Variable-configuration amphibious robot based on passive variable-form wheel-claw-propeller composite mechanism

Abstract

This invention relates to a variable-configuration amphibious robot based on a passive variable-form wheel-claw-propeller composite mechanism. The robot includes a fuselage and the composite mechanism. The fuselage comprises a body, a top cover, and two side plates. The top cover is fixed to the body, and the two side plates are rotatably mounted on opposite sides of the top cover via two hinges, which are rotary damping adjustable hinges. The wheel-claw-propeller composite mechanism allows switching between a wheel-claw-propeller state and a wheeled state. The composite mechanism is mounted on the side plates, allowing the robot to rotate and lock relative to the top cover within a set angle range, thereby enabling the robot to switch configurations between flight mode, ground mode, and water mode. This invention can adapt to amphibious environments (water, land, and air) and integrates a lightweight design.

Description

Technical Field

[0001] This invention relates to a variable-configuration amphibious robot based on a passive variable-form wheel-claw-propeller composite mechanism, belonging to the field of robotics. Background Technology

[0002] With the rapid development of robotics technology, multimodal robots have gradually become a research frontier and hot topic. Compared with traditional single-mode robots, multimodal robots have multiple motion modes, exhibiting stronger environmental adaptability and task execution capabilities. Especially in complex tasks such as disaster relief, environmental detection, and logistics delivery, the working environment is often uncertain, potentially involving multiple scenarios on the ground, in the air, and on the water. In this context, task-oriented multi-environmental adaptive robots, capable of responding to different tasks with corresponding motion modes, will undoubtedly greatly expand the boundaries of application.

[0003] However, most existing robots are limited to a single form (such as quadcopters, ground mobile robots, or surface vehicles), and cannot adapt to diverse task environments. On the other hand, existing multimodal robot solutions that achieve multimodal switching through active deformation mechanisms typically require complex deformation mechanisms, additional drive motors, and sensors, leading to high costs, increased weight, and reduced system reliability. Therefore, how to develop robots with multimodal mobility capabilities in a low-cost, lightweight, and structurally reusable manner remains a pressing scientific and engineering problem that needs to be solved.

[0004] In recent years, scholars have proposed various structural design schemes for multimodal robots, and the development of amphibious robots has made some progress, but limitations in environmental adaptability and functional singularity still exist. For example, existing multi-functional amphibious robots for both land and air use include a main robot unit, a rotor unit, and a gripper unit. Through multi-level cascade splicing of the main unit and the contraction and expansion of the rotor unit, they can achieve forms such as floating balls, underwater gliders, AUVs, and multi-rotor drones. They can use the gripper unit to grasp targets or use wave undulations for charging, but this design cannot achieve ground movement. Another example is the existing propeller-integrated multimodal land-air amphibious transforming robot, which uses a servo-driven electric actuator-driven bistable locking mechanism and a propeller-integrated mechanism to achieve switching between land walking and air flight modes. However, this robot cannot adapt to the water environment, lacks material delivery capabilities, and has a relatively bulky structure. Yet another example is the existing multi-mode amphibious robot inspired by the walking of goats and the crawling of sea turtles. It improves movement efficiency and obstacle-crossing performance through symmetrical movement mechanisms and underwater drive mechanisms, but it is limited to water and land environments and cannot achieve flight capabilities.

[0005] Therefore, existing amphibious robots are mostly limited to certain environmental applications, lacking a comprehensive solution that can adapt to water, land, and air environments while integrating lightweight design and material delivery capabilities. Summary of the Invention

[0006] This invention provides a variable-configuration amphibious robot based on a passive variable-form wheel-claw-propeller composite mechanism, aiming to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a variable-configuration amphibious robot based on a passive variable-form wheel-claw-propeller composite mechanism, capable of simultaneously adapting to water, land, and air environments while integrating a lightweight design.

[0007] The technical solution of this invention relates, in one aspect, to a variable-configuration amphibious robot based on a passive variable-form wheel-claw-propeller composite mechanism, comprising:

[0008] The fuselage includes a body, an upper cover plate, and two side plates. The upper cover plate is fixed to the body, and the two side plates are rotatably mounted on both sides of the upper cover plate via two hinges, which are rotary damping adjustable hinges.

[0009] The wheel-paw-propeller composite mechanism allows switching between wheel-paw-propeller mode and wheel mode. The wheel-paw-propeller composite mechanism is disposed on the side plate so that the side plate can rotate and lock relative to the upper cover plate within a set angle range, thereby enabling the whole aircraft to switch configurations between flight mode, ground mode and water mode.

[0010] Furthermore, the set angle range is from 90 degrees to 180 degrees.

[0011] Furthermore, the wheel-claw-paddle composite mechanism is mounted on the side plate via a main shaft.

[0012] Furthermore, the wheel-claw propeller composite mechanism includes a servo motor, a drive gear, a sun gear, a gear bearing, a planet carrier wheel, a carrier wheel bearing, and a planetary gear assembly. The servo motor is fixed to the side plate, the drive gear is mounted on the output shaft of the servo motor, the drive gear meshes with the sun gear, the sun gear is sleeved on the gear bearing, and the gear bearing is mounted on the main shaft. The planetary gear assembly includes multiple planetary gears, which are arranged from near to far from the main shaft on the planet carrier wheel, with adjacent planetary gears meshing. The planetary gear located on the outer side of the planet carrier wheel near the main shaft meshes with the sun gear. The planet carrier wheel is sleeved on the carrier wheel bearing and mounted on the main shaft.

[0013] Furthermore, the planetary gear assembly includes a first planetary gear, a second planetary gear, a third planetary gear, a fourth planetary gear, a fifth planetary gear, and a sixth planetary gear. The first planetary gear, the second planetary gear, the third planetary gear, the fourth planetary gear, the fifth planetary gear, and the sixth planetary gear are arranged in order of distance from the main shaft from the nearest to the farthest point. The first planetary gear meshes with the sun gear.

[0014] Furthermore, the wheel-paw-propeller composite mechanism also includes a claw, which is disposed on the rim of the planetary carrier wheel; wherein, one side of the claw is rotatably connected to the planetary carrier wheel and engages with the sixth planetary gear, so as to allow the other side of the claw to disengage from or engage with the planetary carrier wheel, so as to allow the wheel-paw-propeller composite mechanism to switch between a wheel-paw-propeller state and a wheel state.

[0015] Furthermore, the wheel-claw-propeller composite mechanism includes a wing-body motor and a rotor. The wing-body motor is fixedly connected to the side plate, and the output shaft of the wing-body motor is connected to the rotor to provide lift for flight mode.

[0016] Furthermore, the wheel-claw propeller composite mechanism also includes a shaft cover and a gasket. The airfoil motor is fixed to the side plate by the gasket. The shaft cover is fixed to the planetary carrier wheel and is located on the side of the airfoil motor facing away from the side plate. The output shaft of the airfoil motor passes through the shaft cover and is connected to the rotor.

[0017] Another aspect of the technical solution of the present invention relates to a control method for a variable-configuration amphibious robot based on a passive variable-form wheel-claw-propeller composite mechanism, applied to the variable-configuration amphibious robot based on the passive variable-form wheel-claw-propeller composite mechanism described in the above embodiments; the method includes the following steps:

[0018] When the angle between the side plate and the top cover plate is detected to be 180 degrees, the aircraft enters flight mode. The rotor is driven to rotate by the wing motor of the wheel-claw-propeller composite mechanism to provide lift, and the wheel-claw-propeller composite mechanism is in wheel mode. When the angle between the side plate and the top cover plate is detected to be 90 degrees, the aircraft enters ground mode or water mode. The wheel-claw-propeller composite mechanism is in wheel mode to allow the aircraft to roll on the ground, or the wheel-claw-propeller composite mechanism is in wheel-grip-propeller mode to provide ground adhesion or to provide propulsion power as propeller blades.

[0019] Furthermore, when the claws of the wheel-claw-propeller composite mechanism are in the open state, the servo motor drives the drive gear to rotate clockwise, causing the sun gear to rotate counterclockwise, which in turn causes the first planetary gear to rotate clockwise, the second planetary gear to rotate counterclockwise, the third planetary gear to rotate clockwise, the fourth planetary gear to rotate counterclockwise, the fifth planetary gear to rotate clockwise, and the sixth planetary gear to rotate counterclockwise. This causes the claws to rotate clockwise, thereby engaging the claws within the rim of the planetary carrier wheel, thus putting the wheel-claw-propeller composite mechanism into a wheel-like state. Specifically, when the wheel-claw-propeller composite mechanism... When the claw is in the embedded state, the servo motor drives the drive gear to rotate counterclockwise, causing the sun gear to rotate clockwise, causing the first planetary gear to rotate counterclockwise, causing the second planetary gear to rotate clockwise, causing the third planetary gear to rotate counterclockwise, causing the fourth planetary gear to rotate clockwise, causing the fifth planetary gear to rotate counterclockwise, causing the sixth planetary gear to rotate clockwise, causing the claw to rotate counterclockwise, thereby causing the claw to disengage from the rim of the planetary carrier wheel and be in an open state, so that the wheel-claw-propeller composite mechanism enters the wheel-claw-propeller state.

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

[0021] The variable configuration amphibious robot based on the passive variable wheel-claw-propeller composite mechanism of this invention can adapt to water, land and air tri-amphibious environments and integrate a lightweight design.

[0022] This invention creatively proposes an integrated coaxial composite mechanism of "wheel-claw-propeller-rotor". By having a single structure play different roles in different modes, it greatly reduces the number of parts required for the robot, achieves high integration and structural reuse, and significantly reduces system complexity and cost.

[0023] The planetary gear transmission design of this invention can drive the robot's movement and complete the passive deformation switching between wheel type and wheel-pawl type using only one servo motor. By minimizing the redundancy of the drive unit through the "dual-function drive" mode, it can achieve lightweight, low power consumption and high efficiency, which simplifies the drive unit and realizes multi-functionality.

[0024] The wheel / claw mode switching of this invention in ground movement mode adopts a passive deformation mechanism of planetary gears, thus eliminating the need for complex active control and additional sensors. It can automatically adapt to the terrain according to the contact interaction force with the ground, transitioning from flat roads to rugged or soft roads, thereby reducing the requirements for perception and control systems. This makes the robot more reliable and robust in unknown or dynamic environments, and further improves environmental adaptability and system robustness through the passive deformation mechanism.

[0025] This invention overcomes the limitations of existing robots, which can typically only adapt to one or two environments. By switching between a "90° configuration" (wheel / claw / paddle mode) and a "0° configuration" (flight mode) via a manual / lockable hinge, combined with a multi-functional composite mechanism, the same robot system can efficiently perform tasks in three modes: ground (rapid rolling / obstacle crossing), water (paddle propulsion), and air (rotor flight). It possesses true amphibious mobility and achieves true seamless switching between amphibious modes, making its mission capabilities comprehensive.

[0026] The robot of this invention adopts a modular design concept. The configuration conversion between aerial mode and ground / water mode is realized through a simple physical hinge. The structure is simple and reliable. While ensuring amphibious functions, it achieves overall lightweighting and effectively improves the flight endurance in aerial mode. It is a modular configuration design that balances lightweighting and functionality.

[0027] In flight mode, the closed wheel-claw propeller composite mechanism (wheel mode) can act as the duct shell of the rotor, which not only protects the rotor and prevents it from colliding with external objects, but also constrains airflow and increases lift efficiency. This invention achieves structural reuse while improving performance and safety in flight mode, thus optimizing flight performance. Attached Figure Description

[0028] 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:

[0029] Figure 1 The diagram shown is a schematic representation of the wheel configuration according to an embodiment of the present invention.

[0030] Figure 2 The diagram shown is a schematic representation of the wheel claw propeller state according to an embodiment of the present invention;

[0031] Figure 3 The figure shown is an exploded view of the wheel-claw-paddle composite mechanism according to an embodiment of the present invention;

[0032] Figure 4 The diagram shown is a schematic diagram of the wheel-claw-paddle composite mechanism according to an embodiment of the present invention.

[0033] Figure 5 The diagram shown is a schematic of the claw being partially open in the wheel-claw-paddle composite mechanism according to an embodiment of the present invention;

[0034] Figure 6 The diagram shown is a schematic of the fully closed claw in the wheel-claw-paddle composite mechanism of an embodiment of the present invention;

[0035] Figure 7 The diagram shown is a schematic of the claws being fully extended in the wheel-claw-paddle composite mechanism according to an embodiment of the present invention.

[0036] Figure 8 The diagram shown is a schematic of a robot moving on the ground in a wheeled configuration, according to an embodiment of the robot.

[0037] Explanation of reference numerals in the attached figures:

[0038] 100. Fuselage; 101. Body; 102. Top cover; 103. Side panel; 104. Hinge;

[0039] 200. Wheel-claw-propeller composite mechanism; 201. Main shaft; 202. Servo motor; 203. Drive gear; 204. Sun gear; 205. Gear bearing; 206. Planet carrier wheel; 207. Carrier wheel bearing; 208. First planetary gear; 209. Second planetary gear; 210. Third planetary gear; 211. Fourth planetary gear; 212. Fifth planetary gear; 213. Sixth planetary gear; 215. Claw; 216. Airfoil motor; 217. Rotor; 218. Shaft cover; 219. Gasket. Detailed Implementation

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] See Figures 1 to 8The present invention discloses a variable configuration amphibious robot based on a passive variable-form wheel-claw-propeller composite mechanism, comprising a body 100 and a wheel-claw-propeller composite mechanism 200. The body 100 includes a body 101, an upper cover plate 102, and two side plates 103. The upper cover plate 102 is fixed to the body 101. The two side plates 103 are rotatably disposed on both sides of the upper cover plate 102 via two hinges 104, which are rotary damping adjustable hinges. The wheel-claw-propeller composite mechanism 200 allows switching between a wheel-claw-propeller state and a wheel state. The wheel-claw-propeller composite mechanism 200 is disposed on the side plates 103 so that the side plates 103 can rotate and lock relative to the upper cover plate 102 within a set angle range, thereby enabling the entire robot to switch configurations between flight mode, ground mode, and water mode.

[0045] See Figures 1 to 8 The control method for a variable-configuration amphibious robot based on a passive variable-form wheel-claw-propeller composite mechanism, as described in this invention, is applied to the variable-configuration amphibious robot based on the passive variable-form wheel-claw-propeller composite mechanism in this embodiment of the invention. The method includes at least the following steps:

[0046] When the angle between the side plate 103 and the upper cover plate 102 is detected to be 180 degrees, the flight mode is entered. The rotor 217 is driven to rotate by the wing motor 216 of the wheel-paw-propeller composite mechanism 200 to provide lift, and the wheel-paw-propeller composite mechanism 200 is put into a wheel state.

[0047] When the angle between the side plate 103 and the top cover plate 102 is 90 degrees, the system enters either ground mode or water mode, causing the wheel-claw-propeller composite mechanism 200 to be in a wheel-like state to allow the entire machine to roll on the ground, or causing the wheel-claw-propeller composite mechanism 200 to be in a wheel-grabbing-propeller state to provide ground adhesion or to provide propulsion power as a propeller blade.

[0048] This invention provides a passive variable-form wheel-claw-propeller composite mechanism and a variable-configuration amphibious mobile robot, aiming to solve the following major technical bottlenecks of existing mobile robots: high manufacturing and maintenance costs, mainly due to complex drive and mode switching mechanisms; large system weight, resulting in a significant decrease in aerial endurance due to redundancy of functional components; strong dependence on active switching and control systems, leading to insufficient system robustness; and lack of true amphibious mobility, making it impossible to achieve continuous operations on the ground, water, and air on the same platform.

[0049] Specifically, compared with existing technologies, this invention adopts an integrated coaxial composite mechanism of "wheel-claw-propeller-rotor 217," achieving high integration and structural reuse. A single structure serves as the wheel / claw, propeller, and rotor 217 protective duct in different modes, significantly reducing the number of components, thereby simplifying the mechanical structure and lowering manufacturing, weight, and maintenance costs. The drive unit uses a planetary gear transmission design, requiring only one servo motor 202 to simultaneously drive movement and complete passive deformation switching between wheel-type and wheel-claw-type configurations. This dual-function drive mode minimizes redundancy, achieving lightweight, low power consumption, and high efficiency. The passive deformation mechanism eliminates the need for complex active control and additional sensors, automatically adapting to terrains ranging from flat to rugged based on the contact force with the ground, improving adaptability to unknown environments and system robustness. Meanwhile, this invention enables the switching between "90° configuration" and "0° configuration" via a manually / lockable hinge 104, allowing the robot to seamlessly transition between three modes: rapid rolling and obstacle crossing on the ground, propulsion on water, and flight of the rotor 217 in the air, truly possessing comprehensive amphibious mission capabilities. Furthermore, the modular configuration design achieves mode switching through a simple and reliable physical hinge 104, prioritizing lightweight design while ensuring multifunctionality, thus contributing to improved flight endurance. In flight mode, the closed composite mechanism can be reused as the ducted shell of the rotor 217, protecting the rotor 217 from collisions while also constraining airflow and increasing lift efficiency, further optimizing flight performance and safety, demonstrating a good balance between functionality and performance.

[0050] In some embodiments of the present invention, the robot includes a body 100 and a wheel-claw-propeller composite mechanism 200. The body 100 includes a body 101, an upper cover plate 102, and a side plate 103. The upper cover plate 102 is fixed to the upper surface of the body 101. The side plate 103 is rotatably disposed on the side of the upper cover plate 102 via a hinge 104. The wheel-claw-propeller composite mechanism 200 is disposed at the end of the side plate 103. The hinge 104 is a rotary damping adjustable hinge 104. By manually turning the lever, the side plate 103 can be rotated and locked relative to the upper cover plate 102 within a set angle range, thereby enabling the whole robot to switch configurations between flight mode, ground mode, and water mode.

[0051] See Figure 1 and Figure 3 The wheel-claw-propeller composite mechanism 200 is mounted on the main shaft 201, which is mounted on the side plate 103. The side plate 103 is hinged to the upper cover plate 102 via a hinge 104, and the upper cover plate 102 is fixed to the body 101. The hinge 104 is a rotary damping adjustable hinge 104, and the torque required for its rotation can be set by adjusting the screw, so as to achieve stable maintenance and flexible transformation of the side plate 103's attitude.

[0052] Specifically, two side plates 103 are respectively disposed on opposite sides of the upper cover plate 102. Both side plates 103 can rotate 0° to 90° around the upper cover plate 102. Four wheel-paw-propeller composite mechanisms 200 are provided, with two wheel-paw-propeller composite mechanisms 200 respectively disposed at both ends of one side plate 103. See Figure 1 When the side plate 103 is at a 90° angle to the top cover plate 102, the robot is in ground mode or water mode, and the wheel-claw-paddle composite mechanism 200 is in wheel mode or wheel-claw-paddle mode, allowing the robot to move on land or glide on water; see also Figure 2 When the side plate 103 and the surface of the top cover plate 102 are at 0°, the robot is in flight mode, the wheel-claw-propeller composite mechanism 200 is in wheel mode, the rotor 217 of the wheel-claw-propeller composite mechanism 200 provides lift, and the whole system forms an aerodynamic envelope structure.

[0053] In some embodiments of the present invention, the wheel-paw propeller composite mechanism 200 includes a servo motor 202, a drive gear 203, a sun gear 204, a gear bearing 205, a planet carrier gear 206, a carrier bearing 207, and a planetary gear assembly. Specifically, the servo motor 202 is fixed on the side plate 103, the drive gear 203 is mounted on the output shaft of the servo motor 202, the drive gear 203 meshes with the sun gear 204, the sun gear 204 is sleeved on the gear bearing 205, and the gear bearing 205 is mounted on the main shaft 201; the planetary gear assembly includes multiple planetary gears, which are arranged from near to far from the main shaft 201 on the planet carrier gear 206, with adjacent planetary gears meshing, and the planet carrier gear 206 is sleeved on the carrier bearing 207 and mounted on the main shaft 201.

[0054] Furthermore, the planetary gear assembly includes a first planetary gear 208, a second planetary gear 209, a third planetary gear 210, a fourth planetary gear 211, a fifth planetary gear 212, and a sixth planetary gear 213. The first planetary gear 208, the second planetary gear 209, the third planetary gear 210, the fourth planetary gear 211, the fifth planetary gear 212, and the sixth planetary gear 213 are arranged in order from near to far from the main shaft 201. The first planetary gear 208 meshes with the sun gear 204.

[0055] See Figure 3 and Figure 4In the wheel-paw propeller composite mechanism 200, the servo motor 202 and the main shaft 201 are both fixedly mounted on the side plate 103. The drive gear 203 is mounted on the output shaft of the servo motor 202 and meshes with the sun gear 204. The sun gear 204 is sleeved on the gear bearing 205, which is mounted on the main shaft 201. The first planetary gear 208, the second planetary gear 209, the third planetary gear 210, the fourth planetary gear 211, the fifth planetary gear 212, and the sixth planetary gear 209 are mounted on the main shaft 201. Planetary gears 213 are mounted on planet carrier gears 206 in a manner from near to far from the main shaft 201, with adjacent planetary gears meshing. The first planetary gear 208 meshes with the sun gear 204. The planet carrier gear 206 is fitted onto the carrier bearing 207 and mounted on the main shaft 201. It can be understood that the gear bearing 205 and the carrier bearing 207 are respectively fitted onto the outer sides of both ends of the main shaft 201, and the gear bearing 205 is located on the side of the carrier bearing 207 near the side plate 103.

[0056] Furthermore, the first planetary gear 208 and the drive gear 203 are respectively disposed on both sides of the sun gear 204. Specifically, the drive gear 203 is disposed between the first planetary gear 208 and the side plate 103, and the servo motor 202 is disposed on the side of the side plate 103 facing away from the drive gear 203. The side plate 103 is provided with a through hole, and the output shaft of the servo motor 202 passes through the through hole and connects to the drive gear 203.

[0057] In some specific embodiments of the present invention, the wheel-paw-paddle composite mechanism 200 includes a claw 215, which is mounted on the rim of the planetary carrier wheel 206. One side of the claw 215 is rotatably connected to the planetary carrier wheel 206 and engages with the sixth planetary gear 213, allowing the opposite side of the claw 215 to disengage from or engage with the planetary carrier wheel 206.

[0058] Specifically, the rotating end and the movable end of the claw 215 are respectively located on opposite sides of the claw 215. The rotating end of the claw 215 is rotatably connected to the planetary carrier wheel 206 via a drive shaft. Simultaneously, a drive gear is provided on the rotating end of the claw 215, which meshes with the sixth planetary gear 213. The claw 215 gradually opens from a semi-open position, forming a wheel-claw-paddle state. Specifically, when the sixth planetary gear 213 rotates, driving the drive gear to rotate, the rotating end of the claw 215 rotates around the drive shaft, allowing the movable end of the claw 215 to detach from the rim of the planetary carrier wheel 206 and move away from the planetary carrier wheel 206. When the sixth planetary gear 213 drives the drive gear to rotate in the opposite direction, the movable end of the claw 215 moves towards the planetary carrier wheel 206 and eventually embeds into the rim of the planetary carrier wheel 206, forming a complete circular structure in a wheel-like state.

[0059] Understandably, the outer side of the rim of the planetary carrier wheel 206 has a recess for accommodating the claw 215. When the claw 215 is inserted into the planetary carrier wheel 206, the outer surface of the claw 215 fits against the outer surface of the rim of the planetary carrier wheel 206, allowing the planetary carrier wheel 206 to roll forward as a circular wheel with a flat outer surface. Furthermore, multiple claws 215 are provided, for example, three claws 215, which are evenly distributed around the planetary carrier wheel 206.

[0060] In some specific embodiments of the present invention, the planetary carrier wheel 206 is provided with a wheel frame, a center frame, and a connecting frame. The wheel frame and the center frame are concentric, and the wheel frame is located outside the center frame. The two sides of the connecting frame are fixedly connected to the wheel frame and the center frame, respectively. The claw 215 is provided on the wheel frame. The center frame is sleeved on the carrier wheel bearing 207, and the carrier wheel bearing 207 is sleeved on the main shaft 201. The connecting frame is a hollow structure, and multiple planetary gears are embedded in the connecting frame. The teeth of two planetary gears located at the outer ends are exposed to connect with the transmission teeth of the sun gear 204 and the claw 215, respectively.

[0061] In some embodiments of the present invention, the wheel-pawl-propeller composite mechanism 200 is connected to a wing motor 216 and a rotor 217. The wing motor 216 is fixedly connected to the side plate 103, and the output shaft of the wing motor 216 is connected to the rotor 217 to provide power for the rotation of the side plate 103 relative to the upper cover plate 102. Further, the wheel-pawl-propeller composite mechanism 200 also includes a shaft cover 218 and a gasket 219. The wing motor 216 is fixed to the side plate 103 by the gasket 219. The shaft cover 218 is fixed to the planetary carrier wheel 206 and is disposed on the side of the wing motor 216 facing away from the side plate 103. The output shaft of the wing motor 216 passes through the shaft cover 218 and is connected to the rotor 217. The main shaft 201 is sleeved on the wing motor 216.

[0062] Specifically, the wing motor 216 is mounted on the side plate 103 by means of a shim 219, and the shaft cover 218 is fixed on the planetary carrier wheel 206. The output shaft of the wing motor 216 passes through the center hole of the shaft cover 218. The rotor 217 is mounted on the wing motor 216. The wing motor 216 can achieve 360° continuous rotation in both directions, providing power input to the wheel-pawl-propeller composite mechanism 200 and driving its deformation, so that both side plates 103 can rotate back and forth from 0° to 90° around the upper cover plate 102.

[0063] See Figure 5 and Figure 6Viewed from the front of the wheel-paw-propeller composite mechanism 200, when the claw 215 is in a semi-open state, the servo motor 202 drives the drive gear 203 to rotate clockwise, the sun gear 204 to rotate counterclockwise, the first planetary gear 208 to rotate clockwise, the second planetary gear 209 to rotate counterclockwise, the third planetary gear 210 to rotate clockwise, the fourth planetary gear 211 to rotate counterclockwise, the fifth planetary gear 212 to rotate clockwise, the sixth planetary gear 213 to rotate counterclockwise, and the claw 215 to rotate clockwise. The claw 215 eventually closes and engages within the wheel rim of the planetary carrier wheel 206. At this time, the wheel-paw-propeller composite mechanism 200 forms a complete circular structure and is in a wheeled state. This wheeled state allows the robot to move at high speed on flat ground, and in flight mode, it functions as a ducted rotor 217 to improve aerodynamic efficiency.

[0064] See Figure 5 and Figure 7 Viewed from the front of the wheel-paw-propeller composite mechanism 200, when the claw 215 is in the engaged state, the servo motor 202 drives the drive gear 203 to rotate counterclockwise, the sun gear 204 to rotate clockwise, the first planetary gear 208 to rotate counterclockwise, the second planetary gear 209 to rotate clockwise, the third planetary gear 210 to rotate counterclockwise, the fourth planetary gear 211 to rotate clockwise, the fifth planetary gear 212 to rotate counterclockwise, and the sixth planetary gear 213 to rotate clockwise. The claw 215 rotates counterclockwise, gradually opening from a semi-open position to form the wheel-paw-propeller configuration. In this configuration, the wheel-paw-propeller composite mechanism 200 provides stronger ground adhesion on rough terrain and can form a propeller-like structure on water for propulsion and attitude stabilization.

[0065] See Figure 8 When the robot is running on the ground, it is in a wheeled state. Its wheel-claw-propeller composite mechanism 200, driven by the servo motor 202, completely retracts the claw 215 through the internal planetary gear system, tightly fitting it into the wheel rim of the planetary carrier wheel 206, forming a complete circular wheel structure. This ensures that the contact area between the robot and the ground is maximized, achieving efficient, stable, and low-vibration rolling forward on flat surfaces, significantly improving ground movement efficiency and endurance.

[0066] When the robot enters a water environment, its wheel-claw-propeller composite mechanism 200 is reverse-driven by the servo motor 202, controlling the claw 215 to open from the wheel frame to a specific angle, switching to the wheel-claw-propeller state. The opened claw 215 effectively acts as a propeller blade. Under the continuous drive of the servo motor 202, the composite mechanism rotates continuously. The claw 215 provides strong propulsion when entering the water and reduces resistance when exiting the water, thus efficiently propelling the robot forward on the water. This invention controls the opening and closing of the claw 215 through a planetary gear system, realizing the switching between the wheel-claw-propeller state and the wheel state of the wheel-claw-propeller composite mechanism 200. This allows the same mechanism to cope with two completely different media environments, rugged land and vast water surfaces, without any additional parts.

[0067] The passive variable-form wheel-claw-propeller composite mechanism 200 and the variable-configuration amphibious mobile robot of this embodiment achieve efficient integration of amphibious mobility on land, water, and air through the functional reuse and integrated structural design of the wheels, claws, propellers, and rotor 217 protective covers. By employing a wheel-claw-propeller composite mechanism 200 based on multi-stage planetary gear transmission, the robot's movement and passive switching between wheel / claw configurations can be simultaneously achieved with a single servo motor 202: the wheeled state is suitable for efficient rolling on flat surfaces, while the wheel-claw-propeller state combines obstacle crossing on rugged terrain with propulsion on water, significantly reducing system complexity, weight, and manufacturing costs. Simultaneously, the robot uses a lockable damping hinge 104 to switch the side plate 103 configuration from 0° to 90°, allowing the same set of rotor 217 systems to provide lift in flight mode and compactly store in ground and water modes, further optimizing overall space utilization and cross-medium adaptability. This invention effectively solves the problems of component redundancy, complex drive, and reliance on active control for mode switching that exist in traditional multi-purpose robots. While ensuring the ability to perform multi-functional tasks, it greatly improves the system's integration, economy, and environmental adaptability.

[0068] 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 202 and waterproof motors, or by separately sealing and protecting the servo motors 202 and motors, the robot of the present invention can enter the water environment without external protection.

[0069] 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 variable configuration multi-environment robot, characterized by, The utility model relates to a kind of unmanned aerial vehicle, including: Machine body (100), the machine body (100) includes body (101), upper cover plate (102) and two side plates (103), the upper cover plate (102) is fixed on the body (101), two side plates (103) are rotatably arranged on the two sides of the upper cover plate (102) by two hinges (104) respectively, the hinge (104) is rotation damping adjustable hinge (104); Wheel claw paddle composite mechanism (200) allows conversion between wheel claw paddle state and wheeled state, the wheel claw paddle composite mechanism (200) is arranged on the side plate (103), so that the side plate (103) is rotated and locked within a set angle range relative to the upper cover plate (102), to make the whole machine conversion configuration between flight mode, ground mode and water surface mode; Wherein, the wheel claw paddle composite mechanism (200) is installed on side plate (103) by main shaft (201); The wheel claw paddle composite mechanism (200) includes steering gear (202), driving gear (203), sun gear (204), gear bearing (205), planetary carrier wheel (206), carrier wheel bearing (207) and planetary gear assembly, the steering gear (202) is fixed on side plate (103), the driving gear (203) is installed on the output shaft of the steering gear (202), the driving gear (203) is engaged with the sun gear (204), the sun gear (204) is sleeved on the gear bearing (205), the gear bearing (205) is installed on the main shaft (201);The planetary gear assembly includes a plurality of planetary gears, a plurality of planetary gears are installed on the planetary carrier wheel (206) according to the arrangement from near to far to the main shaft (201) and adjacent two planetary gears are engaged, the planetary gear on the outer side of the planetary carrier wheel (206) close to one end of the main shaft (201) is engaged with the sun gear (204), the planetary carrier wheel (206) is sleeved on the carrier wheel bearing (207) and is installed on the main shaft (201); The planetary gear assembly includes first planetary gear (208), second planetary gear (209), third planetary gear (210), fourth planetary gear (211), fifth planetary gear (212) and sixth planetary gear (213), the first planetary gear (208), the second planetary gear (209), the third planetary gear (210), the fourth planetary gear (211), the fifth planetary gear (212), the sixth planetary gear (213) are arranged from near to far to the main shaft (201), and the first planetary gear (208) is engaged with the sun gear (204); The wheel-paw-propeller composite mechanism (200) further comprises a paw (215) arranged on a wheel frame of the planetary gear wheel (206); one side of the paw (215) is rotatably connected with the planetary gear wheel (206) and engaged with the sixth planetary gear (213) to allow the other side of the paw (215) to disengage or engage with the planetary gear wheel (206), thereby switching the wheel-paw-propeller composite mechanism (200) between the wheel-paw-propeller state and the wheeled state. The wheel-paw-propeller composite mechanism (200) comprises a wing motor (216) and a rotor (217), the wing motor (216) is fixedly connected with the side plate (103), and an output shaft of the wing motor (216) is connected with the rotor (217) to provide lift in the flight mode.

2. The variable configuration, multi-environment robot of claim 1, wherein, The set angle range is 90 degrees to 180 degrees.

3. The variable configuration, multi-environment robot of claim 2, wherein, The wheel-paw-propeller composite mechanism (200) further comprises a shaft cover (218) and a gasket (219), the wing motor (216) is fixed on the side plate (103) through the gasket (219), the shaft cover (218) is fixed on the planetary gear wheel (206) and arranged on a side of the wing motor (216) away from the side plate (103), and an output shaft of the wing motor (216) penetrates through the shaft cover (218) and is connected with the rotor (217).

4. A control method for a variable configuration amphibious robot based on a passive metamorphic wheel-track paddle hybrid mechanism, characterized by, The method is applied to the variable-configuration amphibious robot of any one of claims 1 to 3 and comprises the following steps: When it is detected that the included angle between the side plate (103) and the upper cover plate (102) is 180 degrees, the flight mode is entered, the rotor (217) is rotated by the wing motor (216) of the wheel-paw-propeller composite mechanism (200) to provide lift, and the wheel-paw-propeller composite mechanism (200) is in the wheeled state at the same time; When it is detected that the included angle between the side plate (103) and the upper cover plate (102) is 90 degrees, the ground mode or the water surface mode is entered, the wheel-paw-propeller composite mechanism (200) is in the wheeled state to allow the whole machine to roll on the ground, or the wheel-paw-propeller composite mechanism (200) is in the wheel-paw-propeller state to provide ground adhesion or provide propulsion power as a propeller.

5. The control method of the variable-configuration amphibious robot based on the passive variable-form wheel-paw-propeller composite mechanism according to claim 4, characterized in that, When the claw (215) of the wheel-claw-propeller composite mechanism (200) is in the embedded state, the steering engine drives the driving gear (203) to rotate counterclockwise, so that the sun gear (204) rotates clockwise, the first planetary gear (208) rotates counterclockwise, the second planetary gear (209) rotates clockwise, the third planetary gear (210) rotates counterclockwise, the fourth planetary gear (211) rotates clockwise, the fifth planetary gear (212) rotates counterclockwise, the sixth planetary gear (213) rotates clockwise, and the claw rotates counterclockwise, so that one side of the claw is separated from the wheel frame of the planetary carrier and is in the open state, and the wheel-claw-propeller composite mechanism (200) enters the wheel-claw-propeller state. When the claw (215) of the wheel-claw-propeller composite mechanism (200) is in the embedded state, the steering engine drives the driving gear (203) to rotate counterclockwise, so that the sun gear (204) rotates clockwise, the first planetary gear (208) rotates counterclockwise, the second planetary gear (209) rotates clockwise, the third planetary gear (210) rotates counterclockwise, the fourth planetary gear (211) rotates clockwise, the fifth planetary gear (212) rotates counterclockwise, the sixth planetary gear (213) rotates clockwise, and the claw rotates counterclockwise, so that one side of the claw is separated from the wheel frame of the planetary carrier and is in the open state, and the wheel-claw-propeller composite mechanism (200) enters the wheel-claw-propeller state.

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