanded from traditional industrial manufacturing and logistics transportation to multiple cutting-edge fields such as extreme environment exploration, emergency rescue, precision agriculture, and marine development. However, with the diversification of application scenarios, the functional requirements for amphibious variable-configuration robots are also showing unprecedented complexity and comprehensiveness. Amphibious robots are demonstrating broad application prospects in scenarios such as emergency rescue, environmental monitoring, and special operations. For example, drones can quickly reach flooded areas for aerial reconnaissance, surface robots can perform search and rescue missions in waterways, and ground robots can penetrate complex terrain to carry out material transportation. Furthermore, in field ecological monitoring, drones need to be able to stably perch on irregular surfaces such as tree trunks and branches, achieving reliable attachment and movement on these natural structures. Drones also need to grasp and transport strip-shaped or irregular objects of various shapes and sizes, maintaining stable gripping during flight. However, existing robots have limited operational capabilities, resulting in low task completion rates. They struggle to meet the navigability needs of transitional areas between land and water, and neglect the configuration of end effectors. This means that while robots can reach the target area, they cannot perform critical operations such as material grasping, sample collection, or precise delivery. Most existing platforms are still limited to two motion modes, lacking comprehensive navigability across water, land, and air domains, and failing to integrate flexible end effectors, thus making it impossible to perform reliable tasks in real-world scenarios.

[0003] Existing amphibious robots can transform between forms such as floating balls, underwater gliders, autonomous underwater vehicles, and multi-rotor drones by retracting and extending rotor units and extending and retracting gripper units, but they lack ground mobility. Other amphibious robots, employing a bistable locking mechanism and a combined rotor-propeller design, can switch between flight and land modes, but cannot adapt to aquatic environments and lack amphibious, land-sea-air transformable robots. Some amphibious robots achieve multimodal motion through shell combination and flipping actuation, possessing amphibious mobility, but lack dexterous end effectors capable of stable resting and precise manipulation on complex surfaces such as tree trunks. Furthermore, in underwater and land-based operational scenarios, robots often face challenges such as diverse target shapes, low visibility, or rugged terrain. Traditional rigid grippers struggle to achieve adaptive, stable grasping and continuous, reliable operation, limiting the comprehensive application effectiveness of drones, underwater, and land robots in complex tasks.

[0004] Therefore, existing robot systems still have shortcomings in integrating amphibious mobility capabilities (water, land, and air) with lightweight and dexterous operation performance. Developing lightweight, adaptive, multifunctional, and continuously operable amphibious variable-configuration robots will provide strong technical support for UAVs, underwater robots, and ground mobile robots to perform diverse tasks in complex environments. Summary of the Invention

[0005] This invention provides an end effector and robot with continuous adaptive passive gripping and following rolling, aiming to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an end effector and robot with continuous adaptive passive gripping and following rolling, featuring a compact overall structure that achieves a high degree of unity between multifunctionality and lightweight design, enabling continuous and efficient cyclic operation.

[0006] The technical solution of this invention relates, on one hand, to an end effector and robot with continuous adaptive passive gripping and following rolling, applied to a robot. The robot includes deformable wheels and / or rotating wheels. The deformable wheels are used for switching between flight mode, ground mode, and water mode, and the rotating wheels are used for switching between flight mode, ground mode, and water mode. The end effector includes a gripper mechanism, a gripper bar, and a base. The gripper mechanism and the base are disposed at both ends of the gripper bar. The gripper mechanism includes a first gripper group, a second gripper group, a spring for providing opening force, a clamping device for providing clamping force, and two following rolling units for adjusting the gripping posture of the object. The two ends of the spring are respectively connected to the first gripper group and the second gripper group. The clamping device is fixed on the base and passes through the gripper bar to connect to the first gripper group and the second gripper group respectively. The two following rolling units are respectively disposed on the first gripper group and the second gripper group to contact the object.

[0007] Furthermore, the first claw group includes a first claw plate and a second claw plate symmetrically arranged, the first claw plate and the second claw plate being fixedly connected by a first aluminum post and a second aluminum post to form a first cavity; the second claw group includes a third claw plate and a fourth claw plate symmetrically arranged, the third claw plate and the fourth claw plate being fixedly connected by a third aluminum post and a fourth aluminum post to form a second cavity; the two following rolling units are respectively disposed in the first cavity and the second cavity.

[0008] Furthermore, the gripper mechanism includes a first connecting plate, a second connecting plate, a first fixing block, and a second fixing block. The first fixing block and the second fixing block are fixedly disposed on both sides of the end of the gripper rod. The first connecting plate is fixedly connected to the first fixing block, and the second connecting plate is fixedly connected to the second fixing block. The first claw piece and the third claw piece are rotatably connected to the first connecting plate, and the second claw piece and the fourth claw piece are rotatably connected to the second connecting plate, so as to allow the first claw group and the second claw group to open and close symmetrically.

[0009] Furthermore, the first aluminum post is disposed on the side of the second aluminum post away from the gripper bar, and the third aluminum post is disposed on the side of the fourth aluminum post away from the gripper bar.

[0010] Furthermore, the two ends of the spring are connected to the first aluminum post and the third aluminum post, respectively.

[0011] Furthermore, a lead screw motor is fixed on the base, the lead screw of the lead screw motor is threadedly connected to the slider, the sliding track is set inside the gripper rod, and the slider is linearly movable on the sliding track; the two ends of the first rope are respectively fixedly connected to the second aluminum column and the slider, and the two ends of the second rope are respectively fixedly connected to the fourth aluminum column and the slider.

[0012] Furthermore, the accompanying rolling unit includes a rolling frame, a rolling motor, and rollers. The rolling motor is fixed on the rolling frame, and the rollers are disposed on the output shaft of the rolling motor and inside the rolling frame. The rollers are exposed outside the rolling frame to contact the article.

[0013] Another aspect of the technical solution of the present invention relates to a control method for a continuously adaptive passive clamping and following rolling end effector, applied to the continuously adaptive passive clamping and following rolling end effector of the above embodiment; the method includes the following steps:

[0014] S10. The slider is driven by the lead screw motor to move towards the gripper bar, so that the second aluminum column and the fourth aluminum column are pulled down simultaneously by the first rope and the second rope, thereby making the gripper mechanism open.

[0015] S20. Move the gripper mechanism toward the object until the first, second, third, and fourth grippers are detected to be in contact with the object. Drive the lead screw motor to move the slider away from the gripper bar. At the same time, continue to move the gripper mechanism toward the object until the first and second gripper groups are detected to move toward each other under the action of the spring so that the gripper mechanism is in a clamping state. Then, a command to complete the clamping is fed back.

[0016] The beneficial effects of this invention are as follows:

[0017] The continuous adaptive passive gripping and follow-rolling end effector and robot of this invention have a compact overall structure, which can achieve a high degree of unity between multifunctionality and lightweight. The zero-power adaptive passive gripping is achieved through a spring triggering mechanism, and the follow-rolling unit enables the robot to adjust the posture of the target object without releasing the target object, so as to perform continuous and efficient cyclic operation.

[0018] This invention achieves zero-power passive gripping while ensuring safety. It utilizes an "over-center" spring triggering mechanism, changing the traditional end effector's reliance on a continuous power source (such as a motor) to maintain gripping force. When the target object contacts the gripper and passes a preset mechanical critical point, the pre-stored spring potential energy is released instantaneously, driving the gripper to quickly and reliably clamp the target object. Throughout the gripping and holding process, the drive motor remains completely inactive, achieving "zero-power gripping." This not only significantly reduces the robot's energy consumption during prolonged grasping, handling, or perching tasks, extending the endurance of mobile platforms (such as drones and underwater robots), but also, because the gripping force originates from the stable mechanical structure itself, the gripping state remains firmly maintained even in extreme situations such as power outages or control failures, effectively improving operational safety and reliability and avoiding the risk of the target object falling due to accidental power loss.

[0019] This invention's gripper mechanism possesses advanced "hand-operated" capabilities, integrating a roller assembly driven by an independent rolling motor within the gripper plates. After the target object is passively gripped, this "follow-roll" function allows the robot to precisely adjust the lateral position of the target object without releasing it or moving the entire robot arm or platform. In material delivery tasks, it enables smooth "hand-to-hand" handover; in assembly tasks, it allows for fine-tuning and alignment of rod-shaped parts; and in inspection tasks, it can roll the target object for 360° surface scanning. Based on the "hand-operated" capability of the follow-roll unit, this invention effectively solves the problems of limited functionality, cumbersome operation, and low efficiency of existing ordinary grippers.

[0020] This invention enables continuous and efficient cyclic operation of adaptive gripping. It overcomes the limitation of "one-time triggering" in passive gripper mechanisms by using a reset system consisting of a lead screw motor, a slider, and a rope. The lead screw motor only operates briefly when it is necessary to release the target object or re-"re-enforce" the gripper. By pulling the rope, the gripper is forcibly opened, and the spring mechanism crosses the critical point again, entering a high-potential-energy ready-to-trigger state. This allows the "adaptive passive gripping" process to be repeated quickly and continuously, achieving an efficient "grab-operate-release-re-grab" work cycle. Simultaneously, because the gripping force comes from the spring, the gripper can adaptively cover and clamp cylindrical or irregular objects of different diameters, achieving the low-energy advantage of passive gripping and the continuous operation capability of active control, effectively improving efficiency in tasks such as continuous sorting, handling, or sample collection.

[0021] The invention features a sophisticated overall structure that achieves a high degree of unity between multifunctionality and lightweight design. Compared to complex "dexterous hands" that require multiple actuators to control clamping, locking, and hand operation separately, this invention clearly decouples the functions of generating clamping force (spring), triggering clamping action (passive contact), resetting the clamping state (single lead screw motor), and additional operation (rolling motor), and integrates them into a compact structure. This significantly reduces the overall weight, manufacturing cost, and control complexity of the end effector, allowing it to be easily installed and integrated into various mobile platforms that are extremely sensitive to load and energy consumption, just like a simple tool. It has versatility and application value. 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 wheel configuration according to an embodiment of the present invention.

[0024] Figure 2 The diagram shown is an explosive schematic of the deformable wheel according to an embodiment of the present invention;

[0025] Figure 3 The image shown is a side view of the ground mode wheeled state according to an embodiment of the present invention;

[0026] Figure 4 The image shown is an overall front view of the deformable wheel during deformation according to an embodiment of the present invention;

[0027] Figure 5 The diagram shown is a schematic of a drive motor driving a deformable wheel to rotate according to an embodiment of the present invention;

[0028] Figure 6 The image shown is a front view of the ground mode wheel state according to an embodiment of the present invention;

[0029] Figure 7 The diagram shown is a schematic representation of the deformation of the deformable wheel according to an embodiment of the present invention;

[0030] Figure 8 The diagram shown is a schematic representation of the rotor leg state according to an embodiment of the present invention;

[0031] Figure 9 The diagram shown is a schematic representation of the flight mode of a robot embodiment.

[0032] Figure 10 The diagram shows the gripper positioned at the bottom in flight mode of a robot embodiment.

[0033] Figure 11 The diagram shown is a schematic representation of the opening of the end effector according to an embodiment of the present invention;

[0034] Figure 12 The image shown is a closed front view of the end effector according to an embodiment of the present invention;

[0035] Figure 13 The diagram shown is a closed schematic of the end effector according to an embodiment of the present invention;

[0036] Figure 14 The figure shown is an exploded view of the gripper mechanism according to an embodiment of the present invention;

[0037] Figure 15 The figure shown is an exploded view of the clamping device according to an embodiment of the present invention;

[0038] Figure 16 The diagram shown is a schematic representation of the clamping of a cylindrical object according to an embodiment of the present invention.

[0039] Figure 17 The diagram shown is a schematic representation of the moment when the cylindrical object is clamped in contact according to an embodiment of the present invention.

[0040] Figure 18 The diagram shown is a schematic diagram of the clamped cylindrical article after contact according to an embodiment of the present invention;

[0041] Figure 19 The diagram shown is a schematic of a robot clamping a cylindrical object according to an embodiment.

[0042] Figure 20 The diagram shown is a schematic of a robot embodiment clamping a cylindrical object and rolling it.

[0043] Explanation of reference numerals in the attached figures:

[0044] 100. Fuselage; 101. Intermediate connecting pipe; 102. Fuselage morphing servo; 103. Fuselage morphing base; 104. Fuselage morphing gear; 105. Symmetrical gear; 106. Arm; 107. Driven wheel connecting seat; 108. Gripper rotating base; 109. Gripper rotating servo; 110. Gripper rotating drive gear; 111. Gripper seat; 112. Rotor; 113. Wing-body motor; 11 4. First connecting rod; 115. Second connecting rod; 116. Main shaft; 117. Bearing; 118. Bushing; 119. Battery; 120. Control board; 121. Float; 200. Deformable wheel; 201. Paddle leg; 202. Deformable rod; 203. Outer wheel frame; 204. Inner wheel frame; 205. Deformable gear ring; 206. Center frame; 207. Sliding base; 208. Sliding seat rod; 209. Wheel 210. Variable spring; 211. Drive motor; 212. Drive gear; 213. Push rod; 214. First stop plate; 215. Second stop plate; 300. Rotary wheel; 400. Gripper assembly; 401. First claw plate; 402. Second claw plate; 403. Third claw plate; 404. Fourth claw plate; 405. First aluminum column; 406. Second aluminum column; 407. Third aluminum column; 408. Fourth aluminum column; 409. First connecting plate; 410. Second connecting plate; 411. First fixing block; 412. Second fixing block; 413. Gripper spring; 414. Lead screw motor; 415. Slider; 416. Sliding rail; 417. First rope; 418. Second rope; 419. Rolling frame; 420. Rolling motor; 421. Roller; 500. Gripper rod; 600. Base; 700. Item. Detailed Implementation

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] See Figures 1 to 20 The amphibious, land, and air-based transformable robot with a rotatable gripper according to the present invention includes a body 100, transforming wheels 200, rotating wheels 300, and a gripper mechanism. The body 100 includes a central connecting pipe 101, a gripper base 111, and two body transforming components. The gripper base 111 is rotatably mounted on the central connecting pipe 101, and the gripper mechanism is mounted on the gripper base 111. Both body transforming components are mounted on the central connecting pipe 101 and are respectively connected to the transforming wheels 200 and the rotating wheels 300, so that the transforming wheels 200 and the rotating wheels 300 rotate around the central connecting pipe 101, thereby enabling the entire robot to switch configurations between flight mode, ground mode, and water mode. The transforming wheels 200 are provided with insertable or extendable propeller legs 201, so that the entire robot can transform between a wheeled state and a wheel-propeller-leg state.

[0050] See Figures 1 to 20 The control method for an amphibious, land- and air-adaptive robot with a rotatable gripper, as described in this invention, is applied to the amphibious, land- and air-adaptive robot of this embodiment. The method includes at least the following steps: Upon receiving a command to enter flight mode, the robot's morphing servo 102 and arm 106 drive the morphing wheel 200 and rotating wheel 300 to rotate around the intermediate connecting pipe 101, so that the morphing wheel 200 and rotating wheel 300 are horizontally positioned, and the morphing wheel 200 is in a wheel-like state; upon receiving a command to enter ground ... The deformable wheel 200 and the rotor 300 rotate around the intermediate connecting pipe 101 to make the deformable wheel 200 and the rotor 300 vertically positioned; at the same time, the deformable wheel 200 is in a wheel-like state to allow the whole machine to roll on the ground, or the deformable wheel 200 is in a wheel-grabbing propeller state to provide ground adhesion; when receiving the command to enter the water surface mode, the deformable wheel 200 and the rotor 300 are driven to rotate around the intermediate connecting pipe 101 through the fuselage deformable servo 102 and the arm 106 to make the deformable wheel 200 and the rotor 300 vertically positioned; at the same time, the deformable wheel 200 is in a wheel-grabbing propeller state to provide propulsion power as the propeller leg 201.

[0051] In some embodiments of the present invention, the transformation of the deformable wheel 200 between a wheel-type state and a propeller-leg state includes the following steps:

[0052] A10. The deformable wheel 200 rotates upward around the intermediate connecting pipe 101 via the arm 106, causing the push rod 212 to contact the deformable base 103 of the machine body. This causes the sliding base 207 to overcome the thrust of the wheel spring 209, driving the drive gear 211, the first stop plate 213, and the second stop plate 214 to slide outward. Consequently, the drive gear 211 disengages from the inner wheel frame 204 and engages only with the deformable gear ring 205. Simultaneously, the first stop plate 213 and the second stop plate 214 contact the inner wheel frame 204 and act as a brake on the inner wheel frame 204. The drive motor 210 drives the deformable gear ring 205 to rotate relative to the outer wheel frame 203 and the inner wheel frame 204, thereby causing the rotor leg 201 to... One end detaches from or embeds into the outer wheel frame 203, and the whole machine enters the wheel propeller leg state or wheel state; A20, the deformable wheel 200 is rotated downward around the middle connecting pipe 101 by the arm 106 until the sliding seat rod 208 is set horizontally. The thrust of the wheel spring 209 causes the sliding base 207, drive gear 211, first stop plate 213 and second stop plate 214 to slide inward, thereby causing the drive gear 211 to mesh with the inner wheel frame 204 and the deformable gear ring 205 at the same time, and causing the first stop plate 213 and the second stop plate 214 to disengage from the inner wheel frame 204. The drive motor 210 drives the deformable wheel 200 to rotate, and the whole machine enters the ground mode or water mode.

[0053] The robot in this embodiment of the invention can switch between a quadcopter configuration and a four-wheeled vehicle configuration under the drive of the body transformation servo 102. The quadcopter configuration can fly in the air, and the four-wheeled vehicle configuration can move on flat ground, rugged ground and water. The body transformation servo 102 also has the function of dynamically adjusting the wheel spacing on both sides in ground mode. The robot arm 106 drives the transformation wheel 200 to swing, realizing the transformation between wheeled state and propeller leg state.

[0054] In some embodiments of the present invention, see Figure 1 The robot of the present invention includes a central connecting tube 101, a driven wheel connecting seat 107, a gripper rotating base 108, and two body deformation components. The two ends of the central connecting tube 101 are respectively connected to the driven wheel connecting seat 107 and the gripper rotating base 108. The outer sides of the driven wheel connecting seat 107 and the gripper rotating base 108 are respectively fixedly connected to the body deformation bases 103 of the two body deformation components. It should be noted that the central connecting tube 101 can be a carbon fiber tube.

[0055] In some embodiments of the present invention, the robot of the present invention is provided with two body deformation components, two deformation wheels 200 and two rotating wheels 300, one body deformation component is connected to the two deformation wheels 200 and the other body deformation component is connected to the two rotating wheels 300, providing power for the robot's deformation.

[0056] In some embodiments of the present invention, the robot's body 100 includes a body deformation assembly, which includes a body deformation servo 102, a body deformation base 103, a body deformation gear 104, and an arm 106. The body deformation servo 102 is fixed to the body deformation base 103. The output shaft of the body deformation servo 102 is connected to the body deformation gear 104, which meshes with the arm 106. The arm 106 is fixedly connected to a deformation wheel 200 or a rotating wheel 300, so that the entire robot can switch configurations between flight mode, ground mode, and water mode. Furthermore, the body 100 also includes a symmetrical gear 105, and the body deformation gear 104 and the arm 106 are connected by a transmission via the symmetrical gear 105.

[0057] In some specific embodiments of the present invention, the fuselage 100 further includes a gripper rotating base 108. The fuselage deformation servo 102 in the fuselage deformation assembly for driving the deformation wheel 200 to deform is disposed between the fuselage deformation base 103 and the gripper rotating base 108. The two ends of the corresponding arm 106 are rotatably connected to the fuselage deformation base 103 and the gripper rotating base 108, respectively. The two sides of the corresponding symmetrical gear 105 are rotatably connected to the fuselage deformation base 103 and the gripper rotating base 108, respectively. One side of the corresponding fuselage deformation gear 104 is rotatably connected to the gripper rotating base 108.

[0058] See Figure 1 The transforming wheel 200 is mounted on the arm 106. The arm 106 is mounted between the fuselage transforming base 103 and the gripper rotating base 108 via a rotating shaft. The fuselage transforming servo 102 is mounted on the fuselage transforming base 103. The fuselage transforming gear 104 is mounted on the output shaft of the fuselage transforming servo 102. The fuselage transforming gear 104 meshes with the symmetrical gear 105 mounted between the fuselage transforming base 103 and the gripper rotating base 108. The fuselage transforming gear 104 and the symmetrical gear 105 simultaneously drive the drive gear 211 on both sides of the arm 106 to drive the two transforming wheels 200 to swing symmetrically, thereby realizing the transformation of the fuselage and realizing the conversion between flight mode and ground / water mode.

[0059] Specifically, the two deformable wheels 200 and two rotating wheels 300 are rotated around the central connecting pipe 101 by the arm 106. When the robot is in ground mode or water mode, the two deformable wheels 200 and two rotating wheels 300 are set vertically. When the body deformation servo 102 drives the arm 106 to rotate through the body deformation gear 104 and the symmetrical gear 105, the two deformable wheels 200 and two rotating wheels 300 rotate upward until the two deformable wheels 200 and two rotating wheels 300 are set horizontally. At this time, the robot enters flight mode.

[0060] In some specific embodiments of the present invention, the body deformation assembly includes two arms 106 and two symmetrical gears 105. Two deformation wheels 200 are provided. The two deformation wheels 200, the two arms 106, and the two symmetrical gears 105 are symmetrically arranged on both sides of the intermediate connecting pipe 101. The deformation wheels 200 are located on the outer side of the arms 106. The rear end and front end of the arms 106 are rotatably connected to the body deformation base 103 and the gripper rotating base 108, respectively. A drive gear 211 is provided on the side of the arms 106 near the gripper rotating base 108. The body deformation... Gear 104 is positioned between two symmetrical gears 105, which are symmetrically positioned on both sides of the fuselage deformation gear 104. The two symmetrical gears 105 mesh with two drive gears 211 respectively. That is, the symmetrical gears 105 mesh with the fuselage deformation gear 104 and the drive gears 211 respectively. Through gear transmission between the fuselage deformation gear 104, the symmetrical gears 105 and the drive gears 211, the fuselage deformation servo 102 drives the arm 106 and the deformation wheel 200 to deform, thereby realizing the conversion between "flight mode" and "ground and water surface mode".

[0061] In some embodiments of the present invention, the robot of the present invention further includes a rotary wheel 300, see [link to documentation]. Figure 1 The rotating wheel 300, mounted on the robotic arm 106, is a passive wheel of the non-deformable, driveless motor 210. The robot's body 100 can switch between a quadcopter configuration and a four-wheeled vehicle configuration under the drive of the body-transforming servo motor 102. The quadcopter configuration allows for flight, while the four-wheeled vehicle configuration allows for movement on flat ground, rough terrain, and water. The body-transforming servo motor 102 enables the robot to dynamically adjust the wheelbase on both sides in ground mode.

[0062] In some specific embodiments of the present invention, the fuselage 100 further includes a driven wheel connecting seat 107. The fuselage deformation servo 102 of the fuselage deformation assembly for driving the deformation of the rotating wheel 300 is disposed between the fuselage deformation base 103 and the driven wheel connecting seat 107. The two ends of the corresponding arm 106 are rotatably connected to the fuselage deformation base 103 and the driven wheel connecting seat 107, respectively. The two sides of the corresponding symmetrical gear 105 are rotatably connected to the fuselage deformation base 103 and the driven wheel connecting seat 107, respectively. One side of the corresponding fuselage deformation gear 104 is rotatably connected to the driven wheel connecting seat 107.

[0063] See Figure 1The rotating wheel 300 is mounted on the fuselage arm 106. The fuselage arm 106 is mounted between the fuselage transformation base 103 and the driven wheel connecting seat 107 via a rotating shaft. The rotating wheel 300 is located on the outer side of the fuselage arm 106. The front end and rear end of the fuselage arm 106 are rotatably connected to the fuselage transformation base 103 and the driven wheel connecting seat 107, respectively. A drive gear 211 is provided on the side of the fuselage arm 106 near the driven wheel connecting seat 107. The fuselage transformation gear 104 and the symmetrical gear 105 simultaneously drive the drive gear 211 on both sides of the fuselage arm 106 to drive the two rotating wheels 300 to swing symmetrically, thereby realizing the deformation of the fuselage and realizing the conversion between flight mode, ground mode and water mode.

[0064] In some specific embodiments of the present invention, the fuselage 100 of the present invention includes a wing assembly, which includes a rotor 112 and a wing motor 113. The rotor 112 is mounted on the output shaft of the wing motor 113 and is disposed outside the deformable wheel 200 or the rotating wheel 300. The central wheel of the deformable wheel 200 is sleeved on the wing motor 113, or the inner wheel of the rotating wheel 300 is sleeved on the wing motor 113. Further, the robot of the present invention is provided with four wing assemblies, wherein two wing assemblies are respectively connected to two deformable wheels 200, and the other two wing assemblies are respectively connected to two rotating wheels 300.

[0065] In some embodiments of the present invention, the fuselage 100 deformable assembly includes a first link 114 and a second link 115. One end of the first link 114 and one end of the second link 115 are respectively connected to opposite sides of the arm 106, and the other ends of the first link 114 and the second link 115 are respectively connected to opposite sides of the main shaft 116. The wing motor 113 is fixed on the main shaft 116. Specifically, the upper ends of the first link 114 and the second link 115 are respectively connected to the front and rear sides of the arm 106, and the lower ends of the first link 114 and the second link 115 are respectively fixedly connected to the main shaft 116. A cavity is provided on the outer side of the main shaft 116, and the wing motor 113 is fixed in the cavity with its output shaft protruding outward to connect with the rotor 112.

[0066] In some embodiments of the present invention, both the deformable wheel 200 and the rotating wheel 300 are provided with an outer frame 203, a central frame 206, and a connecting rod. The two ends of the connecting rod are respectively connected to the outer frame 203 and the central frame 206. The central frame 206 is rotatably mounted on the main shaft 116. Specifically, the central frame 206 is mounted on a bearing 117, and the bearing 117 is mounted on the main shaft 116. Further, a bushing 118 is fitted onto the outer side of the main shaft 116, and the bushing 118 is positioned between the central frame 206 and either the first connecting rod 114 or the second connecting rod 115.

[0067] In some embodiments of the present invention, the deformable wheel 200 of the present invention is provided with a paddle leg 201, a deformable rod 202, an outer wheel frame 203, a toothed inner wheel frame 204, and a deformable toothed ring 205. The inner wheel frame 204 is fixedly connected to the outer wheel frame 203, and the deformable toothed ring 205 is rotatably disposed between the inner wheel frame 204 and the outer wheel frame 203. The inner wheel frame 204 is fitted onto the deformable toothed ring 205, and the inner wheel frame 204 is disposed on the inner side of the deformable toothed ring 205. The paddle leg 201... One side of the rotor leg 201 can detach from or embed into the outer wheel frame 203, while the other side of the rotor leg 201 is rotatably connected to the outer wheel frame 203. One end of the deformable rod 202 is rotatably connected to the deformable gear ring 205, and the other end of the deformable rod 202 is rotatably connected to the middle of the rotor leg 201. When the deformable gear ring 205 slides relative to the outer wheel frame 203 and the inner wheel frame 204, the rotor leg 201 can swing, causing the deformable wheel 200 to transform between a wheel-like state and a wheel-paddle-leg state. It should be noted that when the rotor leg 201 is embedded in the outer wheel frame 203, the surface of the outer wheel frame 203 is flat, and the deformable wheel 200 can roll as a wheel.

[0068] In some embodiments of the present invention, the deformable wheel 200 is provided with a wheel-transformation assembly for driving the propeller leg 201 to disengage from or embed into the outer frame 203. The wheel-transformation assembly provides driving force for the conversion between the wheel state and the propeller leg state of the deformable wheel 200. The wheel-transformation assembly includes a sliding base 207, a sliding rod 208, a wheel-transformation spring 209, and a drive motor 210. The sliding rod 208 is fixed on the arm 106. The pulley base 600 is slidably connected to the sliding rod 208. The wheel-transformation spring 209 is disposed on the sliding rod 208 and contacts the pulley base 600. The wheel-transformation spring 209 is disposed on the side of the pulley base 600 facing away from the deformable base 600 of the machine body. The inner side of the sliding base 207 is provided with a push rod 212 that allows contact with the deformable base 600 of the machine body. The sliding base 207 is provided with a first stop plate 213 and a second stop plate 214 that allow engagement with the outer wheel frame 203 and the deformable gear ring 205. The drive motor 210 is mounted on the sliding base 207. The output shaft of the drive motor 210 is connected to a drive gear 211. The drive gear 211 allows engagement with both the outer wheel frame 203 and the deformable gear ring 205 simultaneously or engagement with only the deformable gear ring 205.

[0069] In some specific embodiments of the present invention, when the robot is in a wheeled state (see...), Figure 3The paddle leg 201 is embedded in the outer wheel frame 203. The two deformable wheels 200 and two rotating wheels 300 are vertically arranged, and the sliding seat rod 208 is horizontally arranged. The wheel spring 209 generates a thrust on the pulley base 600 toward the deformable body base 600, so that the sliding base 207 is on the inside. This makes the push rod 212 and the deformable body base 600 spaced apart, that is, they do not contact each other. It also makes the first stop plate 213 and the second stop plate 214 disengage from the outer wheel frame 203 and the deformable gear ring 205. The drive gear 211 meshes with the outer wheel frame 203 and the deformable gear ring 205 at the same time, so that the drive motor 210 can drive the deformable wheel 200 to roll as a whole, thereby driving the robot to move as a whole and enter the ground mode or the water mode.

[0070] See Figure 2 The first connecting rod 114 and the second connecting rod 115 are installed on both sides of the arm 106. The sliding base 207 and the wheel spring 209 are installed on the sliding seat rod 208, which is installed inside the arm 106. The drive motor 210 is installed on the sliding base 207, and the drive gear 211 is installed on the output shaft of the drive motor 210. The first stop plate 213 and the second stop plate 214 are installed on both sides of the sliding base 207. The main shaft 116 is installed on the first connecting rod 114 and the second connecting rod 115. The bushing 118 is installed on the main shaft 116. The inner wheel frame 204 is sleeved on the bearing 117 and installed on the main shaft 116. The inner wheel frame 204 is fixedly connected to the outer wheel frame 203. The deformable gear ring 205 is sleeved inside the outer wheel frame 203 and installed between the outer wheel frame 203 and the inner wheel frame 204, and can rotate relative to the outer wheel frame 203 and the inner wheel frame 204. Three propeller legs 201 are mounted at equal intervals on the outer wheel frame 203. One end of the deformable rod 202 is mounted on the deformable gear ring 205, and the other end is mounted on the propeller leg 201. When the deformable gear ring 205 slides relative to the outer wheel frame 203 and the inner wheel frame 204, the propeller leg 201 can swing, causing the deformable wheel 200 to deform. Further, the rotor motor 112 is mounted inside the main shaft 116, and the rotor 112 is mounted on the rotor motor 112. Further details can be found in the documentation. Figure 3 When the robot is in its wheeled state in a four-wheeled configuration, the top rod 212 on the sliding base 207 does not contact the deformable base 103 of the robot body.

[0071] See Figure 4 and Figure 5The transforming servo motor 102 enables the two arms 106 to swing symmetrically. A sliding base 207 is mounted inside the arm 106 via a sliding rod 208. One end of the sliding base 207 contacts a wheel spring 209, which positions the sliding base 207 at one end of the arm 106. A push rod 212 is mounted on the sliding base 207, which contacts the transforming base 103 as the arm 106 swings. When the push rod 212 is not in contact with the transforming base 103 and the sliding base 207 is not sliding on the sliding rod 208, the drive gear 211 simultaneously meshes with the gears of the inner wheel frame 204 and the transforming gear ring 205. The drive gear 211 drives the transforming wheel 200 to rotate as a whole, thus moving the robot as a whole.

[0072] In some specific embodiments of the present invention, when it is necessary to transition from the wheeled state to the propeller leg state in ground mode or water mode, the morphing wheel 200 is driven to rotate upward around the intermediate connecting pipe 101 by the fuselage morphing servo 102 and the arm 106, so that the push rod 212 contacts / abuts against the fuselage morphing base 103 (see...). Figure 6 and Figure 7 At this time, the sliding base 207 overcomes the thrust of the wheel spring 209 and slides along the side of the sliding seat rod 208 away from the deformable base 103 of the machine body, thereby driving the drive motor 210, the first stop plate 213 and the second stop plate 214 to slide outward. Because the deformable gear ring 205 is located outside the inner frame 204, the drive gear 211 can disengage from the inner frame 204 and mesh only with the deformable gear ring 205. At the same time, the first stop plate 213 and the second stop plate 214 are inserted into the teeth of the inner frame 204, and then... This prevents the inner wheel frame 204 from rotating. Simultaneously, because the inner wheel frame 204 is fixedly connected to the outer wheel frame 203, the outer wheel frame 203 also cannot rotate. Therefore, the drive motor 210 drives the deformable gear ring 205 to rotate forward, causing it to rotate relative to the inner wheel frame 204 and the outer wheel frame 203. This causes one end of the propeller leg 201 to detach from the outer wheel frame 203, putting the propeller leg 201 in an open state, thus changing the deformable wheel 200 from a wheel-type state to a wheel-propeller leg state. Alternatively, the drive motor 210 can drive the deformable gear ring 205 to rotate in the opposite direction, causing it to rotate in the opposite direction relative to the inner wheel frame 204 and the outer wheel frame 203. This causes one end of the propeller leg 201 to engage with the outer wheel frame 203, changing the deformable wheel 200 from a wheel-propeller leg state back to a wheel-type state.

[0073] Furthermore, when the deformable wheel 200 is in the propeller leg state, the deformable wheel 200 is driven to rotate downward around the intermediate connecting pipe 101 by the body deformation servo 102 and the arm 106. The push rod 212 disengages from the body deformation base 103, the sliding seat rod 208 returns to the horizontal state, and the sliding base 207 moves inward under the thrust of the wheel deformation spring 209. The drive gear 211 re-engages with the deformable gear ring 205 and the inner wheel frame 204, and the first stop plate 213 and the second stop plate disengage from the inner wheel frame 204. Here, the inner wheel frame 204, the outer wheel frame 203 and the deformable gear ring 205 remain relatively stationary, so that the propeller leg 201 can remain in the open state. At the same time, the drive gear 211 drives the inner wheel frame 204, the outer wheel frame 203 and the deformable gear ring 205 to rotate, so that the deformable wheel 200 rotates in the propeller leg state. The robot can move on rough ground or paddle on the water.

[0074] See Figure 6 and Figure 7 When the push rod 212 swings further on the arm 106 and contacts the deformable base 103, the sliding base 207 slides on the sliding rod 208. The sliding base 207 slides to the other end of the arm 106, and the drive gear 211 disengages from the inner wheel frame 204 and meshes only with the gear of the deformable gear ring 205. At the same time, the first stop plate 213 and the second stop plate 214 are inserted into the teeth of the inner wheel frame 204, so that the inner wheel frame 204 cannot rotate. When the drive gear 211 rotates, the deformable gear ring 205 rotates relative to the inner wheel frame 204 and the outer wheel frame 203. The propeller leg 201 swings under the action of the deformable rod 202 installed on the deformable gear ring 205, which can change the deformable wheel 200 from the wheel state to the propeller leg state.

[0075] See Figure 8 After the transforming wheel 200 completes its transformation, the body transformation servo 102 drives the arm 106 to swing in the opposite direction again. Under the action of the wheel transformation spring 209, the push rod 212 on the sliding base 207 no longer contacts the body transformation base 103, and the drive gear 211 on the drive motor 210 returns to the state of simultaneously meshing with the gears of the inner wheel frame 204 and the transforming gear ring 205. At this time, the robot is in the wheel propeller leg state of the four-wheeled vehicle configuration.

[0076] In some embodiments of the present invention, the body 100 of the present invention further includes a gripper rotating base 108, a gripper rotating servo motor 109, a gripper rotating drive gear 110, and a gripper seat 111 for mounting the gripper mechanism; the gripper rotating base 108 is fixed on the intermediate connecting pipe 101, the gripper rotating servo motor 109 is fixed on the gripper rotating base 108, the gripper rotating drive gear 110 is disposed on the output shaft of the gripper rotating servo motor 109, the gripper seat 111 is rotatably disposed on the intermediate connecting pipe 101, the gripper seat 111 is provided with a gripper rotating driven gear, the gripper rotating drive gear 110 meshes with the gripper rotating driven gear, so as to drive the gripper seat 111 and the gripper mechanism to rotate around the intermediate connecting pipe 101 through the gripper rotating servo motor 109, so that the gripper mechanism as an amphibious variable configuration robot can meet various execution environments.

[0077] See Figure 1 The gripper rotation servo 109 is mounted on the gripper rotation base 108, the gripper mechanism is fixed on the gripper seat 111, the gripper rotation drive gear 110 is mounted on the output shaft of the gripper rotation servo 109, the gripper seat 111 is sleeved on the intermediate connecting tube 101, the gripper rotation driven gear on the gripper seat 111 meshes with the gripper rotation drive gear 110, and through the gripper rotation servo 109, the gripper rotation drive gear 110 can drive the gripper (through the gripper seat 111) to rotate infinitely around the intermediate connecting tube 101 360 degrees.

[0078] See Figure 9 The robot is in a quadcopter configuration, enabling it to fly and perch on tree trunks, as well as see [other details]. Figure 10 The robot is in quadcopter configuration flight mode, with its grippers swinging to the bottom of the body.

[0079] The robot of this invention integrates multi-dimensional configuration transformation, all-domain mobility, and dexterous manipulation capabilities into a single unit. Through the symmetrical swinging of the arm 106 driven by the body-transforming servo motor 102, the robot can switch between a "quadcopter configuration" for aerial flight and a "four-wheeled vehicle configuration" for ground / water movement. In the four-wheeled vehicle configuration, the morphing wheels 200 of this invention, through a linkage mechanism between a sliding base 207 triggered by the swinging of the arm 106 and a drive gear 211, achieve efficient on-demand switching between a "wheeled state" and a highly adaptable "wheel-paddle leg state," thus balancing rapid movement on flat surfaces with obstacle-crossing capabilities on rugged terrain / water. Simultaneously, the gripper located in the center of the body, driven by the gripper rotation servo motor 109, can achieve 360-degree omnidirectional rotation, giving the robot the ability to perform dexterous grasping and manipulation in complex postures. This high degree of integration of body configuration transformation, wheel mode switching and end-effector omnidirectional operation enables the robot to simultaneously possess cross-domain mobility, terrain adaptability and dexterous operation capabilities on a single platform. It effectively solves the core problems of poor environmental adaptability and low task completion rate caused by the fixed configuration and single function of existing robot platforms, and provides a brand-new and efficient solution for emergency rescue and special operations in complex environments.

[0080] See Figures 1 to 20 The end effector of this invention, featuring continuous adaptive passive gripping and following rolling functions, is applied to a robot. The robot includes a deformable wheel 200 and / or a rotating wheel 300. The deformable wheel 200 is used for switching between flight mode, ground mode, and water mode, and the rotating wheel 300 is also used for switching between these modes. The end effector includes a gripper mechanism, a gripper bar 500, and a base 600. The gripper mechanism and base 600 are located at both ends of the gripper bar 500. The gripper mechanism includes a first gripper group, a second gripper group, a gripper spring 413 for providing opening force, a clamping device for providing clamping force, and two following rolling units for adjusting the gripping posture of the object 700. The two ends of the gripper spring 413 are respectively connected to the first gripper group and the second gripper group. The clamping device is fixed to the base 600 and passes through the gripper bar 500 to connect to the first gripper group and the second gripper group respectively. The two following rolling units are respectively located on the first gripper group and the second gripper group to contact the object 700. It is understood that the gripper bar 500 of the present invention can be a carbon fiber tube. It should be noted that the end effector of the present invention can be applied to amphibious, land, and air-based modulating robots.

[0081] In some embodiments of the present invention, the gripper mechanism includes a first gripper group and a second gripper group arranged symmetrically, and two follower rolling units. The first gripper group includes a first gripper piece 401 and a second gripper piece 402 arranged symmetrically. The first gripper piece 401 and the second gripper piece 402 are fixedly connected by a first aluminum post 405 and a second aluminum post 406 to form a first cavity. The second gripper group includes a third gripper piece 403 and a fourth gripper piece 404 arranged symmetrically. The third gripper piece 403 and the fourth gripper piece 404 are fixedly connected by a third aluminum post 407 and a fourth aluminum post 408 to form a second cavity. The two follower rolling units are respectively disposed in the first cavity and the second cavity.

[0082] Specifically, see Figure 11 and Figure 14 The first claw plate 401, the second claw plate 402, the third claw plate 403, and the fourth claw plate 404 have the same structure. The first claw group and the second claw group have the same structure and are symmetrically arranged on the left and right sides of the robot. The first aluminum pillar 405 is arranged above the second aluminum pillar 406. The two ends of the first aluminum pillar 405 are fixedly connected to the middle of the first claw plate 401 and the second claw plate 402, respectively. The two ends of the second aluminum pillar 406 are fixedly connected to the lower ends of the first claw plate 401 and the second claw plate 402, respectively. The first aluminum pillar 405 is arranged above the second aluminum pillar 406. The two ends of the third aluminum pillar 407 are fixedly connected to the middle of the third claw plate 403 and the fourth claw plate 404, respectively. The two ends of the fourth aluminum pillar 408 are fixedly connected to the lower sides of the third claw plate 403 and the fourth claw plate 404, respectively.

[0083] In some embodiments of the present invention, the gripper mechanism includes a first connecting plate 409, a second connecting plate 410, a first fixing block 411, and a second fixing block 412. The first fixing block 411 and the second fixing block 412 are fixedly disposed on both sides of the end of the gripper rod 500. The first connecting plate 409 is fixedly connected to the first fixing block 411, and the second connecting plate 410 is fixedly connected to the second fixing block 412. The first claw piece 401 and the third claw piece 403 are rotatably connected to the first connecting plate 409, and the second claw piece 402 and the fourth claw piece 404 are rotatably connected to the second connecting plate 410, so as to allow the first claw group and the second claw group to open and close symmetrically.

[0084] See Figure 11 and Figure 12The core motion principle of the gripper mechanism of this invention is as follows: the first gripper piece 401 and the third gripper piece 403 are symmetrically hinged to the first connecting plate 409 by pins, and the second gripper piece 402 and the fourth gripper piece 404 are symmetrically hinged to the second connecting plate 410 by pins. Simultaneously, the first gripper piece 401 and the second gripper piece 402 are fixedly connected by the first aluminum post 405 and the second aluminum post 406, forming a rigid first gripper group; correspondingly, the third gripper piece 403 and the fourth gripper piece 404 are fixedly connected by the third aluminum post 407 and the fourth aluminum post 408, forming a rigid second gripper group. Each claw assembly integrates a following rolling unit. Specifically, the first claw assembly (composed of the first claw plate 401 and the second claw plate 402) and the second claw assembly (composed of the third claw plate 403 and the fourth claw plate 404) are each equipped with a rolling frame 419. A rolling motor 420 is mounted on the rolling frame 419, and the roller 421 is mounted on the output shaft of the rolling motor 420.

[0085] See Figure 13 and Figure 14 The first connecting plate 409 and the second connecting plate 410 are respectively fixedly installed on the first fixing block 411 and the second fixing block 412, forming a fixed frame for the gripper. One end of the gripper rod 500 is clamped and fixed between the first fixing block 411 and the second fixing block 412, while the other end of the gripper rod 500 is connected to the base 600, serving as a support arm for the entire amphibious, land, and air deformable robot.

[0086] In some embodiments of the present invention, the first aluminum post 405 is disposed on the side of the second aluminum post 406 away from the gripper bar 500, and the third aluminum post 407 is disposed on the side of the fourth aluminum post 408 away from the gripper bar 500. Further, the two ends of the gripper spring 413 are respectively connected to the first aluminum post 405 and the third aluminum post 407; the clamping device is respectively connected to the second aluminum post 406 and the fourth aluminum post 408.

[0087] Specifically, the two ends of the gripper spring 413 are respectively attached to the first aluminum post 405 and the third aluminum post 407, thereby simultaneously applying an outward pushing force to the lower sides of the first and second gripper groups, causing the tips of the first and second gripper groups to move towards each other, and the gripper mechanism to close and clamp the item 700. See also Figure 12 and Figure 13 The two ends of the gripper spring 413 are respectively connected to the first aluminum post 405 of the first gripper group and the third aluminum post 407 of the second gripper group. The tension of the gripper spring 413 acts between the two gripper groups, generating the power source for passive gripping.

[0088] In some embodiments of the present invention, the clamping device includes a lead screw motor 414, a slider 415, a sliding rail 416, a first rope 417, and a second rope 418. The lead screw motor 414 is fixed to the base 600, and the lead screw of the lead screw motor 414 is threadedly connected to the slider 415. The sliding rail 416 is disposed within the gripper rod 500, and the slider 415 is linearly movable on the sliding rail 416. The two ends of the first rope 417 are fixedly connected to the second aluminum post 406 and the slider 415, respectively, and the two ends of the second rope 418 are fixedly connected to the fourth aluminum post 408 and the slider 415, respectively.

[0089] See Figure 15 The clamping device is the reset and resetting mechanism of this invention. Specifically, a lead screw motor 414 is installed inside the base 600, and a slider 415 is threaded onto the lead screw of the lead screw motor 414. The slider 415 can move linearly along a sliding track 416 fixed inside the gripper rod 500. One end of the first rope 417 is fixed to the second aluminum post 406 of the first claw assembly, and one end of the second rope 418 is fixed to the fourth aluminum post 408 of the second claw assembly. The other ends of the first rope 417 and the second rope 418 pass through through holes in the wall of the gripper rod 500 and extend into its interior, so that the other ends of the first rope 417 and the second rope 418 can be tied to both sides of the slider 415. By driving the lead screw motor 414, the slider 415 can be controlled to move up and down inside the gripper rod 500, thereby pulling or releasing the first rope 417 and the second rope 418. With the reset thrust of the gripper spring 413, the forced opening and reset of the gripper mechanism can be achieved.

[0090] See Figure 16 When the gripper mechanism is in the ready-to-trigger (or "armed") state, the lead screw motor 414 drives the slider 415 to move to the farthest end of its stroke. Figure 16 The first and second claw groups are pulled to their maximum opening angle by the first rope 417 and the second rope 418 (one end facing the base 600). At this time, the claw spring 413 is stretched to its longest length, and the line formed by the connection points of its two ends (i.e., the first aluminum post 405 and the third aluminum post 407) is located below the line formed by the rotation centers of the first and second claw groups (i.e., the pin hinge holes on the first connecting plate 409 and the second connecting plate 410), forming a stable "over-center" locking state. At the same time, the outer sides of the first claw plate 401, the second claw plate 402, the third claw plate 403 and the fourth claw plate 404 are in contact with the first fixing block 411 and the second fixing block 412 (see reference). Figure 17 This serves to limit and stop movement.

[0091] See Figure 17 , Figure 18 and Figure 19The entire process of triggering the passive clamping of the present invention is as follows: when it is necessary to clamp the item 700, the cylindrical item 700 enters and contacts the inner contact surfaces of the first claw plate 401, the second claw plate 402, the third claw plate 403, and the fourth claw plate 404 (see...). Figure 19 ), item 700 applies a pushing force to the gripper to close it, that is, the lead screw motor 414 drives the slider 415 to move away from the gripper bar 500. As item 700 goes further in (see Figure 19 The thrust of the gripper spring 413 forces the first and second gripper groups to rotate around their respective pin rotation centers, causing the first aluminum post 405 and the third aluminum post 407 connecting the gripper spring 413 to move upwards. Once the line connecting these two points crosses and rises above the line connecting the rotation centers of the two gripper groups (i.e., crosses the "cross-center" critical point), the potential energy stored in the gripper spring 413 is released instantaneously. As shown in the figure, the gripper spring 413 rapidly contracts, driving the first and second gripper groups to close symmetrically, thereby firmly clamping the cylindrical object 700. The entire process requires no motor drive and is completed entirely by passive triggering of the mechanical structure.

[0092] In some embodiments of the present invention, the accompanying rolling unit includes a rolling frame 419, a rolling motor 420 and a roller 421. The rolling motor 420 is fixed on the rolling frame 419, and the roller 421 is disposed on the output shaft of the rolling motor 420 and disposed inside the rolling frame 419. The roller 421 is exposed outside the rolling frame 419 to contact the article 700.

[0093] Specifically, see Figure 11 , Figure 13 and Figure 15 One of the rolling frames 419 is fixedly connected to the inner sides of the first claw plate 401 and the second claw plate 402 on both sides, and the other rolling frame 419 is fixedly connected to the inner sides of the third claw plate 403 and the fourth claw plate 404 on both sides. The rolling motor 420 is fixed to the outer side of the rolling frame 419. The output shaft of the rolling motor 420 passes through the rolling frame 419 and is connected to the roller 421. The roller 421 is rotatably disposed in the inner cavity of the rolling frame 419. The rolling frame 419 is a hollow frame. The surface of the roller 421 protrudes from the inner side of the rolling frame 419. When the item 700 is between the first claw group and the second claw group, the item 700 abuts against the rollers 421 on both sides.

[0094] See Figure 19 and Figure 20The working principle of the following rolling unit of the present invention is as follows: When the cylindrical item 700 is successfully clamped by the first claw plate 401, the second claw plate 402, the third claw plate 403, and the fourth claw plate 404, its surface comes into contact with the roller 421 installed inside the first and second claw groups. At this time, by starting the rolling motor 420, the roller 421 can be driven to rotate, thereby causing the clamped cylindrical item 700 to perform precise lateral rolling or displacement inside the clamping mechanism through friction transmission, thus realizing advanced "hand operation" of the target object without releasing the clamp.

[0095] See Figures 10 to 20 The control method for a continuously adaptive passive clamping and following rolling end effector of the present invention includes at least the following steps:

[0096] S10. The slider 415 is driven to move toward the gripper bar 500 by the lead screw motor 414, so that the second aluminum column 406 and the fourth aluminum column 408 are pulled down simultaneously by the first rope 417 and the second rope 418, thereby making the gripper mechanism open.

[0097] S20. Move the gripper mechanism toward the item 700 until the first gripper piece 401, the second gripper piece 402, the third gripper piece 403, and the fourth gripper piece 404 are detected to be in contact with the item 700. Drive the lead screw motor 414 to move the slider 415 away from the gripper bar 500. At the same time, continue to move the gripper mechanism toward the item 700 until the first gripper group and the second gripper group are detected to move toward each other under the action of the gripper spring 413 so that the gripper mechanism is in a clamping state. Then, a command to complete the clamping is fed back.

[0098] S30. When the gripper mechanism is in the state of clamping the item 700, according to the received posture command of the item 700, the rolling motor 420 drives the roller 421 to rotate, so as to adjust the posture of the item 700 by using the friction between the roller 421 and the item 700.

[0099] This invention relates to an end effector with continuous adaptive passive gripping and follow-up rolling functions, which highly integrates zero-power passive gripping, dexterous follow-up operation, and efficient continuous operation capabilities. The end effector achieves adaptive passive gripping through an innovative "over-center" gripper spring 413 mechanism: when the target item 700 contacts the four grippers and passes a mechanical critical point, the potential energy pre-stored in the gripper spring 413 is instantly released, driving the two gripper assemblies to close quickly and achieve a secure, zero-power, long-term hold. Simultaneously, the roller 421 and rolling motor 420 integrated inside the grippers provide the actuator with the ability to precisely adjust the item 700 laterally during gripping, enabling "follow-up rolling." Furthermore, to achieve continuous operation, this invention employs a reset system consisting of a lead screw motor 414, a slider 415, a first rope 417, and a second rope 418, which can quickly reopen and "defend" the grippers with extremely low energy consumption, preparing for the next gripping operation.

[0100] The end effector of this invention achieves a high degree of integration of "passive trigger gripping, active follow-up operation, and on-demand motor reset," effectively solving the fundamental contradiction in existing technologies where active grippers have high energy consumption and complex systems, while passive grippers have limited functionality and cannot operate continuously. It provides a novel, highly reliable end effector for mobile robots (such as drones and underwater robots) requiring lightweight design, long endurance, and high efficiency to perform continuous grasping, handling, and dexterous manipulation tasks. Specifically, by replacing the base 600 of the end effector with a gripper base 111, and fixing the gripper rod 500 and the lead screw motor 414 to the gripper base 111, the end effector of this invention can be applied to amphibious, land, and air-based variable-configuration robots.

[0101] 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 parts such as waterproof servo motors and waterproof motors, or by separately sealing and protecting the servo motors and motors, the robot of the present invention can enter the water environment without external protection.

[0102] 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 this disclosure, as long as they achieve the technical effects of the present invention by the same means, should be included within the scope of protection disclosed in this invention. Within the scope of protection of this invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A robot, characterized in that, The robot includes a body (100), deformable wheels (200), a rotating wheel (300), and an end effector for continuous adaptive passive gripping and following rolling; the end effector includes a gripper mechanism, a gripper bar (500), and a base (600). The fuselage (100) includes a central connecting tube (101), a gripper seat (111) for mounting the gripper mechanism, and two fuselage deformation components; the gripper seat (111) is rotatably mounted on the central connecting tube (101), and the gripper mechanism is mounted on the gripper seat (111); both fuselage deformation components are mounted on the central connecting tube (101) and are respectively connected to the deformation wheel (200) and the rotating wheel (300), so that the deformation wheel (200) and the rotating wheel (300) rotate around the central connecting tube (101), thereby enabling the entire aircraft to switch configurations between flight mode, ground mode, and water mode; the deformation wheel (200) is provided with rotor legs (201) that can be embedded or opened, so that the entire aircraft can deform between wheeled state and wheel-rotor-leg state; The gripper mechanism and the base (600) are disposed at both ends of the gripper bar (500). The gripper mechanism includes a first gripper group, a second gripper group, a gripper spring (413) for providing opening force, a clamping device for providing clamping force, and two follow-up rolling units for adjusting the gripping posture of the item (700). The two ends of the gripper spring (413) are respectively connected to the first gripper group and the second gripper group. The clamping device is fixed on the base (600) and passes through the gripper bar (500) to be connected to the first gripper group and the second gripper group respectively. The two follow-up rolling units are respectively disposed on the first gripper group and the second gripper group to contact the item (700). The fuselage (100) also includes a gripper rotating base (108), a gripper rotating servo motor (109), a gripper rotating drive gear (110), a driven wheel connecting seat (107), and two fuselage deformation components. The two ends of the intermediate connecting pipe (101) are respectively connected to the gripper rotating base (108) and the driven wheel connecting seat (107). The gripper rotating base (108) and the driven wheel connecting seat (107) are respectively connected to the two fuselage deformation components. The two fuselage deformation components are respectively connected to the deformation wheel (200) and the rotating wheel (300). The gripper rotating base (108) is fixed. On the intermediate connecting pipe (101), the gripper rotation servo (109) is fixed on the gripper rotation base (108), the gripper rotation drive gear (110) is disposed on the output shaft of the gripper rotation servo (109), the gripper seat (111) is rotatably disposed on the intermediate connecting pipe (101), the gripper seat (111) is provided with a gripper rotation driven gear, the gripper rotation drive gear (110) meshes with the gripper rotation driven gear, so as to drive the gripper seat (111) and the gripper mechanism to rotate around the intermediate connecting pipe (101) through the gripper rotation servo (109); The fuselage transformation assembly includes a fuselage transformation servo (102), a fuselage transformation base (103), a fuselage transformation gear (104), a symmetrical gear (105), and an arm (106); the fuselage transformation servo (102) is fixed on the fuselage transformation base (103); the output shaft of the fuselage transformation servo (102) is connected to the fuselage transformation gear (104), the fuselage transformation gear (104) meshes with the symmetrical gear (105), the symmetrical gear (105) meshes with the arm (106), and the arm (106) is fixedly connected to the transformation wheel (200) or the rotating wheel (300) to enable the entire aircraft to switch configurations between flight mode, ground mode, and water mode.

2. The robot according to claim 1, characterized in that, The first claw assembly includes a first claw piece (401) and a second claw piece (402) arranged symmetrically. The first claw piece (401) and the second claw piece (402) are fixedly connected by a first aluminum post (405) and a second aluminum post (406) to form a first cavity. The second claw assembly includes a third claw piece (403) and a fourth claw piece (404) arranged symmetrically. The third claw piece (403) and the fourth claw piece (404) are fixedly connected by a third aluminum post (407) and a fourth aluminum post (408) to form a second cavity. The two following rolling units are respectively disposed in the first cavity and the second cavity.

3. The robot according to claim 2, characterized in that, The gripper mechanism includes a first connecting plate (409), a second connecting plate (410), a first fixing block (411), and a second fixing block (412). The first fixing block (411) and the second fixing block (412) are fixedly disposed on both sides of the end of the gripper rod (500). The first connecting plate (409) is fixedly connected to the first fixing block (411), and the second connecting plate (410) is fixedly connected to the second fixing block (412). The first claw piece (401) and the third claw piece (403) are rotatably connected to the first connecting plate (409), and the second claw piece (402) and the fourth claw piece (404) are rotatably connected to the second connecting plate (410), so as to allow the first claw group and the second claw group to open and close symmetrically.

4. The robot according to claim 3, characterized in that, The first aluminum column (405) is disposed on the side of the second aluminum column (406) away from the gripper bar (500), and the third aluminum column (407) is disposed on the side of the fourth aluminum column (408) away from the gripper bar (500).

5. The robot according to claim 4, characterized in that, The two ends of the gripper spring (413) are connected to the first aluminum post (405) and the third aluminum post (407), respectively.

6. The robot according to claim 4, characterized in that, A lead screw motor (414) is fixed on the base (600). The lead screw of the lead screw motor (414) is threadedly connected to the slider (415). A sliding track (416) is set inside the gripper rod (500). The slider (415) is linearly movable on the sliding track (416). The two ends of the first rope (417) are fixedly connected to the second aluminum column (406) and the slider (415) respectively. The two ends of the second rope (418) are fixedly connected to the fourth aluminum column (408) and the slider (415) respectively.

7. The robot according to claim 1, characterized in that, The accompanying rolling unit includes a rolling frame (419), a rolling motor (420), and a roller (421). The rolling motor (420) is fixed on the rolling frame (419), and the roller (421) is disposed on the output shaft of the rolling motor (420) and disposed inside the rolling frame (419). The roller (421) is exposed outside the rolling frame (419) to contact the article (700).

Images