Multifunctional unmanned aerial vehicle integrated with bionic bird legs and claws and flight method

Abstract

The invention discloses a multifunctional unmanned aerial vehicle integrated with bionic bird legs and claws and a flight method. The multifunctional unmanned aerial vehicle integrated with bionic bird legs and claws comprises an unmanned aerial vehicle body; the connecting tool is connected with the unmanned aerial vehicle body; the swing driving mechanism is mounted on the connecting tool; the internal and external swinging connecting tool is connected with the connecting tool; one bird leg claw front-back swinging mechanism assembly is mounted on one inner-outer swinging connecting tool; the other bird leg claw front-back swinging mechanism assembly is mounted on the other inner-outer swinging connecting tool; one bionic bird leg claw is connected with one bird leg claw front and back swinging mechanism assembly. Compared with an unmanned aerial vehicle with other inhabiting mechanisms such as a fixed inhabiting device and a freely-hinged clamping jaw type inhabiting device, the multifunctional unmanned aerial vehicle fused with the bionic bird leg claws has the advantages that the inward-outward swinging assembly and the forward-backward swinging assembly provide a four-degree-of-freedom posture adjusting range for the multifunctional unmanned aerial vehicle fused with the bionic bird leg claws in the inhabiting process, and the inhabiting controllability is improved.

Description

Technical Field

[0001] The present application relates to the field of UAV technology, and in particular to a multifunctional UAV integrating bionic bird legs and claws and a flying method of the multifunctional UAV integrating bionic bird legs and claws. Background Art

[0002] The creatures in nature have gone through millions of years of evolution and have a skeletal muscle system that cannot be replicated by traditional mechanisms. With the application and development of rotary-wing UAV technology, the flight time is limited due to the constraints of size and weight. The legs and claws of birds have powerful functions such as perching, catching, and walking. The existing public technologies lack the application of this mechanism. Existing UAVs are all aimed at perching / landing in specific environments and have poor adaptability.

[0003] Publication No. CN117022717A discloses a bionic bird leg claw mechanism based on a tendon locking mechanism, which has not yet been used in drones. Publication No. CN220884859U discloses a bionic perching mechanism for a rotary-wing drone, which does not have the function of adjusting the bionic mechanical claw and the drone body posture.

[0004] Therefore, it is desired to have a technical solution to overcome or at least alleviate at least one of the above-mentioned defects of the prior art.

[0005] Application Contents

[0006] The purpose of the present application is to provide a multifunctional drone integrating bionic bird legs and claws to overcome or at least alleviate at least one of the above-mentioned defects of the prior art.

[0007] To achieve the above objectives, the present application provides a multifunctional UAV integrating bionic bird legs and claws, wherein the multifunctional UAV integrating bionic bird legs and claws comprises:

[0008] The drone body;

[0009] A connecting tool, one side of which is connected to the drone body;

[0010] A swing drive mechanism, which is mounted on the connecting fixture;

[0011] An inner and outer swing connecting tooling, the inner and outer swing connecting tooling is connected to the connecting tooling, and the swing driving output end of the swing driving structure is connected to the inner and outer swing connecting tooling, and is used to drive the inner and outer swing connecting tooling to rotate;

[0012] A bird leg claw forward and backward swing mechanism assembly, the number of the bird leg claw forward and backward swing mechanism assemblies is the same as the number of the inner and outer swing connection fixtures, and one bird leg claw forward and backward swing mechanism assembly is installed on one inner and outer swing connection fixture;

[0013] Bionic bird leg claw, one of the bionic bird leg claws is connected to a bird leg claw forward and backward swinging mechanism component; wherein,

[0014] The internal and external swing connection tooling is used to drive the bird leg claw forward and backward swing mechanism assembly and the bionic bird leg claw connected to the bird leg claw forward and backward swing mechanism assembly to swing inward and backward;

[0015] The bird leg claw forward and backward swinging mechanism assembly is used to drive the bionic bird leg claw to move in the forward and backward directions.

[0016] Optionally, each of the inner and outer swing connection tools comprises:

[0017] An inner and outer swing connection tooling vertical connection part, wherein the inner and outer swing connection tooling vertical connection part is connected to the swing drive mechanism;

[0018] The inside-outside swing connecting tooling horizontal connecting part has one side connected to the inside-outside swing connecting tooling vertical connecting part, and the other side connected to each of the bird leg claw forward and backward swing mechanism components.

[0019] Optionally, each of the bird leg claw forward and backward swinging mechanisms comprises a forward and backward swinging steering gear, an active rod, an intermediate rod and a bird leg claw suspension tooling; wherein,

[0020] The front and rear swing servo is connected to the inner and outer swing connection tooling;

[0021] One side of the bird leg claw suspension tooling is connected to the inner and outer swing connection tooling;

[0022] One end of the active rod is connected to the output shaft of the forward and backward swing servo;

[0023] One end of the intermediate rod is hinged to the active rod, and the other end is hinged to the bionic bird leg claw.

[0024] Optionally, each of the bird leg components includes a femur, a spring, a tibiotarsal bone, a tibiotarsal parallel rod, a tarsometatarsal bone, a metacarpal bone and a bird claw component; wherein,

[0025] One end of the femur is hinged to the bird leg claw suspension tooling;

[0026] The tibiotarsal and tibiotarsal parallel rods are respectively hinged to the femur, and the femur is hinged to the other end of the intermediate rod;

[0027] The spring is arranged between the tibiotarsal bone and the tibiotarsal parallel rod, one end of the spring is connected to the hinge of the tibiotarsal bone and the femur, and the other end of the spring is connected to the hinge of the tibiotarsal parallel rod and the femur;

[0028] One end of the tarsometatarsal is hinged to the tibiotarsal parallel rod and the tibiotarsal;

[0029] The metacarpal bones are fixedly connected to the other ends of the tarsometatarsal bones;

[0030] The bird claw component is connected to the metacarpal bone.

[0031] Optionally, the bird claw assembly includes a first toe, a second toe, a third toe, a fourth toe, a rope traction motor, a traction motor reel, an ankle joint reel, a locking mechanism, an unlocking mechanism 24, and a traction rope assembly;

[0032] The roots of the first toe, the second toe, the third toe and the fourth toe are all hinged to the metacarpal bone; there are four locking mechanisms and four unlocking mechanisms respectively, one locking mechanism and one unlocking mechanism form a set of locking and unlocking mechanisms, and the first toe, the second toe, the third toe and the fourth toe are respectively connected to a set of locking and unlocking mechanisms;

[0033] The rope traction motor is fixedly connected to the femur, and the traction motor pulley is fixedly connected to the output shaft of the rope traction motor and rotates simultaneously with the output shaft of the traction motor;

[0034] The ankle joint wire wheel is hinged to the rear end of the tibiotarsal parallel rod and can rotate freely around the hinge axis;

[0035] One end of the traction rope assembly is connected to the traction motor reel, and the other end is divided into 8 bundles, which are respectively called the first bundle of traction ropes, the second bundle of traction ropes, the third bundle of traction ropes, the fourth bundle of traction ropes, the fifth bundle of traction ropes, the sixth bundle of traction ropes, the seventh bundle of traction ropes, and the eighth bundle of traction ropes; wherein the first bundle of traction ropes is fixed to the end of the first toe after passing through the unlocking mechanism connected to the first toe, the second bundle of traction ropes is fixed to the end of the first toe after passing through the locking mechanism connected to the first toe, the third bundle of traction ropes is fixed to the end of the second toe after passing through the unlocking mechanism connected to the second toe, the fourth bundle of traction ropes is fixed to the end of the second toe after passing through the locking mechanism connected to the second toe, the fifth bundle of traction ropes is fixed to the end of the third toe after passing through the unlocking mechanism connected to the third toe, the sixth bundle of traction ropes is fixed to the end of the third toe after passing through the locking mechanism connected to the third toe, the seventh bundle of traction ropes is fixed to the end of the fourth toe after passing through the unlocking mechanism connected to the fourth toe, and the eighth bundle of traction ropes is fixed to the end of the fourth toe 15 after passing through the locking mechanism connected to the fourth toe;

[0036] The first bundle of traction ropes, the third bundle of traction ropes, the fifth bundle of traction ropes, and the seventh bundle of traction ropes pass between the tibiotarsal and the tibiotarsal parallel rod, and the other four bundles pass around the ankle joint wire wheel behind the tibiotarsal parallel rod;

[0037] The first toe, the second toe, the third toe and the fourth toe can be flexed and extended;

[0038] When the rope traction motor rotates forward, the traction rope assembly drives the first toe, the second toe, the third toe and the fourth toe to contract and the corresponding four locking mechanisms to lock the toes;

[0039] When the rope traction motor rotates in the reverse direction, the traction rope assembly drives the first toe, the second toe, the third toe and the fourth toe unlocking mechanisms to unlock each toe.

[0040] Optionally, a limiting portion is provided on the vertical connecting portion of the inner-outer swing connecting tooling, and when the swing driving mechanism drives the bird leg claw forward and backward swinging mechanism assembly to swing inward, the limiting portion can limit the inner swing angle of the bird leg claw forward and backward swinging mechanism assembly, and when the swing driving mechanism drives the bird leg claw forward and backward swinging mechanism assembly to swing outward, the limiting portion can limit the outer swing angle of the bird leg claw forward and backward swinging mechanism assembly.

[0041] The present application also provides a multifunctional UAV flight method integrating bionic bird leg claws, the multifunctional UAV flight method integrating bionic bird leg claws includes a flight phase and a landing phase; wherein the landing phase includes:

[0042] Determine whether the first pressure information transmitted by the pressure sensor on the bird claw assembly can be obtained, and if so,

[0043] Get the output angle of the servo in the forward and backward swing component at the current time;

[0044] The output angle of the servo in the front and rear swing assembly is obtained according to the output angle of the servo in the front and rear swing assembly at the current time and the information transmitted by the knee joint angle sensor;

[0045] The output angle of the steering gear in the front-rear swing assembly is controlled to the output angle of the steering gear in the front-rear swing assembly.

[0046] Optionally, the output angle of the servo in the front and back swing assembly is obtained according to the information transmitted by the knee joint angle sensor at the current time, and the output angle of the servo in the front and back swing assembly is obtained by the following formula:

[0047] f 2 (x) = -(l ABP +l DN )cos(x 1 +8.75°)+l AD cosη+Lcos(α-x 2 );in,

[0048] x 1 is the output angle of the servo in the forward and backward swing component at the current time, x 2 is the output angle of the servo in the forward and backward swing assembly; let f 2 (x)=0 can be solved to get the corresponding x 1 , x 2 combination, η is the information transmitted by the knee joint angle sensor, lABP is the length of line segment ABP, l DN is the length of line segment DN, l AD It is the length of AD.

[0049] The multifunctional UAV integrating bionic bird legs and claws of the present application realizes the functions of perching on branches, perching on the ground and grasping by utilizing two posture adjustment components, namely, a bird leg and claw component, an inner and outer swing component and a front and rear swing component.

[0050] Among them, the locking mechanism of the bionic bird leg claw does not require additional energy to be consumed during the grasping process, and has strong grasping stability; and the locking mechanism ensures that the multifunctional drone integrating the bionic bird leg claw will not lose the grasping friction constraint on the branch due to external disturbances (such as wind, vibration, etc.) during the perching process on the branch, that is, it has strong anti-interference ability;

[0051] The toe assembly has a larger ground support area during ground perching, which improves the ground perching reliability of the multifunctional UAV that integrates bionic bird leg claws;

[0052] Compared with a drone with a fixed gripper, the inner and outer swing components and the front and rear swing components greatly improve the gripping range of the multifunctional drone integrating the bionic bird leg claw during the gripping process;

[0053] Compared with drones with other perching mechanisms such as fixed perching devices, freely articulated claw-type perching devices, etc., the inner and outer swing components and the front and rear swing components provide the multifunctional drone integrating bionic bird legs and claws with a four-degree-of-freedom attitude adjustment range during the perching process, thereby improving the controllability of the perch, and also improving its adaptability to complex perching conditions such as rugged terrain, branches of different orientations and shapes, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of the structure of a multifunctional UAV integrating a bionic bird leg and claw mechanism according to an embodiment of the present application.

[0055] Figure 2 yes Figure 1 Another structural schematic diagram of a multifunctional UAV integrating a bionic bird leg and claw mechanism is shown.

[0056] Figure 3 yes Figure 1 The schematic diagram of the structure of the inner and outer swing components, the front and rear swing components and the bird leg and claw components in the multifunctional UAV integrating the bionic bird leg and claw mechanism is shown.

[0057] Figure 4 yes Figure 1 The structure diagram of the bird leg claw assembly in the multifunctional UAV integrated with the bionic bird leg claw mechanism is shown in FIG. The bird leg claw assembly is in a flexed and contracted state.

[0058] Figure 5 yes Figure 1 The schematic diagram of the structure of the bird claw assembly in a multifunctional UAV that integrates a bionic bird leg and claw mechanism is shown.

[0059] Figure 6 yes Figure 1 The diagram shown is a schematic diagram of the passive bending and contraction process of the bird leg and claw assembly in a multifunctional UAV that integrates a bionic bird leg and claw mechanism under impact.

[0060] Figure 7 yes Figure 1 Schematic diagram of ground habitat geometry analysis of a multifunctional UAV that integrates a bionic bird leg and claw mechanism

[0061] Figure 8 yes Figure 1 The schematic diagram of the geometric analysis of the tree branch perching of the multifunctional UAV integrating the bionic bird leg claw mechanism is shown, wherein the bird leg claw component of the multifunctional UAV integrating the bionic bird leg claw mechanism is in an extended state

[0062] Fig. 9 yes Figure 1 The schematic diagram of the geometric analysis of the tree branch perching of the multifunctional UAV integrating the bionic bird leg claw mechanism is shown, wherein the bird leg claw component of the multifunctional UAV integrating the bionic bird leg claw mechanism is in a flexed and contracted state

[0063] Fig.10 yes Figure 1 The figure shows a schematic diagram of the multifunctional UAV grasping strategy process integrating the bionic bird leg and claw mechanism.

[0064] Fig.11 yes Figure 1 The schematic diagram of the ground perching strategy process of a multifunctional UAV integrating a bionic bird leg and claw mechanism is shown.

[0065] Fig.12 yes Figure 1 The diagram shown is a schematic diagram of the multifunctional UAV tree branch perching strategy process integrating the bionic bird leg and claw mechanism.

[0066] Fig.13 yes Figure 1 The structural schematic diagram of the vertical connection part of the internal and external swing connection tooling in the fusion bionic bird leg and claw mechanism is shown.

[0067] Reference numerals

[0068] 1. UAV body; 2. Connecting tooling; 3. Swinging drive mechanism; 4. Inner and outer swing connecting tooling; 5. Forward and backward swinging servo; 6. Active rod; 7. Passive rod; 8. Bird leg suspension tooling; 9. Femur; 10. Spring; 11. Tibiotarsal; 12. Tibiotarsal parallel rod; 13. Tarsometatarsal; 14. Metacarpal; 15. First toe; 16. Second toe; 17. Third toe; 18. Fourth toe; 20. Rope traction motor; 21. Traction motor reel; 22. Ankle joint reel; 23. Locking mechanism; 24 Unlocking mechanism; 25 Traction rope assembly; 41. Inner and outer swing connecting tooling vertical connection part; 42. Inner and outer swing connecting tooling horizontal connection part; 411. First contact segment; 412. First arc segment; 413. Second arc segment. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical scheme and advantages of the implementation of this application clearer, the technical scheme in the embodiment of this application will be described in more detail below in conjunction with the drawings in the embodiment of this application. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of this application, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain this application, and should not be construed as limitations on this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The embodiments of this application are described in detail below in conjunction with the drawings.

[0070] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present application.

[0071] Figure 1 It is a schematic diagram of the structure of a multifunctional UAV integrating a bionic bird leg and claw mechanism according to an embodiment of the present application. Figure 2 yes Figure 1 Another structural schematic diagram of a multifunctional UAV integrating a bionic bird leg and claw mechanism is shown. Figure 3 yes Figure 1 The schematic diagram of the structure of the inner and outer swing components, the front and rear swing components and the bird leg and claw components in the multifunctional UAV integrating the bionic bird leg and claw mechanism is shown. Figure 4 yes Figure 1The structure diagram of the bird leg claw assembly in the multifunctional UAV integrated with the bionic bird leg claw mechanism is shown in FIG. The bird leg claw assembly is in a flexed and contracted state. Figure 5 yes Figure 1 The schematic diagram of the structure of the bird claw assembly in a multifunctional UAV that integrates a bionic bird leg and claw mechanism is shown.

[0072] like Figures 1 to 5 The multifunctional UAV integrating bionic bird leg claws shown comprises a UAV body 1, a connecting tool 2, a swing driving mechanism 3, an inner and outer swing connecting tool 4, a bird leg claw forward and backward swing mechanism assembly and a bionic bird leg claw, wherein:

[0073] One side of the connecting tool 2 is connected to the drone body;

[0074] The swing drive mechanism is installed on the connecting tool 2;

[0075] The inner and outer swing connection tooling is connected to the connection tooling 2, and the swing drive output end of the swing drive structure 3 is connected to the inner and outer swing connection tooling, so as to drive the inner and outer swing connection tooling to rotate;

[0076] The number of the bird leg claw forward and backward swing mechanism components is the same as the number of the internal and external swing connection tooling, and one bird leg claw forward and backward swing mechanism component is installed on one internal and external swing connection tooling;

[0077] A bionic bird leg claw is connected to a bird leg claw forward and backward swinging mechanism component; wherein,

[0078] The internal and external swing connection tooling is used to drive the bird leg claw forward and backward swing mechanism assembly and the bionic bird leg claw connected to the bird leg claw forward and backward swing mechanism assembly to swing inward and backward;

[0079] The bird leg claw forward and backward swinging mechanism assembly is used to drive the bionic bird leg claw to move in the forward and backward directions.

[0080] In this embodiment, each of the inner and outer swing connection fixtures 4 includes an inner and outer swing connection fixture vertical connection portion 41 and an inner and outer swing connection fixture horizontal connection portion 42, wherein:

[0081] The vertical connection part 41 of the inner and outer swing connection tooling is connected to the swing drive mechanism 3;

[0082] One side of the horizontal connection part 42 of the inner and outer swing connection tooling is connected to the vertical connection part 41 of the inner and outer swing connection tooling, and the other side is connected to each of the bird leg claw forward and backward swing mechanism components.

[0083] In this embodiment, each bird leg claw forward and backward swing mechanism includes a forward and backward swing steering gear 5, an active rod 6, an intermediate rod 7 and a bird leg claw suspension tooling 8; wherein,

[0084] The front and rear swinging steering gear 5 is connected to the inner and outer swinging connecting tooling 4;

[0085] One side of the bird leg claw suspension tooling 8 is connected to the inner and outer swing connection tooling 4;

[0086] One end of the active rod 6 is connected to the output shaft of the forward and backward swing steering gear;

[0087] One end of the intermediate rod 7 is hinged to the active rod, and the other end is hinged to the bionic bird leg claw.

[0088] In this embodiment, each of the bird leg components includes a femur 9, a spring 10, a tibiotarsal bone 11, a tibiotarsal parallel rod 12, a tarsometatarsal bone 13, a metacarpal bone 14 and a bird claw component; wherein,

[0089] One end of the femur 9 is hinged to the bird leg claw suspension tooling;

[0090] The tibiotarsal bone 11 and the tibiotarsal parallel rod 12 are respectively hinged to the femur 9, and the femur 9 is hinged to the other end of the intermediate rod 7;

[0091] The spring 10 is arranged between the tibiotarsal bone 11 and the tibiotarsal parallel rod 12, one end of the spring 10 is connected to the hinge between the tibiotarsal bone 11 and the femur 9, and the other end of the spring 10 is connected to the hinge between the tibiotarsal parallel rod and the femur 9;

[0092] One end of the tarsometatarsal bone 13 is hinged to the tibiotarsal parallel rod 12 and the tibiotarsal bone 11 respectively;

[0093] The metacarpal bone 14 is fixedly connected to the other end of the tarsometatarsal bone 13;

[0094] The bird claw assembly is connected to the metacarpal bone 14 .

[0095] In this embodiment, the bird claw assembly includes a first toe 15, a second toe 16, a third toe 17, a fourth toe 18, a rope traction motor 20, a traction motor reel 21, an ankle joint reel 22, a locking mechanism 23, an unlocking mechanism 24, and a traction rope assembly 25;

[0096] The roots of the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 are all hinged to the metacarpal bone; there are four locking mechanisms 23 and unlocking mechanisms 24, one locking mechanism 23 and one unlocking mechanism 24 form a set of locking and unlocking mechanisms, and the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 are respectively connected to a set of locking and unlocking mechanisms;

[0097] The rope traction motor 20 is fixedly connected to the femur, and the traction motor pulley 21 is fixedly connected to the output shaft of the rope traction motor 20 and rotates simultaneously with the output shaft of the traction motor 20;

[0098] The ankle joint wire wheel 22 is hinged to the rear end 12 of the tibiotarsal parallel rod and can rotate freely around the hinge axis;

[0099] One end of the traction rope assembly 25 is connected to the traction motor reel 21, and the other end is divided into 8 bundles, which are respectively called the first bundle of traction ropes, the second bundle of traction ropes, the third bundle of traction ropes, the fourth bundle of traction ropes, the fifth bundle of traction ropes, the sixth bundle of traction ropes, the seventh bundle of traction ropes, and the eighth bundle of traction ropes; wherein the first bundle of traction ropes passes through the unlocking mechanism 24 connected to the first toe 15 and is fixed to the end of the first toe 15, the second bundle of traction ropes passes through the locking mechanism 23 connected to the first toe 15 and is fixed to the end of the first toe 15, and the third bundle of traction ropes passes through the unlocking mechanism 24 connected to the second toe 15 and is fixed to the end of the second toe 15, the fourth traction rope passes through the locking mechanism 23 connected to the second toe 15 and is fixed to the end of the second toe 15, the fifth traction rope passes through the unlocking mechanism 24 connected to the third toe 15 and is fixed to the end of the third toe 15, the sixth traction rope passes through the locking mechanism 23 connected to the third toe 15 and is fixed to the end of the third toe 15, the seventh traction rope passes through the unlocking mechanism 24 connected to the fourth toe 15 and is fixed to the end of the fourth toe 15, and the eighth traction rope passes through the locking mechanism 23 connected to the fourth toe 15 and is fixed to the end of the fourth toe 15;

[0100] The first bundle of traction ropes, the third bundle of traction ropes, the fifth bundle of traction ropes, and the seventh bundle of traction ropes pass between the tibia-tarsal bone 11 and the tibia-tarsal bone parallel rod 12, and the other four bundles pass around the ankle joint wire wheel 22 behind the tibia-tarsal bone parallel rod 12;

[0101] The first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 can be bent and extended;

[0102] When the rope traction motor 20 rotates forward, the traction rope assembly 25 drives the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 to contract and the corresponding four locking mechanisms 23 to lock the toes;

[0103] When the rope traction motor 20 rotates in the reverse direction, the traction rope assembly 25 drives the unlocking mechanisms 24 of the first toe 15 , the second toe 16 , the third toe 17 and the fourth toe 18 to unlock each toe.

[0104] In this embodiment, a limiting portion is provided on the vertical connecting portion of the inner-outer swing connecting tooling, and when the swing driving mechanism drives the bird leg claw front-to-back swinging mechanism assembly to swing inward, the limiting portion can limit the inner swing angle of the bird leg claw front-to-back swinging mechanism assembly, and when the swing driving mechanism drives the bird leg claw front-to-back swinging mechanism assembly to swing outward, the limiting portion can limit the outer swing angle of the bird leg claw front-to-back swinging mechanism assembly.

[0105] See also Fig.13 In this embodiment, the part where the vertical connection part 41 of the inner and outer swing connecting fixture is released from the connecting fixture 2 is called the first contact section 411, one side of the first contact section 411 is the first arc section 412, and the other side of the first contact section is the second arc section 413. When the swing driving mechanism drives the bird leg claw forward and backward swinging mechanism assembly to swing inward, the first arc section can move in the inward swing direction for a maximum of 20 degrees before contacting the connecting fixture 2, thereby preventing the bird leg claw forward and backward swinging mechanism assembly from further swinging inward.

[0106] When the swing drive mechanism drives the bird leg claw forward and backward swing mechanism assembly to swing outward, the second arc segment contacts the connecting tooling 2 after moving 80 degrees, thereby preventing the bird leg claw forward and backward swing mechanism assembly from further swinging inward and outward.

[0107] The structure of the present application is described in detail below by way of examples. It should be understood that the examples do not constitute any limitation to the present application.

[0108] like Figures 1 to 5 In the multifunctional UAV integrated with the bionic bird leg claw mechanism shown, the connecting tool 2 is fixedly connected to the UAV body (in this embodiment, the coaxial eight-rotor UAV fuselage), and in this embodiment, the connection is made by screws and internal studs, and other fixed connection methods may also be used.

[0109] See also Figure 2 The inner and outer swing assembly includes a swing driving mechanism 3 (an inner and outer swing steering gear in this embodiment) and an inner and outer swing connecting tooling 4;

[0110] The swing drive mechanism 3 is fixedly connected to the connection fixture 2. In this embodiment, the connection is fixed by screws and nuts, but other connection methods are also possible. The vertical connection surface of the internal and external swing connection fixture 4 is connected to the steering gear output shaft. In this embodiment, a steering wheel and screws are used to connect the steering gear output shaft and the internal and external swing fixture, but other methods that can rigidly transmit rotation are also possible. When the swing drive mechanism 3 outputs rotation, the internal and external swing fixture 4 swings at the same angle.

[0111] See also Figure 2 , 4 The front and rear swing components include a front and rear swing steering gear 5, an active rod 6, an intermediate rod 7, and a bird leg claw suspension tooling 8.

[0112] The front and rear swing servo 5 is fixedly connected to the front side of the internal and external swing connection tooling 4. In this embodiment, it is fixedly connected by screws and nuts, but it can also be fixed by other methods. The bird leg claw suspension tooling 8 is fixedly connected to the rear side of the internal and external swing connection tooling 4. In this embodiment, it is fixedly connected by screws and nuts, but it can also be fixed by other methods. The large end of the active rod 6 is connected to the output shaft of the front and rear swing servo 5. In this embodiment, the active rod 6 and the output shaft of the front and rear swing servo 5 are connected by a steering wheel and screws, but it can also be other methods that can rigidly transmit rotation. The intermediate rod 7 is hinged to the small end of the active rod 6.

[0113] Reference Figure 2 , 4 The bird leg assembly includes a femur 9, a spring 10, a tibiotarsal bone 11, a tibiotarsal parallel rod 12, a tarsometatarsal bone 13, and a metacarpal bone 14.

[0114] The rear end of the femur 9 is hinged to the bird leg claw suspension tooling. The tibiotarsal 11 and the tibiotarsal parallel rod 12 are respectively hinged to the front end of the femur 9, the tibiotarsal 11 is located at the front side of the femur, and the tibiotarsal parallel rod 12 is located at the back side of the femur. The tarsometatarsal 13 is respectively hinged to the tibiotarsal 11 and the tibiotarsal parallel rod 12, one end of the spring 10 is connected to the hinge between the tibiotarsal 11 and the femur 9, and the other end is connected to the hinge between the tibiotarsal parallel rod and the femur 9; the metacarpal 14 is fixedly connected to the tarsometatarsal, and this embodiment uses an adhesive connection, and other fixed connection methods can also be used.

[0115] When there is no external force, the spring is in a stretched state due to geometric constraints, pulling the bird leg assembly into an extended state. When the femur and tarsometatarsal bones receive longitudinal pressure or impact, the spring is further stretched, the bird leg assembly is in a flexed state, and has a tendency to return to the extended state under the tension of the spring.

[0116] See also Figure 4 The femur 9 is hinged to the other end of the intermediate rod 7, and the hinge axis and the femur 9 are hinged to the tibia-tarsal parallel rod 12 at the same position. When the forward and backward swinging steering gear 5 outputs rotation, it drives the active rod 6 to rotate, and the femur 9 swings forward and backward through the transmission of the intermediate rod 7. The femur 9, the active rod 6, the intermediate rod 7, the bird leg claw suspension tooling 8, and the inner and outer swing tooling 4 constitute a planar four-bar mechanism.

[0117] See also Figure 4 , 5 The bird claw assembly includes a first toe 15, a second toe 16, a third toe 17, a fourth toe 18, a rope traction motor 20, a traction motor reel 21, an ankle joint reel 22, a locking mechanism 23, an unlocking mechanism 24, and a traction rope assembly 25.

[0118] The roots of the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 are all hinged to the metacarpal bones; there are four locking mechanisms 23 and four unlocking mechanisms 24, one locking mechanism 23 and one unlocking mechanism 24 form a pair, and are respectively connected to the roots of the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18.

[0119] See also Figure 2 , 3 The rope traction motor 20 is fixedly connected to the femur, and the traction motor pulley 21 is fixedly connected to the output shaft of the rope traction motor 20, and rotates simultaneously with the output shaft of the traction motor 20; the ankle joint pulley 22 is hinged to the rear end 12 of the tibia-tarsal parallel rod, and can rotate freely around the hinge axis. One end of the traction rope assembly 25 is connected to the traction motor pulley 21, and the other end is divided into 8 bundles, which pass through the unlocking mechanism 24 and the locking mechanism 23 of the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 respectively, and are fixed to the ends of the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18. Four of the bundles pass between the tibia-tarsal 11 and the tibia-tarsal parallel rod 12, and the other four bundles pass around the ankle joint pulley 22 behind the tibia-tarsal parallel rod 12.

[0120] Among them, the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 can be bent and stretched. When the rope traction motor 20 rotates forward, the traction rope assembly 25 drives the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 to contract and the corresponding four locking mechanisms 23 to lock the toes. After locking, each toe remains in a contracted state under the action of external force after the traction rope assembly is removed; when the rope traction motor 20 rotates reversely, the traction rope assembly 25 drives the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 to unlock the toes. After unlocking, the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 unlock the toes. The first toe 16, the third toe 17 and the fourth toe 18 can be retracted and expanded by external force; when the rope traction motor 20 further rotates in the opposite direction, the traction rope assembly 25 drives the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 to be expanded. Due to the rope tension, the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 cannot be retracted by external force. At this time, after the traction rope assembly is removed, the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 can be retracted and expanded by external force.

[0121] Among them, Figure 6As shown, a point in the middle of the traction rope assembly 25 is fixed on the tibiotarsal parallel rod 12. When the bird leg assembly receives an impact, the bird leg assembly flexes and contracts, driving the traction rope assembly 25 part wound on the ankle joint line 22 to contract, driving the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 to contract and the corresponding four locking mechanisms 23 to lock the toes. After the locking, each toe remains in a contracted state under the action of external force after the traction rope assembly is removed, and the bird leg assembly can resume extension after the impact disappears.

[0122] The present application also provides a multifunctional UAV flight method integrating bionic bird legs and claws, wherein the multifunctional UAV flight method integrating bionic bird legs and claws includes a flight phase and a landing phase; wherein the landing phase can be divided into ground perching and branch perching. It can be understood that the multifunctional UAV flight method integrating bionic bird legs and claws of the present application can also include a grasping phase.

[0123] See also Fig.10 In this embodiment, the object grasping strategy for the multifunctional drone integrating the bionic bird leg claws includes:

[0124] Take-off phase;

[0125] In the hovering stage, the multifunctional drone integrating the bionic bird legs and claws flies to hover above the object to be grasped;

[0126] During the adjustment stage, the bird leg claw mechanism is swung to a suitable angle by the bird leg claw inner and outer swinging mechanism, and the bird leg assembly is swung to a suitable angle by the bird leg claw front and back swinging mechanism;

[0127] During the descending stage, the multifunctional drone integrating the bionic bird leg claw slowly descends until the bird claw assembly is located above the object to be grasped;

[0128] In the grasping stage, the bird claw assembly actively grasps the object;

[0129] In the ending stage, after confirming that the object is successfully grasped in the grasping stage, the multifunctional UAV integrating the bionic bird legs and claws flies away.

[0130] like Figure 7 As shown, in this embodiment, the ground perching strategy for the multifunctional UAV integrating the bionic bird legs and claws includes:

[0131] Take-off phase;

[0132] In the preparation stage, the multifunctional UAV integrating the bionic bird leg claw is hovered in the air, the bird leg mechanism is swung vertically downward by the bird leg claw inner and outer swinging mechanism, the bird leg assembly is swung to a suitable angle by the bird leg claw forward and backward swinging mechanism, and the bird claw assembly is opened;

[0133] In the descending stage, the multifunctional UAV integrating the bionic bird leg claw slowly descends, and the bird claw assembly gradually contacts the ground. Since the toes cannot bend due to the ground constraints, the flexion rope cannot be contracted, so the bird leg assembly remains in an extended state during this process;

[0134] At the end stage, after the multifunctional UAV with bionic bird leg claws is basically stopped, the fuselage angle is adjusted by the forward and backward swing mechanism of the bird leg claws to stabilize the center of gravity of the multifunctional UAV with bionic bird leg claws.

[0135] When perched on the ground, the center of mass position of the coaxial octarotor drone is related to the geometric shape and forward and backward swinging posture of the bird leg claw component, and the expression is as follows:

[0136]

[0137] d 1 is the support range of the bird claws. When the vertical projection of the center of mass of the drone body is within this range, The drone can maintain balance, and the projection coincides with the N points of the bird's claw support. The stability margin is maximum.

[0138] x CM is the horizontal distance between the center of mass of the UAV and N.

[0139] is the attitude angle of the UAV body.

[0140] λ 1 is the angle between the femur and the horizontal direction, which is a constant.

[0141] η 1 is the angle between the tibiotarsal bone and the horizontal direction, which is a constant.

[0142] l ABP , l DN , l AD They are the lengths of line segments ABP, DN, and AD respectively.

[0143] α is the complementary angle between the line connecting the center of mass of the UAV body and point P and the vertical line from the center of mass of the UAV to the belly of the fuselage. The constant L represents the length of the line connecting the center of mass of the UAV body and point P, which is a constant.

[0144] During ground landing:

[0145] Since the bird leg claw is constrained by the traction rope assembly, the toe assembly does not flex during the ground landing process, so the four traction ropes fixed to the ankle joint cannot be retracted, so the bird leg assembly does not flex during the ground landing process;

[0146] Since the bird's leg claw is constrained by the traction rope assembly, the toe assembly bends and grips the branch during the branch perching process. Branches of different diameters will cause the toe assembly to bend to different degrees, thereby driving the four traction ropes fixed to the ankle joint to contract to different degrees. Therefore, the bird's leg assembly bends during the branch perching process, and the degree of bending is related to the branch diameter. In addition: during the bird's leg bending process, the drone fuselage will move horizontally toward the nose direction.

[0147] See also Figure 8 , 9 In this embodiment, the tree branch perching strategy for the multifunctional drone integrating bionic bird legs and claws further includes:

[0148] Take-off phase;

[0149] In the preparation stage, the multifunctional UAV integrating the bionic bird leg claw is hovered in the air, the bird leg claw mechanism is swung vertically downward by the bird leg claw inner and outer swinging mechanism, the bird leg claw assembly is swung to a suitable angle by the bird leg claw forward and backward swinging mechanism, and the bird claw assembly is opened;

[0150] During the descending stage, the multifunctional UAV integrating the bionic bird leg and claw slowly descends, and the bird claw component gradually contacts the tree branch. Under the weight of the multifunctional UAV integrating the bionic bird leg and claw, the bird leg component bends to drive the bird claw component to tightly grasp the tree branch.

[0151] At the end stage, after the multifunctional UAV with bionic bird leg claws is basically stopped, the fuselage angle is adjusted by the forward and backward swing mechanism of the bird leg claws to stabilize the center of gravity of the multifunctional UAV with bionic bird leg claws.

[0152] During the process of perching on a branch, the bird's leg claw assembly is kept horizontal before the metacarpal assembly contacts the branch, and the posture of the bird's leg claw assembly can be adjusted by the forward and backward swing mechanism. When contacting the branch, the bird's leg claw assembly is constrained by friction, and the posture of the bird's leg claw assembly can no longer change. At this time, the posture angle is the contact angle After touching the branch, the bionic bird leg claw moves with the pressure of gravity of the drone body, driving the toe part to contract and grasp the branch.

[0153] The x coordinate of the drone's center of mass relative to the claw support point N

[0154]

[0155] in,

[0156] is the horizontal distance between the center of mass of the UAV and N.

[0157] d 2 is the branch diameter. When the vertical projection of the center of mass of the drone body is within this range, Then the drone can maintain balance, and the projection coincides with point N. The stability margin is maximum.

[0158] λ 2 It is the angle between the femur and the horizontal direction. Its size is related to the posture of the bird's legs and remains unchanged during and after perching.

[0159] η 2 is the angle between the tibiotarsal bone and the horizontal direction, which is related to the bird's leg posture before perching and remains unchanged after perching. The dynamic process of perching is ignored here, and only the static stability condition after perching is discussed.

[0160] The change in means that the claw assembly contacts the branch, causing the bird's leg posture to be fixed and then the swing assembly moves forward and backward. It indicates the swing angle of the bird claw component before it touches the branch. It is an input parameter before perching. The bird leg posture is fixed and will not change after the bird claw is locked.

[0161] In this embodiment, according to the drone center of mass position expression, the drone center of mass stability control algorithm formula is derived as follows:

[0162] Optionally, the output angle of the servo in the front and back swing assembly is obtained according to the information transmitted by the knee joint angle sensor at the current time, and the output angle of the servo in the front and back swing assembly is obtained by the following formula:

[0163] f 2 (x) = -(l ABP +l DN )cos(x 1 +8.75°)+l AD cosη+Lcos(α-x 2 );in,

[0164] x 1 is the output angle of the servo in the forward and backward swing component at the current time, x 2 is the output angle of the servo in the forward and backward swing assembly; let f 2 (x)=0 can be solved to get the corresponding x 1 , x 2 combination, η is the information transmitted by the knee joint angle sensor.

[0165] The multifunctional UAV integrating bionic bird legs and claws of the present application realizes the functions of perching on branches, perching on the ground and grasping by utilizing two posture adjustment components, namely, a bird leg and claw component, an inner and outer swing component and a front and rear swing component.

[0166] The locking mechanism of the bionic bird leg claw does not require extra energy to be consumed during the grasping process, and has strong grasping stability; and the locking mechanism prevents the multifunctional UAV integrating the bionic bird leg claw from losing the grasping friction constraint on the branch due to external disturbances (such as wind, vibration, etc.) during the perching process on the branch, that is, it has strong anti-interference ability;

[0167] The toe assembly has a large ground support area during ground perching, thereby improving the ground perching reliability of the multifunctional UAV integrated with bionic bird leg claws;

[0168] Compared with a drone with a fixed gripper, the inner and outer swing components and the front and rear swing components greatly improve the gripping range of the multifunctional drone integrating the bionic bird leg claw during the gripping process;

[0169] Compared with drones with other perching mechanisms such as fixed perching devices, freely articulated claw-type perching devices, etc., the inner and outer swing components and the front and rear swing components provide the multifunctional drone integrating bionic bird legs and claws with a four-degree-of-freedom attitude adjustment range during the perching process, thereby improving the controllability of the perch, and also improving its adaptability to complex perching conditions such as rugged terrain, branches of different orientations and shapes, etc.

[0170] See also Fig.11 In an alternative embodiment, the ground perching strategy for the multifunctional UAV integrating bionic bird legs and claws includes:

[0171] In the take-off phase, the multifunctional UAV integrating the bionic bird legs and claws takes off from the ground;

[0172] In the preparation stage, the multifunctional UAV integrating the bionic bird leg claw hovers in the air, the inner and outer swing servo 3 swings to 0°, the front and rear swing servo 5 swings to 5°, and the rope traction motor 20 rotates in the opposite direction, driving the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 to stretch until they cannot be retracted by external force;

[0173] In the descending stage, the multifunctional UAV integrating the bionic bird leg claw slowly descends, and the bird claw assembly gradually contacts the ground. Since the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 cannot be bent due to the ground constraint, the flexion rope cannot be contracted, so the bird leg assembly remains in an extended state during this process;

[0174] In the end stage, after the multifunctional UAV integrating the bionic bird leg claw is basically stopped, the forward and backward swinging servo 5 swings to -10° to stabilize the center of gravity of the multifunctional UAV integrating the bionic bird leg claw.

[0175] See also Fig.12In an alternative embodiment, the multifunctional drone tree branch perching strategy for integrating bionic bird legs and claws includes:

[0176] In the take-off phase, the multifunctional UAV integrating the bionic bird legs and claws takes off from the ground;

[0177] In the preparation stage, the multifunctional UAV integrating the bionic bird leg claw hovers in the air, the inner and outer swing servo 3 swings to 0°, the front and rear swing servo 5 swings to 5°, and the rope traction motor 20 rotates in the opposite direction, driving the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 to stretch until they can still be contracted due to the flexion and contraction of the bird leg assembly under the impact of external force;

[0178] During the descending stage, the multifunctional UAV integrating the bionic bird leg claw slowly descends, the metacarpal bone 14 contacts and fixes the branch, and under the weight of the multifunctional UAV integrating the bionic bird leg claw, the bird leg assembly bends to drive the bird claw assembly to tightly grasp the branch;

[0179] In the end stage, after the multifunctional UAV integrating the bionic bird leg claw is basically stopped, the forward and backward swinging servo 5 swings to 15° to stabilize the center of gravity of the multifunctional UAV integrating the bionic bird leg claw.

[0180] Among them, the initial position of the inner and outer swing servo 3 and the front and rear swing servo 5 in this embodiment is 0°, the rotation angle is positive clockwise and negative counterclockwise. In the grabbing, ground perching, and branch perching strategies of the multifunctional UAV integrating bionic bird legs and claws, the specific rotation angles of the inner and outer swing servo 3 and the front and rear swing servo 5 are only a feasible solution for the latter analysis, and other effective angles are also included in this technical solution.

[0181] Although the present application is disclosed as above in terms of a preferred embodiment, it is not intended to limit the present application. Any technical personnel in this field may make possible changes and modifications without departing from the spirit and scope of the present application. Therefore, the scope of protection of the present application shall be based on the scope defined by the claims of the present application.

[0182] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multifunctional drone integrating bionic bird legs and claws, characterized in that: The multifunctional UAV integrating bionic bird legs and claws comprises: UAV body (1); A connecting tool (2), one side of the connecting tool (2) being connected to the drone body; A swing drive mechanism (3), the swing drive mechanism being mounted on the connecting fixture (2); An internal and external swing connection tooling (4), the internal and external swing connection tooling is connected to the connection tooling (2), and the swing drive output end of the swing drive structure (3) is connected to the internal and external swing connection tooling, and is used to drive the internal and external swing connection tooling to rotate; A bird leg claw forward and backward swing mechanism assembly, the number of the bird leg claw forward and backward swing mechanism assemblies is the same as the number of the inner and outer swing connection fixtures, and one bird leg claw forward and backward swing mechanism assembly is installed on one inner and outer swing connection fixture; Bionic bird leg claw, one of the bionic bird leg claws is connected to a bird leg claw forward and backward swinging mechanism component; wherein, The internal and external swing connection tooling is used to drive the bird leg claw forward and backward swing mechanism assembly and the bionic bird leg claw connected to the bird leg claw forward and backward swing mechanism assembly to swing inward and backward; The bird leg claw forward and backward swinging mechanism assembly is used to drive the bionic bird leg claw to move in the forward and backward directions.

2. The multifunctional drone integrating bionic bird legs and claws as claimed in claim 1, characterized in that: Each of the inner and outer swing connection tools (4) comprises: An inner and outer swing connection tooling vertical connection portion (41), wherein the inner and outer swing connection tooling vertical connection portion (41) is connected to the swing drive mechanism (3); An inner and outer swing connection tooling horizontal connection part (42), one side of the inner and outer swing connection tooling horizontal connection part (42) is connected to the inner and outer swing connection tooling vertical connection part (41), and the other side is connected to each of the bird leg claw forward and backward swing mechanism components.

3. The multifunctional drone integrating bionic bird legs and claws as claimed in claim 2, characterized in that: Each of the bird leg claw forward and backward swinging mechanisms comprises a forward and backward swinging steering gear (5), an active rod (6), an intermediate rod (7) and a bird leg claw suspension tooling (8); wherein, The front and rear swinging steering gear (5) is connected to the inner and outer swinging connecting tooling (4); One side of the bird leg claw suspension tooling (8) is connected to the inner and outer swing connection tooling (4); One end of the active rod (6) is connected to the output shaft of the forward and backward swing steering gear; One end of the intermediate rod (7) is hinged to the active rod, and the other end is hinged to the bionic bird leg claw.

4. The multifunctional UAV integrating bionic bird legs and claws as claimed in claim 3, characterized in that: Each of the bird leg components comprises a femur (9), a spring (10), a tibiotarsal bone (11), a tibiotarsal parallel rod (12), a tarsometatarsal bone (13), a metacarpal bone (14) and a bird claw component; wherein, One end of the femur (9) is hinged to the bird leg claw suspension tooling; The tibiotarsal bone (11) and the tibiotarsal parallel rod (12) are respectively hinged to the femur (9), and the femur (9) is hinged to the other end of the intermediate rod (7); The spring (10) is arranged between the tibiotarsal bone (11) and the tibiotarsal parallel rod (12), one end of the spring (10) is connected to the hinge between the tibiotarsal bone (11) and the femur (9), and the other end of the spring (10) is connected to the hinge between the tibiotarsal parallel rod and the femur (9); One end of the tarsometatarsal bone (13) is hinged to the tibiotarsal parallel rod (12) and the tibiotarsal bone (11) respectively; The metacarpal bone (14) is fixedly connected to the other end of the tarsometatarsal bone (13); The bird claw component is connected to the metacarpal bone (14).

5. The multifunctional UAV integrating bionic bird legs and claws as claimed in claim 4, characterized in that: The bird claw assembly comprises a first toe (15), a second toe (16), a third toe (17), a fourth toe (18), a rope traction motor (20), a traction motor reel (21), an ankle joint reel (22), a locking mechanism (23), an unlocking mechanism (24), and a traction rope assembly (25); The roots of the first toe (15), the second toe (16), the third toe (17) and the fourth toe (18) are all hinged to the metacarpal bone; the number of the locking mechanisms (23) and the unlocking mechanisms (24) are four respectively, one locking mechanism (23) and one unlocking mechanism (24) form a set of locking and unlocking mechanisms, and the first toe (15), the second toe (16), the third toe (17) and the fourth toe (18) are respectively connected to the set of locking and unlocking mechanisms; The rope traction motor (20) is fixedly connected to the femur, and the traction motor pulley (21) is fixedly connected to the output shaft of the rope traction motor (20) and rotates simultaneously with the output shaft of the traction motor (20); The ankle joint wire wheel (22) is hinged to the rear end of the tibiotarsal parallel rod (12) and can rotate freely around the hinge axis; One end of the traction rope assembly (25) is connected to the traction motor reel (21), and the other end is divided into 8 bundles, which are respectively called the first bundle of traction ropes, the second bundle of traction ropes, the third bundle of traction ropes, the fourth bundle of traction ropes, the fifth bundle of traction ropes, the sixth bundle of traction ropes, the seventh bundle of traction ropes, and the eighth bundle of traction ropes; wherein the first bundle of traction ropes passes through an unlocking mechanism (24) connected to the first toe (15) and is fixed to the end of the first toe (15); the second bundle of traction ropes passes through a locking mechanism (23) connected to the first toe (15) and is fixed to the end of the first toe (15); the third bundle of traction ropes passes through an unlocking mechanism (24) connected to the second toe (15) and is fixed to the second toe (15); 5) end, the fourth bundle of traction rope passes through the locking mechanism (23) connected to the second toe (15) and is fixed to the end of the second toe (15), the fifth bundle of traction rope passes through the unlocking mechanism (24) connected to the third toe (15) and is fixed to the end of the third toe (15), the sixth bundle of traction rope passes through the locking mechanism (23) connected to the third toe (15) and is fixed to the end of the third toe (15), the seventh bundle of traction rope passes through the unlocking mechanism (24) connected to the fourth toe (15) and is fixed to the end of the fourth toe (15), and the eighth bundle of traction rope passes through the locking mechanism (23) connected to the fourth toe (15) and is fixed to the end of the fourth toe (15); The first bundle of traction ropes, the third bundle of traction ropes, the fifth bundle of traction ropes and the seventh bundle of traction ropes pass between the tibia-tarsal bone (11) and the tibia-tarsal bone parallel rod (12), and the other four bundles pass around the ankle joint wire wheel (22) behind the tibia-tarsal bone parallel rod (12); The first toe (15), the second toe (16), the third toe (17) and the fourth toe (18) can be bent and extended; When the rope traction motor (20) rotates in the forward direction, the traction rope assembly (25) drives the first toe (15), the second toe (16), the third toe (17) and the fourth toe (18) to contract and the corresponding four locking mechanisms (23) to lock the toes; When the rope traction motor (20) rotates in the reverse direction, the traction rope assembly (25) drives the first toe (15), the second toe (16), the third toe (17) and the fourth toe (18) unlocking mechanisms (24) to unlock each toe.

6. The multifunctional UAV integrating bionic bird legs and claws as claimed in claim 2, characterized in that: A limiting portion is provided on the vertical connecting portion of the inner-outer swing connecting tooling. When the swing driving mechanism drives the bird leg claw front-back swinging mechanism assembly to swing inward, the limiting portion can limit the inner swing angle of the bird leg claw front-back swinging mechanism assembly. When the swing driving mechanism drives the bird leg claw front-back swinging mechanism assembly to swing outward, the limiting portion can limit the outer swing angle of the bird leg claw front-back swinging mechanism assembly.

7. A multifunctional UAV flight method integrating bionic bird legs and claws, characterized in that: The multifunctional UAV flight method integrating bionic bird leg claws includes a flight phase and a landing phase; wherein the landing phase includes: Determine whether the first pressure information transmitted by the pressure sensor on the bird claw assembly can be obtained, and if so, Get the output angle of the servo in the forward and backward swing component at the current time; The output angle of the servo in the front and rear swing assembly is obtained according to the output angle of the servo in the front and rear swing assembly at the current time and the information transmitted by the knee joint angle sensor; The output angle of the steering gear in the front-rear swing assembly is controlled to the output angle of the steering gear in the front-rear swing assembly.

8. The multifunctional UAV flight method integrating bionic bird legs and claws as claimed in claim 7, characterized in that: The output angle of the servo in the front and rear swing assembly is obtained according to the information transmitted by the knee joint angle sensor at the current time, and the output angle of the servo in the front and rear swing assembly is obtained by the following formula: f2(x)=-(l ABP +l DN )cos(x1+8.75°)+l AD cosη+Lcos(α-x2); where, x1 is the output angle of the servo in the front and back swing component at the current time, and x2 is the output angle of the servo in the front and back swing component; let f2(x) = 0 to solve the corresponding required x1, x2 combination, η is the information transmitted by the knee joint angle sensor, l ABP is the length of line segment ABP, l DN is the length of line segment DN, l AD It is the length of AD.

Images