CN111717391B - Four-rotor parallel acquisition robot - Google Patents

Abstract

A four-rotor parallel acquisition robot belongs to the field of aerial robots, comprising a four-rotor flight mechanism; a patrol camera installed on the upper end of the four-rotor flight mechanism; a three-degree-of-freedom parallel mechanism installed on the lower end of the four-rotor flight mechanism; a three-degree-of-freedom parallel A grasping and collecting mechanism at the lower end of the mechanism; a capture camera installed at the lower end of the grasping and collecting mechanism. Through the three-degree-of-freedom parallel mechanism, the grasping and collecting mechanism can accurately reach the top of the target, and is ready to implement the grasping action. Through the grasping and collecting mechanism, various objects of different shapes can be grasped, and the task of grasping the target can be realized. The invention has the functions of flying and grabbing and collecting at the same time, and can adjust the position of the grabbing and collecting mechanism according to the target position, and can perform unmanned target grabbing and collecting tasks in the complex and harsh environment of the plateau, and is suitable for scientific research personnel in complex Target collection in harsh environments facilitates the collection work of scientific research personnel.

Description

A four-rotor parallel acquisition robot

technical field

The invention belongs to the technical field of aerial robots, in particular to a four-rotor parallel acquisition robot.

Background technique

Plateau scientific research is an arduous task, especially in the face of some complex terrain, it is difficult to complete the scientific research task by relying solely on manpower, and the scientific research personnel return without success. This is not only a loss of personnel energy, but also a Passed by a valuable scientific expedition. With the rapid development of today's technology, drone detection has become very common, and it can detect dangerous terrain that humans cannot reach. However, the current drones can only achieve the purpose of transmitting images and reconnaissance terrain, and still cannot provide effective assistance to scientific expedition personnel in geological sampling. Therefore, new robots with comprehensive performance are needed to solve this technical problem.

UAVs are used to carry manipulators to grasp and perform grasping tasks. The most commonly used form is the use of series manipulators. For example, the US patent with publication number 20190202554A1 discloses a ground control system and method for aircraft, which uses a series mechanism to achieve grasping. Taking the task, the series mechanism is formed by sequentially connecting the kinematic pairs, which belongs to the open-loop mechanism. The series mechanism has a large movement space and high flexibility, but it also has obvious disadvantages, that is, the cumulative error of the kinematic pairs can reduce the end-execution The accuracy of the device, the "cantilever" mechanism has low stiffness, large inertia, and serious shortage of dynamic performance.

Compared with the series mechanism, the parallel mechanism is a closed-loop structure, and its moving and fixed platforms are connected by at least two independent kinematic chains. Compared with the series mechanism, the parallel mechanism has the advantages of compact structure, high precision, superior stiffness, and good dynamic performance. Based on this advantage, Dr. Clavel first proposed the Delta parallel robot that can move in three degrees of freedom in space. It has the characteristics of high-speed and stable movement, and is widely used in the rapid sorting operation of industrial and food packaging production lines. The U.S. patent with publication number 20180134387A1 combines drones and Delta robots to achieve operational tasks in complex environments. However, the patent does not improve the grasping function and the shaking problem during the hovering process of the drone.

In summary, the design and development of a four-rotor parallel acquisition robot with high reliability and excellent performance will be a hot issue in the field of robotics.

Contents of the invention

Aiming at the deficiencies of the existing unmanned aerial vehicle serial mechanism and the existing parallel mechanism, the present invention proposes a four-rotor parallel acquisition robot with compact structure, flexible movement and strong stability.

The scheme that the present invention adopts for solving technical problems is as follows:

A four-rotor parallel acquisition robot of the present invention comprises:

quadrotor flight mechanism;

The inspection camera installed on the upper end of the quadrotor flight mechanism;

A three-degree-of-freedom parallel mechanism installed at the lower end of the quadrotor flight mechanism;

The grasping and collecting mechanism installed at the lower end of the three-degree-of-freedom parallel mechanism;

The capture camera installed at the lower end of the capture mechanism.

Further, the quadrotor flight mechanism includes: signal antenna, propeller blade, brushless motor, motor mount, four rotor support tubes, flight mechanism control system, brushless motor driver, flight mechanism main body and three support rods; The three support rods are respectively installed at the three corners of the lower end of the main body of the flight mechanism, and the three support rods are evenly distributed at the three corners of the lower end of the main body of the flight mechanism at an angle of 120 degrees; At the four corners of the upper end of the main body of the mechanism, the four rotor support tubes are evenly distributed at the four corners of the upper end of the main body of the flight mechanism at an angle of 90 degrees; a motor mount is installed at the end of each rotor support tube, A brushless motor is installed on each motor mounting seat, and two propeller blades are installed on each brushless motor; the signal antenna and the flight mechanism control system are fixed on the upper end surface of the flight mechanism main body; the signal antenna and the flight mechanism The control system is electrically connected; each brushless motor is connected with the flight mechanism control system; the operation of the brushless motor is controlled by the flight mechanism control system, and the propeller blades are driven to rotate by the brushless motor to realize air flight.

Further, the patrol camera is installed on the main body of the flight mechanism.

Further, the three-degree-of-freedom parallel mechanism includes: a fixed platform, three driving motors, three driving rocker arms, a ball hinge, an intermediate link, a driven rocker, a tension spring, a moving platform, and a parallel mechanism control system; There is a through hole in the middle of the fixed platform; there is a through hole in the middle of the moving platform; the fixed platform is connected to the lower end of the main body of the flight mechanism; the three drive motors are respectively installed at the three corners of the fixed platform; Evenly distributed at the three corners of the fixed platform; the three driving rocker arms are installed in correspondence with the three driving motors; the upper end of the driving rocker arm is a fork-shaped structure, and the two sides of the fork-shaped structure are respectively connected to the output shafts at both ends of the driving motor ;The lower end of the driving rocker arm is connected to the two driven rockers respectively through a ball hinge and the intermediate link; the lower end of the driven rocker is connected to the moving platform through a ball hinge; the lower end of each group of driven rockers is connected through a tension spring; Each drive motor is electrically connected to the parallel mechanism control system, and the operation of the drive motor is controlled by the parallel mechanism control system to realize the movement of three degrees of freedom in space.

Further, the grasping and collecting mechanism includes: a motor, a motor mount, a roller, a tendon rope, a base flange, a driving rod, a compression spring, a single joint of the gripper, a wire rope, a wire pull pin, a movable flange and three Hemispherical hand grip; the motor mount is fixedly connected to the main body of the flight mechanism, the motor is fixed on the motor mount, and the roller is connected to the output shaft of the motor; the base flange is fixedly connected to the moving platform of the three-degree-of-freedom parallel mechanism; the tendon rope extends into the fixed In the through hole between the platform and the moving platform; the upper end of the tendon rope is wound on the roller, and the lower end of the tendon rope is fixed on the base flange, which is connected to the three hemispherical hand grip through three sets of rotating pairs; The center of the blue is arranged symmetrically on the circumference, and the included angle between two adjacent groups of rotating pairs is 120 degrees; each group of rotating pairs is composed of a driving rod and a single joint of the gripper; the upper ends of the three driving rods pass through the rotating shaft and the basic method The three corners of the blue are connected; the single joint of the gripper is an arc-shaped structure with a through hole in the middle; the lower end of the drive rod is connected to the middle bending position of the single joint of the gripper through a rotating shaft;

The base flange and the moving flange are connected by compression springs; one end of the single joint of the three grippers is connected with the three corners of the moving flange through the rotating shaft; The two parts are connected; the restoring force of the compression spring can separate the base flange and the moving flange, thereby driving the three hemispheres to open; there are three wires connected between the base flange and the moving flange, and two adjacent wires. The angle between them is 120 degrees, the upper end of the wire rope is fixed on the lower surface of the base flange, and the lower end of the wire rope is installed on the movable flange through the wire pull pin, and the maximum opening angle of the three hemispheres can be guaranteed by the three wire ropes; The roller is driven by the motor to rotate, and the roller is driven to wind the tendon rope to drive the opening and closing of the three hemispheres.

Further, the capture camera is installed on the lower surface of the movable flange, and the capture camera is located in the three-hemispheric grip.

The beneficial effects of the present invention are:

1. The three-degree-of-freedom parallel mechanism designed by the present invention can realize the movement in the x, y, and z directions in the Euclidean space, so that the grasping and collecting mechanism can accurately reach the top of the target and prepare to implement the grasping action. At the same time, the three-degree-of-freedom parallel mechanism can realize small-scale movement when the drone is hovering, can realize three-degree-of-freedom translation in space, and can compensate for positional deviation caused by hovering vibration in flight.

2. The grasping and collecting mechanism designed by the present invention is a three-hemisphere hand grasping wire rope drive mechanism, which has the function of opening and closing, and can grasp various objects of different shapes to realize the task of grasping the objects.

3. The present invention has the functions of flying and grabbing and collecting at the same time, and the position of the grabbing and collecting mechanism can be adjusted accordingly according to the target position. It can perform unmanned target grabbing and collecting tasks in the complex and harsh environment of the plateau, and is suitable for scientific research personnel The target collection in complex and harsh environments facilitates the collection work of scientific research personnel.

4. The present invention controls the flight of the robot by sending signals at the remote end through the control system, and at the same time controls the positioning of the four-degree-of-freedom parallel mechanism and the grasping action of the grasping and collecting mechanism.

5. The present invention adopts the upper, middle and lower three-stage structure for assembly, which has the advantages of easy assembly and disassembly, compact structure, small size, flexible movement, strong stability, and easy portability, and has broad scientific research and application prospects.

Description of drawings

Fig. 1 is a structural schematic diagram of a four-rotor parallel acquisition robot of the present invention.

Fig. 2 is a structural schematic diagram of a four-rotor flight mechanism.

Fig. 3 is a structural schematic diagram of a three-degree-of-freedom parallel mechanism.

Fig. 4 is a schematic structural diagram of the grasping and collecting mechanism.

Fig. 5 is a schematic diagram of the connection mode between the four-rotor flying mechanism and the three-degree-of-freedom parallel mechanism.

Fig. 6 is a schematic diagram of the connection mode of the three-degree-of-freedom parallel mechanism and the grasping and collecting mechanism.

In the figure: 1, four-rotor flight mechanism, 1-1, signal antenna, 1-2, propeller blade, 1-3, brushless motor, 1-4, motor mounting seat, 1-5, rotor support tube, 1- 6. Flight mechanism control system, 1-8, brushless motor driver, 1-9, flight mechanism main body, 1-10, support rod.

2. Three-degree-of-freedom parallel mechanism, 2-1, fixed platform, 2-2, drive motor, 2-3, drive rocker arm, 2-4, ball hinge, 2-5, intermediate link, 2-6, from Rocking bar, 2-7, tension spring, 2-8, moving platform, 2-9, parallel mechanism control system.

3. Grabbing and collecting mechanism, 3-1, motor, 3-2, motor mounting seat, 3-3, roller, 3-4, tendon rope, 3-5, base flange, 3-6, driving rod, 3 -7, compression spring, 3-8, gripper single joint, 3-9, wire rope, 3-10, wire rope pull pin, 3-11, moving flange, 3-12, three hemispherical hand grips.

4. Tour camera.

5. Capture the camera.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figure 1, a four-rotor parallel acquisition robot of the present invention can realize stable acquisition of aerial targets, mainly including: four-rotor flight mechanism 1, three-degree-of-freedom parallel mechanism 2, grasping and acquisition mechanism 3, patrol camera 4 and capture camera5. A three-degree-of-freedom parallel mechanism 2 is connected below the four-rotor flying mechanism 1 , and a grasping and collecting mechanism 3 is connected below the three-degree-of-freedom parallel mechanism 2 . Among them, the four-rotor flying mechanism 1 and the three-degree-of-freedom parallel mechanism 2 are connected by bolts, and the three-degree-of-freedom parallel mechanism 2 and the grasping and collecting mechanism 3 are connected by bolts. The patrol camera 4 is installed on the upper end of the four-rotor flight mechanism 1, and the capture camera 5 is installed on the lower end of the grasping and collecting mechanism 3.

The four-rotor flight mechanism 1 and the inspection camera 4 are mainly used to carry the overall structure to complete the functions of air flight and inspection. The three-degree-of-freedom parallel mechanism 2 is mainly used to provide three degrees of freedom to realize three-degree-of-freedom movement in space, and can realize precise adjustment within a target range, and has good flexibility. The grasping and collecting mechanism 3 and the capturing camera 5 are mainly used for grasping the target, and can realize the function of collecting the target.

As shown in Figure 2, the quadrotor flight mechanism 1 mainly includes: signal antenna 1-1, propeller blade 1-2, brushless motor 1-3, motor mount 1-4, four rotor support tubes 1-5, flight Mechanism control system 1-6, brushless motor driver 1-8, flight mechanism main body 1-9 and three support rods 1-10. The three support rods 1-10 are respectively installed at the three corners at the lower end of the flight mechanism main body 1-9, and the three support rods 1-10 are evenly distributed at the three support angles at the lower end of the flight mechanism main body 1-9 at an angle of 120 degrees. corner. The four rotor support tubes 1-5 are respectively installed at the four corners of the upper end of the flight mechanism main body 1-9, and the four rotor support tubes 1-5 are evenly distributed at the four corners of the upper end of the flight mechanism main body 1-9 with an included angle of 90 degrees. at a corner. A motor mount 1-4 is installed at the end of each rotor support tube 1-5, a brushless motor 1-3 is installed on each motor mount 1-4, and each brushless motor 1-3 Two propeller blades 1-2 are installed on the top. Both the signal antenna 1-1 and the flight mechanism control system 1-6 are fixed on the upper end surface of the flight mechanism main body 1-9. The signal antenna 1-1 is electrically connected with the flight mechanism control system 1-6. Each brushless motor 1-3 is connected with the flight mechanism control system 1-6. The operation of the brushless motor 1-3 is controlled by the flight mechanism control system 1-6, and the propeller blades 1-2 are driven to rotate by the brushless motor 1-3, thereby realizing air flight.

In this embodiment, the flight mechanism control system 1-6 adopts the prior art.

As shown in Figure 3, the three-degree-of-freedom parallel mechanism 2 mainly includes: a fixed platform 2-1, three driving motors 2-2, three driving rocker arms 2-3, a ball hinge 2-4, and an intermediate link 2-5 , driven rocker 2-6, extension spring 2-7, moving platform 2-8 and parallel mechanism control system 2-9. A through hole is arranged in the middle of the fixed platform 2-1. A through hole is arranged in the middle of the moving platform 2-8. The fixed platform 2-1 is connected with the lower end of the flight mechanism main body 1-9. Three driving motors 2-2 are respectively installed at three corners of the fixed platform 2-1. The three driving motors 2-2 are evenly distributed at the three corners of the fixed platform 2-1 with an included angle of 120 degrees. The three drive rocker arms 2-3 are installed in one-to-one correspondence with the three drive motors 2-2. The upper end of the driving rocker arm 2-3 is a fork-shaped structure, and the two sides of the fork-shaped structure are respectively connected with the output shafts at the two ends of the driving motor 2-2. The lower end of the driving rocker arm 2-3 is connected to the two driven rocking bars 2-6 respectively through the ball hinge 2-4 and the intermediate connecting rod 2-5, specifically: the two intermediate connecting rods 2-5 are installed on the driving rocking Both sides of the lower end of the arm 2-3, the ends of each intermediate link 2-5 are connected with the upper end of a driven rocker 2-6 through a ball hinge 2-4, therefore, each driving rocker arm 2-3 lower end is Two driven rockers 2-6 are connected. The lower end of the driven rocker 2-6 is connected with the moving platform 2-8 through a ball hinge 2-4, specifically: the lower end of each driven rocker 2-6 is connected with the moving platform 2-8 through a ball hinge 2-4 connected, and the two driven rockers 2-6 at the lower end of each drive rocker arm 2-3 are installed as a group on one corner of the moving platform 2-8, and at the three corners of the moving platform 2-8 One group of driven rockers 2-6 are installed respectively. The lower ends of every group of driven rockers 2-6 are connected by a tension spring 2-7. Each drive motor 2-2 is electrically connected to the parallel mechanism control system 2-9, and the operation of the drive motor 2-2 is controlled by the parallel mechanism control system 2-9, thereby realizing movement in three degrees of freedom in space.

In this embodiment, the parallel mechanism control system 2-9 adopts the prior art.

As shown in FIG. 4 , the grasping and collecting mechanism 3 is a three-hemispherical wire rope driving mechanism. Grabbing and collecting mechanism 3 mainly includes: motor 3-1, motor mount 3-2, roller 3-3, tendon rope 3-4, base flange 3-5, driving rod 3-6, compression spring 3-7, Grab single joint 3-8, wire rope 3-9, wire rope pull pin 3-10, moving flange 3-11 and three-hemisphere hand grasp 3-12. As shown in Figure 5, the motor mounting base 3-2 is fixedly connected with the flight mechanism main body 1-9 by bolts, the motor 3-1 is fixed on the motor mounting base 3-2, and the output shaft of the roller 3-3 and the motor 3-1 connected. As shown in FIG. 6 , the base flange 3-5 of the grasping and collecting mechanism 3 is fixedly connected with the moving platform 2-8 of the three-degree-of-freedom parallel mechanism 2 through bolts. Tendon rope 3-4 stretches in the middle through hole of fixed platform 2-1 and moving platform 2-8. The upper end of the tendon rope 3-4 is wound on the roller 3-3, the lower end of the tendon rope 3-4 is fixed on the base flange 3-5, and the base flange 3-5 is connected to the three hemispherical hand grip 3-12 through three sets of rotating pairs . The three groups of revolving pairs are arranged symmetrically with respect to the center of the base flange 3-5, and the included angles between two adjacent groups of revolving pairs are all 120 degrees.

Each group of revolving pairs is composed of drive rods 3-6 and gripper single joints 3-8. The upper ends of the three driving rods 3-6 are all connected to the three corners of the base flange 3-5 through rotating shafts. The single joint 3-8 of the gripper is an arc structure with a through hole in the middle. The lower end of the driving rod 3-6 is connected to the middle bending position of the gripper single joint 3-8 through a rotating shaft.

The base flange 3-5 and the moving flange 3-11 are connected by a compression spring 3-7, that is, 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 dynamic Lan 3-11 on. One end of the three gripper single joints 3-8 is connected with three corners of the moving flange 3-11 through a rotating shaft. The other ends of the three single joints 3-8 of the three grippers are respectively connected with the three parts of the three hemispherical grips 3-12. When the three parts of the three hemispherical grips 3-12 are combined together, a closed-loop structure of space is formed. The restoring force of the compression spring 3-7 can separate the base flange 3-5 and the moving flange 3-11, thereby driving the three-hemisphere grip 3-12 to open. Simultaneously, in order to keep the compression spring 3-7 from breaking away from the moving flange 3-11, three wire ropes 3-9 are connected between the base flange 3-5 and the moving flange 3-11, and two adjacent wire ropes 3-11 The angle between 9 is 120 degrees, the upper end of the wire rope 3-9 is fixed on the lower surface of the base flange 3-5, and the lower end of the wire rope 3-9 is installed on the movable flange 3-11 through the wire pull pin 3-10 , the maximum opening angle of the grip 3-12 of the three hemispheres can be guaranteed through the three wire ropes 3-9. The roller 3-3 is driven to rotate by the motor 3-1, and the roller 3-3 is driven to wind the tendon rope 3-4, thereby driving the opening and closing of the three hemispherical hand grips 3-12. The grasping and collecting mechanism 3 realizes the opening of the three hemispherical hand grasps 3-12 through the inherent elastic force of the compression spring 3-7, and realizes the closing of the three hemispherical hand grasps 3-12 by driving the wire rope 3-9.

The vision system of the present invention includes two parts, namely a patrol camera 4 and a capture camera 5, wherein the patrol camera 4 is installed on the main body of the flight mechanism 1-9, and can patrol and observe the advancing target. The capture camera 5 is installed on the lower surface of the movable flange 3-11, and the capture camera 5 is located in the three-hemisphere hand grasp 3-12, which can obtain the position information of the capture target, thereby realizing visual feedback. Both the tour camera 4 and the capture camera 5 are small cameras.

A four-rotor parallel acquisition robot of the present invention has the following functions:

(1) In a complex terrain environment, the quadrotor parallel acquisition robot of the present invention is carried by the quadrotor UAV, and the patrol camera 4 is used to search for targets in the air.

(2) After finding the identification target, reach the vicinity of the target and enter the reachable range of the four-rotor parallel acquisition robot. At this time, use the information sent back by the capture camera 5 to control the three-degree-of-freedom parallel mechanism 2 to achieve precise positioning.

(3) After accurately reaching the top of the target, open the three-hemisphere hand grip 3-12 to implement precise grasping actions to realize unmanned collection of the target.

(4) After the collection is completed, use the inspection camera 4 to inspect the surrounding environment, and return to the area where the controller is located by the most favorable route. So far, the entire scientific research collection task is completed.

A four-rotor parallel acquisition robot of the present invention not only has a good appearance, but more importantly integrates the flight function and acquisition function into one, fully utilizes the flexibility of the three-degree-of-freedom parallel mechanism 2, and can realize long-distance flight movement , and can realize the movement of three degrees of freedom in space, which is very suitable for the scientific research work of plateau scientific research personnel.

The above is only a preferred embodiment of the present invention, and it should be pointed out that for those of ordinary skill in the art, some improvements and modifications can be made without departing from the principle of the present invention. It should be regarded as the protection scope of the present invention.

Claims (3)

1. A four-rotor parallel acquisition robot, characterized in that it comprises: quadrotor flight mechanism; The inspection camera installed on the upper end of the quadrotor flight mechanism; A three-degree-of-freedom parallel mechanism installed at the lower end of the quadrotor flight mechanism; The grasping and collecting mechanism installed at the lower end of the three-degree-of-freedom parallel mechanism; The capture camera installed at the lower end of the capture mechanism; The quadrotor flight mechanism includes: signal antenna, propeller blades, brushless motor, motor mount, four rotor support tubes, flight mechanism control system, brushless motor driver, flight mechanism main body and three support rods; The rods are respectively installed at the three corners at the lower end of the main body of the flight mechanism, and the three support rods are evenly distributed at the three corners at the lower end of the main body of the flight mechanism at an angle of 120 degrees; the four rotor support tubes are respectively installed at the upper end of the main body of the flight mechanism At the four corners of the four rotor support tubes, the four rotor support tubes are evenly distributed at the four corners of the upper end of the main body of the flight mechanism at an angle of 90 degrees; a motor mounting seat is installed at the end of each rotor support tube, and each motor A brushless motor is installed on the mounting base, and two propeller blades are installed on each brushless motor; the signal antenna and the flight mechanism control system are fixed on the upper end surface of the flight mechanism main body; the signal antenna and the flight mechanism control system electric Connection; each brushless motor is connected to the flight mechanism control system; the operation of the brushless motor is controlled by the flight mechanism control system, and the propeller blades are driven to rotate by the brushless motor to realize air flight; The three-degree-of-freedom parallel mechanism includes: a fixed platform, three driving motors, three driving rocker arms, a ball hinge, an intermediate link, a driven rocker, a tension spring, a moving platform and a parallel mechanism control system; A through hole is provided; a through hole is provided in the middle of the moving platform; the fixed platform is connected to the lower end of the main body of the flight mechanism; the three drive motors are respectively installed at the three corners of the fixed platform; the three drive motors are evenly distributed at the angle of 120 degrees. The three corners of the fixed platform; the three driving rocker arms and the three driving motors are installed in one-to-one correspondence; The lower end of the arm is respectively connected with two driven rockers through a ball hinge and an intermediate link; the lower end of the driven rocker is connected with the moving platform through a ball hinge; the lower end of each set of driven rockers is connected through a tension spring; each drive The motors are electrically connected to the parallel mechanism control system, and the parallel mechanism control system controls the operation of the driving motor to realize the movement of three degrees of freedom in space; The grasping and collecting mechanism includes: a motor, a motor mount, a roller, a tendon rope, a base flange, a drive rod, a compression spring, a single joint of the gripper, a wire rope, a wire pull pin, a moving flange, and a three-hemispherical hand gripper. ; The motor mounting seat is fixedly connected with the main body of the flight mechanism, the motor is fixed on the motor mounting seat, and the roller is connected with the output shaft of the motor; the base flange is fixedly connected with the moving platform of the three-degree-of-freedom parallel mechanism; the tendon rope extends into the fixed platform and the moving platform In the through hole in the middle of the 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 hand grip through three sets of rotating pairs; Arranged in a circular symmetry, the angle between two adjacent groups of revolving pairs is 120 degrees; each group of revolving pairs consists of a drive rod and a single joint of the gripper; The two corners are connected; the single joint of the gripper is an arc structure with a through hole in the middle; the lower end of the driving rod is connected to the middle bending position of the single joint of the gripper through the rotating shaft; The base flange and the moving flange are connected by compression springs; one end of the single joint of the three grippers is connected with the three corners of the moving flange through the rotating shaft; The two parts are connected; the restoring force of the compression spring can separate the base flange and the moving flange, thereby driving the three hemispheres to open; there are three wires connected between the base flange and the moving flange, and two adjacent wires. The angle between them is 120 degrees, the upper end of the wire rope is fixed on the lower surface of the base flange, and the lower end of the wire rope is installed on the movable flange through the wire pull pin, and the maximum opening angle of the three hemispheres can be guaranteed by the three wire ropes; The roller is driven by the motor to rotate, and the roller is driven to wind the tendon rope to drive the opening and closing of the three hemispheres. 2. A four-rotor parallel acquisition robot according to claim 1, wherein the patrol camera is installed on the main body of the flight mechanism. 3. A four-rotor parallel acquisition robot according to claim 1, characterized in that the capture camera is installed on the lower surface of the moving flange, and the capture camera is located in the three-hemisphere grip.

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