Apparatuses configured to allow real-time adjustments of locking dimensions

Abstract

To provide an apparatus which has the ability to grasp (e.g., capture), engage or mate with an aircraft, such as an unmanned aerial vehicle (UAV) or a small hovering aircraft, and causes the aircraft to land in a safe location.SOLUTION: The apparatus includes a support base, and two or more roller wheels mounted on the support base. The two or more roller wheels are each adjustable in orientation, position, or orientation and position, and configured to engage with an object in a passive locking configuration. The apparatus may be further configured to disengage from the object in the passive locking configuration. The apparatus may be further configured to lock the object to the apparatus in an active locking configuration. Orientations, positions, or the orientations and positions of the at least two of the two or more roller wheels may be adjustable.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001]

[0001] The subject matter disclosed herein relates to an apparatus (e.g., an end effector), and more particularly, to an aircraft (e.g., an end effector) having two or more roller wheels configured to enable real-time adjustment of a rocking range. [Background technology]

[0002]

[0002] The ability to grasp (e.g., capture), engage, or mate with an aircraft, such as an unmanned aerial vehicle (UAV) or small hovering aircraft, is often desirable for operators of these types of vehicles, especially when landing the aircraft in a safe location is a concern. For example, landing, grasping, engaging, and / or mating with the aircraft can be difficult in rough terrain environments without a level surface for landing, and / or when operating via a mobile platform such as a boat or ship, in adverse and / or unpredictable conditions (e.g., windy weather). In such conditions, it can also be difficult to safely disengage (e.g., release) or launch the aircraft.

[0003]

[0003] Although there are systems that address some of these challenges, these solutions may not be compatible with hovering UAVs such as quadrotors or coaxial rotating vehicles. Attempts have been made to catch hovering vehicles in the air using conventional articulated robotic grippers or locking interface devices combined with low-latency vision systems and high-speed robotic manipulator arms that can operate rapidly to grab a mating receptacle on a moving vehicle. To safely and reliably engage a hovering aircraft or other target object, high-speed vision systems are often required to achieve precise three-dimensional localization and timing, as well as precise alignment with the moving target object, which can be complex, expensive, and difficult to maintain in the field. Furthermore, misalignment between these types of grippers and the target object (e.g., due to limited ranges of achievable approach angles) creates a risk of damage when attempting to engage the target object, resulting in small or no tolerances. These challenges are compounded by frequent and rapid changes in position and orientation of the aircraft or other object (where one or both may be in motion) relative to the gripper.

[0004]

[0004] Engaging flying or hovering objects capable of six degrees of freedom requires extremely precise alignment of the gripper or a gripper that can accommodate large misalignments with the hovering object. The challenges of approaches that rely on extremely precise alignment have been discussed above. Other existing types of grippers are not suitable for grasping hovering aircraft and the like because they do not accommodate multiple axis misalignments to achieve the multi-dimensional engagement required when engaging flying or hovering objects. Thus, there is a need for improved engagement devices for engaging or mating with aircraft and other target objects that allow target object approach from any angle covering a full 360 degree range of heading angles and that can accommodate adverse and / or unpredictable conditions that may cause target object misalignment.

[0005]

[0005] Other problems that appear to be unsolved in the prior art include the ability to lock the gripper to prevent the target object from accidentally disengaging from the gripper, and the real-time ability to adjust the locking range (e.g., capture diameter) of the gripper to allow capture of target objects having mating receptacles of various sizes. There is also a need for improved engagement devices that address one or both of these issues.

[0006]

[0006] The disclosure of U.S. patent application Ser. No. 17 / 551,049, filed December 14, 2021, by Troy et al., is incorporated by reference into this application. Summary of the Invention

[0007]

[0007] The present disclosure is directed to aircraft (e.g., end effectors), and more specifically, to devices (e.g., end effectors) having two or more roller wheels configured to enable real-time adjustment of a rocking range.

[0008]

[0008] In some embodiments, the device includes a support base and two or more roller wheels mounted to the support base, each of which is adjustable in orientation, position, or orientation and position, and configured to engage an object in a passive locking configuration.

[0009] In some embodiments of the device, the two or more roller wheels are further configured to disengage from the object in a passive locking configuration.

[0010] In some embodiments of the device, the two or more roller wheels are further configured to lock an object to the device in an active locking configuration.

[0011]

[0011] In some embodiments of the device, the orientation, position, or orientation and position of two or more roller wheels are adjustable to change the two or more roller wheels from a passive locking configuration to an active locking configuration or from an active locking configuration to a passive locking configuration.

[0012] In some embodiments of the device, the locking range of the end device may be increased when two or more roller wheels are changed from a passive locking configuration to an active locking configuration.

[0013] In some embodiments of the device, the locking range of the end device may be reduced when two or more roller wheels are changed from a passive locking configuration to an active locking configuration.

[0014] In some embodiments of the device, the locking range of the end device may be increased when two or more roller wheels are changed from an active locking configuration to a passive locking configuration.

[0015] In some embodiments of the device, when two or more roller wheels are changed from an active locking configuration to a passive locking configuration, the locking range of the device may be reduced.

[0016]

[0016] In some embodiments of the device, the device may further comprise a locking mechanism. The locking mechanism may be configured to prevent the object from disengaging from the device.

[0017]

[0017] In some embodiments, the device includes a support base and two or more roller wheels attached to the support base, the two or more roller wheels configured to engage an object in a passive locking configuration and further configured to lock the object to the device in an active locking configuration.

[0018]

[0018] The orientation, position, or orientation and position of the two or more roller wheels can be adjusted to change the two or more roller wheels from a passive locking configuration to an active locking configuration.

[0019] In some embodiments of the device, the orientation, position, or orientation and position of at least two of the two or more roller wheels are adjustable to change the two or more roller wheels from an active locking configuration to a passive locking configuration.

[0020] In some embodiments of the device, adjusting the orientation, position, or location of two or more roller wheels can change the rocking range of the device.

[0021]

[0021] In some embodiments of the device, a first roller wheel of the two or more roller wheels may be configured to rotate in a first geometric plane of rotation and a second roller wheel of the two or more roller wheels may be configured to rotate in a second geometric plane of rotation, and in a passive locking configuration, the first geometric plane of rotation may be parallel to the second geometric plane of rotation, and in an active locking configuration, the first geometric plane of rotation may be parallel to the second geometric plane of rotation, or in both the passive locking configuration and the active locking configuration, the first geometric plane of rotation may be parallel to the second geometric plane of rotation.

[0022]

[0022] In some embodiments of the device, a first roller wheel of the two or more roller wheels may be configured to rotate in a first geometric plane of rotation, and a second roller wheel of the two or more roller wheels may be configured to rotate in a second geometric plane of rotation, and in a passive locking configuration, the first geometric plane of rotation may coincide with the second geometric plane of rotation, and in an active locking configuration, the first geometric plane of rotation may coincide with the second geometric plane of rotation, or in both the passive locking configuration and the active locking configuration, the first geometric plane of rotation may coincide with the second geometric plane of rotation.

[0023]

[0023] In some embodiments, the device includes a support base and three or more roller wheels attached to the support base, each of which is adjustable in orientation, position, or orientation and position, and configured to engage an object in a passive locking configuration.

[0024] In some embodiments of the apparatus, the three or more roller wheels may be further configured to disengage from the object in a passive locking configuration.

[0025]

[0025] In some embodiments of the device, the orientation, position, or orientation and position of at least three of the three or more roller wheels are adjustable to change the three or more roller wheels from a passive locking configuration to an active locking configuration or from an active locking configuration to a passive locking configuration.

[0026] In some embodiments of the device, adjusting the orientation, position, or orientation and position of at least three of the three or more roller wheels can change the rocking range of the device.

[0027]

[0027] In some embodiments of the apparatus, a first roller wheel of the three or more roller wheels may be configured to rotate in a first geometric plane of rotation, a second roller wheel of the three or more roller wheels may be configured to rotate in a second geometric plane of rotation, and a third roller wheel of the three or more roller wheels may be configured to rotate in a third geometric plane of rotation, wherein the first geometric plane of rotation may be non-parallel to the second geometric plane of rotation, wherein the second geometric plane of rotation may be non-parallel to the third geometric plane of rotation, and wherein the third geometric plane of rotation may be non-parallel to the first geometric plane of rotation.

[0028] In some embodiments, the end effector may include a support base and two or more roller wheels attached to the support base. The end effector may be configured to engage an object using at least two of the two or more roller wheels in a passive locking configuration. The end effector may be further configured to disengage from the object using at least two of the two or more roller wheels. For a first roller wheel of at least two of the two or more roller wheels, an orientation of the first roller wheel is adjustable, a position of the first roller wheel is adjustable, or an orientation and position of the first roller wheel is adjustable. For a second roller wheel of at least two of the two or more roller wheels, an orientation of the second roller wheel is adjustable, a position of the second roller wheel is adjustable, or an orientation and position of the second roller wheel is adjustable.

[0029] In some embodiments of the end effector, the end effector may be further configured to disengage from the object using at least two of the two or more roller wheels in a passive locking configuration.

[0030] In some embodiments of the end effector, the end effector may be further configured to lock an object to the end effector using at least two of the two or more roller wheels in an active locking configuration.

[0031]

[0031] In some embodiments of the end effector, the orientation, position, or orientation and position of at least two of the two or more roller wheels may be adjustable to change at least two of the two or more roller wheels from a passive locking configuration to an active locking configuration or from an active locking configuration to a passive locking configuration.

[0032] In some embodiments of the end effector, the locking range of the end effector can be increased when at least two of the two or more roller wheels are changed from a passive locking configuration to an active locking configuration.

[0033] In some embodiments of the end effector, when at least two of the two or more roller wheels are changed from a passive locking configuration to an active locking configuration, the locking range of the end effector may be reduced.

[0034] In some embodiments of the end effector, the locking range of the end effector can be increased when at least two of the two or more roller wheels are changed from an active locking configuration to a passive locking configuration.

[0035] In some embodiments of the end effector, when at least two of the two or more roller wheels are changed from an active locking configuration to a passive locking configuration, the locking range of the end effector may be reduced.

[0036] In some embodiments of the end effector, the end effector further comprises a locking mechanism. The locking mechanism can be configured to lock an object to the end effector independent of at least two of the two or more roller wheels.

[0037]

[0037] In some embodiments, the end effector may include a support base and two or more roller wheels attached to the support base. The end effector may be configured to engage an object using at least two of the two or more roller wheels in a passive locking configuration. The end effector may be further configured to engage an object to the end effector using at least two of the two or more roller wheels in an active locking configuration. The end effector may be further configured to disengage from the object using at least two of the two or more roller wheels.

[0038] In some embodiments of the end effector, the end effector may be further configured to be disengaged from the object using at least two of the two or more roller wheels in a passive locking configuration.

[0039]

[0039] In some embodiments of the end effector, the orientation, position, or orientation and position of at least two of the two or more roller wheels may be adjustable to change at least two of the two or more roller wheels from a passive locking configuration to an active locking configuration or from an active locking configuration to a passive locking configuration.

[0040] In some embodiments of the end effector, adjusting the orientation, position, or orientation and position of at least two of the two or more roller wheels can change the locking range of the end effector.

[0041] In some embodiments of the end effector, a first roller wheel of at least two of the two or more roller wheels can be configured to rotate in a first geometric plane of rotation. A second roller wheel of at least two of the two or more roller wheels can be configured to rotate in a second geometric plane of rotation. In a passive locking configuration, the first geometric plane of rotation can be parallel to the second geometric plane of rotation, in an active locking configuration, the first geometric plane of rotation can be parallel to the second geometric plane of rotation, or in both the passive and active locking configurations, the first geometric plane of rotation can be parallel to the second geometric plane of rotation.

[0042] In some embodiments of the end effector, a first roller wheel of at least two of the two or more roller wheels can be configured to rotate in a first geometric plane of rotation. A second roller wheel of at least two of the two or more roller wheels can be configured to rotate in a second geometric plane of rotation. In a passive locking configuration, the first geometric plane of rotation can coincide with the second geometric plane of rotation, in an active locking configuration, the first geometric plane of rotation can coincide with the second geometric plane of rotation, or in both the passive and active locking configurations, the first geometric plane of rotation can coincide with the second geometric plane of rotation.

[0043]

[0043] In some embodiments, the end effector may include a support base and three or more roller wheels attached to the support base. The end effector may be configured to engage an object using at least three of the three or more roller wheels in a passive locking configuration. The end effector may be further configured to engage an object to the end effector using at least three of the three or more roller wheels in an active locking configuration. The end effector may be further configured to disengage from the object using at least three of the three or more roller wheels.

[0044] In some embodiments of the end effector, the end effector may be further configured to disengage from the object using at least three of the three or more roller wheels in a passive locking configuration.

[0045]

[0045] In some embodiments of the end effector, the orientation, position, or orientation and position of at least three of the three or more roller wheels may be adjustable to change at least three of the three or more roller wheels from a passive locking configuration to an active locking configuration or from an active locking configuration to a passive locking configuration.

[0046] In some embodiments of the end effector, adjusting the orientation, position, or orientation and position of at least three of the three or more roller wheels can change the locking range of the end effector.

[0047] In some embodiments of the end effector, a first roller wheel of at least three of the three or more roller wheels may be configured to rotate in a first geometric plane of rotation. A second roller wheel of at least three of the three or more roller wheels may be configured to rotate in a second geometric plane of rotation. A third roller wheel of at least three of the three or more roller wheels may be configured to rotate in a third geometric plane of rotation. The first geometric plane of rotation may be non-parallel to the second geometric plane of rotation. The second geometric plane of rotation may be non-parallel to the third geometric plane of rotation. The third geometric plane of rotation may be non-parallel to the first geometric plane of rotation.

[0048]

[0048] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the teachings herein as claimed.

[0049]

[0049] The above aspects and advantages and / or other aspects and advantages will become more apparent and be more readily understood by reference to the following detailed description of the embodiments taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0050] [Figure 1] 1 shows a schematic top view of an end effector and a system including the end effector, according to some embodiments of the disclosed device. [Diagram 2] 1 shows a side elevational schematic diagram of an end effector and a system including the end effector, according to some embodiments of the disclosed device. [Diagram 3]13A-13D show schematic side elevation views of a passive receiver approaching an end effector according to some embodiments of the disclosed device. [Figure 4] 1A-1C show schematic side elevation views of a passive receiver in the process of engaging with an end effector, according to some embodiments of the disclosed devices. [Diagram 5] 1A-1C show schematic side elevation views of a passive receiver operatively locked in place on an end effector according to some embodiments of the disclosed device. [Figure 6] 13A-13D show schematic side elevation views of a passive receiver in the process of being fired or disengaged from an end effector, according to some embodiments of the disclosed devices. [Figure 7] 13A-13C show schematic side elevation views of a passive receiver that is offset relative to an end effector according to some embodiments of the disclosed devices. [Figure 8] 13A-13C show schematic side elevation views of a passive receiver that is rotationally offset relative to an end effector, according to some embodiments of the disclosed devices. [Figure 9] 13A-13C show schematic side elevation views of a passive receiver that is offset relative to an end effector according to some embodiments of the disclosed devices. [Figure 10] 1A-1C show schematic side elevation views of a passive receiver in the process of engaging with an end effector, according to some embodiments of the disclosed devices. [Figure 11] 1A-1C show schematic side elevation views of a passive receiver operatively locked in place on an end effector according to some embodiments of the disclosed device. [Figure 12] 13A-13D show side elevational schematic views of the firing of a passive receiver from an end effector according to some embodiments of the disclosed device. [Figure 13] 13A-13C show schematic side elevation views of a passive receiver that is offset relative to an end effector according to some embodiments of the disclosed devices. [Figure 14] 13A-13C show schematic side elevation views of a passive receiver that is rotationally offset relative to an end effector, according to some embodiments of the disclosed devices. [Figure 15]1 illustrates a perspective view of an end effector with a post-type passive receiver engaged, according to some embodiments of the disclosed devices. [Figure 16] FIG. 1 illustrates a side view of an end effector having individual motors for each roller wheel of the end effector, in accordance with some embodiments of the disclosed apparatus. [Figure 17] FIG. 2 is a perspective view of an end effector having a single drive motor configured to drive three roller wheels of the end effector, according to some embodiments of the disclosed apparatus. [Figure 18] 13A-13D show top schematic views of an external drive gear variant of the end effector having an external control gear ring and multiple radially spaced spur gears configured to drive a roller wheel in accordance with some embodiments of the disclosed apparatus. [Figure 19] FIG. 13 shows a top schematic view of an internal drive gear variant of the presently disclosed end effector having a central control gear and multiple radially spaced spur gears configured to drive roller wheels in accordance with some embodiments of the disclosed apparatus. [Figure 20] 1 illustrates a side view of an exemplary wheel module of an end effector showing a bevel gear implementation for driving a roller wheel, in accordance with some embodiments of the disclosed apparatus. [Figure 21] 1 illustrates a side view of an exemplary wheel module of an end effector showing a worm gear implementation for driving a roller wheel, in accordance with some embodiments of the disclosed apparatus. [Figure 22] 14A-14D show side views of a passive receiver that engages an end effector according to some embodiments of the disclosed devices. [Figure 23] 1 illustrates a side view of a UAV engaging an end effector via a passive receiver, according to some embodiments of the disclosed apparatus. [Figure 24] 1 shows a perspective view of an end effector configured to correct positional misalignment of a passive receiver, according to some embodiments of the disclosed device. [Diagram 25]25 illustrates the passive receiver and end effector of FIG. 24, with the passive receiver engaged with the end effector, according to some embodiments of the disclosed devices. [Figure 26] 1 illustrates a top schematic view of a modular central hub for an end effector, according to some embodiments of the disclosed devices. [Figure 27] 1 illustrates a top schematic view of an end effector configured to be selectively adjustable (e.g., manually set prior to use) for various ring-shaped receiver sizes and / or angles of the roller wheel, shown in a first configuration, in accordance with some embodiments of the disclosed device. [Figure 28] 28 shows a schematic top view of the end effector of FIG. 27 shown in a second configuration, according to some embodiments of the disclosed apparatus. [Figure 29] 1 shows a schematic flow diagram illustrating some embodiments of the disclosed method. [Diagram 30] 1 shows a schematic flow diagram illustrating some embodiments of the disclosed method. [Diagram 31] 1 shows a schematic flow diagram illustrating some embodiments of the disclosed method. [Figure 32A] 1A shows a top schematic view of an end effector configured to adjust in real time to various ring-shaped receiver sizes and / or angles of a roller wheel, shown in a first configuration, in accordance with some embodiments of the disclosed apparatus. [Figure 32B] FIG. 32B illustrates a schematic top view of the end effector of FIG. 32A shown in a second configuration, according to some embodiments of the disclosed apparatus. [Figure 32C] 1 shows a top view of a portion of the outer capture circle illustrating an exemplary calculation of the radius of the outer capture circle when the roller wheel pivots relative to the radial direction of the outer capture circle. [Figure 33A] 1 illustrates a top view of an exemplary wheel module of an end effector showing a worm gear implementation for driving a roller wheel, in accordance with some embodiments of the disclosed apparatus. [Figure 33B]FIG. 33B illustrates a side view of an exemplary wheel module of the end effector of FIG. 33A , showing a worm gear implementation for driving the roller wheel, in accordance with some embodiments of the disclosed apparatus. [Figure 33C] 1 illustrates a top view of a three-layer overlay of an exemplary wheel module in a worm gear implementation, each overlay at a different corresponding pivot orientation of the roller wheel, in accordance with some embodiments of the disclosed apparatus. [Figure 34A] 1 illustrates a top view of an exemplary wheel module of an end effector showing a bevel gear implementation for driving a roller wheel, in accordance with some embodiments of the disclosed apparatus. [Figure 34B] FIG. 34B illustrates a side view of an exemplary wheel module of the end effector of FIG. 34A , showing a bevel gear implementation for driving the roller wheel, according to some embodiments of the disclosed apparatus. [Figure 34C] 1 illustrates a top view of a three-layer overlay of an exemplary wheel module in a bevel gear implementation, each overlay at a different corresponding pivot orientation of the roller wheel, in accordance with some embodiments of the disclosed apparatus. [Figure 35A] 14A-14C illustrate top views of the operation of the roller wheel linkage using a bevel gear implementation in a first pivot orientation in accordance with some embodiments of the disclosed apparatus. [Figure 35B] 35B illustrates a top view of the operation of the linkage of the roller wheel of FIG. 35A in a second pivot orientation according to some embodiments of the disclosed apparatus. [Figure 35C] 35B illustrates a top view of the operation of the linkage of the roller wheel of FIG. 35A in a third pivot orientation according to some embodiments of the disclosed apparatus. [Figure 35D] 35B illustrates a top view of the operation of the linkage of the roller wheel of FIG. 35A in a fourth pivot orientation according to some embodiments of the disclosed apparatus. [Figure 35E] 35B illustrates an alternative design of actuation of the linkage mechanism of the roller wheel of FIG. 35A according to some embodiments of the disclosed device. [Figure 36A]1 illustrates a top view of roller wheel gearing using a bevel gear implementation in a first pivot orientation in accordance with some embodiments of the disclosed apparatus. [Figure 36B] 36B illustrates a top view of the gear actuation of the roller wheel of FIG. 36A in a second pivot orientation according to some embodiments of the disclosed device. [Figure 36C] 36B illustrates a top view of the gear actuation of the roller wheel of FIG. 36A in a third pivot orientation according to some embodiments of the disclosed device. [Figure 36D] 36B illustrates a top view of the gear actuation of the roller wheel of FIG. 36A in a fourth pivot orientation according to some embodiments of the disclosed device. [Figure 36E] 36B shows an alternative design of gear actuation of the roller wheel of FIG. 36A according to some embodiments of the disclosed device. [Figure 37A] FIG. 13 illustrates a top view of a slotted disk actuation of a roller wheel using a bevel gear implementation in a first pivot orientation in accordance with some embodiments of the disclosed apparatus. [Figure 37B] 37B illustrates a top view of the slotted disk actuation of the roller wheel of FIG. 37A in a second pivot orientation according to some embodiments of the disclosed apparatus. [Figure 37C] 37B illustrates a top view of the slotted disk actuation of the roller wheel of FIG. 37A in a third pivot orientation according to some embodiments of the disclosed apparatus. [Figure 37D] 37B illustrates a top view of the slotted disk actuation of the roller wheel of FIG. 37A in a fourth pivot orientation according to some embodiments of the disclosed apparatus. [Figure 37E] 37B illustrates a top view of the slotted disk actuation of the roller wheel of FIG. 37A in a fifth orientation according to some embodiments of the disclosed apparatus. [Figure 37F] 37B illustrates a top view of the slotted disk actuation of the roller wheel of FIG. 37A in a sixth orientation according to some embodiments of the disclosed apparatus. [Figure 37G] 37B illustrates a top view of the slotted disk actuation of the roller wheel of FIG. 37A in a seventh orientation according to some embodiments of the disclosed apparatus. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0051]

[0105] Hereinafter, exemplary embodiments will be described more comprehensively with reference to the accompanying drawings. However, the embodiments of the present disclosure may be embodied in many different forms and should not be construed as being limited to the embodiments described herein. Rather, these embodiments are presented so that the present disclosure will be comprehensive and complete, and will fully convey the scope to those skilled in the art. In the drawings, some details may be simplified and / or illustrated to facilitate understanding, rather than maintaining strict structural accuracy, details, and / or scale. For example, thicknesses of layers and regions may be exaggerated for clarity.

[0052]

[0106] When an element is described as being "on," "connected to," "electrically connected to," or "coupled to" another element, it is understood that the element may be directly on, electrically connected to, or coupled to the other element, or there may be intervening components. In contrast, when an element is described as being "directly on," "directly connected to," "directly electrically connected to," or "directly coupled to" another element, there are no intervening components. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0053]

[0107] Terms such as first, second, third, etc. may be used herein to describe various elements, components, regions, layers, and / or sections, but it should be understood that these elements, components, regions, layers, and / or sections should not be limited to these terms. These terms are used only to distinguish one element, component, region, layer, and / or section from another element, component, region, layer, and / or section. For example, a first element, component, region, layer, and / or section may be referred to as a second element, component, region, layer, and / or section without departing from the teachings of the embodiment.

[0054]

[0108] Spatial terms (e.g., "beneath," "below," "lower," "above," "upper," etc.) may be used herein to facilitate description of the relationship of one component and / or feature to another component and / or feature, or to one or more other components and / or features, as illustrated in the figures. It will be understood that these spatial terms are intended to encompass various embodiments of the device in use or operation in addition to the embodiment illustrated in the figures.

[0055]

[0109] The terms used herein are merely for the purpose of describing particular embodiments and are not intended to be limiting. As used herein, the singular forms "a," "an," and "the" are intended to include the plural, unless the context clearly indicates otherwise. Furthermore, the words "comprises," "comprising," "includes," and / or "including," when used herein, will be understood to indicate the presence of stated features, integers, steps, operations, elements, and / or components, but not to exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0056]

[0110] As used herein, the terms "selective" and "selectively" mean that, when changing the operation, movement, configuration, or other activity of one or more components or features of a device, that particular operation, movement, configuration, or other activity is the direct or indirect result of a dynamic process of an aspect or one or more components of the device and / or user manipulation. Thus, the terms "selective" and "selectively" may characterize an activity that is the direct or indirect result of user manipulation of an aspect or one or more components of the device, or may characterize a process that occurs automatically, for example, through the mechanisms disclosed herein.

[0057]

[0111] As used herein, the term "configured" means that an element, component, or other object is designed and / or intended to perform a given function. Thus, use of the term "configured" should not be interpreted to mean that a given element, component, or other object is merely "capable" of performing a given function, but rather that the element, component, and / or other object has been specifically selected, created, implemented, utilized, programmed, and / or designed for performing that function. Similarly, an object recited as configured to perform a particular function may additionally or alternatively be described as operable to perform that function.

[0058]

[0112] As used herein, the phrase "at least one" in connection with a list of one or more entities should be understood to mean at least one entity selected from any one or more of the entities in the list of entities, but not necessarily including at least one of each and every entity specifically listed in the list of entities, nor excluding any combination of entities in the list of entities. This definition further allows for the optional presence of entities other than those specifically identified in the list of entities associated with the phrase "at least one," whether or not related to those specifically identified entities. Thus, as a non-limiting example, "at least one of A and B" (or, similarly, "at least one of A or B," or, similarly, "at least one of A and / or B") means, in one embodiment, at least one, optionally more than one A, and no B (and optionally including entities other than B); in another embodiment, at least one, optionally more than one B, and no A (and optionally including entities other than A); and in yet another embodiment, at least one, optionally more than one A, and at least one, optionally more than one B (and optionally including other entities). In other words, the terms "at least one," "one or more," and "and / or" are open-ended expressions that are both conjunctive and disjunctive in their operation.For example, the phrases "at least one of A, B, and C," "at least one of A, B, or C," "one or more of A, B, and C," "one or more of A, B, or C," and "A, B, and / or C" may mean A only, B only, C only, A and B together, A and C together, B and C together, or A, B, and C together, and optionally a combination of any of the above with at least one other entity.

[0059]

[0113] As used herein, terms such as "position" and "positioned" relate only to translation (eg, the X-axis, Y-axis, and / or Z-axis).

[0060]

[0114] As used herein, "orientation" and "oriented" refer to rotation only (eg, roll, pitch, and / or yaw).

[0061]

[0115] As used herein, "location" and "located" relate to both position and orientation.

[0062]

[0116] The various disclosed elements of the devices and methods disclosed herein are not required for all devices and methods according to the present disclosure, and the present disclosure includes all novel and non-obvious combinations and subcombinations of the various elements and methods disclosed herein. Moreover, one or more of the various elements and methods disclosed herein may define independent inventive subject matter that is separate and distinct from the entirety of the disclosed devices or methods. Thus, such inventive subject matter need not relate to the particular devices and methods explicitly disclosed herein, and such inventive subject matter may also find utility in devices and / or methods not explicitly disclosed herein.

[0063]

[0117] As used herein, the phrases "for example," "as an example," and / or simply "example," when used in connection with one or more components, features, details, structures, examples, and / or methods according to the present disclosure, are intended to convey that the described components, features, details, structures, examples, and / or methods are illustrative, non-limiting examples of the components, features, details, structures, examples, and / or methods according to the present disclosure. Thus, the described components, features, details, structures, examples, and / or methods are not intended to be limiting, required, or exhaustive, and other components, features, details, structures, examples, and / or methods, including structurally and / or functionally similar and / or equivalent components, features, details, structures, examples, and / or methods, are also within the scope of the present disclosure.

[0064]

[0118] All terms used herein (including technical and scientific terms) have the same meaning as understood by those skilled in the art unless otherwise defined. Furthermore, it will be understood that terms (e.g., terms defined in commonly used dictionaries) should be interpreted to have a meaning consistent with the meaning in the context of the relevant technical field, and should not be interpreted as idealized or overly formal (unless expressly defined as such in this specification).

[0065]

[0119] The present disclosure is directed to end effectors, and more specifically, end effectors having two or more roller wheels configured to enable real-time adjustment of the locking range.

[0066]

[0120] 1-14 provide exemplary, non-exclusive examples of the system 12 and end effector 10 according to the present disclosure. In each of FIG. 1-14, elements that serve similar or at least substantially similar purposes are numbered similarly. Such elements may not be described in detail herein with reference to each of FIG. 1-14. Similarly, not all elements may appear in each of FIG. 1-14, but the reference numbers associated therewith will be used consistently herein. Elements, components, and / or features described herein with reference to one or more of FIG. 1-14 may be included in and / or utilized with any of FIG. 1-14 without departing from the scope of the present disclosure. Additional schematic diagrams are provided in FIG. 18, 19, and 26-30, which also follow the above conventions. Generally, elements likely to be included in a given (i.e., specific) embodiment are shown with solid lines, while elements that are optional for a given embodiment are shown with dashed lines. However, elements shown in solid lines are not essential to all implementations, and elements shown in solid lines may be omitted from particular embodiments without departing from the scope of the present disclosure.

[0067]

[0121] 1 and 2 generally depict an embodiment of an end effector 10 of a system 12 of the present disclosure. FIG. 1 generally depicts a non-exclusive embodiment of the end effector 10 from a top view, and FIG. 2 generally depicts a non-exclusive embodiment of the end effector 10 from a side view. The end effector 10 includes at least a first roller wheel 14 and a second roller wheel 16, and may include one or more additional roller wheels (e.g., a third roller wheel 18, shown in FIG. 1 but not shown in FIG. 2 for clarity). Some embodiments of the end effector 10 include a fourth roller wheel, and / or further additional roller wheels.

[0068]

[0122] One or more of the roller wheels (e.g., roller wheels 14, 16, 18) may rotate in different (e.g., non-parallel) planes and / or about different axes than one or more of the other roller wheels. In some embodiments, each roller wheel may rotate in a different plane and / or about a different axis than one or more of the other roller wheels on a given end effector 10. In some embodiments, two roller wheels may rotate in the same plane, while two other roller wheels may rotate in different planes. In other words, in embodiments of end effector 10 having an even number of roller wheels (more than three roller wheels), one or more pairs of roller wheels may share a geometric plane of rotation. As used herein, the term "geometric plane" is intended to distinguish the term "plane" as used in the field of geometry from the term "plane" as used in the aviation industry.

[0069]

[0123] In some embodiments, the first roller wheel 14 may be said to rotate about a first axis 20 that is parallel to a first geometric plane of rotation 118, and the second roller wheel 16 may be said to rotate about a second axis 22 that is parallel to a second geometric plane of rotation 120, where the first geometric plane of rotation 118 and the second geometric plane of rotation 120 are not parallel to one another. In embodiments of the end effector 10 that include a third roller wheel 18, the third roller wheel 18 may be said to rotate about a third axis 24 in a third geometric plane of rotation 122 that is not parallel to the first geometric plane of rotation 118 and / or the second geometric plane of rotation 120. Additionally or alternatively, one or more of the first geometric plane of rotation 118, the second geometric plane of rotation 120, or the third geometric plane of rotation 122 may be substantially parallel to a support base 38 that supports at least the roller wheels 14, 16, 18. Additionally or alternatively, one or more of the first geometric plane of rotation 118, the second geometric plane of rotation 120, or the third geometric plane of rotation 122 may be disposed at a non-parallel angle relative to the support base 38. The roller wheels 14, 16, 18 may be disposed such that the first geometric plane, the second geometric plane, and / or the third geometric plane intersect one another.

[0070]

[0124] In some embodiments, some or all of the respective roller wheels 14, 16, and / or 18 may rotate about different and / or non-parallel respective axes, depicted in FIG. 1 for illustrative purposes. In some embodiments, each roller wheel of the end effector 10 rotates about a different corresponding axis. In some embodiments, one or more roller wheels of the end effector 10 may rotate about an axis that is at least substantially parallel to an axis of one or more other roller wheels of the end effector 10. In some embodiments, at least one roller wheel of the end effector 10 rotates about an axis that is non-parallel to at least one other roller wheel of the end effector. As shown in FIG. 1, the first roller wheel 14 may rotate about a first axis 20, the second roller wheel 16 may rotate about a second axis 22, and the third roller wheel 18 may rotate about a third axis 24. As shown in FIG. 1, the first axis 20, the second axis 22, and the third axis 24 are each disposed at a non-parallel angle relative to one another. In some embodiments, the first axis 20, the second axis 22, and the third axis 24 are each disposed at a non-parallel angle relative to one another, but in some embodiments of the end effector 10, such one or more axes may be at least substantially parallel to one another and / or disposed at different angles relative to one another. The end effector 10 may include additional roller wheels and / or roller wheels disposed at various spacings, orientations, and / or patterns, as described herein. Although the exemplary embodiment is primarily described as having three roller wheels 14, 16, and 18, the end effector 10 according to the present disclosure is not so limited.

[0071]

[0125] The end effector 10 is configured to engage, mate, and / or disengage from an object 26 via two or more roller wheels (e.g., roller wheels 14, 16, and / or 18). The end effector 10 may be configured to engage and / or mate with an object 26 approaching from any direction. This allows a full 360 degree range of heading angles. This allows the disclosed end effector 10 to accommodate misalignment in any direction, which was not possible with prior art systems. To enable the disclosed end effector 10 to have such capabilities, the roller wheels 14, 16, 18 may be oriented and positioned relative to one another. For example, in an end effector 10 having three roller wheels 14, 16, 18, the roller wheels 14, 16, 18 may be positioned and oriented such that each roller wheel rotates about a different, non-parallel axis. This configuration allows the end effector 10 to engage an approaching object 26 from a full 360 degree range of heading angles, although other configurations disclosed herein may be similarly equipped with this capability.

[0072]

[0126] The roller wheels 14, 16, 18 may rotate in opposite directions to engage and disengage the object 26, respectively. For example, the roller wheels 14, 16, 18 of the end effector 10 may rotate in a first corresponding direction when engaging or mating with the object 26, and then reverse to rotate in a corresponding opposite direction to disengage the object 26. In other words, each roller wheel 14, 16, 18 may be configured to selectively reverse between rotating in two opposite directions. In some embodiments, the direction of rotation of the roller wheels 14, 16, 18 may be inward (e.g., the roller wheels 14, 16, 18 may rotate toward the interior space 50 between the roller wheels 14, 16, 18) in one configuration and outward when the roller wheels 14, 16, 18 are rotating in opposite directions. One or more of the roller wheels 14, 16, 18 may rotate in a different direction than the other one or more of the roller wheels 14, 16, 18 while engaging, mating, and / or disengaging from the object 26. Additionally or alternatively, the rotational speed of one or more of the roller wheels 14, 16, 18 may be selectively increased or decreased during engagement or disengagement of the object 26.

[0073]

[0127] In various applications of engaging and / or mating with an object 26, the object 26 may float, hover, position, and / or fly above, to the side, below, and / or next to the end effector 10. The end effector 10 may additionally or alternatively be configured to engage and / or mating with a stationary object 26 while the end effector 10 is moving toward the stationary object 26. The end effector 10 is designed to engage and / or mating with the object 26 even when the object 26 is displaced from the end effector 10 along one or more positional and / or rotational axes. To engage, mating, and / or disengage from the object 26, the end effector 10 is configured to engage with a passive receiver 44 of the object 26. The passive receiver 44 may be integrally formed with the object 26 or may be permanently or temporarily coupled to the object 26. The passive receiver 44 is generally positioned relative to the object 26 such that the passive receiver 44 is configured to be oriented towards the end effector 10 during engagement with the object 26. In other words, as the object 26 is approaching the end effector 10 (or as the end effector 10 is approaching the object 26), the object 26 may be configured such that the passive receiver 44 reaches the end effector 10 first, rather than contacting a different portion of the object 26, to facilitate engagement between the end effector 10 and the passive receiver 44.

[0074]

[0128] 2 shows an object 26 in the form of a UAV hovering above the end effector 10, although the system 12 is not so limited. For example, the object 26 may be a hovering aircraft or other type of aircraft (e.g., a UAV, or drone, or manned aircraft) configured to carry and / or lift a human or animal, a package, a load, a cable end, and / or an emergency device. In some embodiments, the end effector 10 may engage the object 26 in adverse and / or unpredictable conditions, such as refueling an aircraft in flight. In embodiments involving a UAV or other aircraft as the object 26, the aircraft may be a fixed-wing aircraft, a quadcopter, a helicopter, a multi-rotor aircraft, a rotorcraft, a military aircraft, a vertical take-off and landing (VTOL) aircraft, a short take-off and vertical landing (STOVL) aircraft, a low-observability aircraft, and / or an aircraft without landing gear. Other types of objects 26 may mate with the passive receiver 44 for engagement with the end effector 10 disclosed herein, as utilized with the disclosed system 12 .

[0075]

[0129] The presently disclosed system 12 and end effector 10 may be used to engage and / or disengage unmanned aerial vehicles and / or lift and / or load packages or loads, and may be used for commercial, military, and / or personal applications. The presently disclosed end effector 10 and system 12 may be configured to engage and / or mate with objects in adverse and / or unpredictable conditions and / or when there is positional and / or rotational misalignment between the end effector and the object when the end effector and / or object are in motion, so that the system 12 and end effector 10 may address shortcomings of conventional solutions. In other examples, the system 12 may be used for applications related to mating components in manufacturing (e.g., material handling for robotics), aircraft refueling systems, agricultural applications (e.g., harvesting fruits and other produce), and the like. The disclosed system 12 and end effector 10 may provide cost savings and / or cost avoidance due to avoidance or reduction of injuries and / or wear on hardware compared to conventional solutions. In some embodiments, the end effector 10 and system 12 may improve safety for the operator and the engaged or mated object 26 over conventional solutions. The presently disclosed system 12 and end effector 10 are advantageously capable of spatially operating in three dimensions with multi-axis engagement capabilities. The system 12 and end effector 10 may be further configured to be scalable to accommodate larger or smaller objects 26 to be engaged, mated, and / or fired. Additionally, the system 12 and end effector 10 may be selectively reconfigurable to have different numbers of roller wheels and / or different arrangements and positioning of the roller wheels 14, 16, 18.

[0076]

[0130] The system 12 may include a drive system 28 ( FIG. 2 ) configured to control the rotation of the first roller wheel 14, the second roller wheel 16, and / or the third roller wheel 18. For example, the drive system 28 may include one or more rotational power sources 30, one or more drive gears 32, and one or more drive shafts 34. Although the rotational power source 30 is generally described herein as a motor 30, it should be understood that the rotational power source 30 may include one or more electric motors, pneumatic power sources, hydraulic motors or other hydraulic power sources, spring-driven power sources (e.g., wind-up rotation power sources), manually-driven power sources (e.g., hand cranks), and / or air-driven (e.g., rotary vane air devices) power sources. In some embodiments, the drive system 28 includes a single motor 30 that drives the first roller wheel 14, the second roller wheel 16, and the third roller wheel 18. In some embodiments, the drive system 28 includes a corresponding motor 30 for each corresponding roller wheel. As described in more detail herein, the drive gear 32 of the drive system 28 may include a central control gear or an external control gear ring and a plurality of radially spaced spur gears. The central control gear or external control gear ring is configured to rotate a plurality of radially spaced spur gears, each corresponding spur gear configured to drive a corresponding drive shaft 34, thereby driving a corresponding roller wheel 14, 16, 18. In some embodiments, the drive gear 32 includes a set of planetary gears and internal gears. The drive system 28 may additionally or alternatively include limit switches configured to stop the first roller wheel 14, the second roller wheel 16, and / or the third roller wheel 18 after the object 26 is engaged by the end effector 10. The end effector 10 may be configured for manual and / or automatic operation (e.g., manual or automatic engagement, mating, and / or disengagement with the object 26).

[0077]

[0131] With further reference to FIGS. 1 and 2, the end effector 10 may be coupled to, attached to, and / or supported by a support structure 36, such as an arm, a pole, a handle, and / or a platform (stationary or mobile). For example, the support structure 36 in FIG. 2 may be exemplified in the form of a robotic arm 40 that may be coupled to the drive system 28 via an adjustable angled joint 42. Although the robotic arm 40 is illustrated as a stationary robotic arm 40, in other embodiments of the system 12, the robotic arm 40 may be the arm of a mobile robot. In other embodiments of the system 12, the end effector 10 may be coupled to other types of support structures 36 via an adjustable angled joint 42. For example, the end effector 10 may be coupled to a handle for portable or manual operation in some systems 12. In other embodiments, the end effector 10 may be supported by an arm support structure 36 attached to a ship-mounted mounting platform or other mobile vehicle. In these and other settings for supporting the end effector 10, the support structure 36 may be used to assist in aligning the end effector 10 to engage or mate with the object 26 by positioning and / or moving the end effector 10 to engage, mate with, and / or disengage from the object 26.

[0078]

[0132] The term "end effector" as used herein is not limited to end effectors for robots and robotic arms, but may be implemented in many different types of systems. For example, the end effector 10 may be configured to be implemented using a robotic device, a transport device, a stationary robotic arm, a land-based system, a mobile robot, and / or a ship-based system. To that end, the support structure 36 may include a ship or other vessel (including an underwater vehicle), an aircraft, a spacecraft, a stationary robot, a mobile robot, a transport device, a robotic device, a handheld device, and / or a terrestrial surface or structure. Additionally or alternatively, the end effector 10 may include a support element 56, such as a support base 38, that supports the roller wheels 14, 16, 18, the drive system 28, and / or one or more stop structures 54. Additionally, the end effector 10 may include a locking mechanism (not shown), e.g., associated with one or more of the support base 38, the stop structure 54, or the support elements 56, that provides positive retention of the object 26, e.g., using one or more bars, hooks, or the like designed to directly or indirectly interact with the object 26. The locking mechanism is configured to lock the object 26 to the end effector 10 independent of the roller wheels 14, 16, 18.

[0079]

[0133] The end effector 10 is configured to engage a passive receiver 44 of the object 26 to engage, mate with, and / or disengage from the object 26. The passive receiver 44 may take a variety of different forms in various embodiments of the system 12. For example, the passive receiver 44 may be a ring-type receiver having an annular feature configured to engage with the end effector 10, a post-type receiver having an elongated post-like member configured to engage with the end effector 10, or other suitable shape for a given embodiment of the end effector 10. The end effector 10 may be arranged to interface or engage with a ring-type, post-type, or other type of passive receiver of a particular size. For example, the end effector 10 may be configured to have an outer periphery 52 (e.g., an "outer capture circle") sized to engage with an inner diameter of the passive receiver 44. In some embodiments, when the ring of passive receiver 44 is positioned about the centerline of the roller wheels 14, 16, 18, the end effector 10 can have a press or interference fit with the ring. Similarly, the end effector 10 can be configured such that the roller wheels 14, 16, 18 are spaced apart from one another to have an interference or press fit with the post or enlarged protrusion of the post when the post engages within the interior space 50 between the roller wheels 14, 16, 18 (e.g., the "inner capture circle") and the enlarged protrusion of the post is at or beyond the centerline of the roller wheels 14, 16, 18. When the passive receiver 44 interfaces with the roller wheels 14, 16, 18, the roller wheels 14, 16, 18 are rotated in a direction that pulls the passive receiver 44 onto or into the end effector 10 (e.g., by pulling a ring of the passive receiver 44 around the outer periphery 52 of the roller wheels 14, 16, 18 or by pulling a post of the passive receiver 44 into the interior space 50 between the roller wheels 14, 16, 18).

[0080]

[0134] 2, the end effector 10 can be configured to automatically lock the passive receiver 44 in place (thereby engaging the object 26) when the passive receiver 44 is gripped and pulled vertically (e.g., toward the support base 38) past a first centerline 46 of the first roller wheel 14, a second centerline 48 of the second roller wheel 16, and / or a third centerline of the third roller wheel 18. The centerlines 46, 48 generally correspond to points of maximum gripping force between the roller wheels 14, 16 and the passive receiver 44. In some embodiments, the roller wheels 14, 16, 18 are substantially vertically aligned with one another and have substantially equal diameters such that their respective centerlines 46, 48 are substantially coplanar. In some embodiments, the end effector 10 is configured to grip the passive receiver 44 such that the passive receiver 44 is positioned inwardly relative to and between the first and second roller wheels 14, 16, thereby engaging the object 26. For example, a post-type passive receiver 44 may be gripped between the roller wheels 14, 16, 18 within an interior space generally designated by reference numeral 50. In some embodiments, the end effector 10 is configured to grip the passive receiver 44 such that the passive receiver 44 is positioned outwardly about the perimeter 52 ( FIG. 1 ) when the object 26 defined by the roller wheels 14, 16, 18 and the end effector 10 engages the perimeter 52. For example, in an end effector 10 having three roller wheels 14, 16, 18, the perimeter 52 may be defined by the first roller wheel 14, the second roller wheel 16, and the third roller wheel 18. In other embodiments of the end effector 10, there may be additional roller wheels that further define the perimeter 52.

[0081]

[0135] The system 12 may include one or more stop structures 54 configured to limit movement of the object 26 (e.g., the passive receiver 44) relative to the end effector 10. For example, the stop structures 54 may be configured to limit vertical movement of the passive receiver 44 relative to the roller wheels 14, 16, 18 by physically and substantially preventing further vertical movement of the passive receiver 44 once the passive receiver 44 encounters or contacts the stop structure 54. The stop structures 54 may be coupled to one or more of the roller wheels 14, 16, 18 and / or the stop structures 54 may be coupled to or supported by a support element 56 (e.g., the support base 38). For example, the end effector 10 may include respective stop structures 54 positioned adjacent to their respective corresponding roller wheels 14, 16, 18 such that once the passive receiver 44 is sufficiently pulled toward the end effector 10, a portion of the passive receiver 44 contacts the stop structure 54. In some embodiments, the stop structure 54 may be configured to prevent the passive receiver 44 from being fully disengaged from the roller wheel 14, 16, 18 such that the passive receiver 44 maintains minimal contact with the roller wheel 14, 16, 18 when the passive receiver 44 is gripped by the end effector 10 in the locked configuration. In some embodiments, the stop structure 54 may be sized and positioned to hold the object 26 away from the roller wheel 14, 16, 18 when the passive receiver 44 is gripped by the roller wheel 14, 16, 18. Additionally or alternatively, the stop structure 54 may be coupled to or form part of the passive receiver 44 of the object 26. For example, the passive receiver 44 may include a ring attachment structure, a base plate, or other structure that acts as the stop structure 54 by limiting vertical movement of the passive receiver 44 relative to the end effector 10. For example, the ring mounting structure, base plate, or other structure of the passive receiver 44 may be configured to contact the top surface 128 of the roller wheels 14 , 16 , 18 .This prevents the passive receiver 44 from being pulled further downward by the roller wheels 14, 16, 18 towards the support base 38. In some embodiments, a stop structure 54 including a flexible material and / or a spring loaded element may be adapted to apply some force to the roller wheels 14, 16, 18 to help the passive receiver 44 re-engage with the roller wheels 14, 16, 18 for firing.

[0082]

[0136] In various embodiments of the end effector 10, the roller wheels 14, 16, 18 may be any suitable roller wheels, including airless tires, pneumatic tires, rubber wheels, belts, and / or solid wheels. In various embodiments of the end effector 10, the roller wheels 14, 16, 18 may be rigid, compliant, and / or compressible. In some embodiments, all of the roller wheels 14, 16, 18 of a given end effector 10 may be of the same type, material, size, and density, while in other embodiments, one or more of the roller wheels 14, 16, 18 may be different from one or more of the other roller wheels 14, 16, 18. In some embodiments, the end effector 10 is configured such that each roller wheel 14, 16, 18 may be selectively removed from the end effector 10 and replaced with a replacement roller wheel or other type of roller wheel. In this manner, the roller wheels 14, 16, 18 may be selectively replaceable when worn or damaged, and / or different roller wheels may be provided and used for engaging, mating, and / or disengaging different objects 26. Additionally or alternatively, the end effector 10 may be modular such that it is selectively reconfigurable for various numbers of roller wheels 14, 16, 18, multiple drive shaft mounts, and / or structural attachment points.

[0083]

[0137] In some embodiments, the first roller wheel 14, the second roller wheel 16, and / or the third roller wheel 18 have one or more conforming regions. Additionally or alternatively, the durometer of one or more of the roller wheels 14, 16, 18 may be selected based on the type of passive receiver 44 of the object 26 to be engaged. For example, the roller wheels 14, 16, 18 may be selected to have a higher stiffness for applications involving heavier engagements (e.g., heavier passive receivers 44 and / or objects 26). In some embodiments, one or more of the roller wheels 14, 16, 18 may be pneumatic with a selectively adjustable tire pressure that may be increased or decreased as needed for various applications. In some embodiments, one or more of the roller wheels 14, 16, 18 may be compressible and / or conformable. Additionally or alternatively, one or more of the roller wheels 14, 16, 18 may be airless. These adjustments can be selected based on the weight, mass, and / or materials used in the mating objects.

[0084]

[0138] In some examples, one or more of the roller wheels 14, 16, 18 may include a central groove 58 formed in an outer circumferential surface 60 of the roller wheel 14, 16, 18. The central groove 58 may be configured to improve alignment of the object 26 when engaged or mated. Additionally or alternatively, the outer circumferential surface 60 of one or more of the roller wheels 14, 16, 18 may include secondary features 62 configured to enhance the ability of the end effector 10 to engage the object 26. For example, the secondary features 62 may include one or more radial grooves and / or tread patterns.

[0085]

[0139] 3-6 diagrammatically illustrate engagement and disengagement with an object 26, such as a hovering aircraft, via a passive receiver 44 in the form of a ring-shaped receiver 64. Although the engaged object is not shown in FIGS. 3-6, it should be understood that the passive receiver 44 is associated with the object (e.g., coupled to, integrally formed with, etc.) such that the object is effectively engaged by the end effector 10 when the ring-shaped receiver 64 is gripped by the roller wheels 14, 16, 18 (for clarity, only the roller wheels 14, 16 are shown in FIGS. 3-6). The passive receiver 44 can be said to be "gripped" by the roller wheels 14, 16, 18 when it engages at the outer periphery of or between the roller wheels 14, 16, 18. Again, for clarity, two roller wheels 14, 16 are illustrated in Figures 3-6, however, the end effector 10 may include a third roller wheel 18 (Figure 1) and / or additional roller wheels, in which case one or more roller wheels of the end effector 10 are non-parallel in plane relative to one another. Additionally, although simplified, due to the schematic nature of Figures 3-6, the roller wheels 14, 16 appear to rotate in the same plane as one another, it should be understood that in various embodiments of the end effector 10, the roller wheels 14, 16 may be configured to rotate non-parallel relative to one another.

[0086]

[0140] In the embodiment of Figures 3-6, an object approaches the end effector 10 with the passive receiver 44 oriented toward the roller wheels 14, 16 shown in Figure 3, and the passive receiver 44 moves generally toward the end effector 10 in the direction indicated by arrow 66. While the object is engaged, the first roller wheel 14 rotates in a first direction (indicated by arrow 68) and the second roller wheel 16 rotates in a second direction (indicated by arrow 70). As shown in Figure 4, once the passive receiver 44 contacts the roller wheels 14, 16, the roller wheels 14, 16 begin to pull on the passive receiver 44 such that the passive receiver 44 is pulled further in the direction indicated by arrow 66. As shown, the passive receiver 44 engages the outer edge of the roller wheels 14, 16 when grasped by the end effector 10 (e.g., engages near the outer periphery 52 of the roller wheels 14, 16, 18 (see Figure 1)). Once the passive receiver 44 is pulled down past the centerlines 46, 48 (FIG. 5) of the roller wheels 14, 16, the passive receiver 44 is effectively locked to the roller wheels 14, 16. Again, a third roller wheel is not visible in the schematic views of FIGS. 3-6, but it should be understood that the passive receiver 44 may be effectively locked to one or more additional roller wheels beyond the illustrated roller wheels 14, 16 (e.g., locked to the three roller wheels 14, 16, 18 (FIG. 1)).

[0087]

[0141] The stop structure 54 acts as a stop to prevent the ring-shaped receiver 64 from being pulled further downward, ensuring that the passive receiver 44 maintains contact with the roller wheels 14, 16 and / or any additional roller wheels of the end effector 10. In some embodiments, the stop structure 54 may be adapted to provide a cushion for the passive receiver 44 as it is pressed into the stop structure 54 during engagement with the object. At this point, if desired, the motor or motors of the drive system 28 may be turned off (or may be turned off automatically via limit switches), although in some embodiments, the motor(s) may continue to run in the retraction / engagement direction without stalling the drive system 28. Because the passive receiver 44 is in a locked configuration (e.g., contacting the stop structure 54 and / or being pulled downward beyond the centerlines 46, 48 of the roller wheels 14, 16), the end effector 10 may be configured to apply only a slight retraction force to the passive receiver 44. In other words, in some embodiments, once the object 26 is engaged, there is no need to stop the roller wheels 14, 16 because the end effector 10 and system 12 may be configured to allow continued rotation of the roller wheels 14, 16 (and any additional roller wheels of the end effector 10) after engagement without damaging the object 26 or the passive receiver 44.

[0088]

[0142] 3-5 may be said to depict the end effector 10 in an engaged configuration, and FIG. 6 may be said to depict the end effector 10 in a disengaged or fired configuration. The roller wheels of the end effector 10 may be driven to rotate inward in one configuration and outward in another configuration. For example, as shown in FIG. 6, to disengage an object from the end effector 10, the drive system 28 reverses the rotation of the roller wheels 14, 16 (and any additional roller wheels of the end effector 10). That is, in FIG. 6, the first roller wheel 14 is reversed to rotate in the opposite direction during the engagement sequence of FIGS. 3-5, as indicated by arrow 72, and the second roller wheel 16 is reversed to further rotate in the opposite direction during the engagement sequence, as indicated by arrow 74. As a result, the roller wheels 14, 16 grip the ends of the passive receiver 44 and pull it away from the stop structure 54 such that the passive receiver 44 is lifted off the stop structure 54 in the direction indicated by arrow 76 and away from the support base 38. In this manner, the passive receiver 44 begins to be pushed away from the roller wheels 14, 16 (e.g., the passive receiver 44 is urged away from the top of the roller wheels 14, 16 and any other roller wheels of the end effector 10) until the passive receiver 44 is completely released from the roller wheels 14, 16, thereby achieving disengagement of the object from the end effector 10.

[0089]

[0143] The system 12 and end effector 10 may be configured to hold the object 26 in an engaged or locked configuration via the passive receiver 44 until the direction of rotation of the roller wheels 14, 16, 18 is reversed for launch / disengagement. This allows the UAV motors of the object 26 to begin preparations for takeoff, as the end effector 10 may be configured to prevent disengagement of the object 26 until the roller wheels (e.g., roller wheels 14, 16, 18) are reversed to push the passive receiver 44 away from the end effector 10. Although the system 12 described herein is described as engaging and disengaging the passive receiver 44 by moving the passive receiver 44 in a substantially vertical direction, other embodiments of the system 12 and end effector 10 may be configured to engage and disengage from an object 26 that is moved toward the end effector 10, horizontally, or in other directions relative to the end effector 10. Similarly, the end effector 10 may be supported and positioned to disengage from or launch an object 26 horizontally or at other angles / orientations in various implementations.

[0090]

[0144] Advantageously, the system 12 is configured to accommodate positional and rotational misalignment between the passive receiver 44 and the end effector 10 in any direction. In other words, the presently disclosed end effector 10 is configured to engage the object 26 via the passive receiver 44 even when conditions, tolerances, or other errors prevent precise alignment between the passive receiver 44 and the end effector 10. For example, when the object 26 and / or the end effector 10 are moving around unpredictably in windy conditions due to the system's tolerance to positional and rotational misalignment caused by the orientation and placement of the roller wheels relative to one another, the presently disclosed end effector 10 can engage and / or mate with the object despite these challenging conditions. The end effector 10 can be configured to address objects approaching from any angle, allowing a full 360 degree range of heading angles to accommodate misalignments in any direction. Prior art systems may be able to accommodate misalignment in a single direction, but are not capable of engaging an object over a full 360 degree range of heading angles.

[0091]

[0145] To illustrate, Figures 3 and 4 show generally a substantially ideal alignment between the passive receiver 44 and the roller wheels 14, 16, with the passive receiver 44 approaching the end effector 10 such that the passive receiver 44 is centered over the roller wheels 14, 16. Meanwhile, Figure 7 shows the passive receiver 44 misaligned from the roller wheels 14, 16, with the passive receiver 44 being off-center when it contacts the roller wheels 14, 16. Nevertheless, the end effector 10 is still configured to engage an object via the passive receiver 44 even when it is off-center, since the rotation of the roller wheels 14, 16 pulls the passive receiver 44 over or toward all of the roller wheels of the end effector 10. Similarly, Figure 8 illustrates an embodiment in which the passive receiver 44 is rotationally misaligned from the roller wheels 14, 16, where the passive receiver 44 is not flush with the tops of the roller wheels 14, 16 when it first contacts the end effector 10, and is angled so that the passive receiver 44 contacts the second roller wheel 16 rather than the first roller wheel 14. Nonetheless, when the passive receiver 44 is rotationally misaligned, the end effector 10 is still configured to engage an object via the passive receiver 44, as the rotation of the second roller wheel 16 similarly pulls the passive receiver 44 down into contact with the first roller wheel 14. The end effector 10 may be configured to engage an object 26 experiencing both misalignment (Figure 7) and rotational misalignment (Figure 8) due to the placement and orientation of the roller wheels.

[0092]

[0146] FIG. 9 illustrates a variation of the passive receiver 44 that includes a tapered end guide 78. The end guide 78 may also be referred to as a skirt 78 on the circumference of the passive receiver 44. As shown in FIG. 9, when the tapered end guide 78 contacts one or more of the roller wheels, the tapered end guide 78 may facilitate or assist in correcting the alignment of the passive receiver 44 relative to the roller wheels (roller wheels 14 and 16 are shown in FIG. 9, but the end effector 10 may include one or more additional roller wheels, such as a third roller wheel 18). Thus, the tapered end guide 78 may be configured to facilitate engagement of the end effector 10 with an object even when only one roller wheel (e.g., only the first roller wheel 14 or only the second roller wheel 16) contacts the passive receiver 44.

[0093]

[0147] 10-12 show another embodiment of the system 12 in which the end effector 10 is configured to engage an object 26 via a passive receiver 44 in the form of a post-type receiver 80. The post-type receiver 80 may include a base plate 82 from which an elongated post or peg 84 extends from a proximal end region 88 to a distal end region 90. The post 84 is coupled to (or integrally formed with) the base plate 82 at or within the proximal end region 88 of the post 84. The post 84 includes an enlarged protuberance 86 at or within the distal end region 90 of the post 84. 3-6, the engaged object is not illustrated in Figures 10-12 (for clarity), however, it should be understood that the passive receiver 44 is associated with the object (e.g., coupled to the object, integrally formed with the object, etc.) such that the object is effectively engaged by the end effector 10 when the post-type receiver 80 is gripped by the roller wheels (e.g., roller wheels 14, 16, 18). Similarly, for clarity, although only two roller wheels 14, 16 are visible in Figures 10-12, such an end effector 10 may include one or more additional roller wheels (e.g., roller wheels 14, 16, 18), where one or more of the roller wheels rotate in a different plane than the other one or more of the roller wheels.

[0094]

[0148] In the embodiment of Figures 3-6, the ring-shaped receiver 64 is gripped by the outer ends of the roller wheels, whereas the post-shaped receiver 80 of Figures 10-12 is gripped by the inner ends of the roller wheels 14, 16, 18. In other words, when the post-shaped receiver 80 is gripped by the end effector 10, e.g., gripped within the interior space 50 between the roller wheels 14, 16, 18, the post-shaped receiver 80 is positioned between the roller wheels (Figure 1). In particular, as shown in Figure 10, an object having the post-shaped receiver 80 approaches the end effector 10 such that the enlarged protuberances 86 contact one or more of the roller wheels 14, 16 (and / or the roller wheel 18, not visible in Figures 10-12). During engagement with the object, the first roller wheel 14 rotates in a first direction (as indicated by arrow 68) and the second roller wheel 16 rotates in a second direction (as indicated by arrow 70). The rotation of roller wheels 14, 16 pulls post-type receiver 80 downward toward support base 38 as post-type receiver 80 continues to move in the direction indicated by arrow 66. It should be understood that any additional roller wheels on end effector 10 may rotate accordingly in concert with and in cooperation with roller wheels 14, 16 to engage post-type receiver 80 and pull post-type receiver 80 between them to engage the object.

[0095]

[0149] As shown in FIG. 11, when an object is engaged by the end effector 10, the enlarged barb 86 may be pulled past the centerline of the roller wheel such that the post 84 may be positioned internally between the roller wheels. For example, while FIG. 11 shows the enlarged barb 86 pulled down past the centerlines 46, 48 of the roller wheels 14, 16 and the post 84 positioned internally between the roller wheels 14, 16, it should be understood that the enlarged barb 86 may also be pulled down past the centerlines of each of the other roller wheels that may be included in the end effector 10, with the post 84 similarly positioned internally between all of the roller wheels. The centerlines of the roller wheels (e.g., centerlines 46, 48) may effectively function as pinch points for the enlarged barb 86 when the enlarged barb 86 is pulled into the end effector 10 or ejected from the end effector 10 after engagement. In some embodiments, the base plate 82 of the post-type receiver 80 may function as the stop structure 54. 12, to disengage from an object, the direction of rotation of the roller wheels 14, 16 (and any additional roller wheels) is selectively reversed. Thus, the first roller wheel 14 is rotated in the opposite direction from the direction it was previously rotated during the engagement sequence, as indicated by arrow 72, and the second roller wheel 16 is rotated in the opposite direction from the direction it was previously rotated during the engagement sequence, as indicated by arrow 74. As a result, the roller wheel pushes the post 84 away from the support base 38 in the direction indicated by the arrow 76, thereby pushing the enlarged projection 86 beyond the centerline of the roller wheel (e.g., beyond the centerlines 46, 48 of the roller wheels 14, 16 as numbered in FIG. 11).In this manner, the post-type receiver 80 (and associated object) is disengaged from the end effector 10.

[0096]

[0150] Again, the system 12 is configured to tolerate positional and rotational misalignment between the passive receiver 44 and the end effector 10 as illustrated in Figures 13 and 14 using an embodiment of the post-type receiver 80. Figures 10 and 11 show a substantially ideal alignment between the passive receiver 44 and the roller wheels 14, 16, where the passive receiver 44 approaches the end effector 10 such that the passive receiver 44 is centered over the roller wheels 14, 16, while Figures 13 and 14 show an embodiment of misalignment between the post-type receiver 80 and the roller wheels 14, 16. In Figure 13, the post-type receiver 80 is misaligned from the roller wheels 14, 16 with the passive receiver 44 off-center in the space between the roller wheels 14, 16 such that the enlarged protrusion 86 contacts the second roller wheel 16 but does not contact the first roller wheel 14. Nonetheless, the end effector 10 is still configured to engage an object via the post-type receiver 80, even when the object is off-center, because the rotation of the roller wheels 14, 16 and the resulting force applied to the enlarged barb 86 and post 84 acts to pull the enlarged barb 86 and post 84 between the roller wheels of the end effector 10 (e.g., toward and into the interior space 50).

[0097]

[0151] Similarly, Fig. 14 shows an embodiment in which the post-type receiver 80 is rotationally offset from the roller wheels 14, 16, where the base plate 82 is not flush with the top surfaces 128 of the roller wheels 14, 16, and is angled such that one end of the base plate 82 is closer to one of the roller wheels 14, 16 than the other end of the base plate 82 is to the other of the roller wheels (e.g., in the illustrated embodiment, the base plate 82 is angled closer to the first roller wheel 14 than to the second roller wheel 16). Nevertheless, the end effector 10 is still configured to engage an object through the post-type receiver 80 even when rotationally offset, because the rotation of the second roller wheel 16 acts to pull the enlarged protuberances 86 and posts 84 toward the support base 38, thereby leveling the base plate 82 of the post-type receiver 80 in the process. Thus, the end effector 10 is configured to engage an object 26 experiencing both positional misalignment (FIG. 13) and rotational misalignment (FIG. 14) due to the placement and orientation of the roller wheels 14, 16 as described herein.

[0098]

[0152] 15-17 and 20-25, exemplary, non-limiting examples of the system 12, end effector 10, and / or components thereof are presented. Where appropriate, reference numbers from the schematic diagrams of Figures 1-14 (or 18-19 and 26-30) are used to refer to corresponding parts in Figures 15-17 and 20-25, but the examples of Figures 15-17 and 20-25 are non-limiting and do not limit the system 12 or end effector 10 to the illustrated embodiments of Figures 15-17 and 20-25. That is, the end effector 10 and system 12 are not limited to the particular embodiments shown in Figures 15-17 and 20-25, but may incorporate any number of the various aspects, configurations, characteristics, attributes, etc., and variations thereof, illustrated and described with reference to Figures 1-14, 18-19, or 26-30, and / or the schematic diagrams of the embodiments in Figures 15-17 and 20-25, without the need to include all of these aspects, configurations, characteristics, attributes, etc. For purposes of brevity, each of the previously described components, parts, portions, aspects, regions, etc., or variations thereof may not be described, illustrated, and / or referenced again with respect to each of Figures 15-17 and 20-25, but it is within the scope of the present disclosure that the previously described features, variations, etc. may be utilized together.

[0099]

[0153] 15 is a perspective view of an embodiment of an end effector 10 having three roller wheels 14, 16, 18. As shown, in this embodiment, the roller wheels 14, 16, 18 are all arranged to rotate in various planes at non-parallel and non-perpendicular angles relative to one another. The first roller wheel 14 rotates about a first axis 20, the second roller wheel 16 rotates about a second axis 22, and the third roller wheel 18 rotates about a third axis 24, each of the first axis 20, second axis 22, and third axis 24 being non-parallel and non-perpendicular to one another. In this embodiment, a passive receiver 44 in the form of a post-type receiver 80 is shown engaged or gripped within an interior space 50 between the roller wheels 14, 16, 18 (for clarity, the object 26 is not shown in FIG. 15). 15 , one or more of the roller wheels 14, 16, 18 may have a central groove 58 formed in the outer circumferential surface 60 of the respective roller wheel 14, 16, 18. When the post-type receiver 80 is engaged by the end effector 10, the enlarged protrusion 86 may be at least partially positioned within the central groove 58 of the roller wheel 14, 16, 18. In other words, the central groove 58 may be sized and shaped to facilitate engagement of the post-type receiver 80 with the enlarged protrusion 86 and / or the post 84.

[0100]

[0154] The system 12 generally includes a drive system 28 for powering the roller wheels 14, 16, 18 of the end effector 10. Figure 16 shows an embodiment of the drive system 28 including a respective motor 30 for each roller wheel 14, 16, 18. Respective drive gears 32 operably coupled to each corresponding motor 30 transfer rotational energy from each corresponding motor 30 to each roller wheel 14, 16, 18. The drive system 28 may include one or more additional respective gears 92 operably coupled to each drive gear 32 as desired for the particular layout of the end effector 10.

[0101]

[0155] While the embodiment of FIG. 16 includes a respective drive motor 30 for each corresponding roller wheel 14, 16, 18, the drive system 28 of the embodiment of FIG. 17 includes only a single motor 30 that drives all of the roller wheels 14, 16, 18. In other embodiments, each motor 30 may be configured to drive a subset of the roller wheels 14, 16, 18 in a given end effector 10, while the other roller wheels 14, 16, 18 may be driven by one or more of the other respective motors 30. In the embodiment of FIG. 17, the support base 38 supports an outer control gear ring 94 (which may also be referred to as annular gear 94) positioned within or adjacent to the outer periphery 52 of the support base 38, as well as a plurality of radially spaced spur gears 96. A single motor 30 (not shown in FIG. 17 for clarity) may be configured to drive the outer control gear ring 94. The external control gearing 94 is configured to rotate a number of spur gears 96 (e.g., the external control gearing 94 can engage or mesh with the spur gears 96). For example, as in the embodiment of FIG. 17, there can be a respective spur gear 96 for each roller wheel 14, 16, 18. Each corresponding spur gear 96 is operatively coupled (e.g., via a worm screw and worm gear or via a bevel gear) to a respective drive shaft 34 of each roller wheel 14, 16, 18 to drive the respective roller wheel. Rotation of each corresponding spur gear 96 thereby causes rotation of the respective drive shaft 34 to which the respective spur gear 96 is coupled (e.g., positioned). In this manner, rotation of the external control gearing 94 by a single motor 30 can cause rotation of all of the roller wheels 14, 16, 18.

[0102]

[0156] 17, the support element 56 includes a housing 98 that positions and aligns the roller wheels 14, 16, 18 relative to one another. The housing 98, in this embodiment, further supports the stop structures 54. The end effector 10 in this embodiment includes a respective stop structure 54 for each corresponding roller wheel 14, 16, 18. The housing 98 may be coupled to or engage with the support base 38. Additionally or alternatively, the housing 98 may be coupled to or engage with a support structure 36, such as a handle or robotic arm.

[0103]

[0157] An example of a drive system 28 similar to the implementation shown in FIG. 17 is shown generally in FIG. 18, which shows a top schematic view of an outer control gear ring 94 engaged with three spur gears 96. Each corresponding spur gear 96 is configured to drive a respective roller wheel via a respective drive shaft 34, such as by using a respective worm screw and worm gear, or a bevel gear, to transmit power from each corresponding spur gear 96 to each corresponding drive shaft 34. One example of a drive system 28 is shown generally in FIG. 19, which shows a central control gear 100 engaged with the multiple radially spaced spur gears 96, the central control gear 100 configured to rotate the multiple radially spaced spur gears 96. Again, each corresponding spur gear 96 may be configured to drive a respective roller wheel 14, 16, 18 via a respective drive shaft 34. The central control gear 100 may be centrally located between the multiple radially spaced spur gears 96. Although the illustrated embodiment shows a spur gear 96, other embodiments of the end effector 10 may have various drive systems 28 that use different types of gear sets, such as a herringbone gear set, a helical gear set, or a double helical gear set.

[0104]

[0158] Regardless of whether the external control gearing 94 or the central control gear 100 (or an entirely different gearing configuration) is used, the end effector 10 may include additional gears configured to rotate the roller wheels 14, 16, 18 and transfer energy from the motor and spur gear 96 to the respective roller wheels 14, 16, 18 via the drive shaft 34. FIGS. 20 and 21 show two examples of additional gears for implementing the presently disclosed end effector 10, although the end effector 10 is not limited to these particular examples. In FIGS. 20 and 21, for simplicity, the wheel module for the first roller wheel 14 is shown, but one skilled in the art will understand that the illustrated configurations can be used for other roller wheels of the end effector 10 not shown in FIGS. 20 and 21.

[0105]

[0159] In the embodiment of the wheel module 101 of FIG. 20, the spur gear 96 drives the drive shaft 34, which rotates a first bevel gear 102 coupled to the drive shaft 34. The first bevel gear 102 is engaged with a second bevel gear 104, which is coupled to an axle 106 of the first roller wheel 14. Thus, rotation of the first bevel gear 102 causes a corresponding rotation of the second bevel gear 104, which in turn rotates the axle 106, causing the first roller wheel 14 to rotate about the first axle 20. Thus, rotation in the opposite direction of the spur gear 96 is configured to rotate the first roller wheel 14 in the opposite direction as well. A drive system 28 utilizing this configuration may include a corresponding first bevel gear 102 and a corresponding second bevel gear 104 for each corresponding roller wheel of the end effector.

[0106]

[0160] The example wheel module 103 of FIG. 21 has a spur gear 96 driving a drive shaft 34, which in turn drives a worm screw 108 coupled to the drive shaft 34 (e.g., the worm screw 108 is positioned on or integrally formed with the drive shaft 34). The worm screw 108 engages a worm gear 110, which is positioned on or coupled to the shaft 106. Thus, rotation of the worm screw 108 causes a corresponding rotation of the worm gear 110, which in turn rotates the shaft 106, thereby rotating the first roller wheel 14 about the first axis 20. Thus, rotation of the spur gear 96 in the opposite direction is configured to rotate the first roller wheel 14 in the opposite direction as well. A drive system 28 utilizing this configuration may include a corresponding worm screw 108 and a corresponding worm gear 110 for each corresponding roller wheel of the end effector. Of course, other types of gears than those illustrated in Figures 20 and 21 may additionally or alternatively be utilized in the presently disclosed end effector 10. For example, in addition to bevel gear sets and worm gear sets, other types of gears such as helical bevel gears and hypoid gear sets are also within the scope of the present disclosure.

[0107]

[0161] As illustrated throughout the figures, but particularly shown in FIGS. 20 and 21, the drive system 28 of the disclosed end effector 10 may be configured to avoid interference with the object 26 being engaged, mated, or disengaged / fired. For example, the gears and motor may be positioned below, to the side of, or away from the perimeter 52 (FIG. 1) defined by the roller wheels 14, 16, 18. Additionally or alternatively, the housing 98 and / or other components of the support element 56 and / or support base 38 may be configured to partially shield or enclose one or more gears of the drive system 28 and / or to otherwise prevent the passive receiver 44 or object 26 from getting caught in the gears. For example, as shown in FIGS. 20 and 21, the spur gear 96 may be separated from the first roller wheel 14 by the housing 98. Additionally or alternatively, the first bevel gear 102, the second bevel gear 104, the worm screw 108, and / or the worm gear 110 may be at least partially positioned within, at least partially shielded by, or at least partially surrounded by the housing 98. In other words, the end effector 10 may be configured such that the only moving parts that the passive receiver 44 and the object 26 may contact while engaging an object are the roller wheels 14, 16, 18 because the gears and axles and drive shafts of the drive system 28 may be substantially shielded by the housing 98 and other support elements 56.

[0108]

[0162] FIG. 22 shows an embodiment of a passive receiver 44 hovering just above the end effector 10 just before engaging the ring at the roller wheel and engaging by pulling the passive receiver down over the roller wheel of the end effector 10. In the embodiment of FIG. 22, the passive receiver 44 is shown as a ring-shaped receiver 64 including tapered end guides 78 and a ring mounting structure 112 that can be sized and shaped to fit over and around the roller wheels 14, 16, 18 when an object is engaged (e.g., when the passive receiver 44 is gripped by the end effector 10). In other embodiments, the passive receiver 44 can simply be a ring or a ring with a ring mounting structure 112 without tapered end guides 78. In some embodiments, the tapered end guides 78 can be stepped rather than tapered. The ring mounting structure 112 can be larger, smaller, or have a variety of designs in various embodiments of the system 12. Similarly, the skirt or end guide 78 may be larger or smaller in various embodiments of the passive receiver 44. Although the object 26 is not shown in FIG. 22 for clarity, it should be understood that the object 26 is coupled to or integrally formed with the passive receiver 44, for example, via a ring attachment structure 112.

[0109]

[0163] As shown in FIG. 23, the ring mounting structure 112 may be configured to support the object 26 above the end effector 10 when the object 26 is engaged by the end effector 10 via the passive receiver 44. For example, FIG. 23 shows an object 26 in the form of a UAV 130 coupled to the ring mounting structure 112 of a ring-shaped receiver 64. As shown, the ring mounting structure 112 may be configured to both couple the passive receiver 44 to the object 26 and also prevent the object 26 from contacting the roller wheels 14, 16, 18 when the object 26 is engaged by the end effector 10. For example, in some embodiments, the ring mounting structure 112 may be sized and shaped to fit on top of or above the roller wheels of the end effector 10 to similarly space the object 26 (e.g., the UAV 130) from the roller wheels without the need for the ring mounting structure 112 itself to contact the roller wheels. Thus, in some embodiments, the passive receiver 44 may be configured such that the ring-shaped receiver 64 contacts the roller wheel and engages the passive receiver 44 (and object 26), while still isolating other components (e.g., the ring attachment structure 112 and object 26) from the roller wheel. FIG. 23 shows the passive receiver 44 mounted on the end effector 10 (e.g., with the passive receiver 44 gripped or engaged by the end effector 10). In this configuration, the ring-shaped receiver 64 is pulled past the centerline of each roller wheel toward the support base 38 such that the ring of the ring-shaped receiver 64 rests on or is pressed against the stop structures 54. In this configuration, the ring of the ring-shaped receiver 64 is positioned on the outer periphery 52 of the roller wheel of the end effector 10. FIG. 23 shows an embodiment of a ring-shaped receiver 64 with a ring having a smaller profile shape than the embodiment of FIG. 22.

[0110]

[0164] 24 and 25 show an embodiment of engaging a misaligned object 26 via the tapered end guide 78 of the passive receiver 44. In the embodiment of FIG. 24, the passive receiver 44 approaches the end effector 10 but is misaligned from the roller wheels 14, 16, 18. Rather than being centered over all of the roller wheels 14, 16, 18 of the end effector 10, the passive receiver 44 is misaligned such that the tapered end guide 78 contacts only the first roller wheel 14 upon initial contact with the end effector 10. However, rotation of the first roller wheel 14 causes the passive receiver 44 to align via friction applied by the first roller wheel 14 to the tapered end guide 78. Thus, as shown in FIG. 25, the end effector 10 can be configured to verify such misalignment and automatically align the passive receiver 44 to a precise position that is substantially centered over the roller wheels 14, 16, 18.

[0111]

[0165] The end effector 10 may be modular so as to be selectively configured in various ways for different tasks. For example, FIG. 26 illustrates an embodiment of a shaft plate or central hub 114. The central hub 114 may be an example of the support base 38, or may be incorporated into or coupled to the support base 38. The central hub 114 may include multiple drive shaft mounts 116. For example, the drive shaft mounts 116 may be holes formed through the central hub 114 or other forms of structural attachment points for the central hub 114 to receive various numbers of drive shafts 34 at various locations described herein. In some embodiments, the central hub 114 may include bearings (e.g., ball bearings or journal bearings) at the drive shaft mounts 116. The embodiment of the central hub 114 of FIG. 26 includes seven drive shaft mounts 116, each of which is labeled 116a, 116b, 116c, 116d, 116e, 116f, and 116g for illustrative purposes. Other embodiments of the central hub 114 may include more or fewer drive shaft mounts 116 and / or may include drive shaft mounts 116 in various positions or arrangements than those shown in the embodiment. The arrangement of the drive shaft mounts 116 may be configured to facilitate reconfiguration of the end effector 10 to have various numbers of roller wheels. This allows the disclosed end effector 10 to be variably configured for a variety of different tasks. Such a modular configuration allows selective addition or subtraction of drive shafts 34 from the central hub 114 in a more efficient and simpler manner than manufacturing a system with a variety of different hubs or plates for various arrangements of drive shafts 34 and various numbers of roller wheels. Of course, such a system with a variety of different hubs or plates for the drive shaft 34 in various configurations is within the scope of this disclosure.

[0112]

[0166] Such modular functionality allows for the manufacture of different numbers of drive shafts 34 for driving different numbers of roller wheels. For example, in an implementation with two roller wheels, the drive shaft 34 may be attached to (and / or may pass through) the central hub 114 via drive shaft mounts 116d and 116g, or drive shaft mounts 116b and 116e. Any combination allows for at least substantially equal spacing between the two drive shafts 34 positioned through their respective drive shaft mounts at least substantially 180° apart (such equal spacing is not required for variants of the end effector 10 having two drive shafts 34). Similarly, in an implementation with three roller wheels, the drive shaft 34 may be attached to (and / or may pass through) the central hub 114 via drive shaft mounts 116a, 116c, and 116f. This allows for at least substantially equal spacing between the three drive shafts 34 positioned through respective drive shaft mounts at least substantially 120° apart (however, such equal spacing is not required for variants of the end effector 10 having three drive shafts 34. More generally, the horizontal angle between a first pair of geometric planes of rotation may not be the same as the horizontal angle between a second subsequent pair of geometric planes of rotation.) For example, in an implementation with four roller wheels, the drive shafts may be attached to (and / or pass through) the central hub 114 via drive shaft mounts 116b, 116d, 116e, and 116g. This allows for at least substantially equal spacing between the four drive shafts positioned through respective drive shaft mounts at least substantially 90° apart (however, such equal spacing is not required for variants of the end effector 10 having four drive shafts 34). Of course, other variations, with or without substantially equal spacing between each drive shaft 34 and corresponding roller wheel, are within the scope of this disclosure.

[0113]

[0167] In some embodiments, the end effector 10 may be configured such that the angle of the roller wheels 14, 16, 18 and / or the diameter of the circumference 52 may be selectively adjustable (e.g., manually set prior to use). For example, Figures 27 and 28 generally depict top views of non-exclusive embodiments of end effector 10 that may be selectively adjustable in this manner.

[0114]

[0168] In Fig. 27, the roller wheels 14, 16, 18 are shown in a first configuration that is manually set before use. In this first configuration, the first roller wheel 14 is aligned with or defines a first geometric plane of rotation 118, the second roller wheel 16 is aligned with or defines a second geometric plane of rotation 120, and the third roller wheel 18 is aligned with or defines a third geometric plane of rotation 122. In this embodiment, each of the first geometric plane of rotation 118, the second geometric plane of rotation 120, and the third geometric plane of rotation 122 are oriented relative to each other such that they are non-parallel and non-perpendicular to the geometric planes of the other respective rotations 118, 120, 122, respectively. The roller wheels 14, 16, 18 define a periphery 52. In this embodiment, around the outer periphery 52, the ring-shaped receiver 64 can be grasped by the end effector 10, and the first geometric plane of rotation 118, the second geometric plane of rotation 120, and the third geometric plane of rotation 122 all intersect at or near the geometric center 124 of the end effector 10.

[0115]

[0169] In Fig. 28, the roller wheels 14, 16, 18 are shown in a second configuration that is manually set prior to use. In this second configuration, each of the roller wheels 14, 16, 18 is rotated relatively slightly clockwise relative to the drive shaft 34 (e.g., the respective drive shaft 34 serves as a pivot axis for the respective roller wheels 14, 16, 18). As a result of the rotation of the roller wheels 14, 16, 18, the diameter of the perimeter 52 is reduced in Fig. 28, with the original perimeter 52 from Fig. 27 shown in dashed lines and the perimeter 52' ​​having a reduced diameter in the second configuration in Fig. 28 shown in solid lines. Thus, the end effector 10 may be selectively adjustable to engage and / or mate with ring-shaped receivers 64 of different sizes by selectively adjusting the size of the perimeter 52 via the orientation of the roller wheels 14, 16, 18. Additionally or alternatively, the end effector 10 may be selectively adjustable to apply different levels of pressure to the engaged passive receiver 44 by varying the circumference 52. The angle of the roller wheels 14, 16, 18 may be adjusted to reduce the diameter of the circumference 52 or to increase the diameter of the circumference 52 beyond that shown. In some embodiments, similar results can be achieved for embodiments of the end effector 10 configured to engage a post-type receiver 80. Specifically, the angle and spacing of the roller wheels 14, 16, 18 may be adjusted to create greater or lesser internal spacing between the roller wheels 14, 16, 18 to interface with larger or smaller posts 84 and enlarged barbs 86 and / or to adjust the level of pressure applied by the roller wheels 14, 16, 18 to the posts and / or enlarged barbs. These selective adjustments of the end effector 10 can facilitate use of the end effector 10 with passive receivers 44 of various sizes without changing the size of the roller wheels 14, 16, 18; however, in addition or alternatively, in various embodiments, the size of the roller wheels 14, 16, 18 can be selectively changed to adjust the angle and / or position of the roller wheels 14, 16, 18.

[0116]

[0170] As a result of the change in orientation of the roller wheels 14, 16, 18, the planes of each of the roller wheels 14, 16, 18 also shift so that they do not intersect the geometric center 124 of the configuration shown in Figure 28. For example, the first geometric plane of rotation 118 still intersects the second geometric plane of rotation 120 and the third geometric plane of rotation 122 at a non-parallel and non-perpendicular angle (and similarly the second geometric plane of rotation 120 still intersects the third geometric plane of rotation 122 at a non-parallel and non-perpendicular angle), but these planes do not all intersect each other at the same point or along the same line.

[0117]

[0171] 29-31 provide schematic flow charts depicting exemplary and non-limiting examples of methods 200A-C according to the present disclosure. In FIG. 29, some steps are shown in dashed boxes, indicating that such steps may be optional or may correspond to optional versions of methods 200A-C according to the present disclosure. However, not all methods 200A-C according to the present disclosure are required to include steps illustrated in solid lines. The methods 200A-C and steps shown in FIG. 29-31 are not limiting, and as will be appreciated from the description herein, other methods and steps are within the scope of the present disclosure, including methods having more or less steps than those illustrated.

[0118]

[0172] Methods 200A-C generally include approaching an end effector (e.g., end effector 10) where a passive receiver of the object (e.g., passive receiver 44 of object 26) is engaged at 202. As the object approaches the end effector, the passive receiver is brought into contact with one or more roller wheels (e.g., roller wheels 14, 16, 18) with the passive receiver facing or toward the roller wheels of the end effector at 204. For example, contacting the one or more roller wheels at 204 may include contacting an inwardly facing surface of the one or more roller wheels with an enlarged protrusion of a post-type receiver (e.g., enlarged protrusion 86 of post-type receiver 80) or contacting an outwardly facing surface and / or top surface of the one or more roller wheels with a ring of a ring-type receiver (e.g., ring-type receiver 64). As the object approaches the end effector, the roller wheels are typically already rotating, so at 206, once the passive receiver contacts one or more of the roller wheels of the end effector, the motion of the roller wheels acts to pull the passive receiver onto or into the end effector, and the object is engaged by being grasped by the passive receiver.

[0119]

[0173] Additionally or alternatively, methods 200A-C may include approaching an object (e.g., a passive receiver 44 of the object) with the end effector at 208, contacting one or more roller wheels at the passive receiver at 204, and engaging the object via the passive receiver at 206. In other words, in various methods 200A-C, the end effector may be substantially stationary while the object approaches the end effector, the object may be substantially stationary while the end effector approaches the object, and / or both the end effector and the object may move relative to one another to engage and / or mate with one another.

[0120]

[0174] Engaging the object at 206 includes rotating the roller wheels to pull at least a portion of the passive receiver past the centerline of each roller wheel such that the object effectively locks onto or between the roller wheels of the end effector (which may also be referred to as a locked configuration). In the locked configuration, the end effector is configured such that the passive receiver remains gripped by the roller wheels even when the drive system is off and the roller wheels are stationary. To engage the object at 206, the passive receiver may be gripped by the roller wheels such that when the object is engaged, the passive receiver is positioned outside a perimeter defined by the roller wheels. Additionally or alternatively, engaging the passive receiver at 206 may include gripping the passive receiver such that the passive receiver is positioned inside and between the first and second roller wheels. In some embodiments, engaging the passive receiver at 206 includes pulling an enlarged protrusion of the passive receiver past a first centerline of the first roller wheel and a second centerline of the second roller wheel. Additionally or alternatively, engaging the passive receiver at 206 may include automatically locking the passive receiver into place between the first and second roller wheels and one or more stop structures of the end effector (e.g., stop structure 54) or the stop structure of the passive receiver itself (e.g., base plate 82). In some embodiments, engaging the passive receiver at 206 includes engaging a top surface of the roller wheel with a base plate of the post-type receiver such that the base plate is configured to act as a stop structure to limit movement of the object relative to the end effector.The disclosed system processor or controller may use one or more decision steps to determine whether the target object has been engaged and therefore whether the roller wheels should continue to rotate for an engagement configuration, whether the roller wheels should be stopped, and / or whether the roller wheels should be reversed for a launch / disengagement configuration of the end effector.

[0121]

[0175] To this end, methods 200A-C may include disengaging or firing the object from the end effector at 210. Disengaging or firing the object from the end effector at 210 may be accomplished by reversing the direction of rotation of the roller wheels such that the passive receiver and the object are pushed and / or disengaged from the roller wheels of the end effector. In disengaging or firing the object at 210, the roller wheels push or urge at least a portion of the passive receiver in a reverse direction past the centerline of the respective roller wheels until the passive receiver is pushed out of the end effector via the roller wheels. In some methods 200A-C, after the object is fired at 210, the object may then be engaged and / or mated with the end effector by approaching the end effector with the object at 202 and / or by approaching the object with the end effector at 208 to initiate an engagement sequence.

[0122]

[0176] Methods 200A-C may be performed to engage, mate, and / or disengage from a UAV or other type of aircraft or object. In other examples, methods 200A-C may be performed by engaging an object at 206, such as to grasp a cable, or to grasp an object lifted by a cable, or to lift and / or move a package or load. In other examples, methods 200A-C may be used for applications related to mating components in manufacturing (e.g., robotic material handling), engagement with a refueling probe of an aircraft refueling system, agricultural applications (e.g., harvesting fruit and other produce), and the like. Methods 200A-C may be used in underwater applications, such as by an autonomous underwater vehicle (AUV), an unmanned underwater vehicle (UUV), or a remotely operated vehicle (ROV).

[0123]

[0177] An end effector with two or more roller wheels can achieve engagement, locking, and / or disengagement of flying or hovering objects in a single-axis roller gripper configuration or a multi-axis roller gripper configuration by changing the locking range of the end effector from a passive locking configuration to an active locking configuration and / or from an active locking configuration to a passive locking configuration.

[0124]

[0178] The term "locking range" as used herein refers to ring-type receivers, i.e., engagement, locking, and / or disengagement with the diameter of the outer capture circle, and post-type receivers, i.e., engagement, locking, and / or disengagement with the diameter of the inner capture circle.

[0125]

[0179] As used herein, the term "passive locking configuration" means that two or more roller wheels of an end effector are oriented, positioned, or oriented and positioned to allow engagement with and / or disengagement from a target object (e.g., for engagement with and / or disengagement from a ring-type receiver of a given target object, the diameter of the outer capture circle allows engagement with and / or disengagement from a given target object, and for engagement with and / or disengagement from a post-type receiver, the diameter of the inner capture circle allows engagement with and / or disengagement from a given target object). In a first example, for an object having a ring-type receiver, passive locking occurs (e.g., the object is captured by the end effector) when the two or more roller wheels pull the ring-type receiver of the object in a first direction past a centerline of the two or more roller wheels. In a second embodiment, for an object having a ring-shaped receiver, the object is released from the end effector when the two or more roller wheels push the ring-shaped receiver of the object in a second direction generally opposite the first direction beyond a centerline of the two or more roller wheels.

[0126]

[0180] As used herein, the term "active locking configuration" means that two or more roller wheels of an end effector are oriented, positioned, or oriented and positioned to prevent engagement and / or disengagement with a target object and / or to lock the target object to the end effector (e.g., for engagement and / or disengagement with a ring-type receiver of a given target object, the diameter of the outer capture circle prevents engagement and / or disengagement with a given target object and / or locks the given target object to the end effector, and for engagement and / or disengagement with a post-type receiver, the diameter of the inner capture circle prevents engagement and / or disengagement with a given target object and / or locks the given target object to the end effector). In a first embodiment, for an object having a ring-shaped receiver, active locking occurs when the object is already passively locked by the end effector, then one or more of the two or more roller wheels are rotated in a first rotational direction around the pivot axis of the one or more roller wheel modules, and the two or more roller wheels are clamped against the ring-shaped receiver. In a second embodiment, for an object having a ring-shaped receiver, active unlocking occurs when the object is already actively locked by the end effector, then one or more of the two or more roller wheels are rotated in a second rotational direction around the pivot axis of the one or more roller wheel modules, and the two or more roller wheels are loosened from the ring-shaped receiver, such that the object is passively locked.

[0127]

[0181] For example, an operator can set the locking range of the inner capture circle for an object having a post-type receiver to a value corresponding to a passive locking configuration. Once the object is engaged and captured, the operator can change the locking range of the inner capture circle from the passive locking configuration to the active locking configuration. This reduces the diameter of the inner capture circle and locks the object to the end effector (e.g., the post-type receiver is held tighter). Additionally or alternatively, the operator can engage a locking mechanism configured to lock the object to the end effector independent of the roller wheels. To reverse this process, assuming the locking mechanism is not in use or has been unlocked, the operator can change the locking range of the inner capture circle from the active locking configuration to the passive locking configuration. This increases the diameter of the inner capture circle to allow the object to be disengaged from the end effector (e.g., weakening the hold of the post-type receiver).

[0128]

[0182] In some embodiments of the end effector, the end effector may include a support base and two or more roller wheels attached to the support base.

[0129]

[0183] For an end effector having two roller wheels (e.g., a first roller wheel and a second roller wheel), the drive axis for rotating the first roller wheel is perpendicular to a first geometric plane of rotation of the first roller wheel, and the drive axis for rotating the second roller wheel is perpendicular to a second geometric plane of rotation of the second roller wheel.

[0130]

[0184] Although not required, the drive shaft for rotating the first roller wheel and the drive shaft for rotating the second roller wheel may be parallel to one another and may define a third geometric plane perpendicular to both the first and second geometric planes of rotation. The support base may be parallel to the third geometric plane.

[0131]

[0185] Generally, the first roller wheel and the second roller wheel may be disposed on either side of a center point of the third geometric plane ("geometric center"), with the drive shaft for rotating the first roller wheel and the drive shaft for rotating the second roller wheel being equidistant from the geometric center of the third geometric plane. When viewed from a direction perpendicular to the geometric center of the third geometric plane, the horizontal angle between the first geometric plane of rotation and the second geometric plane of rotation may be about 180°, such that the first geometric plane of rotation and the second geometric plane of rotation are parallel or coplanar.

[0132]

[0186] This horizontal angle contributes to the feel of the motion of the first and second roller wheels relative to the geometric center being the same when the first roller wheel rotates about the drive axis for rotating the first roller wheel and the second roller wheel rotates about the drive axis for rotating the second roller wheel, i.e., the first and second roller wheels both rotate inward (e.g., for engagement) or the first and second roller wheels both rotate outward (e.g., for disengagement).

[0133]

[0187] Although not required, the pivot axis for rotating the first roller wheel and the pivot axis for rotating the second roller wheel may be parallel to each other and perpendicular to the third geometric plane.

[0134]

[0188] As described above, generally, the first roller wheel and the second roller wheel are disposed on either side of the geometric center of the third geometric plane, and the pivot axis for rotating the first roller wheel and the pivot axis for rotating the second roller wheel may be equidistant from the geometric center of the third geometric plane. When viewed from a direction perpendicular to the geometric center of the third geometric plane, the first roller wheel and the second roller wheel have the same feel of motion relative to the third geometric plane when the first roller wheel rotates around the pivot axis for rotating the first roller wheel and the second roller wheel rotates around the pivot axis for rotating the second roller wheel. That is, the first roller wheel and the second roller wheel both rotate clockwise, or the first roller wheel and the second roller wheel both rotate counterclockwise.

[0135]

[0189] For an end effector having three roller wheels (e.g., a first, second, and third roller wheel), the drive axis for rotating the first roller wheel is perpendicular to a first geometric plane of rotation of the first roller wheel, the drive axis for rotating the second roller wheel is perpendicular to a second geometric plane of rotation of the second roller wheel, and the drive axis for rotating the third roller wheel is perpendicular to a third geometric plane of rotation of the third roller wheel.

[0136]

[0190] Although not required, the drive shaft for rotating the first roller wheel, the drive shaft for rotating the second roller wheel, and the drive shaft for rotating the third roller wheel can define a fourth geometric plane that is mutually perpendicular to the first, second, and third geometric planes of rotation. The support base can be parallel to the fourth geometric plane.

[0137]

[0191] In general, the first, second, and third roller wheels are arranged around a center point of a fourth geometric plane ("geometric center"), and the drive shaft for rotating the first roller wheel, the drive shaft for rotating the second roller wheel, and the drive shaft for rotating the third roller wheel may be equidistant from the geometric center of the fourth geometric plane. When viewed from a direction perpendicular to the geometric center of the fourth geometric plane, the horizontal angle between the first geometric plane of rotation and the second geometric plane of rotation may be about 120°, the horizontal angle between the second geometric plane of rotation and the third geometric plane of rotation may be about 120°, and the horizontal angle between the third geometric plane of rotation and the first geometric plane of rotation may be about 120°. However, the horizontal angle between any pair of geometric planes of rotation need not be the same as the horizontal angle between any pair of other geometric planes of rotation.

[0138]

[0192] This horizontal angle contributes to the feel of the motion of the first roller wheel, the second roller wheel, and the third roller wheel relative to the geometric center being the same when the first roller wheel rotates about the drive axis for rotating the first roller wheel, the second roller wheel rotates about the drive axis for rotating the second roller wheel, and the third roller wheel rotates about the drive axis for rotating the third roller wheel. That is, the first roller wheel, the second roller wheel, and the third roller wheel all rotate inward (e.g., for engagement) or the first roller wheel, the second roller wheel, and the third roller wheel all rotate outward (e.g., for disengagement). Although not required, the pivot axis for rotating the first roller wheel, the pivot axis for rotating the second roller wheel, and the pivot axis for rotating the third roller wheel may be parallel to each other and perpendicular to the fourth geometric plane.

[0139]

[0193] As described above, generally, the first, second, and third roller wheels are disposed about the geometric center of the fourth geometric plane, and the pivot axis for rotating the first roller wheel, the pivot axis for rotating the second roller wheel, and the pivot axis for rotating the third roller wheel may be equidistant from the geometric center of the fourth geometric plane. When viewed from a direction perpendicular to the geometric center of the fourth geometric plane, the motion of the first roller wheel, the second roller wheel, and the third roller wheel relative to the fourth geometric plane feels the same when the first roller wheel rotates about the pivot axis for rotating the first roller wheel, the second roller wheel rotates about the pivot axis for rotating the second roller wheel, and the third roller wheel rotates about the pivot axis for rotating the third roller wheel. That is, the first roller wheel, the second roller wheel, and the third roller wheel all rotate clockwise, or the first roller wheel, the second roller wheel, and the third roller wheel all rotate counterclockwise.

[0140]

[0194] As one skilled in the art will appreciate, for an end effector having n roller wheels, when viewed in a direction perpendicular to the geometric center of the geometric plane defined by the drive shaft for rotating the n roller wheels, the horizontal angle between two adjacent geometric planes of rotation may be approximately 360° / n (e.g., 90° for n=4, 72° for n=5, and 60° for n=6), but this is not required.

[0141]

[0195] Similar to Fig. 27, Fig. 32A illustrates a first roller wheel 3214, a second roller wheel 3216, and a third roller wheel 3218 about a geometric center 3226. A drive shaft 3234 is shown for the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218.

[0142]

[0196] The perimeter 3252 (e.g., an outer capture circle) defines a first locking range of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218 about the geometric center 3226 in the illustrated orientation of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218. However, unlike the configuration of FIG. 27 where the first configuration is selectively adjustable (e.g., manually set prior to use), in FIG. 32A the roller-gripper end effector system of the present application provides real-time adjustment of the orientation, position, or orientation and position of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218. In some examples, this real-time adjustment may be effected by rotating the associated roller wheel (e.g., the associated drive shaft 3234) about a pivot axis, whether clockwise or counterclockwise as shown in the top schematic view of FIG. 32A.

[0143]

[0197] 32A shows a first geometric plane 3220 of rotation of the first roller wheel 3214, a second geometric plane 3222 of rotation of the second roller wheel 3216, a third geometric plane 3224 of rotation of the third roller wheel 3218, and a fourth geometric plane 3228. The fourth geometric plane 3228 is mutually perpendicular to the first geometric plane 3220, the second geometric plane 3222, and the third geometric plane 3224.

[0144]

[0198] As shown in FIG. 32A , the horizontal angle between the first geometric plane of rotation 3220 and the second geometric plane of rotation 3222 measured in the fourth geometric plane 3228 is about 120°, the horizontal angle between the second geometric plane of rotation 3222 and the third geometric plane of rotation 3224 measured in the fourth geometric plane 3228 is about 120°, and the horizontal angle between the third geometric plane of rotation 3224 and the first geometric plane of rotation 3220 measured in the fourth geometric plane 3228 is about 120°. As mentioned above, the horizontal angle between the first pair of geometric planes of rotation does not have to be the same as the horizontal angle between the second or subsequent pair of geometric planes of rotation. Furthermore, the horizontal angle (or any other particular horizontal angle) between any pair of geometric planes of rotation does not have to be about 120°.

[0145]

[0199] 32A , the intersection between the first geometric plane of rotation 3220 and the second geometric plane of rotation 3222 may define a first line perpendicular to the fourth geometric plane 3228 (e.g., in a direction toward the inside / outside of the page), the intersection between the second geometric plane of rotation 3222 and the third geometric plane of rotation 3224 may define a second line perpendicular to the fourth geometric plane 3228 (e.g., in a direction toward the inside / outside of the page), and the intersection between the third geometric plane of rotation 3224 and the first geometric plane of rotation 3220 may define a third line perpendicular to the fourth geometric plane 3228 (e.g., in a direction toward the inside / outside of the page). In this case, the first, second, and third lines may coincide (e.g., in a direction toward the inside / outside of the page). However, if one or more of the intersections of the geometric planes of rotation do not define a line perpendicular to the fourth geometric plane 3228, the first, second, and third lines may not coincide.

[0146]

[0200] Similar to Fig. 28, Fig. 32B shows a top schematic view of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218 about a geometric center 3226. A drive shaft 3234 is shown for the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218.

[0147]

[0201] The reduced diameter perimeter 3252' (e.g., outer capture circle) defines a second locking range of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218 about the geometric center 3226 in the illustrated orientation of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218. However, unlike the configuration of FIG. 28 where the second configuration is selectively adjustable (e.g., manually set prior to use), in FIG. 32B the roller-gripper end effector system of the present application provides real-time adjustment of the orientation, position, or orientation and position of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218. In some examples, this real-time adjustment can be effected by rotating the associated roller wheel (e.g., its associated drive shaft 3234) about a pivot axis, whether clockwise or counterclockwise as shown in the top schematic view of FIG. 32B.

[0148]

[0202] Figure 32B shows a first geometric plane 3220 of rotation of the first roller wheel 3214, a second geometric plane 3222 of rotation of the second roller wheel 3216, a third geometric plane 3224 of rotation of the third roller wheel 3218, and a fourth geometric plane 3228. As shown in Figure 32B, the fourth geometric plane 3228 is mutually perpendicular to the first geometric plane 3220, the second geometric plane 3222, and the third geometric plane 3224.

[0149]

[0203] As shown in FIG. 32B, the horizontal angle between the first geometric plane of rotation 3220 and the second geometric plane of rotation 3222 measured in the fourth geometric plane 3228 is about 120°, the horizontal angle between the second geometric plane of rotation 3222 and the third geometric plane of rotation 3224 measured in the fourth geometric plane 3228 is about 120°, and the horizontal angle between the third geometric plane of rotation 3224 and the first geometric plane of rotation 3220 measured in the fourth geometric plane 3228 is about 120°. As mentioned above, the horizontal angle between the first pair of geometric planes of rotation does not have to be the same as the horizontal angle between the second or subsequent pair of geometric planes of rotation. Furthermore, the horizontal angle (or any other particular horizontal angle) between any pair of geometric planes of rotation does not have to be about 120°.

[0150]

[0204] 32B , the intersection between the first geometric plane of rotation 3220 and the second geometric plane of rotation 3222 may define a first line perpendicular to the fourth geometric plane 3228 (e.g., in a direction toward the inside / outside of the page), the intersection between the second geometric plane of rotation 3222 and the third geometric plane of rotation 3224 may define a second line perpendicular to the fourth geometric plane 3228 (e.g., in a direction toward the inside / outside of the page), and the intersection between the third geometric plane of rotation 3224 and the first geometric plane of rotation 3220 may define a third line perpendicular to the fourth geometric plane 3228 (e.g., in a direction toward the inside / outside of the page). In this case, the first, second, and third lines may not coincide but may be parallel to one another (e.g., in a direction toward the inside / outside of the page). However, if one or more of the intersections of the geometric planes of rotation do not define a line perpendicular to the fourth geometric plane 3228, the first, second, and third lines may not be parallel to one another.

[0151]

[0205] As shown in Figure 32B, the diameter of the perimeter 3252 is greater than the diameter of the perimeter 3252' having a reduced diameter. In Figure 32B, both the perimeter 3252 and the perimeter 3252' having a reduced diameter are examples of outer capture circles.

[0152]

[0206] Real-time adjustment of the locking range of the outer capture circle between the circumference 3252, the circumference 3252' having a reduced diameter, or other values ​​of the locking range can be effected by rotation of the associated roller wheel (e.g., its associated drive shaft 3234) about a pivot axis, whether clockwise or counterclockwise as shown in the top schematic view of FIG. 32B.

[0153]

[0207] 32A and 32B, the roller-gripper end effector system of the present application provides for real-time adjustment of the orientation, position, or orientation and position of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218. The ability to real-time adjust the orientation, position, or orientation and position of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218 allows an operator to change the locking range of the outer capture circle (for engagement, locking, and / or disengagement from a ring-type receiver) and / or change the locking range of the inner capture circle (for engagement, locking, and / or disengagement from a post-type receiver) during use of the end effector.

[0154]

[0208] Thus, during use of the end effector, the operator can vary the locking range of the outer capture circle (for engaging, locking, and / or disengaging from a ring-type receiver), for example, by shifting from the reduced diameter outer periphery 3252' toward and / or past the reduced diameter outer periphery 3252'. Similarly, during use of the end effector, the operator can vary the locking range of the inner capture circle (for engaging, locking, and / or disengaging from a post-type receiver), for example, by adjusting the outermost diameter of the inner capture circle, as can be envisioned from FIG.

[0155]

[0209] In this manner, the operator can, for example, change the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218 from a passive locking configuration to an active locking configuration, or change the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218 from an active locking configuration to a passive locking configuration in real time. Additionally or alternatively, the operator can adjust the engagement force of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218, adjust the locking force of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218, adjust the disengagement force of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218, compensate for wear of the first roller wheel 3214, the second roller wheel 3216, and the third roller wheel 3218, and / or compensate for wear of a passive receiver of the object for engagement, locking, and / or disengagement (e.g., a UAV or UUV).

[0156]

[0210] FIG. 32C shows a top view of a portion of the outer capture circle 3201 and illustrates an exemplary calculation of the radius R of the outer capture circle 3201 when the roller wheel of a given wheel module is rotated at an angle θ relative to the radial direction of the outer capture circle 3201.

[0211] R = r + (r w +d1)*cos(θ)+d2*sin(θ);

[0212] R is the radius of the outer capture circle 3201.

[0213] r is the distance from the center 3221 of the outer capture circle 3201 to the pivot point 3223 in the plane of the outer capture circle 3201 for a given wheel module.

[0214] r w is the radius of the associated roller wheel.

[0215] d1 is the perpendicular distance from the pivot point 3223 in the plane of the outer capture circle 3201 to the axle / drive axis of the associated roller wheel (eg, in a direction perpendicular to both the axle / drive axis and the pivot axis).

[0216] d2 is the horizontal offset (e.g., perpendicular to the page) between the pivot axis (e.g., in a direction parallel to the axis / drive axis passing through the pivot point 3223) and the geometric plane of rotation 3225 of the associated roller wheel.

[0217] θ is the pivot angle of the outer capture circle 3201 relative to the radial direction.

[0157]

[0218] In some embodiments, the first roller wheel 3214, the second roller wheel 3216, and / or the third roller wheel 3218 may have one or more conforming regions. Additionally or alternatively, the durometer of one or more of the roller wheels 3214, 3216, 3218 may be selected based on the type of object that is intended to be engaged. For example, the roller wheels 3214, 3216, 3218 may be selected to have a higher stiffness for applications involving heavier engagements (e.g., heavier passive receivers and / or objects). In some embodiments, one or more of the roller wheels 3214, 3216, 3218 may be pneumatic with a tire pressure that is selectively adjustable to be increased or decreased as needed for various applications. In some embodiments, one or more of the roller wheels 3214, 3216, 3218 may be compressible and / or conformable. Additionally or alternatively, one or more of the roller wheels 3214, 3216, 3218 may be airless. These adjustments may be selected based on the weight, mass, and / or materials used in the object that is intended to be engaged.

[0158]

[0219] When effectively selecting a locking range for engaging, locking, and / or disengaging from a ring-type receiver, an operator may verify the adjustments and considerations described above in addition to the radius R of the outer capture circle 3201. Similarly, when effectively selecting a locking range for engaging, locking, and / or disengaging from a post-type receiver, an operator may verify the adjustments and considerations described above in addition to the radius R of the inner capture circle.

[0159]

[0220] Similar to Fig. 21, Fig. 33A shows a top view of an exemplary wheel module 3303 of an end effector of a first roller wheel 3314, and Fig. 33B shows a side view of an exemplary wheel module 3303 of an end effector of a first roller wheel 3314, with the left side being a side view along the axis / drive axis 3306 for rotating the first roller wheel 3314, and the right side being a side view perpendicular to the axis / drive axis 3306 for rotating the first roller wheel 3314. Similar explanations apply for the second roller wheel 3316, third roller wheel 3318, or additional roller wheels.

[0160]

[0221] 33A and 33B, the first roller wheel 3314 and an associated axle / drive shaft 3306 for rotating the first roller wheel 3314 are supported by a support element 3356 on a housing 3398 of the exemplary wheel module 3303. Rotation of the spur gear 3396 in a first direction drives a drive shaft 3334, which in turn rotates a worm screw 3308 coupled to the drive shaft 3334 (e.g., the worm screw 3308 may be positioned on or integrally formed with the drive shaft 3334). The worm screw 3308 is engaged with a worm gear 3310, which is positioned on or coupled to the axle / drive shaft 3306 for rotating the first roller wheel 3314. Thus, rotation of the worm screw 3308 causes a corresponding rotation of the worm gear 3310, which in turn rotates the shaft / drive axle 3306 for rotating the first roller wheel 3314, thereby rotating the first roller wheel 3314. Thus, rotation of the spur gear 3396 in an opposite second direction is configured to similarly rotate the first roller wheel 3314 in the opposite rotational direction. A drive system utilizing this configuration may include a corresponding worm screw and corresponding worm gear for each corresponding roller wheel of the end effector. Of course, other types of gears other than those illustrated in FIGS. 33A and 33B may additionally or alternatively be utilized in the presently disclosed end effectors. For example, in addition to worm gear sets, other types of gears, such as helical bevel gears, and hypoid gear sets are also within the scope of the present disclosure.

[0161]

[0222] Similar to FIG. 33A, FIG. 33C illustrates a top view of an exemplary roller wheel 3303 including a first roller wheel 3314, a second roller wheel 3316, and a third roller wheel 3318. FIG. 33C is a top view of a three layer overlay (bottom layer, middle layer, top layer) of a first roller wheel 3314, a second roller wheel 3316, and a third roller wheel 3318, respectively, in three different pivot orientations, where the bottom layer includes the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318 in a first pivot orientation, the middle layer includes the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318 in a second pivot orientation, and the top layer includes the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318 in a third pivot orientation.

[0162]

[0223] In FIG. 33C , in a first pivot orientation of the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318, a circumference 3352′ having a reduced diameter defines a first locking range of the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318, and in a second pivot orientation of the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318, a circumference 3352 defines a second locking range of the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318, and in a third pivot orientation of the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318, a circumference 3352'' having an enlarged diameter defines a third locking range of the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318.

[0163]

[0224] As can be seen in FIG. 33C, the diameter of perimeter 3352'' with the enlarged diameter is greater than the diameter of perimeter 3352, which is greater than the diameter of perimeter 3352' with the reduced diameter. In FIG. 33C, perimeter 3352'' with the enlarged diameter, perimeter 3352, and perimeter 3352' with the reduced diameter are each examples of an "outer captured circle."

[0164]

[0225] Real-time adjustment of the locking range between the circumference 3352, the circumference having a reduced diameter 3352', the circumference having an enlarged diameter 3352'', or other values ​​of the locking range can be effected by rotation of the associated roller wheel (e.g., its associated drive shaft 3334) about a pivot axis, whether clockwise or counterclockwise as shown in the top view of FIG. 33C.

[0165]

[0226] As described above, the roller-gripper end effector system of the present application provides for real-time adjustment of the orientation, position, or orientation and position of the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318. Thus, during use of the end effector, an operator can change the locking range of the outer capture circle (for engagement, locking, and / or disengagement from a ring-type receiver), for example, by shifting from the outer periphery 3352 toward and / or beyond the reduced diameter outer periphery 3352', or by shifting from the outer periphery 3352 toward and / or beyond the outer periphery 3352''. Similarly, during use of the end effector, an operator can change the locking range of the inner capture circle (for engagement, locking, and / or disengagement from a post-type receiver), for example, by adjusting the outermost diameter of the inner capture circle, as can be envisioned from FIG.

[0166]

[0227] In this manner, the operator can, for example, change the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318 from a passive locking configuration to an active locking configuration, or change the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318 from an active locking configuration to a passive locking configuration in real time. Additionally or alternatively, the operator can adjust the engagement force of the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318, adjust the locking force of the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318, adjust the disengagement force of the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318, compensate for wear of the first roller wheel 3314, the second roller wheel 3316, and the third roller wheel 3318, and / or compensate for wear of a passive receiver of the object for engagement, locking, and / or disengagement (e.g., a UAV or UUV).

[0167]

[0228] Similar to Fig. 20, Fig. 34A shows a top view of an exemplary wheel module 3401 of an end effector of a first roller wheel 3414, and Fig. 34B shows a side view of an exemplary wheel module 3401 of an end effector of a first roller wheel 3414, with the left side being a side view along the axis / drive axis 3406 for rotating the first roller wheel 3414, and the right side being a side view perpendicular to the axis / drive axis 3406 for rotating the first roller wheel 3414. Similar explanations apply for the second roller wheel 3416, third roller wheel 3418, or additional roller wheels.

[0168]

[0229] In the embodiment of Figures 34A and 34B, the first roller wheel 3414 and an associated axle / drive shaft 3406 for rotating the first roller wheel 3414 are supported by a support element 3456 on a housing 3498 of the exemplary wheel module 3401. Rotation of the spur gear 3496 in a first direction drives a drive shaft 3434, which rotates a first bevel gear 3402 coupled to the drive shaft 3434 (e.g., the first bevel gear 3402 may be positioned on or integrally formed with the drive shaft 3434). The first bevel gear 3402 is engaged with a second bevel gear 3404, which is positioned on or coupled to an axle / drive shaft 3406 for rotating the first roller wheel 3414. Thus, rotation of the first bevel gear 3402 causes a corresponding rotation of the second bevel gear 3404, which in turn rotates the shaft / drive shaft 3406 for rotating the first roller wheel 3414, thereby rotating the first roller wheel 3414. Thus, rotation of the spur gear 3496 in an opposite second direction is configured to similarly rotate the first roller wheel 3414 in the opposite rotational direction. A drive system utilizing this configuration may include a first and second bevel gear on each respective end effector roller wheel. Of course, other types of gears other than those illustrated in FIGS. 34A and 34B may additionally or alternatively be utilized in the presently disclosed end effectors. For example, in addition to bevel gear sets, other types of gears, such as helical bevel gears, and hypoid gear sets are also within the scope of the present disclosure.

[0169]

[0230] Similar to FIG. 34A, FIG. 34C shows a top view of first roller wheel 3414, second roller wheel 3416, and third roller wheel 3418. FIG. 34C is a top view of a three layer overlay (bottom layer, middle layer, top layer) of a first roller wheel 3414, a second roller wheel 3416, and a third roller wheel 3418, respectively, in three different pivot orientations, where the bottom layer includes the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418 in a first pivot orientation, the middle layer includes the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418 in a second pivot orientation, and the top layer includes the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418 in a third pivot orientation.

[0170]

[0231] In FIG. 34C , in a first pivot orientation of the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418, a circumference 3452′ having a reduced diameter defines a first locking range of the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418, and in a second pivot orientation of the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418, a circumference 3452 defines a second locking range for the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418, and in a third pivot orientation for the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418, an outer periphery 3452'' having an enlarged diameter defines a third locking range for the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418.

[0171]

[0232] As can be seen in FIG. 34C, the diameter of perimeter 3452'' with the enlarged diameter is greater than the diameter of perimeter 3452, which is greater than the diameter of perimeter 3452' with the reduced diameter. In FIG. 34C, perimeter 3452'' with the enlarged diameter, perimeter 3452, and perimeter 3452' with the reduced diameter are each examples of an "outer captured circle."

[0172]

[0233] Real-time adjustment of the locking range between the circumference 3452, the circumference having a reduced diameter 3452', the circumference having an enlarged diameter 3452'', or other values ​​of the locking range can be effected by rotation of the associated roller wheel (e.g., its associated drive shaft 3434) about a pivot axis, whether clockwise or counterclockwise as shown in the top view of FIG. 34C.

[0173]

[0234] As described above, the roller-gripper end effector system of the present application provides for real-time adjustment of the orientation, position, or orientation and position of the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418. Thus, during use of the end effector, an operator can change the locking range of the outer capture circle (for engagement, locking, and / or disengagement with a ring-type receiver) by, for example, shifting from the outer periphery 3452 towards and / or beyond the reduced diameter outer periphery 3452', or by shifting from the outer periphery 3452 towards and / or beyond the outer periphery 3452''. Similarly, during use of the end effector, an operator can change the locking range of the inner capture circle (for engagement, locking, and / or disengagement with a post-type receiver) by, for example, adjusting the outermost diameter of the inner capture circle, as can be envisioned from FIG. 34C.

[0174]

[0235] In this manner, the operator can, for example, change the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418 from a passive locking configuration to an active locking configuration, or change the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418 from an active locking configuration to a passive locking configuration in real time. Additionally or alternatively, the operator can adjust the engagement force of the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418, adjust the locking force of the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418, adjust the disengagement force of the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418, compensate for wear of the first roller wheel 3414, the second roller wheel 3416, and the third roller wheel 3418, and / or compensate for wear of a passive receiver of the object for engagement, locking, and / or disengagement (e.g., a UAV or UUV).

[0175]

[0236] 35A to 35E show top views of operation 3500 of a linkage mechanism to achieve real-time adjustment of the orientation, position, or orientation and position of a first roller wheel 3514, a second roller wheel 3516, and a third roller wheel 3518, for example, using a bevel gear set similar to the gear set of FIGS. 34A to 34C.

[0176]

[0237] 35A, the actuation of the linkage 3500 can include, for example, an adjustment motor 3502, a lever 3504, a first connector 3506, a second connector 3508, a first link 3540, a second link 3542, a third link 3544, a fourth link 3546, a fifth link 3548, a sixth link 3550, and a frame structure 3538. Although the ends of successive links are connected (e.g., an end of the first link 3540 is connected to an end of the second link 3542, while the opposite end of the first link 3540 is connected to an end of the sixth link 3550), the angle between successive rings is not fixed and varies as the adjustment motor 3502 moves the lever 3504. Further, the third link 3544 is connected to the first roller wheel 3514 via an associated housing 3598, the fifth link 3548 is connected to the second roller wheel 3516 via an associated housing 3598, and the first link 3540 is connected to the third roller wheel 3518 via an associated housing 3598.

[0177]

[0238] Operation of the adjustment motor 3502 moves the lever 3504, the first connector 3506, and the second connector 3508. In response, the first link 3540, the second link 3542, the third link 3544, the fourth link 3546, the fifth link 3548, and the sixth link 3550 move relative to the frame structure 3538 to rotate the housing 3598 about its respective pivot axis (e.g., the associated drive shaft 3534). As a result, actuation 3500 of the linkage causes the first roller wheel 3514, the second roller wheel 3516, and the third roller wheel 3518 to rotate simultaneously in the same pivot direction as viewed from above and through the same pivot angle as viewed from above.

[0178]

[0239] FIG. 35B illustrates actuation 3500 of the linkage after adjustment motor 3502 moves lever 3504 clockwise, which causes first link 3540, second link 3542, third link 3544, fourth link 3546, fifth link 3548, and sixth link 3550 to rotate housing 3598 about their respective pivot axes (e.g., associated drive shafts 3534) and rotate first roller wheel 3514, second roller wheel 3516, and third roller wheel 3518. The wheels 3518 are all oriented approximately 9° relative to a predetermined neutral pivot orientation (e.g., the predetermined neutral pivot orientation may correspond to a pivot orientation of the first roller wheel 3514, the second roller wheel 3516, and the third roller wheel 3518 such that the first link 3540, the second link 3542, the third link 3544, the fourth link 3546, the fifth link 3548, and the sixth link 3550 form a regular hexagon), resulting in an outer periphery 3552'' having an enlarged diameter.

[0179]

[0240] FIG. 35C shows actuation 3500 of the linkage after the adjustment motor 3502 moves the lever 3504 clockwise, as indicated by arrow 3529, relative to the configuration shown in FIG. 35B, which causes the first link 3540, the second link 3542, the third link 3544, the fourth link 3546, the fifth link 3548, and the sixth link 3550 to rotate the housing 3598 about their respective pivot axes (e.g., associated drive shafts 3534) such that the first roller wheel 3514, the second roller wheel 3516, and the third roller wheel 3518 are all oriented at approximately 0° relative to a predetermined neutral pivot orientation, resulting in an outer periphery 3552.

[0180]

[0241] FIG. 35D shows actuation 3500 of the linkage after the adjustment motor 3502 moves the lever 3504 further clockwise, as indicated by arrow 3530, relative to the configuration shown in FIG. 35C, which causes the first link 3540, the second link 3542, the third link 3544, the fourth link 3546, the fifth link 3548, and the sixth link 3550 to rotate the housing 3598 about their respective pivot axes (e.g., the associated drive shaft 3534), such that the first roller wheel 3514, the second roller wheel 3516, and the third roller wheel 3518 are all oriented approximately +18° relative to their predetermined neutral pivot orientation, resulting in an outer periphery 3552' having a reduced diameter.

[0181]

[0242] Similar to the discussion above with respect to FIG. 34C, the diameter of the perimeter 3552'' having an enlarged diameter is greater than the diameter of the perimeter 3552, which is greater than the diameter of the perimeter 3552' having a reduced diameter.

[0182]

[0243] 35E illustrates an alternative design of actuation 3500 of the linkage in which adjustment motor 3502, lever 3504, and / or first connector 3506 may be replaced with, for example, a Bowden cable 3531 (or equivalent) directly coupled to second connector 3508. In this alternative design, an operator applies a force indicated by arrow 3532 transmitted through Bowden cable 3531 indicated by arrow 3533 to move second connector 3508, thereby causing first link 3540, second link 3542, third link 3544, fourth link 3546, fifth link 3548, and sixth link 3550 to rotate housing 3598 about their respective pivot axes (e.g., associated drive shaft 3534) as suggested by arrows 3535, 3536, and 3537.

[0183]

[0244] Using actuation of the linkage 3500, an operator can perform real-time adjustments of the orientation, position, or orientation and position of the first roller wheel 3514, the second roller wheel 3516, and the third roller wheel 3518, for example, from a passive locking configuration to an active locking configuration or from an active locking configuration to a passive locking configuration. Additionally or alternatively, the operator can adjust the engagement force of the first roller wheel 3514, the second roller wheel 3516, and the third roller wheel 3518, adjust the locking force of the first roller wheel 3514, the second roller wheel 3516, and the third roller wheel 3518, adjust the disengagement force of the first roller wheel 3514, the second roller wheel 3516, and the third roller wheel 3518, compensate for wear of the first roller wheel 3514, the second roller wheel 3516, and the third roller wheel 3518, and / or compensate for wear of a passive receiver of the object for engagement, locking, and / or disengagement (e.g., a UAV or UUV).

[0184]

[0245] 36A to 36E show top views of gear operation 3600 to achieve real-time adjustment of the orientation, position, or orientation and position of a first roller wheel 3614, a second roller wheel 3616, and a third roller wheel 3618, for example, using a bevel gear set similar to the gear set of FIGS. 34A to 34C.

[0185]

[0246] As shown in FIG 36A, the gear actuation 3600 may include, for example, an adjustment motor 3602, a motor gear 3604, a central gear 3640, a first outer gear 3642, a second outer gear 3644, a third outer gear 3646, and a frame structure 3638. The motor gear 3604 is coupled to the third outer gear 3646, which is coupled to the central gear 3640, which is further coupled to the first outer gear 3642 and the second outer gear 3644. Applicant states that in a first alternative configuration of the gear actuation 3600, the motor gear 3604 may be directly coupled to the central gear 3640 to drive the first outer gear 3642, the second outer gear 3644, and the third outer gear 3646. Applicant believes that in a second alternative configuration of gear operation 3600, the three adjustment motors and associated motor gears can be individually coupled to drive the first outer gear 3642, the second outer gear 3644, and the third outer gear 3646 without the need for a central gear 3640. Given the present disclosure, Applicant believes that one of ordinary skill in the art can implement these first and second alternative configurations of gear operation 3600 without undue experimentation.

[0186]

[0247] Operation of the adjustment motor 3602 rotates the motor gear 3604, which in turn drives and rotates the third outer gear 3646, which in turn drives and rotates the central gear 3640, which in turn drives and rotates both the first outer gear 3642 and the second outer gear 3644. In response, the first outer gear 3642, the second outer gear 3644, and the third outer gear 3646 all move relative to the frame structure 3638, causing the housing 3698 to rotate about their respective pivot axes (e.g., the associated drive shaft 3634). As a result, actuation 3600 of the linkage causes the first roller wheel 3614, the second roller wheel 3616, and the third roller wheel 3618 to rotate simultaneously in the same pivot direction as viewed from above, and through the same pivot angle as viewed from above.

[0187]

[0248] FIG. 36B illustrates the operation 3600 of the gear mechanism after the adjustment motor 3602 rotates the motor gear 3604, which causes the third outer gear 3646, the central gear 3640, the first outer gear 3642, and the second outer gear 3644 to rotate, causing the housing 3698 to rotate about its respective pivot axis (e.g., the associated drive shaft 3634) and the first roller wheel 3614, the second roller wheel 3616, and the third roller wheel 3618 to all be in a predetermined neutral pivot orientation. 9° relative to the first link 3540, the second link 3542, the third link 3544, the fourth link 3546, the fifth link 3548, and the sixth link 3550, which form a regular hexagon, resulting in an outer periphery 3652'' having an enlarged diameter.

[0188]

[0249] FIG. 36C, for example, shows gear actuation 3600 after adjustment motor 3602 rotates motor gear 3604 as indicated by arrow 3611 . In response, the rotation of the third outer gear 3646, as indicated by arrow 3613, causes the central gear 3640 to rotate, as indicated by arrow 3615, which in turn rotates both the first outer gear 3642, as indicated by arrow 3617, and the second outer gear 3644, as indicated by arrow 3619, causing the first outer gear 3642, the second outer gear 3644, and the third outer gear 3646 to rotate the housing 3698 about their respective pivot axes (e.g., the associated drive shaft 3634), such that the first roller wheel 3614, the second roller wheel 3616, and the third roller wheel 3618 are all oriented at approximately 0° relative to a predetermined neutral pivot orientation, resulting in an outer periphery 3652.

[0189]

[0250] FIG. 36D, for example, shows gear actuation 3600 after adjustment motor 3602 has further rotated motor gear 3604 as indicated by arrow 3621. In response, the third outer gear 3646 rotates as indicated by arrow 3623, causing the central gear 3640 to rotate as indicated by arrow 3625, which in turn rotates both the first outer gear 3642 as indicated by arrow 3627 and the second outer gear 3644 as indicated by arrow 3629, causing the first outer gear 3642, second outer gear 3644, and third outer gear 3646 to rotate the housing 3698 about their respective pivot axes (e.g., associated drive shafts 3634), such that the first roller wheel 3614, second roller wheel 3616, and third roller wheel 3618 are all oriented approximately +18° relative to a predetermined neutral pivot orientation, resulting in an outer periphery 3652'.

[0190]

[0251] Similar to the discussion above with respect to FIG. 34C, the diameter of the perimeter 3652'' having an enlarged diameter is greater than the diameter of the perimeter 3652, which is greater than the diameter of the perimeter 3652' having a reduced diameter.

[0191]

[0252] 36E shows an alternative design of gear actuation 3600 in which adjustment motor 3602 and / or motor gear 3604 can be replaced with, for example, a Bowden cable 3630 (or equivalent) directly coupled to connector 3608. In this alternative design, an operator applies a force, indicated by arrow 3631, transmitted through Bowden cable 3630, indicated by arrow 3632, to move connector 3608, which rotates third outer gear 3646, indicated by arrow 3633, which rotates central gear 3640, indicated by arrow 3635, which rotates both first outer gear 3642, indicated by arrow 3637, and second outer gear 3644, indicated by arrow 3639. Rotation of the first outer gear 3642, the second outer gear 3644, and the third outer gear 3646 causes the housing 3698 to rotate about its respective pivot axis (e.g., the associated drive shaft 3634), as suggested by arrows 3633, 3637, and 3639.

[0192]

[0253] Using the operation of the gear mechanism 3600, an operator can perform real-time adjustments of the orientation, position, or orientation and position of the first roller wheel 3614, the second roller wheel 3616, and the third roller wheel 3618, for example, from a passive locking configuration to an active locking configuration or from an active locking configuration to a passive locking configuration. Additionally or alternatively, the operator can adjust the engagement force of the first roller wheel 3614, the second roller wheel 3616, and the third roller wheel 3618, adjust the locking force of the first roller wheel 3614, the second roller wheel 3616, and the third roller wheel 3618, adjust the disengagement force of the first roller wheel 3614, the second roller wheel 3616, and the third roller wheel 3618, compensate for wear of the first roller wheel 3614, the second roller wheel 3616, and the third roller wheel 3618, and / or compensate for wear of a passive receiver of the object for engagement, locking, and / or disengagement (e.g., a UAV or UUV).

[0193]

[0254] 37A-37G show top views of a slotted disk operation 3700 to provide real-time adjustment of the orientation, position, or orientation and position of a first roller wheel 3714, a second roller wheel 3716, and a third roller wheel 3718, for example using a bevel gear set similar to the gear set of FIGs. 34A-34C. To allow one skilled in the art to easily understand the operation of the slotted disk operation 3700, FIGs. 37B-37D show all portions of the slot 3704, although only a more limited portion of the slot 3704 is visible in a more closely depicted top view. Similarly, to allow one skilled in the art to easily understand the operation of the slotted disk operation 3700, FIGs. 37E-37G show substantial portions of the slot 3704, although only a more limited portion of the slot 3704 is visible in a more closely depicted top view.

[0194]

[0255] As shown in Figure 37A, a slotted disk actuation 3700 can include, for example, a slotted disk 3702 having a slot 3704 and a geometric center 3706. As shown in Figure 37A, the slot 3704 is in the form of a curve. However, the slot 3704 may be in the form of a straight line or other configurations.

[0195]

[0256] The drive shaft 3734 in an associated slot 3704, oriented perpendicular to the slotted disk 3702 (e.g., in a direction toward the inside / outside of the page), can move from a radially inner end of the associated slot 3704 near the geometric center 3706 of the slotted disk 3702 to a radially outer end of the associated slot 3704 away from the geometric center 3706 of the slotted disk 3702, or vice versa.

[0196]

[0257] As shown in FIG. 37B, the slotted disk actuation 3700 can include, for example, a slotted disk 3702 having a slot 3704, a connector 3708, a central bevel gear assembly 3720, a first sliding bevel gear assembly 3722, a second sliding bevel gear assembly 3724, a third sliding bevel gear assembly 3726, a first wheel module translation drive shaft 3742, a second wheel module translation drive shaft 3744, and a third wheel module translation drive shaft 3746.

[0197]

[0258] Subject to the constraint that the multiple bevel gears of the central bevel gear assembly 3720 are engaged with each other, the multiple bevel gears of the central bevel gear assembly 3720 can rotate in either direction of rotation. Subject to the constraint that the multiple bevel gears of the first sliding bevel gear assembly 3722 are engaged with each other, the multiple bevel gears of the first sliding bevel gear assembly 3722 can rotate in either direction of rotation. Subject to the constraint that the multiple bevel gears of the second sliding bevel gear assembly 3724 are engaged with each other, the multiple bevel gears of the second sliding bevel gear assembly 3724 can rotate in either direction of rotation. Subject to the constraint that the multiple bevel gears of the third sliding bevel gear assembly 3726 are engaged with each other, the multiple bevel gears of the third sliding bevel gear assembly 3726 can rotate in either direction of rotation.

[0198]

[0259] Rotating the bevel gears of the central bevel gear assembly 3720 using a motor (not shown) simultaneously rotates the first wheel module translation drive shaft 3742, the second wheel module translation drive shaft 3744, and the third wheel module translation drive shaft 3746. Rotation of the first wheel module translation drive shaft 3742 rotates the first gliding bevel gear assembly 3722, rotation of the second wheel module translation drive shaft 3744 rotates the second gliding bevel gear assembly 3724, and rotation of the third wheel module translation drive shaft 3746 rotates the third gliding bevel gear assembly 3726.

[0199]

[0260] The rotation of each of the central bevel gear assembly 3720, the first gliding bevel gear assembly 3722, the second gliding bevel gear assembly 3724, the third gliding bevel gear assembly 3726, the first wheel module translation drive shaft 3742, the second wheel module translation drive shaft 3744, and the third wheel module translation drive shaft 3746 is independent of the rotational position of the slotted disk 3702.

[0200]

[0261] The physical positions of each of the central bevel gear assembly 3720, the first wheel module translation drive shaft 3742, the second wheel module translation drive shaft 3744, and the third wheel module translation drive shaft 3746 are fixed relative to a frame structure (not shown) of the slotted disk actuation 3700 and are independent of the rotational position of the slotted disk 3702. In contrast, the radial distance from the geometric center 3706 of the slotted disk 3702 to each of the first gliding bevel gear assembly 3722, the second gliding bevel gear assembly 3724, and the third gliding bevel gear assembly 3726 is dependent on the rotational position of the slotted disk 3702.

[0201]

[0262] As shown in FIG. 37B, the rotational position of the slotted disk 3702 (determined by the angular position of the connector 3708) is at approximately 0° relative to a predetermined neutral pivot orientation, and the first sliding bevel gear assembly 3722, the second sliding bevel gear assembly 3724, and the third sliding bevel gear assembly 3726 are all at intermediate radial distances from the geometric center 3706 of the slotted disk 3702.

[0202]

[0263] As shown in FIG. 37C, the rotational position of the slotted disk 3702 (as determined by the angular position of the connector 3708, with arrow 3711 indicating the direction of movement away from the predetermined neutral pivot orientation) is approximately 7° relative to the predetermined neutral pivot orientation, and the first sliding bevel gear assembly 3722, the second sliding bevel gear assembly 3724, and the third sliding bevel gear assembly 3726 are all at extended radial distances from the geometric center 3706 of the slotted disk 3702, and the drive shafts 3734, oriented perpendicular to the slotted disk 3702 (e.g., toward the inside / outside of the page), are moved radially outward together along their respective wheel module translation drive shafts as controlled by their respective slots 3704.

[0203]

[0264] As shown in FIG. 37D, the rotational position of the slotted disk 3702 (as determined by the angular position of the connector 3708, with arrow 3713 indicating the direction of movement away from the predetermined neutral pivot orientation) is approximately +7° relative to the predetermined neutral pivot orientation, and the first sliding bevel gear assembly 3722, the second sliding bevel gear assembly 3724, and the third sliding bevel gear assembly 3726 are all at reduced radial distances from the geometric center 3706 of the slotted disk 3702, and the drive shafts 3734 are moved radially inward together along their respective wheel module translation drive shafts as controlled by their respective slots 3704.

[0204]

[0265] As shown in Figure 37E, the slotted disk actuation 3700 can include, for example, an adjustment motor 3760, a lever 3762, and a link 3764 attached to a connector 3708. As discussed above in connection with Figure 37C, the rotational position of the slotted disk 3702 (identified by the angular position of the connector 3708, with arrow 3715 indicating the direction of movement away from the predetermined neutral pivot orientation) is approximately 7% relative to the predetermined neutral pivot orientation, resulting in the first roller wheel 3714, second roller wheel 3716, and third roller wheel 3718 all being at an extended radial distance from the geometric center 3706 of the slotted disk 3702, resulting in an outer periphery 3752'' having an enlarged diameter.

[0205]

[0266] 37E, the slotted disk actuation 3700 can include, for example, an adjustment motor 3760, a lever 3762, and a link 3764 attached to a connector 3708. As discussed above in connection with FIG. 37B, the rotational position of the slotted disk 3702 (as determined by the angular position of the connector 3708) is at approximately 0° relative to a predetermined neutral pivot orientation, resulting in the first roller wheel 3714, the second roller wheel 3716, and the third roller wheel 3718 all being at intermediate radial distances from the geometric center 3706 of the slotted disk 3702, resulting in an outer periphery 3752.

[0206]

[0267] As shown in Figure 37G, the slotted disk actuation 3700 can include, for example, an adjustment motor 3760, a lever 3762, and a link 3764 attached to a connector 3708. As discussed above in connection with Figure 37D, the rotational position of the slotted disk 3702 (identified by the angular position of the connector 3708, with arrow 3717 indicating the direction of movement away from the predetermined neutral pivot orientation) is at approximately +7° relative to the predetermined neutral pivot orientation, resulting in the first roller wheel 3714, second roller wheel 3716, and third roller wheel 3718 all being at a reduced radial distance from the geometric center 3706 of the slotted disk 3702, resulting in an outer periphery 3752' having a reduced diameter.

[0207]

[0268] Similar to the discussion above with respect to FIG. 34C, the diameter of the enlarged diameter perimeter 3752'' is greater than the diameter of the perimeter 3752, which is greater than the diameter of the reduced diameter perimeter 3752'.

[0208]

[0269] Using the slotted disk actuation 3700, an operator can perform real-time adjustments to the orientation, position, or orientation and position of the first roller wheel 3714, the second roller wheel 3716, and the third roller wheel 3718, for example, from a passive locking configuration to an active locking configuration or from an active locking configuration to a passive locking configuration. Additionally or alternatively, the operator can adjust the engagement force of the first roller wheel 3714, the second roller wheel 3716, and the third roller wheel 3718, adjust the locking force of the first roller wheel 3714, the second roller wheel 3716, and the third roller wheel 3718, adjust the disengagement force of the first roller wheel 3714, the second roller wheel 3716, and the third roller wheel 3718, compensate for wear of the first roller wheel 3714, the second roller wheel 3716, and the third roller wheel 3718, and / or compensate for wear of a passive receiver of the object for engagement, locking, and / or disengagement (e.g., a UAV or UUV).

[0209]

[0270] While embodiments have been illustrated and described herein and in the accompanying drawings, it should be understood that changes can be made to the illustrated and / or described embodiments without departing from the principles and spirit thereof. The scope of the present disclosure is defined by the following claims and their equivalents.

Claims

1. A support base (38), and two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) mounted on said support base (38), each of which is adjustable in orientation, position, or orientation and position, and configured to engage an object (26) in a passive locking configuration. An apparatus (10) comprising:

2. 2. The apparatus (10) of claim 1, wherein the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) are further configured to disengage from the object (26) in the passive locking configuration.

3. 3. The apparatus (10) of claim 2, wherein the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) are further configured to lock the object (26) to the apparatus (10) in an active locking configuration.

4. said two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) from said passive locking configuration to said active locking configuration or from said active locking configuration to said passive locking configuration.

4. The apparatus (10) of claim 3, wherein the orientation, the position, or the orientation and position of the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) are adjustable to change.

5. 5. The apparatus (10) of claim 4, wherein a locking range of an end apparatus (10) is increased when the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) are changed from the passive locking configuration to the active locking configuration.

6. 5. The apparatus (10) of claim 4, wherein when the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) are changed from the passive locking configuration to the active locking configuration, a locking range of the end apparatus (10) is reduced.

7. 5. The apparatus (10) of claim 4, wherein a locking range of an end apparatus (10) is increased when the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) are changed from the active locking configuration to the passive locking configuration.

8. 5. The apparatus (10) of claim 4, wherein when the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) are changed from the active locking configuration to the passive locking configuration, a locking range of the apparatus (10) is reduced.

9. The apparatus (10) of claim 1, further comprising a locking mechanism configured to prevent the object (26) from disengaging from the apparatus (10).

10. A support base (38), and two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) mounted on said support base (38), each of which is adjustable in orientation, position, or orientation and position, and further configured to engage an object (26) in a passive locking configuration and to lock said object (26) to the device (10) in an active locking configuration; An apparatus (10) comprising:

11. and changing the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) from the passive locking configuration to the active locking configuration.

11. The apparatus (10) of claim 10, wherein the orientation, the position, or the orientation and position of the roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) are adjustable.

12. and moving the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) from the active locking configuration to the passive locking configuration.

11. The apparatus (10) of claim 10, wherein the orientation, the position, or the orientation and position of at least two of the wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) are adjustable.

13. 11. The apparatus (10) of claim 10, wherein adjusting the orientation, the position, or the orientation and position of the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) changes a rocking range of the apparatus (10).

14. a first roller wheel (14, 3214, 3314, 3414, 3514, 3614, 3714) of the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) configured to rotate in a first geometric plane of rotation (118, 3220); a second roller wheel (16, 3216, 3316, 3416, 3516, 3616, 3716) of the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) is configured to rotate in a second geometric plane of rotation (120, 3222); 11. The apparatus (10) of claim 10, wherein in the passive locking configuration, the first geometric plane of rotation (118, 3220) is parallel to the second geometric plane of rotation (120, 3222), and in the active locking configuration, the first geometric plane of rotation (118, 3220) is parallel to the second geometric plane of rotation (120, 3222), or in the passive locking configuration and the active locking configuration, the first geometric plane of rotation (118, 3220) is parallel to the second geometric plane of rotation (120, 3222).

15. a first roller wheel (14, 3214, 3314, 3414, 3514, 3614, 3714) of the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) configured to rotate in a first geometric plane of rotation (118, 3220); a second roller wheel (16, 3216, 3316, 3416, 3516, 3616, 3716) of the two or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) is configured to rotate in a second geometric plane of rotation (120, 3222); 11. The apparatus (10) of claim 10, wherein in the passive locking configuration, the first geometric plane of rotation (118, 3220) coincides with the second geometric plane of rotation (120, 3222), and wherein in the active locking configuration, the first geometric plane of rotation (118, 3220) coincides with the second geometric plane of rotation (120, 3222), or wherein in the passive locking configuration and the active locking configuration, the first geometric plane of rotation (118, 3220) coincides with the second geometric plane of rotation (120, 3222).

16. A support base (38), and three or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) mounted on the support base (38), each of which is adjustable in orientation, position, or orientation and position, and configured to engage an object (26) in a passive locking configuration. An apparatus (10) comprising:

17. 17. The apparatus (10) of claim 16, wherein the three or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) are further configured to disengage from the object (26) in the passive locking configuration.

18. to change said three or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) from a passive locking configuration to an active locking configuration or from said active locking configuration to said passive locking configuration, 17. The apparatus (10) of claim 16, wherein the orientation, the position, or the orientation and position of at least three of the three or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) are adjustable.

19. 17. The apparatus (10) of claim 16, wherein adjusting the orientation, the position, or the orientation and position of at least three of the three or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) changes a rocking range of the apparatus (10).

20. a first roller wheel (14, 3214, 3314, 3414, 3514, 3614, 3714) of the three or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) is configured to rotate in a first geometric plane of rotation (118, 3220); a second roller wheel (16, 3216, 3316, 3416, 3516, 3616, 3716) of the three or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) is configured to rotate in a second geometric plane of rotation (120, 3222); a third roller wheel (18, 3218, 3318, 3418, 3518, 3618, 3718) of the three or more roller wheels (14, 16, 18, 3214, 3216, 3218; 3314, 3316, 3318; 3414, 3416, 3418; 3514, 3516, 3518; 3614, 3616, 3618; 3714, 3716, 3718) configured to rotate in a third geometric plane of rotation (122, 3224); said first geometric plane of rotation (118, 3220) being non-parallel to said second geometric plane of rotation (120, 3222); said second geometric plane of rotation (120, 3222) being non-parallel to said third geometric plane of rotation (122, 3224); The apparatus (10) of claim 16, wherein the third geometric plane of rotation (122, 3224) is non-parallel to the first geometric plane of rotation (118, 3220).

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