A bionic grasping and flying integrated deformable drone

Abstract

The invention discloses a bionic grasping and flying integrated deformable unmanned aerial vehicle, comprising a first imitation finger module, a first imitation palm module, a second imitation finger module and a second imitation palm module, wherein a propeller and a corresponding driver are arranged below each module; the first imitation finger module and the first imitation palm module, the first imitation palm module and the second imitation palm module, and the second imitation palm module and the second imitation finger module are all rotationally connected through a composite under-actuated deformation structure; the composite under-actuated deformation structure is deformed by line drive, and comprises a passive telescopic mechanism and a passive rotating mechanism, wherein the passive telescopic mechanism is used to adjust the distance between each module, and the passive rotating mechanism is used to rotate the imitation finger module relative to the imitation palm module, so as to realize the bionic flexion and extension and grasping functions.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a bionic grasping and flying integrated deformable unmanned aerial vehicle. Background Art

[0002] Traditional aerial drones are composed of two independent platforms: drones and robotic arms. This not only increases the mass of the whole machine, but also significantly increases the size of the drone, which is not conducive to flight endurance and operation in narrow spaces. To address this problem, "integrated highly integrated design" is an important solution. Conventional multi-degree-of-freedom deformation grasping structures will lead to a significant increase in the number of actuators, increased mass, and reduced drive energy efficiency. How to balance high degrees of freedom with a novel deformation structure with fewer actuators is also a core issue that needs to be broken through.

[0003] For the problem of grasping and transporting multi-rotors, the general idea of ​​researchers is to add additional manipulators. "Kondak K, Huber F, Schwarzbach M, et al. Aerial manipulation robot composed of an autonomous helicopter and a 7 degrees of freedom industrial manipulator [C] / / 2014 IEEE international conference on robotics and automation (ICRA). IEEE, 2014: 2107-2112." Adding a manipulator mechanism to the multi-rotor and operating the manipulator can grasp objects, but in terms of the kinematics of the end effector, most designs have redundancy in the manipulator and the torque generated by the mass of the manipulator has a considerable impact, so the control algorithm of the aerial robot and the manipulator coupling becomes complicated, and the mass of the multi-rotor is increased. 《Roderick WRT, Cutkosky MR, Lentink D. Bird-inspired dynamic grasping and perching in arboreal environments[J]. Science Robotics, 2021, 6(61):eabj7562.》Inspired by birds, a set of bionic aerial robots that can dynamically perch on complex surfaces and grasp irregular objects was developed. The controller adopts a hybrid of attitude, open loop and closed loop. However, its essence is still a simple combination of a quadrotor and a grasping mechanism, with the defects of large size and structural redundancy. 《Zhang G, He Y, Dai B, et al.Aerial grasping of an object in the strong wind: Robust control of an aerial manipulator[J]. Applied Sciences, 2019, 9(11): 2230.》Studied an aerial manipulation robot model with a manipulator, regarded the operation of the manipulator as noise to the control of the drone, and used a robust controller to achieve efficient anti-interference manipulator operation of the drone. However, the volume of its carrying platform is too large to be applied in small spaces.

[0004] In order to meet the requirements of lightweight, high energy efficiency and flexibility for tasks such as autonomous aerial grasping, the second solution is to use the variable mechanism of the quadcopter itself to grasp and transport. Many institutions at home and abroad have conducted research on variable structure UAVs. Zhao M, Anzai T, Shi F, et al. Design, modeling, and control of anaerial robot dragon: A dual-rotor-embedded multilink robot with the ability of multi-degree-of-freedom aerial transformation[J]. IEEE Robotics and Automation Letters, 2018, 3(2): 1176-1183. proposed a multi-joint articulated serial aerial robot that can achieve complex and large-scale morphological changes in the air. It also proposed an online thrust level optimization method to use the head and tail to grasp objects stably. The UAV has high thrust utilization, physical interaction performance, excellent maneuverability and flexibility, but the platform driver is highly redundant and bulky, and the grasping control is extremely complex. 《 Falanga D, Kleber K,Mintchev S, et al. The foldable drone: A morphing quadrotor that can squeezeand fly[J]. IEEE Robotics and Automation Letters, 2018, 4(2): 209-216.》 The designed foldable quadrotor can use its own deformation to realize the grabbing of objects by the arms, but the grabbing position is far from the center of gravity of the body, which is not conducive to flight control. Summary of the invention

[0005] In view of the problems existing in the prior art, the purpose of the embodiments of the present application is to provide a deformable drone that integrates bionic grasping and flight.

[0006] The technical solution of this application is as follows:

[0007] A bionic grasping and flying integrated deformable drone, comprising a first imitation finger module, a first imitation palm module, a second imitation finger module and a second imitation palm module, each module being provided with a propeller and a corresponding driver below;

[0008] The first imitating finger module and the first imitating palm module, the first imitating palm module and the second imitating palm module, and the second imitating palm module and the second imitating finger module are all rotationally connected via a composite under-actuated deformation structure;

[0009] The composite under-actuated deformation structure is deformed by line drive, and includes a passive telescopic mechanism and a passive rotation mechanism. The passive telescopic mechanism is used to adjust the distance between the modules, and the passive rotation mechanism is used to rotate the finger-imitation module relative to the palm-imitation module to achieve bionic flexion and extension and grasping functions.

[0010] Furthermore, a decentralized symmetrical configuration in which each module is evenly distributed is adopted, and the first finger-imitation module and the first palm-imitation module are symmetrically arranged with the second finger-imitation module and the second palm-imitation module.

[0011] Furthermore, the passive telescopic mechanism includes a slider-slide rail assembly and a compression spring, and the relative movement of adjacent modules is achieved by sliding the slider on the slide rail, and the compression spring is sleeved on the slide rail.

[0012] Furthermore, there are two groups of slider-slide rail assemblies, and the compression spring is sleeved on the slide rail of one group of slider-slide rail assemblies.

[0013] Furthermore, the passive rotation mechanism includes a torsion spring and a circumferential bearing, wherein the circumferential bearing is used to reduce friction during rotation, and the torsion spring is used to provide a driving force for recovery after rotation.

[0014] Furthermore, each of the finger-simulating modules is provided with a double-layer structure, which is rotatably connected to the finger-simulating module via a bolt, one end of the passive telescopic mechanism between the finger-simulating module and the palm-simulating module is fixed on the double-layer structure, and the circumferential bearing and the torsion spring are sleeved on the bolt and separated by an upper plate of the double-layer structure.

[0015] Furthermore, the composite under-actuated deformation structure adopts a single motor line driven deformation method, specifically: fixed pulleys are respectively arranged on the bottom plate of the finger-imitation module and the bottom plate of the corresponding double-layer structure, at least one fixed pulley is arranged on the bottom plate of the palm-imitation module, one end of a thin rope is fixed to a finger-imitation module, the other end of the thin rope is wound in sequence along the groove direction of each fixed pulley and connected to the servo motor on another finger-imitation module, and the passive telescopic mechanism and the passive rotation mechanism are simultaneously controlled by the servo motor.

[0016] Further, the spring constant of the compression spring is smaller than the spring constant of the torsion spring.

[0017] Furthermore, it also includes a lithium battery, an electric speed controller and a flight control board. The lithium battery is used to power the electric speed controller, the flight control board, the driver and the servo motor. The flight control board is used to issue control instructions according to needs, and the electric speed controller is used to convert the control instructions and send them to each driver and servo motor.

[0018] This application is summarized as follows:

[0019] 1. A new type of bionic gripping and flight integrated variable structure UAV is proposed, which can actively deform and adjust the size of two dimensions;

[0020] 2. A lightweight variable structure UAV mechanical architecture inspired by human hands is proposed, including multiple models such as wire-driven structure, under-actuated structure, telescopic and torsion mechanism;

[0021] 3. It has realized a variety of functional applications such as aerial grasping and aerial perching. For example, it can hover and perch in environments such as tree trunks, and can grasp objects of various shapes without adding additional robotic arms.

[0022] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0023] It can be seen from the above embodiments that the present application is inspired by the biological phenomena of human hand grasping and multi-degree-of-freedom joints, imitates human movement modes such as "palm grasping" and "fingertip clamping", and starts from the aspects of miniaturization, integration, and multifunctionality of aerial drone operation to design a highly integrated, highly adaptable, and highly stable bionic grasping and flight integrated variable structure drone, avoiding the problem of low driving efficiency of drones equipped with mechanical arms for aerial object manipulation; a high-degree-of-freedom under-actuated structure composed of multiple motion mechanisms such as active telescopic and passive rotation, a lightweight variable structure unmanned machine configuration based on a wire drive structure, an under-actuated deformation structure that integrates linear transmission and circular rotation, and improves the diversity and adaptability of drone morphology; a multi-degree-of-freedom active deformation rope-driven structure is studied under the condition of only carrying a single power source, and an open-loop bionic hand configuration is also used to achieve full-size dynamic adjustment of the fuselage on the horizontal plane, dynamic grasping of objects of various shapes, and active inhabitation in complex environments.

[0024] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0026] Figure 1Schematic diagram of the grasping principle of a human hand according to an exemplary embodiment, wherein (a) is the tendon-driven structure of the finger; (b) is the embracing grasping configuration of the human hand; and (c) is the multi-degree-of-freedom joint structure of the human hand.

[0027] Figure 2 1 is a schematic diagram of the mechanical design of a new bionic grasping and flying integrated deformable UAV at its maximum (conventional) size according to an exemplary embodiment, wherein (a) is a three-dimensional mechanical structure; and (b) is a two-dimensional mechanical schematic.

[0028] Figure 3 1 is a schematic diagram of the mechanical structure of a novel bionic grasping and flying integrated deformable UAV at its minimum size according to an exemplary embodiment, wherein (a) is a three-dimensional mechanical structure; and (b) is a two-dimensional mechanical schematic diagram.

[0029] Figure numerals: 1. first finger-imitation module; 2. second finger-imitation module; 3. first palm-imitation module; 4. second palm-imitation module; 5. servo motor; 6. fixed pulley; 7. compression spring; 8. thin rope; 9. slide rail; 10. slider; 11. propeller; 12. brushless motor; 13 circumferential bearing; 14. torsion spring. DETAILED DESCRIPTION

[0030] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0031] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0032] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0033] The design of this invention is inspired by the human hand grasping method and the biological phenomena of multi-degree-of-freedom joints, such as Figure 1 As shown in (a) in the figure, the tendon drive mode of the finger can efficiently control the bending and grasping of the finger structure; Figure 1 As shown in (b) in the figure, the human hand can use the embracing open grasping contour to obtain a larger grasping range; Figure 1 As shown in (c), the multi-degree-of-freedom joint structure of the human hand can adapt to the shape of the object being grasped.

[0034] By imitating human's "palm grasping" and "fingertip clamping" movement modes and combining the grasping structure and working mechanism of human hands, the present invention designs a bionic grasping and flying integrated deformable drone, such as Figure 2 As shown, it includes a first imitating finger module 1, a first imitating palm module 3, a second imitating finger module 2 and a second imitating palm module 4, and a propeller 11 and a corresponding driver are arranged under each module; the first imitating finger module 1 and the first imitating palm module 3, the first imitating palm module 3 and the second imitating palm module 4, and the second imitating palm module 4 and the second imitating finger module 2 are all rotationally connected through a composite under-actuated deformation structure; the composite under-actuated deformation structure is deformed by line drive, and includes a passive telescopic mechanism and a passive rotation mechanism, the passive telescopic mechanism is used to adjust the distance between the modules, and the passive rotation mechanism is used to rotate the imitating finger module relative to the imitating palm module to realize bionic flexion and extension and grasping functions.

[0035] In the specific implementation, the first imitation finger module 1, the first imitation palm module 3 and the second imitation finger module 2, the second imitation palm module 4 are symmetrically arranged to avoid the deviation of the structural center of gravity and the geometric center caused by the asymmetric structure, which increases the control difficulty. At the same time, the finger module here is not completely designed to imitate the three rotation joints of the index finger, but is simplified to a single rotation mechanism. This is because a single rotation mechanism can already achieve similar finger flexion and extension and grasping functions, and the streamlined structure can improve the compactness and lightness of the platform.

[0036] The integrated deformable unmanned machine configuration of the present application is very similar to the open embracing outline of a human hand. This structure has a large grasping range and can increase the contact area with the grasped object, thereby improving the reliability of grasping. Inspired by the biological structure of the human hand composed of multiple degrees of freedom joints, multiple motion mechanisms are combined to form a high-degree-of-freedom grasping structure to match the grasping needs of human hands. The drone fuselage abandons the centralized configuration of the traditional quadcopter arm connected to the main body, and adopts a decentralized symmetrical configuration with four different modules evenly distributed. The modules are connected by a series structure to form an integrated deformable configuration. At the same time, the center area of ​​the drone platform is close to an arc shape, realizing adaptive grasping of objects of different shapes.

[0037] In order to achieve aerial flight movement, the drone platform of the present invention uses four brushless motors 12 as the main drivers of the corresponding propellers 11, driving the propellers 11 to rotate and generate appropriate thrust to achieve the functions of drone take-off, landing, and flight. The four-rotor platform has the advantages of small size and strong maneuverability, which is conducive to improving the driving ability. The drone system and the grasping fuselage structure together form an integrated drone platform that imitates human hands. The center of the platform adopts an integrated annular clamping structure design, which does not require the addition of additional mechanical arms to grasp objects, and this structure does not cause a significant increase in the total mass of the body.

[0038] In the specific implementation, adjacent modules are connected by a passive telescopic mechanism, which includes a slider 10-slide rail 9 assembly and a compression spring 7. Preferably, two sets of sliders 10-slide rail 9 assemblies can be provided. Compared with a single set of sliders 10-slide rail 9 assemblies, this double structure design can improve the rigidity of the connection. The compression spring 7 is mounted on one of the slide rails 9 to achieve the recovery after the modules are telescoped. It is worth noting that the positions of the two sets of sliders 10-slide rail 9 assemblies can be adjusted according to the layout. For example, the arrangement of the telescopic mechanism between the imitation palm modules and the other two sets of telescopic mechanisms can be slightly different. This is mainly because the internal space of the imitation palm module is occupied by other parts, resulting in them being arranged on the lower floor, but their principles and functions are not significantly different. The telescopic structure will move linearly along the slide rail 9 under the action of external force. At this time, the spring is compressed, the distance between the modules changes, and the body completes the deformation movement; when the external force gradually decreases, the spring relaxes, and the body will return to its original size. In the finger-like module part, the present application also adopts a passive rotation mechanism connection structure, the passive rotation mechanism includes a torsion spring 14 and a circumferential bearing 13, the circumferential bearing 13 is used to reduce the friction during rotation, and the torsion spring 14 is used to provide a driving force for recovery after rotation, so as to ensure that the finger-like module can rotate like a finger joint. The installation position of the passive rotation mechanism is as follows: Figure 2 As shown in (a), the circumferential bearing 13 can reduce the friction force when the "fingertip module" rotates, and the torsion spring 14 can achieve the deformation and shape recovery function similar to the above-mentioned compression spring 7. Figure 2 (a) and Figure 2 As shown in (b) of FIG. 1 , the telescopic mechanism and the rotating mechanism together constitute the composite bionic deformation structure of the drone, which has 5 degrees of freedom. The deformation structure is driven by only a single servo motor 5, so it has an under-actuated characteristic. When grasping and deforming, the under-actuated characteristic allows the 5-degree-of-freedom grasping structure to passively fit the contour of the object, like Figure 1 (c) The multi-degree-of-freedom structure of the human hand wraps around the object, thereby achieving adaptive grasping of objects of different shapes.

[0039] In one embodiment, the finger-simulating module is provided with a double-layer structure, which is rotatably connected to the finger-simulating module by a bolt, and the sliders 10 of the two sets of sliders 10-slide rail 9 assemblies are respectively arranged on the upper plate and the lower plate of the double-layer structure, and one end of the slide rail 9 is correspondingly arranged on the top plate and the bottom plate of the palm-simulating module, and the circumferential bearing 13 and the torsion spring 14 are sleeved on the bolts and separated by the upper plate of the double-layer structure. In a specific implementation, in order to prevent the sliding from poking the internal components (such as the servo motor 5) of the finger-simulating module, the slider 10-slide rail 9 assembly arranged above between the finger-simulating module and the palm-simulating module can be set as follows: one end of the slide rail 9 is fixed to the upper plate of the double-layer structure, and the slider 10 is arranged at the other end of the slide rail 9 and is fixedly connected to the top plate of the palm-simulating module. In order to deform more flexibly, the remaining slider 10-slide rail 9 assembly can be provided with two sliders 10, and the compression spring 7 is arranged between the two sliders 10, and the two sliders 10 are respectively fixed on the modules to be connected.

[0040] In the specific implementation, a single motor can be used to realize the linear drive deformation, specifically: a number of light fixed pulleys 6 are installed on the inner side of each part of the fuselage, such as Figure 2 As shown in (a), each palm-imitation module is provided with at least one fixed pulley 6, and the bottom plate and double-layer structure part of each finger-imitation module each include a fixed pulley 6. Next, one end of a nylon string 8 is fixed to the finger-imitation module, and the other end of the string 8 is wound in sequence along the groove direction of each fixed pulley 6, and finally connected to the turntable of the servo motor 5 of another finger-imitation module, forming the basic structure of the line drive. When the servo motor 5 of the drone starts to rotate, the string 8 is pulled to slide, causing the pulley to produce a compression movement. At this time, the spring will be compressed, and the body will shrink to reduce its own size. When there is no grabbing load, since the tension on the string 8 is equal everywhere, the deformation of the three compression springs 7 is the same, so the displacement of the telescopic mechanism between the modules is consistent with each other; similarly, the rotational deformation of the two compression springs 7 is the same, and the rotation angles of the two finger-imitation modules are also the same. In this way, the body can achieve central symmetrical deformation under the drive of the servo motor 5, as shown in Figure 3As shown in (b) in the figure. In addition, in the face of the problem of the need for multiple power sources for multi-degree-of-freedom mechanisms, the drone is based on a driver method that produces the maximum utilization rate in an integrated configuration. It only uses one servo motor 5 to drive the thin rope 8 to retract in the deformation mechanism, pull the modules to produce deformation movement, and drive the body to produce under-driven deformation, so as to achieve the goal of taking into account the diverse grasping and high flexibility deformation of the bionic hand while significantly reducing the number of drivers and energy consumption. It should be noted that at this time, the spring coefficient of the compression spring 7 can be set to be smaller than that of the torsion spring 14. Under the same driving force of the servo motor 5, the deformation of the rotating mechanism is significantly smaller than that of the telescopic mechanism. Therefore, when the servo motor 5 pulls the thin rope 8 to drive the body to gradually deform, the imitation palm module will not significantly rotate and deform in the initial stage, so that the opening area that can be used for grasping between the two imitation finger modules is kept as large as possible to meet the grasping needs of more large-sized objects.

[0041] In a specific implementation, the drone may also include a lithium battery, an electric speed controller and a flight control board. The lithium battery is used to power the electric speed controller, the flight control board, the brushless motor 12, the servo motor 5, etc. The flight control board is used to issue control instructions according to demand, and the electric speed controller is used to convert the control instructions and send them to each brushless motor 12 and the servo motor 5.

[0042] When the drone is in normal size, no servo motor 5 is required to provide additional external force to maintain the shape of the fuselage. Figure 2 At this time, the power of the servo motor 5 is close to the no-load power, which reduces the energy loss of the deformation structure, indirectly increases the endurance of the UAV platform, and improves the carrying capacity; in the extreme deformation state, the imitation finger module of the UAV will just touch, and the three-view drawing is as follows Figure 3 shown.

[0043] In the static state of the maximum (normal) size, the flight system of the UAV is driven by four propellers 11, and its dynamic model is consistent with that of a normal quadrotor. In the deformation state, since all rotational and telescopic deformation movements are in the same horizontal plane, the propeller 11 planes always remain parallel, so its dynamic model is still consistent with that of a normal quadrotor. In summary, the PID position and attitude control algorithm of a conventional quadrotor can be directly used to realize the normal flight motion control of the UAV.

[0044] When the fuselage is dynamically deformed in the air, the desired steering gear angle command is first sent to the servo motor 5, and then the servo motor 5 drives the fuselage to deform, triggers the real-time estimation of parameters, updates the current physical parameters of the fuselage, and transmits them to the control algorithm. The control algorithm calculates the corresponding flight control quantity under the UAV form according to the updated physical parameters to realize the flight control of dynamic deformation.

[0045] When the drone performs aerial grabbing, it first obtains the position of the target object, then plans a reference trajectory to the target point and sends it to the controller. The drone flies to the target point according to the reference trajectory. When it reaches the target point, the grabbing action is triggered, and the desired angle command is sent to the servo motor 5. The drone begins to deform and grabs the object using its own structure.

[0046] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0048] It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A bionic grasping and flying integrated deformable drone, characterized in that: It includes a first imitation finger module, a first imitation palm module, a second imitation finger module and a second imitation palm module, and a propeller and a corresponding driver are arranged under each module; The first imitating finger module and the first imitating palm module, the first imitating palm module and the second imitating palm module, and the second imitating palm module and the second imitating finger module are all rotationally connected via a composite under-actuated deformation structure; The composite underactuated deformation structure is deformed by line drive, and includes a passive telescopic mechanism and a passive rotation mechanism, wherein the passive telescopic mechanism is used to adjust the distance between the modules, and the passive rotation mechanism is used to rotate the finger-like module relative to the palm-like module to realize bionic flexion and extension and grasping functions; The passive telescopic mechanism includes a slider-slide rail assembly and a compression spring. The slider slides on the slide rail to achieve relative movement of adjacent modules. The compression spring is sleeved on the slide rail.

2. The bionic grasping and flying integrated deformable drone according to claim 1, characterized in that: A decentralized symmetrical configuration in which each module is evenly distributed is adopted, and the first finger-imitation module and the first palm-imitation module are symmetrically arranged with the second finger-imitation module and the second palm-imitation module.

3. The bionic grasping and flying integrated deformable drone according to claim 1, characterized in that: There are two groups of slider-slide rail assemblies, and the compression spring is sleeved on the slide rail of one group of slider-slide rail assemblies.

4. The bionic grasping and flying integrated deformable drone according to claim 1, characterized in that: The passive rotation mechanism comprises a torsion spring and a circumferential bearing, wherein the circumferential bearing is used to reduce friction during rotation, and the torsion spring is used to provide a driving force for recovery after rotation.

5. The bionic grasping and flying integrated deformable drone according to claim 4, characterized in that: The finger-simulating modules are all provided with a double-layer structure, which is rotatably connected to the finger-simulating module by a bolt, one end of the passive telescopic mechanism between the finger-simulating module and the palm-simulating module is fixed on the double-layer structure, and the circumferential bearing and the torsion spring are sleeved on the bolt and separated by the upper plate of the double-layer structure.

6. The bionic grasping and flying integrated deformable drone according to claim 5, characterized in that: The composite under-actuated deformation structure adopts a single motor line driven deformation method, specifically: fixed pulleys are respectively arranged on the bottom plate of the finger-imitation module and the bottom plate of the corresponding double-layer structure, at least one fixed pulley is arranged on the bottom plate of the palm-imitation module, one end of a thin rope is fixed to a finger-imitation module, the other end of the thin rope is wound in sequence along the groove direction of each fixed pulley and connected to the servo motor on another finger-imitation module, and the passive telescopic mechanism and the passive rotation mechanism are simultaneously controlled by the servo motor.

7. The bionic grasping and flying integrated deformable drone according to claim 6, characterized in that: The spring constant of a compression spring is smaller than the spring constant of a torsion spring.

8. The bionic grasping and flying integrated deformable drone according to claim 6, characterized in that: It also includes a lithium battery, an electric speed controller and a flight control board. The lithium battery is used to power the electric speed controller, the flight control board, the driver and the servo motor. The flight control board is used to issue control instructions according to needs, and the electric speed controller is used to convert the control instructions and send them to each driver and servo motor.

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