A multi-functional unmanned aerial vehicle (UAV) integrating biomimetic bird leg claws and its flight method

Abstract

This application discloses a multi-functional unmanned aerial vehicle (UAV) integrating biomimetic bird legs and claws, and a flight method thereof. The multi-functional UAV integrating biomimetic bird legs and claws includes: a UAV body; a connecting fixture connected to the UAV body; a swing drive mechanism mounted on the connecting fixture; an inward and outward swing connecting fixture connected to the connecting fixture; a bird leg and claw forward and backward swing mechanism assembly, one of which is mounted on one of the inward and outward swing connecting fixtures; and a biomimetic bird leg and claw, one of which is connected to one of the bird leg and claw forward and backward swing mechanism assemblies. Compared to UAVs with other perching mechanisms such as fixed perching devices or freely hinged gripper-type perching devices, the inward and outward swing assembly and the forward and backward swing assembly provide the multi-functional UAV integrating biomimetic bird legs and claws with a four-degree-of-freedom attitude adjustment range during perching, improving the controllability of perching.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a multi-functional UAV that integrates bionic bird legs and claws, as well as a method for flying the multi-functional UAV that integrates bionic bird legs and claws. Background Technology

[0002] Biological organisms in nature have undergone millions of years of evolution, possessing skeletal and muscular systems that traditional mechanisms cannot replicate. With the application and development of rotary-wing drone technology, endurance is limited due to constraints in size and weight. Birds' legs and claws possess powerful functions for perching, grasping, and walking. Existing publicly available technologies lack the application of this mechanism. Current drones are all designed for perching / landing in specific environments, exhibiting poor adaptability.

[0003] Publication number CN117022717A discloses a bionic bird leg claw mechanism based on a tendon locking mechanism, but this mechanism has not yet been used in drones. Publication number CN220884859U discloses a bionic perching mechanism for a rotary-wing drone, but this mechanism does not have the function of adjusting the bionic mechanical claw and the drone's fuselage attitude.

[0004] Therefore, it is desirable to have a technical solution to overcome or at least mitigate one of the aforementioned defects of the prior art.

[0005] Application content

[0006] The purpose of this application is to provide a multi-functional drone that integrates biomimetic bird leg claws to overcome or at least mitigate one of the aforementioned defects of the prior art.

[0007] To achieve the above objectives, this application provides a multi-functional unmanned aerial vehicle (UAV) integrating biomimetic bird leg claws, the multi-functional UAV integrating biomimetic bird leg claws comprising:

[0008] The drone itself;

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

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

[0011] An inner and outer swing connecting fixture is connected to the connecting fixture, and the swing drive output end of the swing drive structure is connected to the inner and outer swing connecting fixture for driving the inner and outer swing connecting fixture to rotate.

[0012] A bird leg claw swing mechanism assembly, the number of which is the same as the number of the inner and outer swing connecting fixtures, and one bird leg claw swing mechanism assembly is mounted on one inner and outer swing connecting fixture;

[0013] A biomimetic bird leg claw, wherein one of the biomimetic bird leg claws is connected to a bird leg claw swinging mechanism assembly; wherein...

[0014] The inward and outward swinging connecting fixture is used to drive the bird leg claw forward and backward swinging mechanism assembly and the bionic bird leg claw connected to the bird leg claw forward and backward swinging mechanism assembly to swing inward and outward.

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

[0016] Optionally, each of the inner and outer swing connection fixtures includes:

[0017] The vertical connection part of the inner and outer swing connecting fixture is connected to the swing drive mechanism.

[0018] The horizontal connecting part of the inner and outer swing connecting fixture is connected on one side to the vertical connecting part of the inner and outer swing connecting fixture, and on the other side to each of the bird leg claw front and rear swing mechanism components.

[0019] Optionally, each of the bird leg claw's forward and backward swinging mechanisms includes a forward and backward swinging servo motor, a drive lever, an intermediate lever, and a bird leg claw suspension fixture; wherein,

[0020] The forward and backward swing servo is connected to the inward and outward swing connecting fixture;

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

[0022] One end of the control lever is connected to the output shaft of the forward and backward swing servo motor;

[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 tibia and tarsal bone, a tibia and tarsal parallel bar, tarsometatarsus bones, metacarpal bones, and a claw assembly; wherein,

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

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

[0027] A spring is provided between the tibia and the parallel rod of the tibia and the tarsal bone. One end of the spring is connected to the hinge of the tibia and the femur, and the other end of the spring is connected to the hinge of the parallel rod of the tibia and the femur.

[0028] One end of the tarsal bones is hinged to the parallel rod of the tibia and the tibia;

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

[0030] The claw assembly 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 bases of the first, second, third, and fourth toes are all hinged to the metacarpals; there are four locking mechanisms and four unlocking mechanisms, with one locking mechanism and one unlocking mechanism forming a set of locking and unlocking mechanisms, and the first, second, third, and fourth toes are each connected to a set of locking and unlocking mechanisms;

[0033] The rope traction motor is fixedly connected to the femur, and the traction motor reel is fixedly connected to the output shaft of the rope traction motor, rotating simultaneously with the output shaft of the traction motor.

[0034] The ankle joint thread wheel is hinged to the rear end of the parallel rod of the tibia and tarsal bone, 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, referred to as the first traction rope, the second traction rope, the third traction rope, the fourth traction rope, the fifth traction rope, the sixth traction rope, the seventh traction rope, and the eighth traction rope. Among them, the first traction rope passes through the unlocking mechanism connected to the first toe and is fixed to the end of the first toe; the second traction rope passes through the locking mechanism connected to the first toe and is fixed to the end of the first toe; the third traction rope passes through the unlocking mechanism connected to the second toe and is fixed to the end of the second toe; the fourth traction rope passes through the locking mechanism connected to the second toe and is fixed to the end of the second toe; the fifth traction rope passes through the unlocking mechanism connected to the third toe and is fixed to the end of the third toe; the sixth traction rope passes through the locking mechanism connected to the third toe and is fixed to the end of the third toe; the seventh traction rope passes through the unlocking mechanism connected to the fourth toe and is fixed to the end of the fourth toe; and the eighth traction rope passes through the locking mechanism connected to the fourth toe and is fixed to the end of the fourth toe.

[0036] The first, third, fifth, and seventh traction ropes pass between the tibia and tarsal bones and the parallel rod of the tibia and tarsal bones, while the other four ropes pass around the ankle joint thread wheel behind the parallel rod of the tibia and tarsal bones.

[0037] The first, second, third, and fourth toes can bend and extend;

[0038] When the rope traction motor rotates in the forward direction, the traction rope assembly drives the first toe, second toe, third toe, and fourth toe to retract 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 unlocking mechanisms of the first toe, second toe, third toe, and fourth toe to unlock each toe.

[0040] Optionally, a limiting part is provided on the vertical connecting part of the inner and outer swing connecting fixture. When the swing driving mechanism drives the bird leg claw back and forth swing mechanism assembly to swing inward, the limiting part can limit the inward swing angle of the bird leg claw back and forth swing mechanism assembly. When the swing driving mechanism drives the bird leg claw back and forth swing mechanism assembly to swing outward, the limiting part can limit the outward swing angle of the bird leg claw back and forth swing mechanism assembly.

[0041] This application also provides a multi-functional UAV flight method integrating biomimetic bird legs and claws, the multi-functional UAV flight method integrating biomimetic bird legs and claws including 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; if so, then...

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

[0044] The output angle of the servo motor in the forward and backward swing assembly is obtained based on the current time and the information transmitted by the knee joint angle sensor.

[0045] Control the output angle of the servo motor in the forward and backward swing assembly to the output angle of the servo motor in the forward and backward swing assembly.

[0046] Optionally, the output angle of the servo motor in the forward and backward swing assembly is obtained based on the current time's output angle and the information transmitted by the knee joint angle sensor, using the following formula:

[0047] f2(x)=-(l ABP +l DN cos(x1+8.75°)+l AD cosη+Lcos(α-x2); where,

[0048] x1 is the output angle of the servo motor in the forward and backward swing assembly at the current time, and x2 is the output angle of the servo motor in the forward and backward swing assembly; setting f2(x) = 0 will solve for the required combination of x1 and x2, where η is the information transmitted by the knee joint angle sensor, l ABP Let l be the length of line segment ABP. DN The length of line segment DN, l AD Let AD be the length.

[0049] The multi-functional UAV integrating biomimetic bird leg claws of this application utilizes two attitude adjustment components—a bird leg claw component, an inward and outward swing component, and a forward and backward swing component—to achieve tree branch perching, ground perching, and grasping functions.

[0050] Among them, the locking mechanism of the bionic bird leg claws means that no extra energy is required during the grasping process, and it has strong grasping stability; and the locking mechanism ensures that the multi-functional drone with the bionic bird leg claws will not lose its grip and friction constraint on the branch due to external disturbances (such as wind, vibration, etc.) when perched on the branch, that is, it has strong anti-interference ability.

[0051] The toe component has a large ground support area during ground resting, which improves the ground resting reliability of the multi-functional drone that integrates bionic bird legs and claws;

[0052] Compared to drones with fixed grippers, the inward and outward swinging components and the forward and backward swinging components greatly improve the grasping range of the multifunctional drone that integrates bionic bird leg claws during the grasping process.

[0053] Compared to drones with other perching mechanisms such as fixed perching devices or freely hinged gripper-type perching devices, the inward and outward swinging components and the forward and backward swinging components provide the multifunctional drone with a four-degree-of-freedom attitude adjustment range during perching, improving the controllability of perching and enhancing its adaptability to complex perching conditions such as rugged ground and branches of different orientations and shapes. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of a multifunctional unmanned aerial vehicle structure that integrates a biomimetic bird leg claw mechanism according to an embodiment of this application.

[0055] Figure 2 yes Figure 1 Another structural schematic diagram of a multi-functional drone that integrates a biomimetic bird leg claw mechanism is shown.

[0056] Figure 3 yes Figure 1 The diagram shows the structure of the inward and outward swinging components, the forward and backward swinging components, and the bird leg claw components in the multifunctional UAV that integrates a biomimetic bird leg claw mechanism.

[0057] Figure 4 yes Figure 1 The diagram shows the structure of the bird leg claw assembly in a multi-functional UAV that integrates a biomimetic bird leg claw mechanism. The bird leg claw assembly is shown in a flexed and retracted state.

[0058] Figure 5 yes Figure 1 The diagram shows the structure of the bird claw component in a multi-functional UAV that integrates a biomimetic bird leg claw mechanism.

[0059] Figure 6 yes Figure 1 The diagram shows the passive buckling and contraction process of the bird leg claw component in a multi-functional UAV that integrates a biomimetic bird leg claw mechanism under impact.

[0060] Figure 7 yes Figure 1 The diagram shows a ground-dwelling geometry analysis of a multi-functional UAV that integrates a biomimetic bird leg and claw mechanism.

[0061] Figure 8 yes Figure 1 The diagram shows a geometric analysis of the branch-perching posture of a multi-functional UAV with an integrated biomimetic bird leg and claw mechanism, where the bird leg and claw components of the multi-functional UAV with the integrated biomimetic bird leg and claw mechanism are in an extended state.

[0062] Figure 9 yes Figure 1 The diagram shows a geometric analysis of the branch-perching posture of a multi-functional UAV with an integrated biomimetic bird leg and claw mechanism, where the bird leg and claw components of the multi-functional UAV with the integrated biomimetic bird leg and claw mechanism are in a flexed and contracted state.

[0063] Figure 10 yes Figure 1 The diagram shows a multi-functional drone grasping strategy process that integrates a biomimetic bird leg claw mechanism.

[0064] Figure 11 yes Figure 1 The diagram shows a process flow diagram of a multi-functional UAV ground habitat strategy that integrates a biomimetic bird leg and claw mechanism.

[0065] Figure 12 yes Figure 1 The diagram shows a multi-functional UAV branch-dwelling strategy process that integrates a biomimetic bird leg and claw mechanism.

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

[0067] Figure Labels

[0068] 1. UAV body; 2. Connecting fixture; 3. Swing drive mechanism; 4. Inner and outer swing connecting fixture; 5. Forward and backward swing servo motor; 6. Active rod; 7. Passive rod; 8. Leg suspension fixture; 9. Femur; 10. Spring; 11. Tibiatarsal bone; 12. Tibiatarsal parallel rod; 13. Tarsal bones; 14. Metacarpal bones; 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. Vertical connecting part of inner and outer swing connecting fixture; 42. Horizontal connecting part of inner and outer swing connecting fixture; 411. First contact section; 412. First arc-shaped section; 413. Second arc-shaped section. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0070] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this application.

[0071] Figure 1 This is a schematic diagram of a multifunctional unmanned aerial vehicle structure that integrates a biomimetic bird leg claw mechanism according to an embodiment of this application. Figure 2 yes Figure 1 Another structural schematic diagram of a multi-functional drone that integrates a biomimetic bird leg claw mechanism is shown. Figure 3 yes Figure 1 The diagram shows the structure of the inward and outward swinging components, the forward and backward swinging components, and the bird leg claw components in the multifunctional UAV that integrates a biomimetic bird leg claw mechanism. Figure 4 yes Figure 1The diagram shows the structure of the bird leg claw assembly in a multi-functional UAV that integrates a biomimetic bird leg claw mechanism. The bird leg claw assembly is shown in a flexed and retracted state. Figure 5 yes Figure 1 The diagram shows the structure of the bird claw component in a multi-functional UAV that integrates a biomimetic bird leg claw mechanism.

[0072] like Figures 1 to 5 The multi-functional UAV with integrated bionic bird leg claw shown includes the UAV body 1, connecting fixture 2, swing drive mechanism 3, inner and outer swing connecting fixture 4, bird leg claw front and rear swing mechanism assembly, and bionic bird leg claw, wherein,

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

[0074] The swing drive mechanism is mounted on the connecting fixture 2;

[0075] The inner and outer swing connecting fixtures are connected to the connecting fixtures 2, and the swing drive output end of the swing drive structure 3 is connected to the inner and outer swing connecting fixtures to drive the inner and outer swing connecting fixtures to rotate.

[0076] The number of bird leg claw swing mechanism assemblies is the same as the number of inner and outer swing connecting fixtures, and one bird leg claw swing mechanism assembly is mounted on one inner and outer swing connecting fixture.

[0077] One of the bionic bird claws is connected to a bird claw swinging mechanism assembly; wherein,

[0078] The internal and external swing connection fixture is used to drive the bird leg claw front and back swing mechanism assembly and the bionic bird leg claw connected to the bird leg claw front and back swing mechanism assembly to swing inward and outward.

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

[0080] In this embodiment, each of the inner and outer swing connecting fixtures 4 includes a vertical connecting part 41 and a horizontal connecting part 42, wherein,

[0081] The vertical connecting part 41 of the internal and external swing connecting fixture is connected to the swing drive mechanism 3;

[0082] One side of the horizontal connecting part 42 of the inner and outer swing connecting fixture is connected to the vertical connecting part 41 of the inner and outer swing connecting fixture, and the other side is connected to each of the bird leg claw front and rear swing mechanism components.

[0083] In this embodiment, each bird leg claw's forward and backward swinging mechanism includes a forward and backward swinging servo motor 5, a drive lever 6, an intermediate lever 7, and a bird leg claw suspension fixture 8; wherein,

[0084] The forward and backward swing servo motor 5 is connected to the inward and outward swing connecting fixture 4;

[0085] One side of the bird leg claw suspension fixture 8 is connected to the inward and outward swing connection fixture 4;

[0086] One end of the active lever 6 is connected to the output shaft of the forward and backward swing servo motor;

[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 bar 12, tarsometatarsals 13, a metacarpal bone 14, and a bird claw assembly; wherein,

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

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

[0091] A spring 10 is provided between the tibia and tarsal bone 11 and the parallel rod 12 of the tibia and tarsal bone. One end of the spring 10 is connected to the hinge of the tibia and tarsal bone 11 and the femur 9, and the other end of the spring 10 is connected to the hinge of the parallel rod of the tibia and tarsal bone and the femur 9.

[0092] One end of the tarsal bone 13 is hinged to the parallel rod 12 of the tibia and the tibia tarsal bone 11, respectively;

[0093] The other end of 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 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 bases 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, and one locking mechanism 23 and one unlocking mechanism 24 form a set of locking and unlocking mechanisms. The first toe 15, the second toe 16, the third toe 17, and the fourth toe 18 are each 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 thread wheel 22 is hinged to the rear end 12 of the parallel rod of the tibia and tarsal bone, 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 eight bundles, respectively named the first traction rope bundle, the second traction rope bundle, the third traction rope bundle, the fourth traction rope bundle, the fifth traction rope bundle, the sixth traction rope bundle, the seventh traction rope bundle, and the eighth traction rope bundle. The first traction rope bundle 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 traction rope bundle passes through the locking mechanism 23 connected to the first toe 15 and is fixed to the end of the first toe 15; the third traction rope bundle passes through the unlocking mechanism 24 connected to the second toe 15 and is fixed to the end of the first toe 15. The second toe 15 end, 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, third, fifth, and seventh traction ropes pass between the tibia and tarsal bone 11 and the parallel rod 12 of the tibia and tarsal bone, while the other four ropes pass around the ankle joint wheel 22 behind the parallel rod 12 of the tibia and tarsal bone.

[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 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 retract 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 mechanism 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 part is provided on the vertical connecting part of the inner and outer swing connecting fixture. When the swing driving mechanism drives the bird leg claw back and forth swing mechanism assembly to swing inward, the limiting part can limit the inward swing angle of the bird leg claw back and forth swing mechanism assembly. When the swing driving mechanism drives the bird leg claw back and forth swing mechanism assembly to swing outward, the limiting part can limit the outward swing angle of the bird leg claw back and forth swing mechanism assembly.

[0105] See Figure 13 In this embodiment, the part where the vertical connecting part 41 of the inward and outward 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-shaped section 412, and the other side of the first contact section is the second arc-shaped section 413. When the swing driving mechanism drives the bird leg claw forward and backward swing mechanism assembly to swing inward, the first arc-shaped section can move up to 20 degrees inward and then contact the connecting fixture 2, thereby preventing the bird leg claw forward and backward swing mechanism assembly from swinging inward further.

[0106] When the swing drive mechanism drives the bird leg claw swing mechanism assembly to swing outward, the second arc segment moves 80 degrees and then contacts the connecting fixture 2, thereby preventing the bird leg claw swing mechanism assembly from swinging inward or outward further.

[0107] The structure of this application is illustrated in detail below by way of example. It should be understood that the example does not constitute any limitation on this application.

[0108] like Figures 1 to 5 In the multi-functional UAV with the integrated bionic bird leg claw mechanism shown, the connecting fixture 2 is fixedly connected to the UAV body (in this embodiment, it is a coaxial octagonal UAV fuselage). In this embodiment, the connection is made by screws and internal studs, but other fixed connection methods are also possible.

[0109] See Figure 2 The inner and outer swing assembly includes a swing drive mechanism 3 (in this embodiment, an inner and outer swing servo motor) and an inner and outer swing connecting fixture 4;

[0110] The swing drive mechanism 3 is fixedly connected to the connecting fixture 2. In this embodiment, the connection is made by screws and nuts, but other connection methods are also possible. The vertical connecting surface of the inner and outer swing connecting fixture 4 is connected to the servo motor output shaft. In this embodiment, a servo disc and screws are used to connect the servo motor output shaft and the inner and outer swing fixtures, but other methods that can rigidly transmit rotation are also possible. When the swing drive mechanism 3 outputs rotation, the inner and outer swing fixtures 4 swing at the same angle.

[0111] See Figure 2 , 4 The forward and backward swing assembly includes a forward and backward swing servo motor 5, a drive lever 6, a center lever 7, and a bird leg claw suspension fixture 8.

[0112] The forward and backward swing servo 5 is fixedly connected to the front side of the inward and outward swing connecting fixture 4. In this embodiment, the connection is made with screws and nuts, but other connection methods are also possible. The bird leg claw suspension fixture 8 is fixedly connected to the rear side of the inward and outward swing connecting fixture 4. In this embodiment, the connection is made with screws and nuts, but other connection methods are also possible. The large end of the drive rod 6 is connected to the output shaft of the forward and backward swing servo 5. In this embodiment, a servo disc and screws are used to connect the drive rod 6 and the output shaft of the forward and backward swing servo 5, but other methods that can rigidly transmit rotation are also possible. The intermediate rod 7 is hinged to the small end of the drive 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 bar 12, tarsometatarsus bones 13, and a metacarpal bone 14.

[0114] The rear end of femur 9 is hinged to the bird's leg claw suspension fixture. Tibial tarsus 11 and tibial tarsal parallel rod 12 are hinged to the front end of femur 9, with tibial tarsus 11 located on the anterior side of femur and tibial tarsal parallel rod 12 located on the posterior side of femur. Tarsophalanges 13 are hinged to tibial tarsus 11 and tibial tarsal parallel rod 12, respectively. One end of spring 10 is connected to the hinge point of tibial tarsus 11 and femur 9, and the other end is connected to the hinge point of tibial tarsal parallel rod and femur 9. Metacarpal bone 14 is fixedly connected to tarsophalanges; in this embodiment, adhesive connection is used, but other fixed connection methods are also possible.

[0115] When not subjected to 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 tarsal bones are subjected to longitudinal pressure or impact, the spring is stretched further, and the bird leg assembly is in a flexed state, tending to return to its extended state under the spring tension.

[0116] See Figure 4 The femur 9 is hinged to the other end of the intermediate rod 7, and the hinge shaft and the parallel rod 12 of the tibia and tarsal bones are hinged at the same position. When the forward and backward swing servo motor 5 rotates, it drives the active rod 6 to rotate, which in turn causes the femur 9 to swing back and forth through the intermediate rod 7. The femur 9, the active rod 6, the intermediate rod 7, the bird leg claw suspension fixture 8, and the inward and outward swing fixture 4 constitute a planar four-bar linkage.

[0117] See 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 bases of the first toe 15, second toe 16, third toe 17, and fourth toe 18 are all hinged to the metacarpal bones; there are four locking mechanisms 23 and four unlocking mechanisms 24, with one locking mechanism 23 and one unlocking mechanism 24 forming a pair, respectively connected to the bases of the first toe 15, second toe 16, third toe 17, and fourth toe 18.

[0119] See Figure 2 , 3 The cable traction motor 20 is fixedly connected to the femur, and the traction motor reel 21 is fixedly connected to the output shaft of the cable traction motor 20, rotating simultaneously with the output shaft of the traction motor 20. The ankle joint reel 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 reel 21, and the other end is divided into 8 bundles, which pass through the unlocking mechanism 24 and locking mechanism 23 of the first toe 15, second toe 16, third toe 17, and fourth toe 18, respectively, and are fixed to the ends of the first toe 15, second toe 16, third toe 17, and fourth toe 18. Four bundles pass between the tibia-tarsal 11 and the tibia-tarsal parallel rod 12, and the other four bundles pass around the ankle joint reel 22 after the tibia-tarsal parallel rod 12.

[0120] The first toe 15, second toe 16, third toe 17, and 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, second toe 16, third toe 17, and fourth toe 18 to retract and the corresponding four locking mechanisms 23 to lock the toes. After locking, each toe remains in a retracted state under external force even after the traction rope assembly is removed. 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, second toe 16, third toe 17, and fourth toe 18 to unlock each toe. After unlocking, the first toe 15, second toe 16, third toe 17, and fourth toe 18 can be bent and extended. Toe 16, third toe 17, and fourth toe 18 can contract and expand under external force; when the rope traction motor 20 rotates further in the opposite direction, the traction rope assembly 25 drives the first toe 15, second toe 16, third toe 17, and fourth toe 18 to expand. Due to the rope tension, the first toe 15, second toe 16, third toe 17, and fourth toe 18 cannot contract under external force. At this time, after removing the traction rope assembly, the first toe 15, second toe 16, third toe 17, and fourth toe 18 can contract and expand under external force.

[0121] Among them, such as Figure 6As shown, the middle section of the traction rope assembly 25 is fixed to the parallel rod 12 of the tibia and tarsal bones. When the bird leg assembly receives an impact, the bird leg assembly flexes and contracts, causing part of the traction rope assembly 25 wound on the ankle joint line 22 wheel to contract, causing the first toe 15, second toe 16, third toe 17 and 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, while the bird leg assembly can resume extension after the impact disappears.

[0122] This application also provides a multi-functional drone flight method that integrates bionic bird legs and claws. The multi-functional drone flight method that integrates bionic bird legs and claws includes a flight phase and a landing phase. The landing phase can be divided into ground perching and branch perching. It is understood that the multi-functional drone flight method that integrates bionic bird legs and claws in this application may also include a grasping phase.

[0123] See Figure 10 In this embodiment, the object grasping strategy for the multi-functional UAV with integrated bionic bird leg claws includes:

[0124] Takeoff phase;

[0125] During the hovering phase, the multi-functional drone, which integrates bionic bird legs and claws, flies to hover above the object to be grasped.

[0126] During the adjustment phase, the bird leg claw mechanism is swung to a suitable angle by the inward and outward swinging mechanism of the bird leg claw, and the bird leg assembly is swung to a suitable angle by the forward and backward swinging mechanism of the bird leg claw.

[0127] During the descent phase, the multi-functional drone with the integrated bionic bird leg claw slowly descends until the bird claw component is located near the object to be grasped.

[0128] During the grasping phase, the bird claw component actively grasps the object;

[0129] In the final stage, after confirming that the object has been successfully grasped in the grasping stage, the multifunctional drone with bionic bird leg claws flies away.

[0130] like Figure 7 As shown, in this embodiment, the ground-dwelling strategy for the multi-functional UAV with integrated bionic bird legs and claws includes:

[0131] Takeoff phase;

[0132] During the preparation phase, the multi-functional drone integrating bionic bird legs and claws hovers in the air. The bird leg mechanism is swung vertically downwards by the inward and outward swinging mechanism of the bird legs and claws. The bird leg assembly is then swung to a suitable angle by the forward and backward swinging mechanism of the bird legs and claws, and the bird claw assembly opens.

[0133] During the descent phase, the multifunctional drone with the integrated bionic bird leg claw descends slowly, and the bird claw component gradually contacts the ground. Since the toes are constrained by the ground and cannot bend, the bending rope cannot retract, so the bird leg component remains extended during this process.

[0134] In the final stage, after the multi-functional drone with integrated bionic bird legs and claws has come to a near stop, the center of gravity of the drone is stabilized by adjusting the body angle through the forward and backward swinging mechanism of the bird legs and claws.

[0135] When the coaxial octagonal UAV is in a ground-dwelling state, the position of its fuselage center of mass is related to the geometry and forward / backward swinging posture of the bird's leg claw component, as expressed below:

[0136]

[0137] d1 represents the range of support provided by the bird's claws. The vertical projection of the drone's center of mass falls within this range. The drone can maintain its balance, and its projection coincides with the N points supporting the bird's claws. The stability margin is maximized.

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

[0139] The attitude angle of the drone fuselage.

[0140] λ1 is the angle between the femur and the horizontal direction, which is a constant.

[0141] η1 is the angle between the tibia and the horizontal direction, which is a constant.

[0142] l ABP , l DN , l AD These represent 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 fuselage to point P and the perpendicular line from the center of mass of the UAV to the belly of the fuselage. The constant value L represents the length of the line segment connecting the center of mass of the UAV fuselage to point P.

[0144] During the descent to the ground:

[0145] Because the bird's leg claws are restrained by the traction rope assembly, the toe assembly does not flex during the descent to the ground. Therefore, the four traction ropes fixed to the ankle joint cannot retract, and thus the bird's leg assembly does not flex during the descent to the ground.

[0146] Because the bird's leg claws are constrained by the traction rope assembly, the toe assembly flexes and grips the branch while perched on the branch. Branches of different diameters will cause the toe assembly to flex to different degrees, thereby causing the four traction ropes fixed to the ankle joint to contract to different degrees. Therefore, the bird's leg assembly flexes during perching on the branch, and the degree of flexion is related to the diameter of the branch. In addition, during the flexion of the bird's leg, the drone body will move horizontally towards the nose.

[0147] See Figure 8 , 9 In this embodiment, the branch-dwelling strategy for the multi-functional UAV with integrated bionic bird legs and claws further includes:

[0148] Takeoff phase;

[0149] During the preparation phase, the multi-functional drone with the integrated bionic bird leg claw hovers in the air. The bird leg claw mechanism is swung vertically downward by the inward and outward swinging mechanism of the bird leg claw, and the bird leg claw assembly is swung to a suitable angle by the forward and backward swinging mechanism of the bird leg claw, and the bird claw assembly opens.

[0150] During the descent phase, the multi-functional drone with integrated bionic bird legs and claws descends slowly, and the claw component gradually contacts the tree branch. Under the weight of the multi-functional drone with integrated bionic bird legs and claws, the bird leg component bends, causing the claw component to grip the tree branch tightly.

[0151] In the final stage, after the multi-functional drone with integrated bionic bird legs and claws has come to a near stop, the center of gravity of the drone is stabilized by adjusting the body angle through the forward and backward swinging mechanism of the bird legs and claws.

[0152] While perched on a branch, the bird's body remains horizontal before the metacarpal component of the claw assembly contacts the branch. The posture of the bird's leg claw assembly can be adjusted by a back-and-forth swinging mechanism. Upon contact with the branch, the bird's claw assembly is constrained by friction, and its posture can no longer change. At this point, the posture angle is the contact angle. Upon contact with the branch, the bionic bird's claws move under the pressure of the drone's weight, causing the toe components to contract and grip the branch.

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

[0154]

[0155] in,

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

[0157] d2 is the diameter of the tree branch. When the vertical projection of the drone's center of mass falls within this range... The drone can then maintain its balance, and its projection coincides with point N. The stability margin is maximized.

[0158] λ2 is the angle between the femur and the horizontal direction, the size of which is related to the bird's leg posture, but remains unchanged during and after roosting.

[0159] η2 is the angle between the tibia and the horizontal direction, which is related to the bird's leg posture before roosting and remains unchanged after roosting. The dynamic process of roosting is ignored here; only the static stability conditions after roosting are discussed.

[0160] The change implies that the contact between the claw component and the branch causes the bird's leg posture to stabilize, resulting in the movement of the swinging component. Conversely, This indicates the swing angle of the bird claw component before and after it contacts the branch. It is the input parameter before the bird perches. The bird's leg posture is fixed, and it no longer changes after the bird claw is locked.

[0161] In this embodiment, based on the expression for the UAV's center of mass position, the formula for the UAV's center of mass stabilization control algorithm is derived as follows:

[0162] Optionally, the output angle of the servo motor in the forward and backward swing assembly is obtained based on the current time's output angle and the information transmitted by the knee joint angle sensor, using the following formula:

[0163] f2(x)=-(l ABP +l DN cos(x1+8.75°)+l AD cosη+Lcos(α-x2); where,

[0164] x1 is the output angle of the servo motor in the forward and backward swing assembly at the current time, and x2 is the output angle of the servo motor in the forward and backward swing assembly; by setting f2(x) = 0, the corresponding required combination of x1 and x2 can be solved, and η is the information transmitted by the knee joint angle sensor.

[0165] The multi-functional UAV integrating biomimetic bird leg claws of this application utilizes two attitude adjustment components—a bird leg claw component, an inward and outward swing component, and a forward and backward swing component—to achieve tree branch perching, ground perching, and grasping functions.

[0166] The bionic bird leg claw has a locking mechanism that allows it to grasp without consuming additional energy and has strong grasping stability. Furthermore, the locking mechanism ensures that the multifunctional drone with the bionic bird leg claw will not lose its grip and friction constraint on the branch due to external disturbances (such as wind, vibration, etc.) while perched on the branch, thus having strong anti-interference capabilities.

[0167] The toe component has a large ground support area during ground resting, which improves the ground resting reliability of the multi-functional UAV that integrates bionic bird leg claws;

[0168] Compared to drones with fixed grippers, the inward and outward swinging components and the forward and backward swinging components greatly improve the grasping range of the multifunctional drone that integrates bionic bird leg claws during the grasping process.

[0169] Compared to drones with other perching mechanisms such as fixed perching devices or freely hinged gripper-type perching devices, the inward and outward swinging components and the forward and backward swinging components provide the multifunctional drone with a four-degree-of-freedom attitude adjustment range during perching, improving the controllability of perching and enhancing its adaptability to complex perching conditions such as rugged ground and branches of different orientations and shapes.

[0170] See Figure 11 In an alternative embodiment, the ground-dwelling strategy for the multi-functional UAV with integrated biomimetic bird legs and claws includes:

[0171] During the takeoff phase, the multi-functional drone, which integrates biomimetic bird legs and claws, takes off from the ground;

[0172] During the preparation phase, the multi-functional drone with the integrated bionic bird leg claws hovers in the air, the inward and outward swing servo motor 3 swings to 0°, the forward and backward swing servo motor 5 swings to 5°, and the rope traction motor 20 rotates in the opposite direction, causing the first toe 15, the second toe 16, the third toe 17 and the fourth toe 18 to extend to a point where they cannot retract due to external force.

[0173] During the descent phase, the multifunctional drone with the integrated bionic bird leg claw descends slowly, and the bird claw component gradually contacts the ground. Since the first toe 15, the second toe 16, the third toe 17, and the fourth toe 18 are constrained by the ground and cannot bend, the bending rope cannot retract, so the bird leg component remains extended during this process.

[0174] In the final stage, after the multi-functional UAV with integrated bionic bird legs and claws has basically come to a stop, the forward and backward swing servo motor 5 swings to -10° to stabilize the center of gravity of the multi-functional UAV with integrated bionic bird legs and claws.

[0175] See Figure 12 In an alternative embodiment, the branch-dwelling strategy for the multi-functional UAV with integrated biomimetic bird legs and claws includes:

[0176] During the takeoff phase, the multi-functional drone, which integrates biomimetic bird legs and claws, takes off from the ground;

[0177] During the preparation phase, the multi-functional UAV with the integrated bionic bird leg claw hovers in the air. The inward and outward swing servo motor 3 swings to 0°, the forward and backward swing servo motor 5 swings to 5°, and the rope traction motor 20 rotates in the opposite direction, causing the first toe 15, the second toe 16, the third toe 17, and the fourth toe 18 to extend to a point where they can still be contracted due to the external force impact on the bird leg assembly.

[0178] During the descent phase, the multifunctional drone with the integrated bionic bird leg and claw descends slowly. The metacarpal bone 14 contacts and fixes itself to the tree branch. Under the weight of the multifunctional drone with the integrated bionic bird leg and claw, the bird leg component bends, causing the bird claw component to grip the tree branch tightly.

[0179] In the final stage, after the multi-functional UAV with integrated bionic bird legs and claws has basically come to a stop, the forward and backward swing servo motor 5 swings to 15° to stabilize the center of gravity of the multi-functional UAV with integrated bionic bird legs and claws.

[0180] In this embodiment, the initial position of the inward / outward swing servo 3 and the forward / backward swing servo 5 is 0°, with clockwise rotation being positive and counterclockwise rotation being negative. For the grasping, ground-perching, and branch-perching strategies of the multi-functional UAV with integrated biomimetic bird legs and claws, the specific rotation angles of the inward / outward swing servo 3 and the forward / backward swing servo 5 are only one feasible solution analyzed; other effective angles are also included in this technical solution.

[0181] Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of this application. Therefore, the scope of protection of this application should be determined by the scope defined in the claims of this application.

[0182] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A multi-functional unmanned aerial vehicle (UAV) integrating biomimetic bird leg claws, characterized in that, The multi-functional drone integrating biomimetic bird leg claws includes: Unmanned aerial vehicle body (1); Connecting fixture (2), one side of which is connected to the UAV body; A swing drive mechanism (3) is mounted on the connecting fixture (2); The inner and outer swing connecting fixture (4) is connected to the connecting fixture (2), and the swing drive output end of the swing drive mechanism (3) is connected to the inner and outer swing connecting fixture to drive the inner and outer swing connecting fixture to rotate. A bird leg claw swing mechanism assembly, the number of which is the same as the number of the inner and outer swing connecting fixtures, and one bird leg claw swing mechanism assembly is mounted on one inner and outer swing connecting fixture; A biomimetic bird leg claw, wherein one of the biomimetic bird leg claws is connected to a bird leg claw swinging mechanism assembly; 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). The bases of the first toe (15), second toe (16), third toe (17), and fourth toe (18) are all hinged to the metacarpal bones; there are four locking mechanisms (23) and four unlocking mechanisms (24), and one locking mechanism (23) and one unlocking mechanism (24) form a set of locking and unlocking mechanisms. The first toe (15), second toe (16), third toe (17), and fourth toe (18) are each connected to a 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 thread wheel (22) is hinged to the rear end of the tibia and tarsal 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 traction rope, the second traction rope, the third traction rope, the fourth traction rope, the fifth traction rope, the sixth traction rope, the seventh traction rope, and the eighth traction rope; among them, the first traction rope 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 traction rope passes through the locking mechanism (23) connected to the first toe (15) and is fixed to the end of the first toe (15); the third traction rope passes through the unlocking mechanism (24) connected to the second toe (16) and is fixed to the end of the second toe (17). 6) The end, the fourth traction rope passes through the locking mechanism (23) connected to the second toe (16) and is fixed to the end of the second toe (16); the fifth traction rope passes through the unlocking mechanism (24) connected to the third toe (17) and is fixed to the end of the third toe (17); the sixth traction rope passes through the locking mechanism (23) connected to the third toe (17) and is fixed to the end of the third toe (17); the seventh traction rope passes through the unlocking mechanism (24) connected to the fourth toe (18) and is fixed to the end of the fourth toe (18); the eighth traction rope passes through the locking mechanism (23) connected to the fourth toe (18) and is fixed to the end of the fourth toe (18). The first, third, fifth, and seventh traction ropes pass between the tibia and tarsal bone (11) and the parallel rod of the tibia and tarsal bone (12), while the other four ropes pass around the ankle joint thread wheel (22) after the parallel rod of the tibia and tarsal bone (12). The first toe (15), second toe (16), third toe (17) and 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), second toe (16), third toe (17) and fourth toe (18) to retract 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 unlocking mechanism (24) of the first toe (15), second toe (16), third toe (17), and fourth toe (18) to unlock each toe; among which, The inward and outward swinging connecting fixture is used to drive the bird leg claw forward and backward swinging mechanism assembly and the bionic bird leg claw connected to the bird leg claw forward and backward swinging mechanism assembly to swing inward and outward. The bird leg claw swing mechanism is used to drive the bionic bird leg claw to move in the forward and backward direction.

2. The multi-functional UAV integrating biomimetic bird leg claws as described in claim 1, characterized in that, Each of the aforementioned internal and external swing connection fixtures (4) includes: The vertical connection part (41) of the inner and outer swing connecting fixture is connected to the swing drive mechanism (3); The horizontal connecting part (42) of the inner and outer swing connecting fixture is connected on one side to the vertical connecting part (41) of the inner and outer swing connecting fixture, and on the other side to each of the bird leg claw front and rear swing mechanism components.

3. The multifunctional UAV integrating biomimetic bird leg claws as described in claim 2, characterized in that, Each of the aforementioned bird leg claw swinging mechanisms includes a swinging servo motor (5), a drive lever (6), a middle lever (7), and a bird leg claw suspension fixture (8); wherein, The forward and backward swing servo (5) is connected to the inward and outward swing connecting fixture (4); One side of the bird leg claw suspension fixture (8) is connected to the inner and outer swing connection fixture (4); One end of the active lever (6) is connected to the output shaft of the forward and backward swing servo motor; 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 biomimetic bird leg claws as described in claim 3, characterized in that, Each of the stated bird leg components includes a femur (9), a spring (10), a tibiotarsal bone (11), a tibiotarsal parallel bar (12), tarsometatarsus bones (13), a metacarpal bone (14), and a claw assembly; wherein, One end of the femur (9) is hinged to the bird leg claw suspension fixture; The tibia and tarsal bone (11) and the parallel rod of the tibia and tarsal bone (12) are respectively hinged to the femur (9), and the femur (9) is hinged to the other end of the intermediate rod (7); A spring (10) is provided between the tibia and tarsal bone (11) and the parallel rod (12) of the tibia and tarsal bone. One end of the spring (10) is connected to the hinge of the tibia and tarsal bone (11) and the femur (9), and the other end of the spring (10) is connected to the hinge of the parallel rod of the tibia and tarsal bone and the femur (9). One end of the tarsal bone (13) is hinged to the parallel rod (12) of the tibia and the tibia (11) respectively; The other end of the metacarpal (14) is fixedly connected to the tarsometatarsal (13); The claw assembly is connected to the metacarpal (14).

5. The multifunctional UAV integrating biomimetic bird leg claws as described in claim 2, characterized in that, The vertical connection part of the inward and outward swing connecting fixture is provided with a limiting part. When the swing driving mechanism drives the bird leg claw forward and backward swing mechanism assembly to swing inward, the limiting part can limit the inward swing angle of the bird leg claw forward and backward swing mechanism assembly. When the swing driving mechanism drives the bird leg claw forward and backward swing mechanism assembly to swing outward, the limiting part can limit the outward swing angle of the bird leg claw forward and backward swing mechanism assembly.

6. A method for flying a multi-functional unmanned aerial vehicle (UAV) incorporating biomimetic bird legs and claws, used in any one of claims 1 to 5, characterized in that, The multi-functional UAV flight method integrating biomimetic 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; if so, then... Obtain the output angle of the servo motor in the forward and backward swing component at the current time; The output angle of the servo motor in the forward and backward swing assembly is obtained based on the current time and the information transmitted by the knee joint angle sensor. Control the output angle of the servo motor in the forward and backward swing assembly to the output angle of the servo motor in the forward and backward swing assembly.

7. The multi-functional UAV flight method integrating bionic bird leg claws as described in claim 6, characterized in that, The output angle of the servo motor in the forward and backward swing assembly is obtained based on the output angle of the servo motor in the forward and backward swing assembly and the information transmitted by the knee joint angle sensor at the current time, using the following formula: ;in, The output angle of the servo motor in the forward and backward swing assembly at the current time. Let f2(x) = 0 to find the output angle of the servo motor in the forward and backward swing assembly; setting f2(x) = 0 will solve for the corresponding required angle. combination, The information transmitted by the knee joint angle sensor The length of line segment ABP, The length of line segment DN, The length of AD; Let be the complementary angle between the line connecting the center of mass of the UAV fuselage to point P and the perpendicular line from the center of mass of the UAV fuselage to the belly of the fuselage.

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