CN111717391B - Four-rotor parallel acquisition robot - Google Patents
Four-rotor parallel acquisition robot Download PDFInfo
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- CN111717391B CN111717391B CN202010595661.9A CN202010595661A CN111717391B CN 111717391 B CN111717391 B CN 111717391B CN 202010595661 A CN202010595661 A CN 202010595661A CN 111717391 B CN111717391 B CN 111717391B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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Abstract
A four-rotor parallel acquisition robot belongs to the field of aerial robots and comprises a four-rotor flight mechanism; the inspection camera is arranged at the upper end of the four-rotor flight mechanism; the three-degree-of-freedom parallel mechanism is arranged at the lower end of the four-rotor flight mechanism; the grabbing acquisition mechanism is arranged at the lower end of the three-degree-of-freedom parallel mechanism; and the capture camera is arranged at the lower end of the capture acquisition mechanism. The grabbing acquisition mechanism can accurately reach the position above the target through the three-degree-of-freedom parallel mechanism, and the grabbing acquisition mechanism is prepared to implement grabbing actions. The grabbing acquisition mechanism can grab targets in different shapes, and the grabbing task of the targets is realized. The unmanned aerial vehicle has the functions of flying and grabbing and collecting, the position of the grabbing and collecting mechanism can be correspondingly adjusted according to the position of the target, the unmanned target grabbing and collecting task can be executed in the complex and severe environment of the plateau, the unmanned aerial vehicle is suitable for target collecting of scientific researchers in the complex and severe environment, and the collecting work of the scientific researchers is facilitated.
Description
Technical Field
The invention belongs to the technical field of aerial robots, and particularly relates to a four-rotor parallel acquisition robot.
Background
Plateau scientific research is a difficult work, and particularly when facing complex terrains, scientific research tasks are difficult to complete by purely depending on manpower, so that scientific research personnel can return without work, which is not only the energy loss of the personnel, but also the shoulder-rubbing with a valuable scientific research. With the high-speed development of modern science and technology, unmanned aerial vehicle detection has become very popular, can detect dangerous topography that human beings can not reach. However, the existing unmanned aerial vehicle can only achieve the purposes of image transmission and terrain reconnaissance, and still cannot provide effective help for geological sampling of scientific research personnel, so that a new robot with comprehensive performance is needed to solve the technical problem.
The unmanned aerial vehicle is used for carrying a mechanical hand to grasp to execute a grabbing task, the most common mode is that a serial manipulator is adopted, for example, U.S. patent with publication number 20190202554A1 discloses a ground control system and a method for an airplane, a serial mechanism is adopted to realize the grabbing task, the serial mechanism is formed by sequentially connecting kinematic pairs and belongs to an open-loop mechanism, the serial mechanism has larger motion space and higher flexibility, but has obvious defects, namely, the accumulated error of the kinematic pairs can reduce the precision of an end effector, and a cantilever mechanism has low rigidity, large inertia and serious insufficient dynamic performance.
Compared with a series mechanism, the parallel mechanism is a closed loop structure, and a movable platform and a fixed platform of the parallel mechanism are connected through at least two independent kinematic chains. Compared with a series mechanism, the parallel mechanism has the advantages of compact structure, high precision, excellent rigidity, good dynamic performance and the like. Based on the advantages, clavel, the earliest provided Delta parallel robot capable of realizing spatial three-degree-of-freedom movement, has the characteristic of high-speed stable motion, and is widely applied to rapid sorting operation of industrial and food packaging production lines. U.S. patent publication No. 20180134387A1 combines unmanned aerial vehicles with Delta robots to accomplish the operational tasks of complex environments. However, this patent does not improve the grabbing function and the jitter problem during hovering of the drone.
For review, designing and developing a four-rotor parallel acquisition robot with high reliability and excellent performance is a hot issue of attention in the field of robots.
Disclosure of Invention
Aiming at the defects of the existing unmanned aerial vehicle serial mechanism and the existing parallel mechanism, the invention provides the four-rotor parallel acquisition robot which is compact in structure, flexible in movement and strong in stability.
The scheme adopted by the invention for solving the technical problem is as follows:
the invention relates to a four-rotor parallel acquisition robot, which comprises:
a four-rotor flight mechanism;
the patrol camera is arranged at the upper end of the four-rotor flight mechanism;
the three-degree-of-freedom parallel mechanism is arranged at the lower end of the four-rotor flight mechanism;
the grabbing acquisition mechanism is arranged at the lower end of the three-degree-of-freedom parallel mechanism;
and the capture camera is arranged at the lower end of the capture acquisition mechanism.
Further, the four-rotor flight mechanism includes: the system comprises a signal antenna, propeller blades, a brushless motor, a motor mounting seat, four rotor wing supporting tubes, a flight mechanism control system, a brushless motor driver, a flight mechanism main body and three supporting rods; the three support rods are respectively arranged at three support corners at the lower end of the flight mechanism main body, and are uniformly distributed at the three support corners at the lower end of the flight mechanism main body at included angles of 120 degrees; the four rotor wing supporting tubes are respectively arranged at four branch angles at the upper end of the flight mechanism main body, and are uniformly distributed at the four branch angles at the upper end of the flight mechanism main body at 90-degree included angles; the end part of each rotor wing supporting tube is provided with a motor mounting seat, each motor mounting seat is provided with a brushless motor, and each brushless motor is provided with two propeller blades; the signal antenna and the flight mechanism control system are both fixed on the upper end surface of the flight mechanism main body; the signal antenna is electrically connected with the flight mechanism control system; each brushless motor is connected with a flight mechanism control system; the flight mechanism control system controls the brushless motor to operate, and the brushless motor drives the propeller blades to rotate so as to realize air flight.
Further, the patrol camera is installed on the flight mechanism main body.
Further, the three-degree-of-freedom parallel mechanism includes: the device comprises a fixed platform, three driving motors, three driving rocker arms, a ball hinge, a middle connecting rod, a driven rocker, an extension spring, a movable platform and a parallel mechanism control system; a through hole is arranged in the middle of the fixed platform; a through hole is formed in the middle of the movable platform; the fixed platform is connected with the lower end of the main body of the flight mechanism; the three driving motors are respectively arranged at three supporting angles of the fixed platform; the three driving motors are uniformly distributed at three supporting angles of the fixed platform at included angles of 120 degrees; the three driving rocker arms and the three driving motors are correspondingly arranged one by one; the upper end of the driving rocker arm is of a fork-shaped structure, and two sides of the fork-shaped structure are respectively connected with output shafts at two ends of the driving motor; the lower end of the driving rocker arm is respectively connected with the two driven rocker arms through a ball hinge and an intermediate connecting rod; the lower end of the driven rocker is connected with the movable platform through a ball hinge; the lower ends of each group of driven rockers are connected through an extension spring; each driving motor is electrically connected with the parallel mechanism control system, and the parallel mechanism control system controls the driving motors to operate, so that the spatial three-degree-of-freedom movement is realized.
Further, the grabbing and collecting mechanism comprises: the device comprises a motor, a motor mounting seat, a roller, a tendon rope, a base flange, a driving rod, a compression spring, a single gripper joint, a cord pull pin, a movable flange and a three-hemisphere gripper; the motor mounting seat is fixedly connected with the flying mechanism main body, the motor is fixed on the motor mounting seat, and the roller is connected with an output shaft of the motor; the base flange is fixedly connected with a movable platform of the three-degree-of-freedom parallel mechanism; the tendon rope extends into a through hole between the fixed platform and the movable platform; the upper ends of the tendon ropes are wound on the rollers, the lower ends of the tendon ropes are fixed on the base flange, and the base flange is connected to the three-hemisphere grab through the three groups of revolute pairs; the three groups of rotating pairs are circumferentially and symmetrically arranged relative to the center of the base flange, and the included angles between every two adjacent groups of rotating pairs are 120 degrees; each group of revolute pair consists of a driving rod and a gripper single joint; the upper ends of the three driving rods are connected with three corners of the base flange through rotating shafts; the single joint of the gripper is of an arc-shaped structure, and a through hole is formed in the middle of the gripper; the lower end of the driving rod is connected with the middle bending position of the single-joint of the gripper through a rotating shaft;
the base flange is connected with the movable flange through a compression spring; one end of each of the three gripper single joints is connected with three corners of the movable flange through a rotating shaft; the other ends of the single joints of the three grippers are respectively connected with three parts of the three hemispherical grippers; the restoring force of the compression spring can separate the base flange from the movable flange, so that the three hemispheres are driven to be manually held and unfolded; three cords are connected between the base flange and the movable flange, the included angle between every two adjacent cords is 120 degrees, the upper ends of the cords are fixed on the lower surface of the base flange, the lower ends of the cords are arranged on the movable flange through cord pull pins, and the three-hemisphere hand-holding maximum opening angle can be guaranteed through the three cords; the roller is driven to rotate by the motor, and the roller is driven to wind the tendon rope so as to drive the three hemispheres to grab the handle to open and close.
Furthermore, the capture camera is arranged on the lower surface of the movable flange and is positioned in the three-hemisphere hand grab.
The beneficial effects of the invention are:
1. the three-degree-of-freedom parallel mechanism designed by the invention can realize the movement in the x, y and z directions in the Euclidean space, so that the grabbing acquisition mechanism can accurately reach the position above a target to prepare for grabbing actions. Simultaneously, three degree of freedom parallel mechanism can realize carrying out the motion in the small scale when unmanned aerial vehicle suspends, can realize the translation of three degree of freedom in space, can compensate because the flight is hovered the position deviation that the shake produced.
2. The grabbing and collecting mechanism designed by the invention is a three-hemisphere hand-grabbing rope driving mechanism, has an opening and closing function, can grab various targets with different shapes, and realizes the grabbing task of the targets.
3. The unmanned aerial vehicle has the functions of flying and grabbing and collecting, the position of the grabbing and collecting mechanism can be correspondingly adjusted according to the position of the target, the unmanned target grabbing and collecting task can be executed in the complex and severe environment of the plateau, the unmanned aerial vehicle is suitable for target collecting of scientific researchers in the complex and severe environment, and the collecting work of the scientific researchers is facilitated.
4. The invention transmits signals at the far end through the control system to control the flight of the robot and simultaneously control the positioning of the four-freedom-degree parallel mechanism and the grabbing action of the grabbing acquisition mechanism.
5. The invention adopts an upper, middle and lower three-section structure for assembly, has the advantages of convenient assembly and disassembly, compact and small structure, flexible movement, strong stability and easy carrying, and has wide scientific research and application prospect.
Drawings
Fig. 1 is a schematic structural diagram of a four-rotor parallel acquisition robot according to the present invention.
Fig. 2 is a schematic structural diagram of a four-rotor flight mechanism.
Fig. 3 is a schematic structural diagram of a three-degree-of-freedom parallel mechanism.
Fig. 4 is a schematic structural diagram of the grabbing and collecting mechanism.
Fig. 5 is a schematic diagram of a connection mode of a four-rotor flight mechanism and a three-degree-of-freedom parallel mechanism.
Fig. 6 is a schematic diagram of a connection mode of the three-degree-of-freedom parallel mechanism and the grabbing acquisition mechanism.
In the figure: 1. the four-rotor flight mechanism comprises 1-1 part of a four-rotor flight mechanism, 1-2 parts of a signal antenna, 1-3 parts of propeller blades, 1-4 parts of a brushless motor, 1-5 parts of a motor mounting seat, 1-6 parts of a rotor support tube, 1-8 parts of a flight mechanism control system, 1-9 parts of a brushless motor driver, 1-10 parts of a flight mechanism main body and a support rod.
2. The three-degree-of-freedom parallel mechanism comprises, by weight, 2-1 parts of a three-degree-of-freedom parallel mechanism, 2-2 parts of a fixed platform, 2-2 parts of a driving motor, 2-3 parts of a driving rocker arm, 2-4 parts of a ball hinge, 2-5 parts of a middle connecting rod, 2-6 parts of a driven rocker, 2-7 parts of an extension spring, 2-8 parts of a movable platform, 2-9 parts of a parallel mechanism control system.
3. The device comprises a grabbing acquisition mechanism, 3-1 parts of a motor, 3-2 parts of a motor mounting seat, 3-3 parts of a roller, 3-4 parts of a tendon rope, 3-5 parts of a base flange, 3-6 parts of a driving rod, 3-7 parts of a compression spring, 3-8 parts of a gripper single joint, 3-9 parts of a cord, 3-10 parts of a cord pull pin, 3-11 parts of a moving flange, 3-12 parts of a three-hemisphere gripper.
4. And (5) inspecting the camera.
5. And (5) capturing the camera.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the four-rotor parallel acquisition robot of the present invention can realize stable acquisition of an aerial target, and mainly includes: the four-rotor flight mechanism comprises a four-rotor flight mechanism 1, a three-degree-of-freedom parallel mechanism 2, a grabbing and collecting mechanism 3, a patrol camera 4 and a grabbing camera 5. The three-degree-of-freedom parallel mechanism 2 is connected below the four-rotor flight mechanism 1, and the grabbing acquisition mechanism 3 is connected below the three-degree-of-freedom parallel mechanism 2. Wherein, four rotor flight mechanism 1 and three degree of freedom parallel mechanism 2 pass through bolted connection, and three degree of freedom parallel mechanism 2 and snatch acquisition mechanism 3 and pass through bolted connection. Tour camera 4 and install in four rotor flight 1 upper ends, capture camera 5 and install and snatch the 3 lower extremes of collection mechanism.
The four-rotor flight mechanism 1 and the patrol camera 4 are mainly used for carrying an integral structure and completing aerial flight and patrol functions. The three-degree-of-freedom parallel mechanism 2 is mainly used for providing three degrees of freedom, realizing three-degree-of-freedom spatial movement, realizing accurate adjustment in a target range and having good flexibility. The grabbing and collecting mechanism 3 and the grabbing camera 5 are mainly used for grabbing targets, and can achieve the function of collecting the targets.
As shown in fig. 2, the four-rotor flying mechanism 1 mainly includes: the device comprises a signal antenna 1-1, propeller blades 1-2, a brushless motor 1-3, a motor mounting seat 1-4, four rotor wing supporting tubes 1-5, a flight mechanism control system 1-6, a brushless motor driver 1-8, a flight mechanism main body 1-9 and three supporting rods 1-10. The three support rods 1-10 are respectively arranged at three corners of the lower end of the flight mechanism main body 1-9, and the three support rods 1-10 are uniformly distributed at the three corners of the lower end of the flight mechanism main body 1-9 at included angles of 120 degrees. The four rotor wing supporting tubes 1-5 are respectively arranged at four branch angles at the upper end of the flying mechanism main body 1-9, and the four rotor wing supporting tubes 1-5 are uniformly distributed at the four branch angles at the upper end of the flying mechanism main body 1-9 at 90-degree included angles. The end part of each rotor wing supporting tube 1-5 is provided with a motor mounting seat 1-4, each motor mounting seat 1-4 is provided with a brushless motor 1-3, and each brushless motor 1-3 is provided with two propeller blades 1-2. The signal antenna 1-1 and the flight mechanism control system 1-6 are both fixed on the upper end face of the flight mechanism main body 1-9. The signal antenna 1-1 is electrically connected with a flight mechanism control system 1-6. Each brushless motor 1-3 is connected with a flight mechanism control system 1-6. The flight mechanism control system 1-6 controls the brushless motor 1-3 to operate, and the brushless motor 1-3 drives the propeller blades 1-2 to rotate, so that air flight is realized.
In the present embodiment, the flight mechanism control system 1 to 6 employs the prior art.
As shown in fig. 3, the three-degree-of-freedom parallel mechanism 2 mainly includes: the device comprises a fixed platform 2-1, three driving motors 2-2, three driving rocker arms 2-3, a ball hinge 2-4, a middle connecting rod 2-5, a driven rocker 2-6, an extension spring 2-7, a movable platform 2-8 and a parallel mechanism control system 2-9. The middle of the fixed platform 2-1 is provided with a through hole. The middle of the movable platform 2-8 is provided with a through hole. The fixed platform 2-1 is connected with the lower end of the flying mechanism main body 1-9. The three driving motors 2-2 are respectively arranged at three supporting angles of the fixed platform 2-1. The three driving motors 2-2 are uniformly distributed at three support angles of the fixed platform 2-1 at included angles of 120 degrees. The three driving rocker arms 2-3 are correspondingly arranged with the three driving motors 2-2 one by one. The upper end of the driving rocker arm 2-3 is in a fork-shaped structure, and two sides of the fork-shaped structure are respectively connected with output shafts at two ends of the driving motor 2-2. The lower ends of the driving rocker arms 2-3 are respectively connected with two driven rocker arms 2-6 through ball hinges 2-4 and intermediate connecting rods 2-5, and the concrete is as follows: the two middle connecting rods 2-5 are respectively arranged at two sides of the lower end of the driving rocker arm 2-3, the end part of each middle connecting rod 2-5 is connected with the upper end of a driven rocker arm 2-6 through a ball hinge 2-4, and therefore, the lower end of each driving rocker arm 2-3 is connected with two driven rocker arms 2-6. The lower end of the driven rocker 2-6 is connected with the movable platform 2-8 through a ball hinge 2-4, and concretely comprises the following steps: the lower end of each driven rocker 2-6 is connected with the movable platform 2-8 through a ball hinge 2-4, two driven rockers 2-6 at the lower end of each driving rocker 2-3 are arranged at one supporting angle of the movable platform 2-8 in a group, and three supporting angles of the movable platform 2-8 are respectively provided with one group of driven rockers 2-6. The lower ends of the driven rockers 2 to 6 of each group are connected through an extension spring 2 to 7. Each driving motor 2-2 is electrically connected with the parallel mechanism control system 2-9, and the parallel mechanism control system 2-9 controls the driving motor 2-2 to operate, so that the spatial three-degree-of-freedom movement is realized.
In the present embodiment, the parallel mechanism control system 2 to 9 adopts the prior art.
As shown in fig. 4, the grasping and collecting mechanism 3 is a three hemisphere wire rope driving mechanism. Snatch collection mechanism 3 mainly includes: 3-1 parts of motor, 3-2 parts of motor mounting base, 3-3 parts of roller, 3-4 parts of tendon rope, 3-5 parts of base flange, 3-6 parts of driving rod, 3-7 parts of compression spring, 3-8 parts of single-joint of hand grip, 3-9 parts of thread rope, 3-10 parts of thread rope pull pin, 3-11 parts of movable flange and 3-12 parts of three-hemisphere hand grip. As shown in figure 5, the motor mounting seat 3-2 is fixedly connected with the flying mechanism main body 1-9 through bolts, the motor 3-1 is fixed on the motor mounting seat 3-2, and the roller 3-3 is connected with an output shaft of the motor 3-1. As shown in fig. 6, a base flange 3-5 of the grabbing acquisition mechanism 3 is fixedly connected with a movable platform 2-8 of the three-degree-of-freedom parallel mechanism 2 through bolts. The tendon ropes 3-4 extend into the through holes in the middle of the fixed platform 2-1 and the movable platform 2-8. The upper ends of the tendon ropes 3-4 are wound on the rollers 3-3, the lower ends of the tendon ropes 3-4 are fixed on the base flanges 3-5, and the base flanges 3-5 are connected to the three-hemisphere handholds 3-12 through three groups of revolute pairs. The three groups of rotating pairs are circumferentially and symmetrically arranged relative to the center of the base flange 3-5, and the included angles between every two adjacent groups of rotating pairs are 120 degrees.
Each group of revolute pair consists of a driving rod 3-6 and a gripper single joint 3-8. The upper ends of the three driving rods 3-6 are connected with three corners of the base flange 3-5 through rotating shafts. The single joint 3-8 of the hand grip is of an arc-shaped structure, and a through hole is formed in the middle of the single joint. The lower end of the driving rod 3-6 is connected with the middle bending position of the gripper single joint 3-8 through a rotating shaft.
The base flange 3-5 is connected with the movable flange 3-11 through a compression spring 3-7, namely the upper end of the compression spring 3-7 is connected to the base flange 3-5, and the lower end of the compression spring 3-7 is connected to the movable flange 3-11. One end of each of the three gripper single joints 3-8 is connected with three corners of the movable flange 3-11 through a rotating shaft. The other ends of the three single-joint grippers 3-8 are respectively connected with three parts of the three hemispherical grippers 3-12, and when the three parts of the three hemispherical grippers 3-12 are combined together, a closed-loop structure of a space is formed. The restoring force of the compression spring 3-7 can separate the base flange 3-5 from the movable flange 3-11, so that the three-hemisphere hand grab 3-12 is driven to be opened. Meanwhile, in order to prevent the compression spring 3-7 from being separated from the movable flange 3-11, three cords 3-9 are connected between the base flange 3-5 and the movable flange 3-11, the included angle between every two adjacent cords 3-9 is 120 degrees, the upper ends of the cords 3-9 are fixed on the lower surface of the base flange 3-5, the lower ends of the cords 3-9 are installed on the movable flange 3-11 through cord pull pins 3-10, and the three hemispheric hand grips 3-12 can be guaranteed to be in the maximum opening angle through the three cords 3-9. The motor 3-1 drives the roller 3-3 to rotate, and the roller 3-3 is driven to wind the tendon rope 3-4 so as to drive the three-hemisphere grab 3-12 to open and close. The grabbing acquisition mechanism 3 realizes the opening of the three-hemisphere hand grips 3-12 through the inherent elasticity of the compression springs 3-7, and realizes the closing of the three-hemisphere hand grips 3-12 through the driving of the ropes 3-9.
The vision system comprises two parts, namely a patrol camera 4 and a capture camera 5, wherein the patrol camera 4 is arranged on the main bodies 1-9 of the flight mechanism and can patrol and observe advancing targets. The capture camera 5 is arranged on the lower surface of the movable flange 3-11, and the capture camera 5 is positioned in the three-hemisphere hand grips 3-12, so that the position information of a captured target can be acquired, and visual feedback is realized. The patrol camera 4 and the capture camera 5 are both small cameras.
The invention discloses a four-rotor parallel acquisition robot, which has the following functions:
(1) Under a complex terrain environment, the four-rotor unmanned aerial vehicle carries the four-rotor parallel acquisition robot, and a patrol camera 4 is used for searching a target in the air.
(2) After the recognition target is found, the recognition target reaches the position near the target, the recognition target enters the reachable range of the four-rotor parallel acquisition robot, and at the moment, the three-degree-of-freedom parallel mechanism 2 is controlled by utilizing information returned by the capture camera 5 so as to achieve accurate positioning.
(3) And after the target is accurately reached to the upper part, opening the three-hemisphere hand grab for 3-12, implementing accurate grabbing action and realizing unmanned acquisition of the target.
(4) After the collection is finished, the peripheral environment is patrolled by the patrol camera 4, and the most favorable route is returned to the area where the controller is located, so that the whole scientific investigation collection task is finished.
The four-rotor parallel acquisition robot has good appearance, more importantly integrates the flight function and the acquisition function, fully utilizes the flexibility of the three-degree-of-freedom parallel mechanism 2, can realize long-distance flight motion and spatial three-degree-of-freedom movement, and is very suitable for scientific investigation work of plateau scientific researchers.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (3)
1. The utility model provides a four parallelly connected collection robots of rotor which characterized in that includes:
a four-rotor flight mechanism;
the inspection camera is arranged at the upper end of the four-rotor flight mechanism;
the three-degree-of-freedom parallel mechanism is arranged at the lower end of the four-rotor flight mechanism;
the grabbing acquisition mechanism is arranged at the lower end of the three-degree-of-freedom parallel mechanism;
the capture camera is arranged at the lower end of the capture acquisition mechanism;
the four-rotor flight mechanism includes: the system comprises a signal antenna, propeller blades, a brushless motor, a motor mounting seat, four rotor wing supporting tubes, a flight mechanism control system, a brushless motor driver, a flight mechanism main body and three supporting rods; the three support rods are respectively arranged at three support corners at the lower end of the flight mechanism main body, and are uniformly distributed at the three support corners at the lower end of the flight mechanism main body at included angles of 120 degrees; the four rotor wing supporting tubes are respectively arranged at four branch angles at the upper end of the flight mechanism main body, and are uniformly distributed at the four branch angles at the upper end of the flight mechanism main body at 90-degree included angles; the end part of each rotor wing supporting tube is provided with a motor mounting seat, each motor mounting seat is provided with a brushless motor, and each brushless motor is provided with two propeller blades; the signal antenna and the flight mechanism control system are both fixed on the upper end surface of the flight mechanism main body; the signal antenna is electrically connected with the flight mechanism control system; each brushless motor is connected with a flight mechanism control system; the flight mechanism control system controls the brushless motor to operate, and the brushless motor drives the propeller blades to rotate so as to realize air flight;
the three-degree-of-freedom parallel mechanism comprises: the device comprises a fixed platform, three driving motors, three driving rocker arms, a ball hinge, a middle connecting rod, a driven rocker, an extension spring, a movable platform and a parallel mechanism control system; a through hole is arranged in the middle of the fixed platform; a through hole is formed in the middle of the movable platform; the fixed platform is connected with the lower end of the main body of the flight mechanism; the three driving motors are respectively arranged at three supporting angles of the fixed platform; the three driving motors are uniformly distributed at three supporting angles of the fixed platform at an included angle of 120 degrees; the three driving rocker arms and the three driving motors are correspondingly arranged one by one; the upper end of the driving rocker arm is of a fork-shaped structure, and two sides of the fork-shaped structure are respectively connected with output shafts at two ends of the driving motor; the lower end of the driving rocker arm is respectively connected with the two driven rocking bars through a ball hinge and a middle connecting rod; the lower end of the driven rocker is connected with the movable platform through a ball hinge; the lower ends of each group of driven rockers are connected through an extension spring; each driving motor is electrically connected with the parallel mechanism control system, and the parallel mechanism control system controls the driving motors to operate so as to realize the movement of three degrees of freedom in space;
snatch collection mechanism includes: the device comprises a motor, a motor mounting seat, a roller, a tendon rope, a base flange, a driving rod, a compression spring, a single gripper joint, a cord pull pin, a movable flange and a three-hemisphere gripper; the motor mounting seat is fixedly connected with the flying mechanism main body, the motor is fixed on the motor mounting seat, and the roller is connected with an output shaft of the motor; the base flange is fixedly connected with a movable platform of the three-degree-of-freedom parallel mechanism; the tendon rope extends into a through hole between the fixed platform and the movable platform; the upper end of the tendon rope is wound on the roller, the lower end of the tendon rope is fixed on the base flange, and the base flange is connected to the three-hemisphere grab through the three groups of revolute pairs; the three groups of rotating pairs are circumferentially and symmetrically arranged relative to the center of the base flange, and the included angles between every two adjacent groups of rotating pairs are 120 degrees; each group of revolute pair consists of a driving rod and a gripper single joint; the upper ends of the three driving rods are connected with three corners of the base flange through rotating shafts; the single joint of the gripper is of an arc-shaped structure, and a through hole is formed in the middle of the gripper; the lower end of the driving rod is connected with the middle bending position of the single-joint of the gripper through a rotating shaft;
the base flange is connected with the movable flange through a compression spring; one end of each of the three gripper single joints is connected with three corners of the movable flange through a rotating shaft; the other ends of the single joints of the three grippers are respectively connected with three parts of the three hemispherical grippers; the restoring force of the compression spring can separate the base flange from the movable flange, so that the three hemispheres are driven to be manually held and unfolded; three cords are connected between the base flange and the movable flange, the included angle between every two adjacent cords is 120 degrees, the upper ends of the cords are fixed on the lower surface of the base flange, the lower ends of the cords are arranged on the movable flange through cord pull pins, and the three-hemisphere hand-holding maximum opening angle can be guaranteed through the three cords; the rollers are driven to rotate through the motor, and the rollers are driven to wind tendon ropes so as to drive the three hemispheres to grab the three hemispheres to open and close.
2. A four-rotor parallel acquisition robot according to claim 1, wherein the patrol camera is mounted on the main body of the flying mechanism.
3. A four-rotor parallel acquisition robot according to claim 1, wherein the capture camera is mounted on the lower surface of the movable flange, and the capture camera is located in a three-hemisphere hand grab.
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| CN114291264A (en) * | 2022-02-14 | 2022-04-08 | 天津七六四通信导航技术有限公司 | Unmanned aerial vehicle's first aid device |
| CN115107900B (en) * | 2022-07-28 | 2023-04-18 | 南京信息工程大学 | Deformable foot end mechanism |
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