A bionic leg-claw device for rapid perching and grasping based on a quadrotor drone

Abstract

The present application provides a bionic leg claw device based on a quadcopter drone that can quickly perch and grasp, relating to the field of drone technology; it includes a base body with a first mounting surface and a second mounting surface, the quadcopter drone is provided on the first mounting surface; two bionic mechanical leg claw bodies are provided on the second mounting surface, each bionic mechanical leg claw body includes a first sliding mechanism, a leg claw mechanism and a first connecting component, the first sliding mechanism includes a slide rail provided on the second mounting surface, a track slider matching the slide rail and a first driving component that drives the track slider to move, one end of the leg claw mechanism can be rotatably connected to the second mounting surface, and the other end is provided with a grasping and releasing component, one end of the first connecting component is connected to the grasping and releasing component, and the other end is connected to the track slider; in the process of the first driving component driving the track slider to move, the first connecting component stretches and drives the grasping and releasing component to grasp the target object, thereby realizing active grasping of the device.

Description

Technical Field

[0001] The present application relates to the technical field of drones, and in particular to a bionic leg-claw device capable of rapid perching and grasping based on a quad-rotor drone. Background Art

[0002] With the rapid development of the drone industry, drones are playing an increasingly important role in aerial photography, detection, disaster relief and other fields. Taking detection applications as an example, drone systems are not only required to have long-term endurance, but also to have certain target grasping capabilities in certain situations. Current drones grasp target objects passively. When performing tasks, an external impact force is required to achieve the grasping action, especially when grasping objects stationary on the ground. Therefore, it is urgent to explore a drone that can perform active grasping. When performing a grasping task, it can approach the target to trigger the active grasping function of the gripper to achieve the grasping of the target. Therefore, this patent focuses on the research of the perching and grasping functions of rotary-wing drones, and proposes a rotary-wing drone bionic leg claw device that can quickly perch and actively grasp, realize the active grasping function, and promote the development and application of rotary-wing drones in the fields of detection and operational grasping. Summary of the Invention

[0003] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide a bionic leg-claw device based on a quadrotor drone that can quickly perch and grasp, comprising:

[0004] A base body, the base body having a first mounting surface and a second mounting surface along a first direction, the quadrotor drone being provided on the first mounting surface;

[0005] Two bionic mechanical leg claw bodies are distributed and arranged on the second mounting surface along a second direction, wherein the second direction is perpendicular to the first direction, and each of the bionic mechanical leg claw bodies comprises:

[0006] a first sliding mechanism, the first sliding mechanism comprising a slide rail provided on the second mounting surface, a track slider provided on a side of the slide rail away from the second mounting surface and matching the slide rail, and a first driving assembly for driving the track slider to move along the slide rail;

[0007] a leg claw mechanism, one end of which is rotatably connected to the second mounting surface, and an end away from the second mounting surface is provided with a gripping assembly;

[0008] A first connecting component, one end of which is connected to the end of the grasping and placing component close to the leg claw mechanism, and the other end is connected to the track slider.

[0009] According to the technical solution provided in the embodiment of the present application, the first drive component includes a lead screw arranged on the second mounting surface, a lead screw slider arranged on the side of the lead screw away from the second mounting surface and matching the lead screw, and a first drive motor that drives the lead screw slider to move along the lead screw; a first tension component is provided on the lead screw slider, and the end of the first tension component away from the lead screw slider is connected to the track slider.

[0010] According to the technical solution provided in the embodiment of the present application, the first drive assembly also includes a first gear provided at one end of the screw along a third direction, and the third direction is perpendicular to the first direction and perpendicular to the second direction; the outer ring of the first gear has a circle of first meshing teeth, and the screw slider is provided with second meshing teeth matching the first meshing teeth near the end of the first gear.

[0011] According to the technical solution provided in the embodiment of the present application, a first limiting component is provided on the slide rail, and the first limiting component has two states, a first state and a second state. When it is in the first state, the track slider can move along the slide rail, and when it is in the second state, it is used to limit the displacement of the track slider; a second connecting component is wrapped around the first gear, and the end of the second connecting component away from the first gear is connected to the first limiting component.

[0012] According to the technical solution provided in the embodiment of the present application, the leg claw mechanism includes:

[0013] a thigh mechanism, one end of which is rotatably connected to the second mounting surface;

[0014] A calf mechanism, the calf mechanism being rotatably connected to an end of the thigh mechanism away from the second mounting surface, the end of the calf mechanism away from the thigh mechanism being provided with a third connecting assembly, the third connecting assembly being used to connect to the catch-and-place assembly;

[0015] A fourth connecting component is used to connect the thigh mechanism and the calf mechanism.

[0016] According to the technical solution provided in the embodiment of the present application, the fourth connecting component includes two first connecting plates distributed along the second direction, and a second limiting component is provided between the two first connecting plates. The second limiting component has two states, a third state and a fourth state. When in the third state, the thigh mechanism and the calf mechanism can be rotated, and when in the fourth state, the thigh mechanism and the calf mechanism are locked.

[0017] According to the technical solution provided in the embodiment of the present application, the grab and release component includes two grabbers arranged on both sides of the third connecting component along the third direction. The grab and release component has two states, a fifth state and a sixth state. When in the fifth state, the two grabbers are away from the third connecting component end and approach each other. When in the sixth state, the two grabbers are away from the third connecting component end and move away from each other.

[0018] According to the technical solution provided in the embodiment of the present application, a second tension component is provided between the two grippers, and the second tension component is used to maintain the grasping and releasing component in the sixth state.

[0019] According to the technical solution provided in the embodiment of the present application, a third tension component is further provided on the third connecting component, and the third tension component is connected to the first connecting component.

[0020] According to the technical solution provided in the embodiment of the present application, a first driving mechanism is further provided on the second mounting surface, and the first driving mechanism is used to drive the leg claw mechanism to rotate.

[0021] To sum up, the present application proposes a bionic leg claw device based on a quadcopter drone that can quickly perch and grasp, which relates to the field of drone technology; it includes a base body having a first mounting surface and a second mounting surface, and a quadcopter drone is provided on the first mounting surface; two bionic mechanical leg claw bodies are provided on the second mounting surface, and each bionic mechanical leg claw body includes a first sliding mechanism, a leg claw mechanism and a first connecting component, and the first sliding mechanism includes a slide rail provided on the second mounting surface, a track slider matching the slide rail, and a first driving component that drives the track slider to move, one end of the leg claw mechanism can be rotatably connected to the second mounting surface, and the other end is provided with a grasping and releasing component, one end of the first connecting component is connected to the grasping and releasing component, and the other end is connected to the track slider; in the process of the first driving component driving the track slider to move, the first connecting component stretches and drives the grasping and releasing component to grasp the target object, thereby realizing the active grasping of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the structure of a bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone provided in an embodiment of the present application;

[0023] Figure 2 A front view of a bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone provided in an embodiment of the present application;

[0024] Figure 3 for Figure 2 A magnified view of middle A;

[0025] Figure 4A bottom view of a bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone provided in an embodiment of the present application;

[0026] Figure 5 for Figure 4 Enlarged view of middle B;

[0027] Figure 6 A side view of a bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone provided in an embodiment of the present application;

[0028] Figure 7 A rear view of a bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone provided in an embodiment of the present application;

[0029] Figure 8 for Figure 7 Enlarged view of C in the middle.

[0030] The text annotations in the figure represent:

[0031] 1. Base body; 101. First mounting surface; 102. Second mounting surface; 2. Quadcopter; 201. Frame; 202. Power supply battery; 203. Second drive motor; 204. GPS; 205. Control unit; 3. First sliding mechanism; 301. Track slider; 302. Slide rail; 321. Third position; 322. Second position; 4. First rope; 401. First branch node; 402. Second rope; 5. Leg claw mechanism; 501. Thigh mechanism; 511. Triangular connecting plate snap spring; 512. Sixth rope; 513. Seventh rope; 502. Calf mechanism; 6. Grasping Release assembly; 601, gripper; 611, tip; 612, first connecting hole; 7, first drive assembly; 701, screw; 711, fourth position; 712, first position; 702, screw slider; 703, first drive motor; 704, first gear; 705, first limit assembly; 706, third rope; 707, fourth rope; 708, first tension assembly; 709, fifth rope; 8, third connecting assembly; 801, third tension assembly; 9, fourth connecting assembly; 901, first connecting plate; 902, second limit assembly; 903, compression spring; 10, first drive mechanism. DETAILED DESCRIPTION

[0032] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the accompanying drawings.

[0033] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] As mentioned in the background technology, in order to solve the problems in the prior art, this application proposes a bionic leg claw device based on a quad-rotor drone that can quickly perch and grasp, such as Figure 1 Shown, including:

[0035] A base body 1, wherein the base body 1 has a first mounting surface 101 and a second mounting surface 102 along a first direction, and the quadrotor drone 2 is provided on the first mounting surface 101; optionally, the base body 1 is a rectangular bottom plate, the first direction is a vertical direction, the first mounting surface 101 is the top surface of the base body 1, and the second mounting surface 102 is the bottom surface of the base body 1; wherein the quadrotor drone 2 includes a frame 201 with model F405, a control unit 205, a second drive motor 203, a GPS 204, a data transmission module and a power supply battery 202, the control unit 205 includes a drone control board, the second drive motor 203 is a brushless DC motor, and the power supply battery 202 has a capacity of 5200mAh;

[0036] Two bionic mechanical leg claw bodies are distributed and arranged on the second mounting surface 102 along a second direction, the second direction being perpendicular to the first direction, and each of the bionic mechanical leg claw bodies includes: Optionally, the second direction is a horizontal direction, and the two bionic mechanical leg claw bodies have exactly the same structure and the same movement process. Therefore, this embodiment takes one of the bionic mechanical leg claw bodies as an example for description;

[0037] A first sliding mechanism 3, comprising a slide rail 302 provided on the second mounting surface 102, a track slider 301 provided on a side of the slide rail 302 away from the second mounting surface 102 and matching the slide rail 302, and a first driving assembly 7 driving the track slider 301 to move along the slide rail 302;

[0038] A leg claw mechanism 5, one end of which is rotatably connected to the second mounting surface 102, and an end away from the second mounting surface 102 is provided with a grasping and releasing assembly 6;

[0039] A first connecting component, one end of which is connected to the end of the grab and place component 6 close to the leg claw mechanism 5, and the other end is connected to the track slider 301;

[0040] Specifically, when the device needs to perch and grasp under complex conditions, an active grasping function is required. The first driving component 7 drives the track slider 301 to move along the slide rail 302 to the third position 321. The track slider 301 has a first surface and a second surface along the second direction. The first connecting component includes a first rope 4. One end of the first rope 4 is arranged on the first surface of the track slider 301. During the movement of the track slider 301 to the third position 321, the first rope 4 is tightened. The first rope 4 has a first branch node 401; the first connecting component also includes the first rope 4 at the first branch node. The four second ropes 402 branching out from the support node 401 are respectively connected to the end of the grasping and releasing component 6 close to the leg claw mechanism 5; when the first rope 4 is tightened, under the tension of the first rope 4, the four second ropes 402 connected to the grasping and releasing component 6 are tightened, thereby triggering the grasping and releasing component 6 to realize active grasping of the device; in addition, when the device is perched, after the grasping and releasing component 6 catches the branch, it slowly reduces the rotation speed of the quadcopter 2. Under the action of the gravity of the quadcopter 2 itself, the grasping and releasing component 6 will grip tighter and tighter, thereby realizing active grasping and perching of the device.

[0041] Furthermore, the first driving assembly 7 includes a lead screw 701 provided on the second mounting surface 102, a lead screw slider 702 provided on the side of the lead screw 701 away from the second mounting surface 102 and matching the lead screw 701, and a first driving motor 703 that drives the lead screw slider 702 to move along the lead screw 701; a first pulling assembly 708 is provided on the lead screw slider 702, and one end of the first pulling assembly 708 away from the lead screw slider 702 is connected to the track slider 301; further, the first driving assembly 7 also includes a first gear 704 provided at one end of the lead screw 701 along a third direction, and the third direction is perpendicular to the first direction and perpendicular to the first direction. Second direction; the outer ring of the first gear 704 has a circle of first meshing teeth, and the end of the screw slider 702 close to the first gear 704 is provided with second meshing teeth matching the first meshing teeth; further, a first limiting component 705 is provided on the slide rail 302, and the first limiting component 705 has two states, a first state and a second state. When it is in the first state, the track slider 301 can move along the slide rail 302, and when it is in the second state, it is used to limit the displacement of the track slider 301; a second connecting component is wrapped around the first gear 704, and the end of the second connecting component away from the first gear 704 is connected to the first limiting component 705.

[0042] Specifically, when the device is flying in the air, Figure 6 As shown, the screw slider 702 is at the first position 712 on the screw 701, and the screw slider 702 has a third surface and a fourth surface on both sides along the second direction, as shown in FIG. Figure 2 and Figure 3 As shown, a third rope 706 and a fourth rope 707 are connected to the third surface of the screw slider 702. At this time, the third rope 706 and the fourth rope 707 are both in a relaxed state. The relaxation of the third rope 706 is to prepare for the subsequent grasping of the grasping and releasing assembly 6, and the relaxed state of the fourth rope 707 is to prepare for the subsequent movement of the track slider 301 along the slide rail 302. The first tension component 708 is a tension spring, one end of which is connected to the fourth surface of the screw slider 702, and the other end is connected to the fourth rope 707 on the second surface of the track slider 301.

[0043] Optionally, the first drive motor 703 is a DC motor, the main shaft of the first drive motor 703 is connected to the lead screw 701, the first limit assembly 705 is a one-way locking buckle, and the second connection assembly includes a fifth rope 709; when the device is flying in the air, the track slider 301 is located at the second position 322 on the slide rail 302, the first rope 4 is in a relaxed state, the first limit assembly 705 is in the second state, and the track slider 301 is stuck by the one-way locking buckle and cannot move; when the device needs to perch and grab, the first drive motor 703 rotates forward to drive the lead screw slider 702 The lead screw 701 moves from the first position 712 to engage with the first gear 704, the lead screw slider 702 continues to move, the first gear 704 rotates and rolls the fifth rope 709 onto the first gear 704. At this time, the first limiting component 705 connected to the end of the fifth rope 709 away from the first gear 704 is lifted and switched to the first state; since the first tension component 708 is in a stretched state at this time, after the first limiting component 705 switches to the first state, the track slider 301 moves quickly to the third position 321 under the tension of the first tension component 708.

[0044] In addition, the first limiting component 705 is installed on the side of the slide rail 302 and can rotate around the first rotating axis. A torsion spring is installed at the rotation center of the first limiting component 705. When the torsion spring is in the initial state, the first limiting component 705 clamps the track slider 301 so that it cannot be pulled to the third position 321 by the tension of the first tension component 708.

[0045] Furthermore, the leg claw mechanism 5 includes:

[0046] A thigh mechanism 501, one end of which is rotatably connected to the second mounting surface 102;

[0047] A calf mechanism 502 is rotatably connected to an end of the thigh mechanism 501 away from the second mounting surface 102. A third connecting assembly 8 is provided at the end of the calf mechanism 502 away from the thigh mechanism 501. The third connecting assembly 8 is used to connect to the grab and release assembly 6. Optionally, the third connecting assembly 8 includes two second connecting plates provided on both sides of the end of the calf mechanism 502 away from the thigh mechanism 501 along the second direction.

[0048] A fourth connecting component 9, the fourth connecting component 9 is used to connect the thigh mechanism 501 and the calf mechanism 502;

[0049] Furthermore, the fourth connecting component 9 includes two first connecting plates 901 distributed and arranged along the second direction, a second limiting component 902 is provided between the two first connecting plates 901, and the second limiting component 902 has two states, a third state and a fourth state. When in the third state, the thigh mechanism 501 and the calf mechanism 502 are rotatable, and when in the fourth state, the thigh mechanism 501 and the calf mechanism 502 are locked; optionally, the first connecting plate 901 is a triangular connecting plate, the second limiting component 902 is a triangular connecting plate buckle, and the second limiting component 902 is further provided with a compression spring 903;

[0050] Specifically, the thigh mechanism 501 and the calf mechanism 502 are both composed of two connecting rods. The thigh mechanism connecting rod and the upper part of the first connecting plate 901 form a parallelogram mechanism, and the calf mechanism connecting rod and the lower part of the first connecting plate 901 form a parallelogram mechanism. The two parallelogram mechanisms are conducive to better bending of the mechanical leg; the upper connecting rod of the calf mechanism connecting rod has a third meshing tooth, and the upper connecting rod of the calf mechanism connecting rod contacts the upper connecting rod of the thigh mechanism connecting rod to limit the counterclockwise rotation of the calf mechanism 502 relative to the thigh mechanism 501; Figure 4 and Figure 5 As shown, the second limiting component 902 is located at the fourth connecting component 9 of the thigh mechanism 501 and the calf mechanism 502, and the thigh mechanism 501 is provided with a triangular connecting plate snap spring 511; Figure 7 and Figure 8As shown, one end of the triangular connecting plate snap spring 511 is connected to the sixth rope 512 and the seventh rope 513, one end of the sixth rope 512 is connected to the second limiting component 902, and the other end is connected to the first rope 4, and the seventh rope 513 is connected to the third rope 706 away from the end of the triangular connecting plate snap spring 511; when the first rope 4 is tightened, the second limiting component 902 is unlocked, and the thigh mechanism 501 and the calf mechanism 502 are in a bendable state. When the first rope 4 is not tightened, in the absence of external force to unlock the second limiting component 902, the thigh mechanism 501 and the calf mechanism 502 cannot bend, so that the calf mechanism 502 will not shake when the device is preparing to perch and grasp, thereby affecting the judgment of the grasping position.

[0051] In addition, the second limiting component 902 is also connected to a compression spring 903, and the second limiting component 902 has a fourth meshing tooth at one end close to the calf mechanism 502; when the third meshing tooth and the fourth meshing tooth are not fully engaged, the compression spring 903 is in its original state and is not compressed. The second limiting component 902 is in its original state under the action of the compression spring 903. When the first rope 4 is tightened, the compression spring 903 is stretched and is in a force storage state. When the first rope 4 is not tightened, the compression spring 903 is in a force release state and recovers its deformation, thereby driving the second limiting component 902 back to its initial position to lock the thigh mechanism 501 and the calf mechanism 502.

[0052] Furthermore, the grab and release assembly 6 includes two grippers 601 provided on both sides of the third connecting assembly 8 along the third direction, and the grab and release assembly 6 has two states, a fifth state and a sixth state. When in the fifth state, the two grippers 601 are close to each other away from the ends of the third connecting assembly 8, and when in the sixth state, the two grippers 601 are away from each other away from the ends of the third connecting assembly 8; specifically, the grab and release assembly 6 is a bistable gripper, the third connecting assembly 8 is a gripper connector, and the two grippers 601 can rotate around the rotation center of the gripper connector; further, a second tension assembly is provided between the two grippers 601, and the second tension assembly is used to maintain the grab and release assembly 6 in the sixth state; optionally, the second tension assembly is a gripper spring;

[0053] Specifically, the two ends of the second tension component are respectively connected to the two grippers 601. When the device is flying in the air, the two grippers 601 of the grasping and releasing component 6 are in a fully open state, and this state is maintained by the second tension component; the grasping and releasing component 6 has two stable states. The sixth state is the open state of the two grippers 601. At this time, the second tension component is located above the rotation center of the two grippers 601, and the two grippers are stabilized in the sixth state by the tension of the second tension component. The fifth state is the closed state of the two grippers 601. At this time, the second tension component is located below the rotation center of the two grippers 601, and the grippers are in a closed state by the tension of the second tension component.

[0054] Furthermore, a third tension component 801 is also provided on the third connecting component 8, and the third tension component 801 is connected to the first connecting component; optionally, the third tension component 801 is a main tendon spring, and the main tendon spring is connected to the first rope 4; further, a first driving mechanism 10 is also provided on the second mounting surface 102, and the first driving mechanism 10 is used to drive the leg claw mechanism 5 to rotate; optionally, the first driving mechanism 10 is a servo, and the first driving mechanism 10 is installed on the second mounting surface 102.

[0055] When the device finds the right position and is ready to perch, the angles of the leg claw mechanism 5 and the grasping and releasing assembly 6 can be adjusted by the first driving mechanism 10. After finding the appropriate angle, the two grippers 601 are aimed at the branches for perching. At this time, since the device falls towards the tree trunk at a certain speed, the two grippers 601 have two tips 611 near the ends of the leg claw mechanism 5, and each tip 611 has a first connecting hole 612. Each second rope 402 is connected to the first connecting hole 612 respectively. When the grasping and releasing assembly 6 descends, it is impacted by an external force, causing the two grippers 601 to rotate around the rotation center and at the same time breaking the steady state of the gripper spring, causing the two grippers 601 to turn to a closed state. At this time, the gripper spring is located below the rotation center of the two grippers 601, and the trunk is grasped under the action of the gripper spring. At the same time, since the device falls at a certain speed towards the tree trunk, and falls toward the tree trunk at a speed. Under the impact of external force, the third meshing teeth and the fourth meshing teeth disengage, thereby making the calf mechanism 502 and the thigh mechanism 501 bendable. When the calf mechanism 502 and the thigh mechanism 501 bend, the first rope 4 is tightened, thereby driving the fourth rope 707 to tighten and lifting the first limit component 705 upward, so that the track slider 301 moves to the third position 321 under the tension of the first tension component 708, and then the third rope 706, the fourth rope 707 and the first rope 4 are tightened. At this time, the third tension component 801 connected to the first rope 4 is stretched, and the four second ropes 402 connected to the first rope 4 are tightened, thereby giving a pulling force to the two grabbers 601, making the device more secure when perching and grabbing.

[0056] When the device is ready to take off again, it is first necessary to start the DC brushless motor on the quadrotor drone 2 to give the device a lifting force to ensure that the two grippers 601 will not fall suddenly when they are switched to the open state; then the first drive motor 703 is started and driven to rotate forward, and the screw slider 702 moves to the fourth position 711 on the screw 701. In the process of the screw slider 702 moving along the screw 701, since the third rope 706 and the fourth rope 707 are in a taut state, they will respectively drive the two grippers 601 to slowly open under the action of the screw slider 702, and drive the track slider 301 from the third position 321 back to the second position 322, so that it will be stuck by the first limit assembly 705 again; in the process of the screw slider 702 moving to the fourth position 711, the third rope 706 is gradually tightened, so that the triangular connecting plate is stuck The buckle spring 511 is in a stretched state driven by the seventh rope 513, so that the second limit assembly 902 is always in the third state, and since the track slider 301 is in the second position 322, the first rope 4 is in a relaxed state, and the first limit assembly 705 returns to its original position under the action of the torsion spring and clamps the track slider 301. At this time, the thigh mechanism 501 and the calf mechanism 502 are in a bendable state; when the two grippers 601 are fully opened and the screw slider 702 is in the fourth position 711, the first drive motor 703 is driven to reverse, driving the screw slider 702 to return to the first position 712. At the same time, the second limit assembly 902 returns to its initial position under the tension of the compression spring 903, clamping the calf mechanism 502 and the thigh mechanism 501 so that they cannot bend, in preparation for the next perching and grasping.

[0057] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of the present invention, they can also make several improvements, modifications or changes, 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 occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone, characterized in that: include: A base body (1), the base body (1) having a first mounting surface (101) and a second mounting surface (102) along a first direction, the quadrotor drone (2) being provided on the first mounting surface (101); Two bionic mechanical leg claw bodies are distributed and arranged on the second mounting surface (102) along a second direction, the second direction being perpendicular to the first direction, and each of the bionic mechanical leg claw bodies comprises: A first sliding mechanism (3), comprising a slide rail (302) provided on the second mounting surface (102), a track slider (301) provided on a side of the slide rail (302) away from the second mounting surface (102) and matching the slide rail (302), and a first driving assembly (7) for driving the track slider (301) to move along the slide rail (302); a leg claw mechanism (5), wherein one end of the leg claw mechanism (5) is rotatably connected to the second mounting surface (102), and an end away from the second mounting surface (102) is provided with a gripping assembly (6); a first connecting component, one end of the first connecting component being connected to the end of the grasping and placing component (6) close to the leg claw mechanism (5), and the other end being connected to the track slider (301); The first driving assembly (7) comprises a lead screw (701) provided on the second mounting surface (102), a lead screw slider (702) provided on the side of the lead screw (701) away from the second mounting surface (102) and matching the lead screw (701), and a first driving motor (703) for driving the lead screw slider (702) to move along the lead screw (701); a first pulling assembly (708) is provided on the lead screw slider (702), and an end of the first pulling assembly (708) away from the lead screw slider (702) is connected to the track slider (301); The first drive assembly (7) further comprises a first gear (704) provided at one end of the lead screw (701) along a third direction, the third direction being perpendicular to the first direction and perpendicular to the second direction; the first gear (704) has a circle of first meshing teeth on its outer ring, and the lead screw slider (702) has a second meshing tooth matched with the first meshing tooth at its end close to the first gear (704).

2. The bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone according to claim 1 is characterized in that: The slide rail (302) is provided with a first limiting component (705), and the first limiting component (705) has two states: a first state and a second state. When it is in the first state, the track slider (301) can move along the slide rail (302), and when it is in the second state, it is used to limit the displacement of the track slider (301); a second connecting component is wound around the first gear (704), and the end of the second connecting component away from the first gear (704) is connected to the first limiting component (705).

3. The bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone according to claim 2, characterized in that: The leg claw mechanism (5) comprises: a thigh mechanism (501), one end of the thigh mechanism (501) being rotatably connected to the second mounting surface (102); a calf mechanism (502), the calf mechanism (502) being rotatably connected to an end of the thigh mechanism (501) away from the second mounting surface (102), the end of the calf mechanism (502) away from the thigh mechanism (501) being provided with a third connecting component (8), the third connecting component (8) being used to connect to the grab and release component (6); A fourth connecting component (9), the fourth connecting component (9) is used to connect the thigh mechanism (501) and the calf mechanism (502).

4. The bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone according to claim 3 is characterized in that: The fourth connecting component (9) comprises two first connecting plates (901) distributed and arranged along the second direction, a second limiting component (902) is provided between the two first connecting plates (901), and the second limiting component (902) has two states, a third state and a fourth state. When in the third state, the thigh mechanism (501) and the calf mechanism (502) are rotatable, and when in the fourth state, the thigh mechanism (501) and the calf mechanism (502) are locked.

5. The bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone according to claim 4, characterized in that: The grab and release component (6) comprises two grabs (601) provided on both sides of the third connection component (8) along the third direction. The grab and release component (6) has two states, namely, a fifth state and a sixth state. When in the fifth state, the two grabs (601) are away from the ends of the third connection component (8) and approach each other. When in the sixth state, the two grabs (601) are away from the ends of the third connection component (8) and move away from each other.

6. The bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone according to claim 5, characterized in that: A second pulling force component is provided between the two grippers (601), and the second pulling force component is used to maintain the gripping and releasing component (6) in the sixth state.

7. The bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone according to claim 6, characterized in that: A third tension component (801) is also provided on the third connection component (8), and the third tension component (801) is connected to the first connection component.

8. The bionic leg-claw device capable of rapid perching and grasping based on a quadrotor drone according to claim 7, characterized in that: A first driving mechanism (10) is also provided on the second mounting surface (102), and the first driving mechanism (10) is used to drive the leg claw mechanism (5) to rotate.

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