A leg claw mechanism and a bionic mechanical leg claw device based on a quadrotor unmanned aerial vehicle

Abstract

This application provides a leg gripper mechanism and a biomimetic mechanical leg gripper device based on a quadcopter drone. The leg gripper mechanism includes a first base body having a first mounting surface and a second mounting surface. The leg gripper body includes a thigh assembly rotatably connected to the first mounting surface, a lower leg assembly connected to the thigh assembly, and a gripping and releasing assembly connected to the lower leg assembly. The energy storage assembly includes a first connecting shaft, a first gear, a winch component, and a first driving assembly for driving the first gear to rotate. An energy storage section is also provided between the first gear and the second mounting surface. When the first driving assembly drives the first gear to rotate in a first rotation direction, the energy storage section is used to store energy. A first limiting assembly restricts the first gear from rotating in a second rotation direction. The first connecting assembly is connected at both ends to the first limiting assembly and the gripping and releasing assembly. This solution reduces power consumption by setting an energy storage assembly so that when the mechanism comes into contact with a target object, the gripping and releasing assembly can be triggered by its own impact force.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned aerial vehicle technology, in particular to a leg claw mechanism and a bionic mechanical leg claw device based on a quadrotor unmanned aerial vehicle. BACKGROUND

[0002] In recent years, rotary-wing unmanned aerial vehicles are widely used in earthquake relief, aerial photography, cluster performance, and detection sites. It is the use of rotary-wing unmanned aerial vehicles in these industries that people have begun to conduct in-depth research on rotary-wing unmanned aerial vehicles. Due to the limitations of flight principles and battery capacity, traditional rotary-wing unmanned aerial vehicles are difficult to achieve long-period task execution, and since the on-board peripherals are generally visual-based, they cannot achieve flexible target operation and low-energy habitat, which limits the application of rotary-wing unmanned aerial vehicles in tasks such as detection and environmental monitoring. If the unmanned aerial vehicle can fly, perch, and grab like a bird, it can solve the above problems. When in a high-mobility reconnaissance task state, the unmanned aerial vehicle makes full use of the high-altitude advantage to conduct reconnaissance on the target; when long-term monitoring of the target is required, the unmanned aerial vehicle can perch on a tree branch to implement low-energy standby reconnaissance; the current leg claw mechanism of the unmanned aerial vehicle needs to be driven by a motor to achieve grabbing and perching, and the consumption of this part of the power makes the flight range of the unmanned aerial vehicle shorter; therefore, it is necessary to explore an unmanned aerial vehicle leg claw mechanism that can complete the grabbing action by relying on its own grabbing impact force. SUMMARY

[0003] In view of the above defects or deficiencies in the prior art, the present application aims to provide a leg claw mechanism and a bionic mechanical leg claw device based on a quadrotor unmanned aerial vehicle.

[0004] In a first aspect, the present application provides a leg claw mechanism, comprising:

[0005] a first base body having a first mounting surface and a second mounting surface in a first direction;

[0006] a leg claw body comprising a thigh assembly rotatably connected to the first mounting surface at one end, a calf assembly rotatably connected to the thigh assembly away from the first mounting surface end, and a grabbing and releasing assembly provided at the calf assembly away from the thigh assembly end;

[0007] An energy storage component includes a first connecting shaft passing through the first base body along a first direction, a first gear sleeved on the end of the first connecting shaft near the second mounting surface, a winch component sleeved on the end of the first connecting shaft near the first mounting surface, and a first drive component for driving the first gear to rotate along a first rotation direction or a second rotation direction, wherein the first rotation direction is opposite to the second rotation direction; an energy storage section is also provided between the first gear and the second mounting surface, wherein the energy storage section is used to store energy when the first drive component drives the first gear to rotate along the first rotation direction;

[0008] The first limiting component has two states: a third state and a fourth state. In the third state, the first gear can rotate along the first rotation direction and the second rotation direction. In the fourth state, it is used to limit the rotation of the first gear along the second rotation direction.

[0009] A first connecting component, one end of which is connected to the first limiting component, and the end away from the first limiting component is connected to the gripping and releasing component.

[0010] According to the technical solution provided in the embodiments of this application, the first drive assembly includes a second gear assembly disposed on the second mounting surface. The second gear assembly includes a first slide rail disposed on the second mounting surface, a first sliding shaft with one end disposed in the first slide rail, and a second gear sleeved on the end of the first sliding shaft away from the first slide rail. The first slide rail extends in a second direction, which is perpendicular to the first direction. The axis of the first sliding shaft is in the first direction. The axis of the first connecting shaft is located in the first slide rail. The outer ring of the first gear has a ring of first meshing teeth, and the outer ring of the second gear has a ring of second meshing teeth that match the first meshing teeth.

[0011] According to the technical solution provided in the embodiments of this application, the first driving component further includes a third gear component, which is used to drive the second gear and the first sliding shaft to move along the first slide rail.

[0012] According to the technical solution provided in the embodiments of this application, the third gear assembly includes a second connecting shaft disposed on the second mounting surface and a third gear sleeved on the end of the second connecting shaft near the second mounting surface. The outer ring of the third gear has a ring of third meshing teeth that match the second meshing teeth.

[0013] According to the technical solution provided in the embodiments of this application, the first drive assembly further includes a fourth gear set, the fourth gear set including a fourth gear sleeved on the end of the second connecting shaft away from the second mounting surface, a first drive motor disposed on the second mounting surface, and a fifth gear connected to the main shaft of the first drive motor. The axial direction of the main shaft is the second direction. The outer ring of the fourth gear has a ring of fourth meshing teeth, and the outer ring of the fifth gear has a ring of fifth meshing teeth that match the fourth meshing teeth.

[0014] According to the technical solution provided in the embodiments of this application, the leg claw body further includes a second connecting component. The second connecting component is used to connect the thigh component and the lower leg component. The second connecting component includes two first connecting plates arranged along a third direction. A second limiting component is provided between the two first connecting plates. The second limiting component has two states: a fifth state and a sixth state. In the fifth state, the lower leg component can rotate along the first rotation direction and the second rotation direction. In the sixth state, it is used to restrict the lower leg component from rotating along the second rotation direction. The third direction is perpendicular to the first direction and perpendicular to the second direction.

[0015] According to the technical solution provided in the embodiments of this application, the leg claw body further includes a third connecting component, which is disposed at the end of the lower leg component away from the second connecting component, and is used to connect the gripping and releasing component and the lower leg component.

[0016] According to the technical solution provided in the embodiments of this application, the gripping and releasing component includes two gripper groups disposed on both sides of the third connecting component along the third direction. Each gripper group includes two grippers arranged along the second direction, and each gripper has a tip at the end away from the third connecting component. The gripping and releasing component has two states: a first state and a second state. In the first state, the four grippers at the end away from the third connecting component move closer to each other. In the second state, the four grippers at the end away from the third connecting component move further away from each other.

[0017] According to the technical solution provided in the embodiments of this application, the lower leg assembly is further provided with a first tension assembly, which is connected to the first connecting assembly.

[0018] Secondly, this application proposes a biomimetic mechanical leg claw device based on a quadcopter drone, including two of the aforementioned leg claw mechanisms, and a second base body. The second base body has a third mounting surface and a fourth mounting surface along the first direction. The two leg claw mechanisms are distributed and arranged on the fourth mounting surface along the third direction, and the quadcopter drone is mounted on the third mounting surface.

[0019] In summary, this application proposes a leg-claw mechanism and a biomimetic mechanical leg-claw device based on a quadcopter drone. When the first drive component drives the first gear to rotate in a first rotation direction, the energy storage unit rotates along the same direction to store energy. When the mechanism contacts a target object, the gripping and releasing component is impacted, causing the thigh and lower leg components to bend and elongate the first connecting component. This elongation of the first connecting component causes the first limiting component to be in the third state. At this point, the first gear is released from its restraint, and the energy storage unit releases energy, causing the first gear to rotate in a second rotation direction. The winch component rotates along the second rotation direction with the first gear and rapidly retracts the first connecting component, thereby enabling the gripping and releasing component to grasp the target object. This solution, by setting an energy storage component, allows the gripping and releasing component to trigger its grasping action based on its own impact force when the mechanism contacts a target object, saving power consumption. Attached Figure Description

[0020] Figure 1 This is a front view of the leg claw mechanism provided in Embodiment 1 of this application;

[0021] Figure 2 This is a side view of the leg claw mechanism provided in Embodiment 1 of this application;

[0022] Figure 3 for Figure 2 Enlarged view of A in the middle;

[0023] Figure 4 for Figure 2 Enlarged view of B in the middle;

[0024] Figure 5 This is a top view of the leg claw mechanism provided in Embodiment 1 of this application;

[0025] Figure 6 for Figure 5 Enlarged view of C;

[0026] Figure 7 This is a schematic diagram of the structure of the bionic mechanical claw device based on a quadcopter drone provided in Embodiment 2 of this application.

[0027] The text labels in the image represent:

[0028] 1. First base body; 101. First mounting surface; 102. Second mounting surface; 121. Winding post; 2. Leg claw body; 201. Thigh assembly; 202. Lower leg assembly; 221. Second limiting assembly; 222. Sixth rope; 223. Fifth rope; 203. Servo motor; 204. Second connecting assembly; 241. First connecting plate; 205. Third connecting assembly; 3. Gripping and releasing assembly; 301. Tip; 302. Gripper; 321. Knuckle; 322. Rubber band; 4. Energy storage assembly; 401. Winch assembly; 402. Clockwork box; 404. First gear; 441. First meshing tooth; 5. 501. Limiting component; 6. Third rope; 7. First rope; 8. First branch node; 9. Second rope; 10. First tension component; 11. Second gear; 12. Second meshing tooth; 13. First slide rail; 14. Fourth rope; 15. Fourth gear; 16. Third gear; 17. Fifth gear; 18. First drive motor; 19. Second base body; 1001. Third mounting surface; 1002. Fourth mounting surface; 1003. GPS; 1004. Supporting copper column; 1005. Frame; 1006. Power supply battery; 1007. Second drive motor; 1008. Control unit. Detailed Implementation

[0029] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] Example 1

[0032] As mentioned in the background section, this application proposes a leg gripper mechanism and a biomimetic mechanical leg gripper device based on a quadcopter drone to address the problems in the prior art; wherein, as Figure 1 As shown, a leg claw mechanism includes:

[0033] A first base body 1 has a first mounting surface 101 and a second mounting surface 102 along a first direction; wherein, the first base body 1 is a rectangular mounting plate, and the first direction is a vertical direction; the first mounting surface 101 is the bottom surface of the first base body 1, and the second mounting surface 102 is the top surface of the first base body 1.

[0034] The leg claw body 2 includes a thigh assembly 201 rotatably connected to the first mounting surface 101 at one end, a lower leg assembly 202 rotatably connected to the end of the thigh assembly 201 away from the first mounting surface 101, and a gripping and releasing assembly 3 disposed on the lower leg assembly 202 away from the thigh assembly 201. Specifically, a servo motor 203 is also provided between the thigh assembly 201 and the first mounting surface 101. The servo motor 203 is used to adjust the gripping angle of the leg claw body 2 and can also control the balance of the UAV when it is perched.

[0035] Energy storage component 4 includes a first connecting shaft passing through the first base body 1 along the first direction, a first gear 404 sleeved on the end of the first connecting shaft near the second mounting surface 102, a winch component 401 sleeved on the end of the first connecting shaft near the first mounting surface 101, and a first drive component for driving the first gear 404 to rotate in a first rotation direction or a second rotation direction, wherein the first rotation direction is opposite to the second rotation direction; an energy storage section is also provided between the first gear 404 and the second mounting surface 102. When the first drive assembly drives the first gear 404 to rotate along the first rotation direction, the energy storage unit is used to store energy; optionally, the first gear 404 is a cylindrical gear, the winch component 401 is a winch, and the energy storage unit is a spring box 402 sleeved on the first connecting shaft and a spring wound in the spring box 402. When the first drive assembly drives the first gear 404 to rotate, the energy storage unit and the winch component 401 also rotate synchronously; wherein, the first rotation direction is counterclockwise, and the second rotation direction is clockwise.

[0036] The first limiting component 5 has two states: a third state and a fourth state. In the third state, the first gear 404 can rotate along the first rotation direction and the second rotation direction. In the fourth state, it is used to limit the rotation of the first gear 404 along the second rotation direction. Optionally, the first limiting component 5 is a first pawl. When it is in the third state, the first gear 404 can rotate clockwise and counterclockwise. When it is in the fourth state, the first gear 404 can only rotate counterclockwise and cannot rotate clockwise.

[0037] A first connecting component, one end of which is connected to the first limiting component 5, and the end away from the first limiting component 5 is connected to the gripping and releasing component 3;

[0038] Specifically, the first connecting component includes a first rope 6, one end of which is wound around the winch component 401. The first rope 6 has a first branch node 601, at which the first rope 6 divides into four second ropes 602. The end of each second rope 602 away from the first branch node 601 is connected to the end of the gripping and releasing component 3 near the lower leg component 202. The first connecting component also includes a third rope 501, one end of which is wound around the first limiting component 5. The end of the third rope 501 away from the first limiting component 5 is connected to the first rope 6.

[0039] When the mechanism is in flight, the first drive component drives the first gear 404 to rotate counterclockwise, and the energy storage unit rotates counterclockwise to store energy. When the mechanism rests or grabs a target object, the grabbing and releasing component 3 impacts the tree trunk or the target object, causing the thigh component 201 and the lower leg component 202 to bend. The first rope 6 is stretched due to bending. The stretching of the first rope 6 causes the third rope 501 to stretch and causes the first limiting component 5 to unlock the first gear 404. After the first gear 404 is released from its restraint, the energy storage unit releases energy, causing the first gear 404 to rotate clockwise. The winch component 401 rotates clockwise with the first gear 404 and quickly retracts the first rope 6. Each of the second ropes 602 tightens as the first rope 6 retracts, thereby causing the grabbing and releasing component 3 to grab the tree trunk to rest or grab the target object. This solution, through the setting of the energy storage component 4, allows the mechanism to trigger the grabbing and releasing component 3 to grab the target object by its own impact force when it comes into contact with the target object, thereby saving power consumption.

[0040] Furthermore, such as Figure 5 and Figure 6 As shown, the first drive assembly includes a second gear assembly disposed on the second mounting surface 102. The second gear assembly includes a first slide rail 702 disposed on the second mounting surface 102, a first sliding shaft with one end disposed within the first slide rail 702, and a second gear 7 sleeved on the end of the first sliding shaft away from the first slide rail 702. The first slide rail 702 extends in a second direction, which is perpendicular to the first direction. The axis of the first sliding shaft is in the first direction, and the axis of the first connecting shaft is located in the first slide rail 702. The outer ring of the first gear 404 has a ring of first meshing teeth 441, and the outer ring of the second gear 7 has a ring of second meshing teeth 701 that match the first meshing teeth 441. Optionally, the second gear 7 is a second cylindrical gear, and the second direction is horizontal and parallel to the short side direction of the first base body 1.

[0041] Furthermore, the first drive assembly also includes a third gear assembly, which is used to drive the second gear 7 and the first sliding shaft to move along the first slide rail 702;

[0042] Furthermore, the third gear assembly includes a second connecting shaft disposed on the second mounting surface 102 and a third gear 801 sleeved on the end of the second connecting shaft near the second mounting surface 102. The outer ring of the third gear 801 has a ring of third meshing teeth that match the second meshing teeth 701. Optionally, the third gear 801 is a third cylindrical gear.

[0043] Furthermore, the first drive assembly further includes a fourth gear set, which includes a fourth gear 8 sleeved on the end of the second connecting shaft away from the second mounting surface 102, a first drive motor 901 disposed on the second mounting surface 102, and a fifth gear 9 connected to the main shaft of the first drive motor. The axial direction of the main shaft is the second direction. The outer ring of the fourth gear 8 has a ring of fourth meshing teeth, and the outer ring of the fifth gear 9 has a ring of fifth meshing teeth that match the fourth meshing teeth. Optionally, the fourth gear 8 and the fifth gear 9 are arranged perpendicularly. The fourth gear 8 is a first bevel gear, and the fifth gear 9 is a second bevel gear. The first drive motor 901 is a DC motor. The fifth gear 9 drives the fourth gear 8 to rotate, which can convert the power transmission from the vertical direction to the horizontal direction.

[0044] Specifically, when the mechanism needs to be in place, the grasping and releasing assembly needs to be opened. When the first drive motor 901 rotates forward, the fifth gear 9 rotates clockwise, and the fifth meshing tooth meshes with the fourth meshing tooth of the fourth gear 8, thereby driving the fourth gear 8 to rotate counterclockwise. The third gear 801, coaxial with the fourth gear 8, also rotates counterclockwise, and the third meshing tooth meshes with the second meshing tooth 701 of the second gear 7, driving the second gear 7 to rotate clockwise and move along the first slide rail 702 towards the end closer to the first gear 404, until the second meshing tooth 701 meshes with the first meshing tooth 441 of the first gear 404. The second gear 7 rotates clockwise, causing the first gear 404 to rotate counterclockwise. When the first gear 404 rotates counterclockwise, it can drive the mainspring to rotate counterclockwise as well, and the mainspring can store energy by rotating counterclockwise. After the mainspring has finished storing energy, the first drive motor 901 reverses. At this time, the fifth gear 9 rotates counterclockwise, causing the fourth gear 8 to rotate clockwise. The third gear 801, which is coaxial with the fourth gear 8, also rotates clockwise, causing the second gear 7 to rotate counterclockwise and move along the first slide 702 away from the end of the first gear 404 until the second meshing tooth 701 separates from the first meshing tooth 441 of the first gear 404.

[0045] Because the first limiting component 5 prevents the first gear 404 from immediately rotating clockwise to release the energy of the spring, when the mechanism rests on or grabs a target object, the gripping and releasing component 3 impacts the tree trunk or the target object, causing the thigh component 201 and the lower leg component 202 to bend. The first rope 6 is stretched due to the bending, and the stretching of the first rope 6 causes the third rope 501 to stretch and causes the first limiting component 5 to unlock the first gear 404. After the first gear 404 is released from its restriction, it rotates clockwise under the drive of the spring. The winch component 401 rotates clockwise with the first gear 404 and quickly retracts the first rope 6. Each of the second ropes 602 tightens as the first rope 6 retracts, thereby causing the gripping and releasing component 3 to grab the tree trunk to rest on or grab the target object.

[0046] Additionally, a winding post 121 is provided on the second mounting surface 102. The second gear 7 is connected to the first limiting component 5 via a fourth rope 703. One end of the fourth rope 703 is connected to the second gear 7, and the other end passes around the winding post 121 and is connected to the first limiting component 5. When the second gear 7 rotates counterclockwise and moves along the first slide 702 away from the end of the first gear 404, the fourth rope 703 is stretched, thereby allowing the first limiting component 5 to still restrict the rotation of the first gear 404 after the second gear 7 separates from the first gear 404.

[0047] Furthermore, such as Figure 3 As shown, the leg claw body 2 further includes a second connecting component 204, which connects the thigh component 201 and the lower leg component 202. The second connecting component 204 includes two first connecting plates 241 arranged along a third direction. A second limiting component 221 is provided between the two first connecting plates 241. The second limiting component 221 has two states: a fifth state and a sixth state. In the fifth state, the lower leg component 202 can rotate along the first rotation direction and the second rotation direction. In the sixth state, it restricts the lower leg component 202 from rotating along the second rotation direction. The third direction is perpendicular to both the first and second directions. Optionally, the first connecting plate 241 is a triangular connecting plate, the second limiting component 221 is a second pawl, and the lower leg component 202 includes an upper lower leg connecting rod with a sixth meshing tooth. One end of the second pawl contacts the upper lower leg connecting rod to restrict the lower leg component 202. 02 rotates clockwise relative to the thigh assembly 201; the second limiting assembly 221 is disposed between the two first connecting plates 241; a fifth rope 223 and a sixth rope 222 are wound around the second limiting assembly 221, the end of the fifth rope 223 away from the second limiting assembly 221 is connected to the upper connecting rod of the lower leg, and the end of the sixth rope 222 away from the second limiting assembly 221 is connected to the first rope 6. When the lower leg assembly 202 bends, the setting of the second limiting assembly 221 can prevent the lower leg assembly 202 from swaying during flight. When the lower leg assembly 202 returns to its original position from the bent state, the upper connecting rod of the lower leg drives the fifth rope 223 to stretch, thereby unlocking the second limiting assembly 221. At the same time, during the process of the lower leg assembly 202 returning to its original position from the bent state, the first rope 6 stretches and drives the sixth rope 222 to stretch, thereby driving the second limiting assembly 221 to reset and lock the lower leg assembly 202 again.

[0048] Furthermore, such as Figure 4As shown, the leg claw body 2 further includes a third connecting component 205, which is disposed at the end of the lower leg component 202 away from the second connecting component 204, and is used to connect the gripping and releasing component 3 and the lower leg component 202; further, as Figure 2 As shown, the gripping and releasing component 3 includes two gripper groups disposed on both sides of the third connecting component 205 along the third direction. Each gripper group includes two grippers 302 arranged along the second direction. Each gripper 302 has a tip 301 at the end away from the third connecting component 205. The gripping and releasing component 3 has two states: a first state and a second state. In the first state, the four grippers 302 at the ends away from the third connecting component 205 move closer to each other. In the second state, the four grippers 302 at the ends away from the third connecting component 205 move further apart from each other.

[0049] Specifically, each gripper 302 includes two knuckles 321, and the tip 301 is shaped like an eagle's claw. Each second rope 602 passes through the two knuckles 321 and connects to the tip 301. When the first rope 6 pulls the second rope 602 to stretch, the gripping and releasing assembly 3 is in the first state, and the two knuckles 321 of each gripper 302 bend towards each other to achieve a gripping action. When the mechanism is resting, the tips 301 of each gripper 302 can penetrate the tree trunk to ensure the stability of the entire mechanism. A rubber band 322 connects the two knuckles 321 of each gripper 302. When the mechanism needs to take off again, the first rope 6 is relaxed. At this time, the grippers 302 of the gripping and releasing assembly 3 move away from each other under the tension of the rubber band 322, so that the gripping and releasing assembly 3 is in the second state, thereby achieving a go-around action.

[0050] Furthermore, the lower leg assembly 202 is also provided with a first tension assembly 603, which is connected to the first connecting assembly; optionally, the first tension assembly 603 is connected to the first rope 6, and when the first rope 6 is stretched, the first tension assembly 603 can provide a certain deformation to balance the stability of the leg claw body 2.

[0051] Example 2

[0052] Building upon Example 1, this application further proposes a biomimetic mechanical leg gripper device based on a quadcopter drone, such as... Figure 7As shown, the system includes two of the aforementioned leg claw mechanisms and a second base body 10. The second base body 10 has a third mounting surface 1001 and a fourth mounting surface 1002 along the first direction. The two leg claw mechanisms are distributed and arranged on the fourth mounting surface 1002 along the third direction, and the quadcopter drone is mounted on the third mounting surface 1001. Optionally, the second base body 10 is also a rectangular mounting plate, the third mounting surface 1001 is the top surface of the second base body 10, and the fourth mounting surface 1002 is the bottom surface of the second base body 10. The first base body 1 and the second base body 10 are connected by four supporting copper pillars 1004. The quadcopter... The drone includes a frame 1005 (model F405), a control unit 1008, a second drive motor 1007, a GPS 1003, a data transmission module, and a power supply battery 1006. The control unit 1008 includes a drone controller, the second drive motor 1007 is a DC brushless motor, and the power supply battery 1006 has a capacity of 5200mAh. The two leg claw mechanisms have identical structures and identical movement processes. Therefore, Example 1 uses one of the leg claw mechanisms as an example for description. When the device is ready to take off again, the DC brushless motor on the quadcopter drone needs to be started first to provide lift to the device, so as to ensure that it will not suddenly fall when the gripping and releasing component 3 switches to the second state.

[0053] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A leg claw mechanism, characterized in that, include: First base body (1), the first base body (1) has a first mounting surface (101) and a second mounting surface (102) along a first direction; The leg claw body (2) includes a thigh assembly (201) rotatably connected to the first mounting surface (101) at one end, a lower leg assembly (202) rotatably connected to the end of the thigh assembly (201) away from the first mounting surface (101), and a gripping and releasing assembly (3) disposed at the end of the lower leg assembly (202) away from the thigh assembly (201). An energy storage component (4) includes a first connecting shaft passing through the first base body (1) along the first direction, a first gear (404) sleeved on the end of the first connecting shaft near the second mounting surface (102), a winch component (401) sleeved on the end of the first connecting shaft near the first mounting surface (101), and a first drive component for driving the first gear (404) to rotate along a first rotation direction or a second rotation direction, wherein the first rotation direction is opposite to the second rotation direction; an energy storage part is also provided between the first gear (404) and the second mounting surface (102), wherein when the first drive component drives the first gear (404) to rotate along the first rotation direction, the energy storage part is used to store energy; The first limiting component (5) has two states: a third state and a fourth state. When in the third state, the first gear (404) can rotate along the first rotation direction and the second rotation direction. When in the fourth state, it is used to limit the rotation of the first gear (404) along the second rotation direction. The first connecting component has one end connected to the first limiting component (5) and the end away from the first limiting component (5) connected to the gripping and releasing component (3).

2. The leg claw mechanism according to claim 1, characterized in that, The first drive assembly includes a second gear assembly disposed on the second mounting surface (102). The second gear assembly includes a first slide rail (702) disposed on the second mounting surface (102), a first sliding shaft with one end disposed in the first slide rail (702), and a second gear (7) sleeved on the end of the first sliding shaft away from the first slide rail (702). The first slide rail (702) extends in a second direction, which is perpendicular to the first direction. The axis of the first sliding shaft is in the first direction. The axis of the first connecting shaft is located in the first slide rail (702). The outer ring of the first gear (404) has a ring of first meshing teeth (441), and the outer ring of the second gear (7) has a ring of second meshing teeth (701) that match the first meshing teeth (441).

3. The leg claw mechanism according to claim 2, characterized in that, The first drive assembly further includes a third gear assembly, which is used to drive the second gear (7) and the first sliding shaft to move along the first slide rail (702).

4. The leg claw mechanism according to claim 3, characterized in that, The third gear assembly includes a second connecting shaft disposed on the second mounting surface (102) and a third gear (801) sleeved on the end of the second connecting shaft near the second mounting surface (102). The outer ring of the third gear (801) has a ring of third meshing teeth that match the second meshing teeth (701).

5. The leg claw mechanism according to claim 4, characterized in that, The first drive assembly further includes a fourth gear set, which includes a fourth gear (8) sleeved on the end of the second connecting shaft away from the second mounting surface (102), a first drive motor (901) disposed on the second mounting surface (102), and a fifth gear (9) connected to the main shaft of the first drive motor (901). The axial direction of the main shaft is the second direction. The outer ring of the fourth gear (8) has a ring of fourth meshing teeth, and the outer ring of the fifth gear (9) has a ring of fifth meshing teeth that match the fourth meshing teeth.

6. The leg claw mechanism according to claim 2, characterized in that, The leg claw body (2) further includes a second connecting component (204), which is used to connect the thigh component (201) and the lower leg component (202). The second connecting component (204) includes two first connecting plates (241) arranged along a third direction. A second limiting component (221) is provided between the two first connecting plates (241). The second limiting component (221) has two states: a fifth state and a sixth state. In the fifth state, the lower leg component (202) can rotate along the first rotation direction and the second rotation direction. In the sixth state, it is used to restrict the lower leg component (202) from rotating along the second rotation direction. The third direction is perpendicular to the first direction and perpendicular to the second direction.

7. The leg claw mechanism according to claim 6, characterized in that, The leg claw body (2) also includes a third connecting component (205), which is located at the end of the lower leg component (202) away from the second connecting component (204) and is used to connect the gripping and releasing component (3) and the lower leg component (202).

8. The leg claw mechanism according to claim 7, characterized in that, The gripping and releasing assembly (3) includes two gripper groups disposed on both sides of the third connecting assembly (205) along the third direction. Each gripper group includes two grippers (302) arranged along the second direction. Each gripper (302) has a tip (301) at the end away from the third connecting assembly (205). The gripping and releasing assembly (3) has two states: a first state and a second state. In the first state, the four grippers (302) at the ends away from the third connecting assembly (205) are close to each other. In the second state, the four grippers (302) at the ends away from the third connecting assembly (205) are far apart from each other.

9. The leg claw mechanism according to claim 1, characterized in that, The lower leg assembly (202) is further provided with a first tension assembly (603), which is connected to the first connecting assembly.

10. A biomimetic mechanical claw device based on a quadcopter drone, characterized in that, The device includes two leg claw mechanisms as described in any one of claims 6-8, and also includes a second base body (10), the second base body (10) having a third mounting surface (1001) and a fourth mounting surface (1002) along the first direction; the two leg claw mechanisms are distributed and arranged on the fourth mounting surface (1002) along the third direction, and the quadcopter drone is provided on the third mounting surface (1001).

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