Unmanned aerial vehicle multi-mode inhabiting device based on bistable state

Abstract

The invention discloses an unmanned aerial vehicle multi-mode inhabiting device based on bistability, and belongs to the field of robots, the unmanned aerial vehicle multi-mode inhabiting device comprises a driving unit, and an adsorption unit and a grabbing unit which are connected with the driving unit; the adsorption unit comprises a bistable system and a plurality of adsorption modules, and the adsorption modules are uniformly arranged at the center above the bistable system; the grabbing unit comprises a bistable system and grabbing modules, and the two grabbing modules are symmetrically arranged above the bistable system; the multi-mode double-bionic robot based on the Borbit worms and the sea anemones further comprises a fixing unit, the fixing unit is mainly arranged on the lower portion of the grabbing body, and the fixing unit is connected with the driving unit, the adsorption unit and the grabbing unit. The driving unit is used for driving the bistable system in the grabbing unit, so that the bistable system is converted between a stable state I and a stable state II so as to grab and loosen an object; the driving unit is used for driving the plurality of adsorption modules in the adsorption unit, so that hydraulic pressure in the plurality of adsorption modules is changed to adsorb and desorb objects. The unmanned aerial vehicle multi-mode inhabiting device based on the bistable state has the advantages of being rapid in action, multi-mode, high in coupling, low in cost, low in energy consumption, long in endurance and suitable for complex environments, and can be suitable for grabbing and adsorbing various objects.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a bistable multi-modal habitat device for unmanned aerial vehicles. Background Art

[0002] In recent years, the demand for grasping and adsorption of drones in complex natural environments has increased significantly, but existing technologies face severe challenges: traditional rigid grippers rely on contact friction and pressure to achieve grasping, require high-precision force control and are difficult to adapt to irregular objects, which can easily lead to grasping failure or damage to the target object; pneumatic soft grippers adsorb objects through cavity deformation, but they have strong dependence on airtightness, insufficient adsorption stability on complex surfaces (such as porous and flexible materials), and a single mode cannot take into account both grasping and adsorption functions. In addition, existing devices generally have problems such as single mode, slow response speed, and poor environmental adaptability (such as lack of waterproof design), which makes it difficult to meet the needs of harsh working conditions such as outdoor humidity and dust. Although bionics provides a new direction for robot design (such as the rapid bite mechanism of the Bobbitt worm claw and the negative pressure adsorption characteristics of the anemone tentacles), existing bionic devices still have significant limitations: they do not effectively combine the rapid switching advantages of the bistable structure and the precise control of the hydraulic drive, and lack modular design to achieve the coordinated operation of grasping and adsorption functions. Therefore, developing a multimodal habitat that integrates bistable drive, bionic grasping and hydraulic adsorption has become a key technical breakthrough direction for improving the adaptability of drones in diverse scenarios. Summary of the invention

[0003] The present invention provides a bistable-based multimodal habitat device for unmanned aerial vehicles, aiming to realize the adsorption and grasping of multiple objects in a scene by a robot.

[0004] 1. A first aspect of the present invention provides a bionic bobbit worm device, comprising: a driving unit and a grasping unit connected to the driving unit;

[0005] The driving unit comprises an upper driving waterproof steering gear and a push-pull mechanism; the grabbing unit comprises a Bobbitt worm hook grabbing hand and a bistable system.

[0006] The bionic Bobbit worm device also includes a fixing module, which includes an upper waterproof steering gear fixing base, an upper waterproof steering gear fixing cover, a push-pull fixing piece, an upper bottom plate, an upper support frame, and a bistable system fastener.

[0007] An upper support frame is fixed on the upper base plate, the upper support frame is hinged with the bistable system fastener, an upper waterproof servo fixed base is fixed on the upper base plate, the upper waterproof servo fixed base is connected with the upper waterproof servo fixed cover, and a push-pull fixing piece is fixed on the upper base plate; the above parts constitute the fastening module of the bionic Bobbit worm device.

[0008] During specific implementation, optionally, the fixing method adopts one of the following methods: bolt fixing and strap fixing.

[0009] The upper driving waterproof servo is fixed on the upper waterproof servo fixing base, and the pushing and pulling mechanism is fixed in the pushing and pulling fixing part; including the upper driving waterproof servo and the pushing and pulling mechanism, which constitute the driving unit of the bionic Bobbit worm device.

[0010] During specific implementation, the upper driving waterproof servo drives the pushing and pulling mechanism to perform pushing and pulling movements.

[0011] Optionally, the driving method adopts one of the following methods: gear-rack drive, cam drive, and synchronous pulley drive.

[0012] The bistable system is connected to the upper support frame through the bistable system fastener, the bistable system is connected to the pushing and pulling mechanism, and a bionic Bobbit worm hook gripper is connected to the bistable system. The bionic Bobbit worm hook gripper and the bistable system constitute the grasping unit of the bionic Bobbit worm device.

[0013] Among them, the bistable system is made of an elastic material.

[0014] Optionally, the material of the bistable system includes one of the following: silica gel, rubber, and TPU.

[0015] During specific implementation, the bistable system is pushed and pulled by the pushing and pulling mechanism, and the bistable system will have two stable states. In these two stable states, the bionic Bobbit worm hook gripper can be in two states: closed and open, so as to realize the grasping and releasing of objects by the bionic Bobbit worm device.

[0016] Second, the second aspect of the present invention provides a bionic anemone device, including: a driving unit, a hydraulic unit, and an adsorption unit;

[0017] The driving unit includes a lower driving waterproof servo and a push rod; the hydraulic unit includes a liquid storage tank, a push rod piston, an infusion catheter, and a manifold; the adsorption unit includes bionic anemone tentacles and injection-molded suction cups.

[0018] The bionic anemone device further includes a fixing module, and the fixing module includes a lower waterproof servo fixing base, a lower waterproof servo fixing cover, a liquid storage tank fixing part, a lower bottom plate, and a lower support frame.

[0019] The lower support frame is fixed on the lower bottom plate, the lower support frame is connected to the upper bottom plate, the lower waterproof servo fixing base is fixed on the lower bottom plate, the lower waterproof servo fixing cover is connected to the lower waterproof servo fixing base, and the liquid storage tank fixing part is fixed on the lower bottom plate; including the above-mentioned parts, they constitute the fastening module of the bionic anemone device.

[0020] During specific implementation, optionally, the fixing method includes one of the following methods: bolt fixing, rolling belt fixing.

[0021] The lower driving waterproof steering gear is fixed on the lower driving waterproof steering gear fixing base, and the lower driving waterproof steering gear is connected to the push rod piston; the lower driving waterproof steering gear and the push rod constitute the driving unit of the bionic sea anemone device.

[0022] During specific implementation, the lower driving waterproof steering engine drives the upper push rod piston to move.

[0023] The liquid storage tank is fixed on the above-mentioned liquid storage tank fixing part, one end of the liquid storage tank is connected to the infusion catheter, the other end of the infusion catheter is connected to the collecting tube, the collecting tube is connected to a plurality of imitation sea anemone tentacles, and one section of the plurality of imitation sea anemone tentacles is connected to the injection molding suction cup.

[0024] The injection molding suction cup has a closed characteristic and can work independently. Even if an individual injection molding suction cup falls off, the suction force of other injection molding suction cups will not be affected.

[0025] Among them, the imitation anemone tentacles and injection-molded suction cups are made of elastic materials.

[0026] Optionally, the material of the imitation sea anemone tentacle includes one of the following: silicone, rubber, TPU.

[0027] Optionally, the material of the injection molded suction cup includes one of the following: silicone, rubber, TPU.

[0028] During specific implementation, the liquid storage tank, the liquid storage tank, the infusion catheter, the collecting tube, the imitation sea anemone tentacles, and the injection-molded suction cups are all connected to each other, so that the liquid can flow in each channel.

[0029] During specific implementation, the push rod piston is connected to the liquid storage tank and pressed into the liquid storage tank. The lower driving waterproof servo drives the upper push rod piston to move, so that the push rod piston performs piston movement in the liquid storage tank, so that the liquid in the liquid storage tank passes through the infusion catheter, the collecting tube, and the imitation sea anemone tentacles, and is finally pumped into or out of the injection molded suction cup, thereby realizing the adsorption and desorption of the object by the bionic sea anemone device.

[0030] 3. The third aspect of the present invention provides a bistable UAV multimodal habitat device, including a bionic Bobbit worm device provided by the first aspect of the present invention and a bionic sea anemone device provided by the second aspect of the present invention.

[0031] Beneficial effects:

[0032] A multi-modal perching device for drones based on bistability provided by the present invention significantly improves the grasping and adsorption capabilities of drones for different objects in various scenarios by integrating a bionic Bobbit worm device and a bionic anemone device. The bionic Bobbit worm device utilizes a bistable system and a bionic Bobbit worm hook grasping hand. The bistable system is driven by a push-pull mechanism to quickly switch between two stable states, enabling the grasping hand to close and open, thereby efficiently grasping target objects, especially those with complex shapes. The bionic anemone device uses a hydraulic unit and an adsorption unit. The lower-driven waterproof servo motor drives the push rod piston, causing the liquid to flow among the liquid storage tank, the infusion catheter, the manifold, the bionic anemone tentacles, and the injection-molded suction cups, achieving firm adsorption and rapid desorption of objects. The injection-molded suction cups have a closed property, and even if some suction cups fail, it does not affect the overall adsorption performance. The device combines the unique design of a bistable system and hydraulic drive, overcomes the deficiencies of traditional single-modal grasping devices in multi-scenario adaptability, can flexibly meet the grasping and adsorption requirements of diverse objects in nature, is suitable for drone perching tasks in complex environments, and has excellent stability and practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] To more clearly illustrate the technical solutions of the present invention, the following will briefly introduce the drawings required for the description of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0034] Figure 1 is the overall structural schematic diagram of a multi-modal perching device for drones based on bistability proposed by the present invention;

[0035] Figure 2 is the main structural schematic diagram of the bionic Bobbit worm device (the bistable system is shown transparently);

[0036] Figure 3 is the main structural schematic diagram of the bionic anemone device (the bistable system is shown transparently);

[0037] Figure 4 is the conversion schematic diagram of the bistable system;

[0038] Figure 5 is the design schematic diagram of the suction cup;

[0039] Figure 6 is the schematic diagram of a multi-modal perching device for drones based on bistability proposed by the present invention performing adsorption perching;

[0040] Figure 7 is the schematic diagram of a multi-modal perching device for drones based on bistability proposed by the present invention performing grasping perching;

[0041] Description of reference numerals: 1. Bobbit worm hook-like grasping hand; 2. Anemone tentacle-like; 3. Bistable system; 4. Injection molding suction cup; 5. Push-pull mechanism; 6. Liquid storage tank; 7. Push rod; 8. Lower support frame; 9. Upper support frame; 10. Bistable system fastener; 11. Manifold; 12. Liquid guide pipe; 13. Lower bottom plate; 14. Upper bottom plate; 15. Upper waterproof servo motor fixing cover; 16. Upper waterproof servo motor fixing base; 17. Push-pull fixing part; 18. Upper waterproof servo motor; 19. Liquid storage tank fixing part; 20. Anemone tentacle-like fixing part; 21. Lower waterproof servo motor; 22. Lower waterproof servo motor fixing base; 23. Push rod piston; 24. Lower waterproof servo motor fixing cover;

[0042] A. Negative pressure depression state of the injection molding suction cup; B. Initial state of the injection molding suction cup; C. Positive pressure protrusion state of the injection molding suction cup. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0044] In related technologies, traditional grasping devices mainly include single rigid grippers, finger-shaped soft grippers, etc. Among them, machine grippers achieve the grasping function by applying frictional force and pressure through contact. This grasping method has high force control difficulty and is only applicable to some objects with simple deconstruction, and is not suitable for grasping operations under multi-scene conditions. The driving method of the flexible soft gripper mostly uses pneumatics. The internal of each unit of the soft grasping hand is a closed cavity structure, and it only has good effects on specific surfaces and shapes during adsorption and grasping, and it is easy to have problems of inability to adsorb and falling off for complex object structures. Traditional grasping robots have a single modality and cannot adapt to the adsorption and grasping of diverse objects in nature.

[0045] In view of this, the present invention provides a bistable-based multi-modal perching device for drones, including a bionic Bobbit worm device and a bionic anemone device. The bionic Bobbit worm device is provided with a fixing module, a driving unit and a grasping unit. The driving unit drives the grasping unit. More specifically, the bistable system is pushed and pulled through the push-pull mechanism. The bistable system has two stable states. In these two stable states, the above-mentioned bionic Bobbit worm hook gripper can be in two states: closed and open, so as to realize the grasping and releasing of an object by the bionic Bobbit worm device; the bionic anemone device is provided with a fixing module, a driving unit, a hydraulic unit and an adsorption unit. The driving unit drives the hydraulic unit, and thus drives the adsorption unit. More specifically, the push rod piston is connected to the liquid storage tank and is pressed into the liquid storage tank. The lower driving waterproof servo motor drives the above-mentioned push rod piston to move, so that the push rod piston performs a piston movement in the liquid storage tank, so that the liquid in the liquid storage tank passes through the infusion catheter, the collecting pipe, and the bionic anemone tentacles, and finally is pumped into or out of the injection suction cup, so as to realize the adsorption and desorption of an object by the bionic anemone device.

[0046] Using the above-mentioned bistable system and bionic Bobbit worm hook gripper in the above-mentioned bionic Bobbit worm device, the target object can be grasped better; using the above-mentioned bionic anemone tentacles and injection suction cup in the above-mentioned bionic anemone device, the target object can be firmly adsorbed; a bistable-based multi-modal perching device for drones provided by the present invention is suitable for the grasping and adsorption of various objects in nature.

[0047] Refer to Figure 1 As shown, a bistable-based multi-modal perching device for drones disclosed in the present invention for a patent includes Figure 2 the bionic Bobbit worm device shown in Figure 4 and the bionic anemone device shown in

[0048] Embodiment 1:

[0049] Figure 2 The bionic Bobbit worm device shown in is provided with an upper fixing module, an upper driving unit and a grasping unit connected to the driving unit.

[0050] Specifically, the upper fixing module includes an upper support frame 9, a bistable system fastener 10, an upper bottom plate 14, an upper waterproof servo fixing cover 15, an upper waterproof servo fixing base 16, and a push-pull fixing member 17; the upper support frame 9 is fixed on the upper bottom plate 14, several bistable system fasteners 10 are fixed on the upper support frame 7, the upper waterproof servo fixing base 16 is fixed on the upper bottom plate 14, the upper waterproof servo fixing cover 15 is fixed on the upper waterproof servo base 16, and the push-pull fixing member 17 is fixed on the upper bottom plate 14.

[0051] Specifically, the above-mentioned upper driving unit includes a push-pull mechanism 5 and an upper waterproof servo 18. The upper waterproof servo 18 is fixed to the above-mentioned upper waterproof servo fixing base 16, and the push-pull mechanism 5 is fixed to the above-mentioned push-pull fixing member 17.

[0052] Specifically, the above-mentioned grasping unit includes a Bobbit worm hook grasping hand 1 and a bistable system 3. The bistable system 3 is hinged to the upper support frame 9 through a bistable system fastener 10, and the Bobbit worm hook 1 is fixed in the bistable system 3.

[0053] Further, referring to Figure 4 As shown, the bistable system 3 includes a stable state one and a stable state two. Generally, the state maintained by the bistable system 3 is the stable state one. At this time, the Bobbit worm hook grasping hand 1 is in an open state. When the bistable system 3 receives the downward force provided by the push-pull mechanism 5, the bistable system 3 will change from the stable state one to the stable state two. Instantly, the Bobbit worm hook grasping hand 1 becomes in a grasping state, and the object is grasped.

[0054] Specifically, when the bistable system 3 is in the stable state two, it provides a strong resultant force, and the bionic claw teeth on the Bobbit worm hook grasping hand 1 provide friction, so that the object is firmly grasped.

[0055] Further, when grasping an object, the state maintained by the bistable system 3 is the stable state two. At this time, the Bobbit worm hook grasping hand 1 is in a grasping state. When the bistable system 3 receives the upward force provided by the push-pull mechanism 5, the bistable system 3 will change from the stable state two to the stable state one. Instantly, the Bobbit worm hook grasping hand 1 becomes in an open state, and the object is released.

[0056] Further, the bistable system 3 is hemispherical, and the bistable system is made of an elastic material, such as silica gel, rubber or TPU (Thermoplastic polyurethanes).

[0057] During specific implementation, the methods that the push-pull mechanism 5 can adopt include one of the following: gear-rack transmission, cam transmission, and synchronous pulley transmission.

[0058] Exemplarily, in the present invention, taking a rack and pinion as an example, a waterproof servo motor drives a gear, the gear drives the rack to move up and down, the rack is connected to the bistable system 3, and the rack moves up and down to push and pull, enabling the bistable system 3 to quickly and repeatedly switch between the first stable state and the second stable state, so that the Bobbit worm hook-like grasping hand 1 quickly grasps and releases the object to be grasped.

[0059] Embodiment 2:

[0060] Figure 4 The shown bionic anemone device includes a lower fixing module, a lower driving unit, a hydraulic unit, and an adsorption unit.

[0061] Specifically, the lower fixing module includes a lower bottom plate 13, on which a lower support frame 8 is fixed, the lower support frame 8 is fixed to the upper bottom plate 14 mentioned above, a liquid storage tank fixing member 19 is fixed on the lower bottom plate 13, a lower waterproof servo motor fixing base 22 is fixed on the lower bottom plate 13, and a lower waterproof servo motor fixing cover 24 is fixed on the lower waterproof servo motor fixing base 22.

[0062] Specifically, the lower driving unit includes a lower waterproof servo motor 21, which is fixed by the waterproof servo motor fixing base 22 and the lower waterproof servo motor fixing cover 24 mentioned above. A push rod 7 is connected to the lower waterproof servo motor 21, and the push rod 7 is connected to a push rod piston 23.

[0063] Specifically, the hydraulic unit includes a liquid storage tank 6, which is fixed on the liquid storage tank fixing member 19 mentioned above. The liquid storage tank 6 is connected to a liquid guide pipe 12, and the liquid guide pipe 12 is connected to the collecting pipe 11.

[0064] Specifically, the adsorption unit includes bionic anemone tentacles 20, which are connected to the collecting pipe 11. There are injection molded suction cups 4 on the bionic anemone tentacles 2, and the bionic anemone tentacles 2 are fixed by a bionic anemone tentacle fixing member 20.

[0065] Furthermore, the injection molded suction cup 4 can adopt an integrated casting method, has a closed property, and can work independently. Even if an injection molded suction cup falls off, it does not affect the suction of other injection molded suction cups.

[0066] During specific implementation, the state of the bistable system 3 needs to maintain the first stable state. The lower waterproof servo motor 21 provides a driving force for the driving unit, and the driving force can be transmitted to the push rod piston 23 connected thereto through the push rod 7.

[0067] During specific implementation, when the bionic anemone device adsorbs an object, the cavity of the injection molded suction cup 4 is filled with liquid. When the push rod piston 23 is subjected to a pressure towards the outside of the liquid storage tank 6, the push rod piston 23 quickly sucks the hydraulic liquid in the cavity of the injection molded suction cup 4 back into the liquid storage tank 6 through the bionic anemone tentacles 2, the collecting pipe 11, and the liquid guide pipe 12, so that the state of the injection molded suction cup 4 quickly changes fromFigure 6 The positive pressure convex state C shown is transformed into the negative pressure concave state A, thereby realizing the rapid adsorption of an object.

[0068] During specific implementation, the hydraulic fluid is stored in the liquid storage tank 6. At this time, there is no hydraulic fluid in the cavity of the injection molding suction cup 4. When the push rod piston 23 is subjected to the pressure towards the inside of the liquid storage tank 6, the push rod piston 23 quickly pushes the hydraulic fluid into the cavity of the injection molding suction cup 4 through the liquid guide pipe 12, the collecting pipe 11, and the sea anemone tentacle-like member 2, so that the state of the injection molding suction cup 4 quickly changes from Figure 6 the negative pressure concave state A shown to the positive pressure convex state C, thereby realizing the rapid desorption of the object.

[0069] Embodiment 3:

[0070] Based on the same inventive concept, the embodiment of the present invention also discloses a bistable multi-modal drone perching device, which includes any one of the bionic Bobbit worm devices and any one of the bionic sea anemone devices described in the embodiments of the present invention.

[0071] During specific implementation, as Figure 6 shown, a bistable multi-modal drone perching device disclosed in the embodiment of the present invention can be carried on a drone. When encountering a flat object, the bistable multi-modal drone perching device disclosed in the embodiment of the present invention and the drone carrying it approach the flat object. At this time, the cavity of the injection molding suction cup 4 is filled with liquid. When the push rod piston 23 is subjected to the pressure towards the outside of the liquid storage tank 6, the push rod piston 23 quickly sucks the hydraulic fluid in the cavity of the injection molding suction cup 4 back into the liquid storage tank 6 through the sea anemone tentacle-like member 2, the collecting pipe 11, and the liquid guide pipe 12, so that the state of the injection molding suction cup 4 quickly changes from Figure 6 the positive pressure convex state C shown to the negative pressure concave state A, thereby realizing the rapid adsorption of the object and achieving a state of stably adsorbing to the flat object;

[0072] When it is necessary to detach the whole from the flat object, when the push rod piston 23 is subjected to the pressure towards the inside of the liquid storage tank 6, the push rod piston 23 quickly pushes the hydraulic fluid into the cavity of the injection molding suction cup 4 through the liquid guide pipe 12, the collecting pipe 11, and the sea anemone tentacle-like member 2, so that the state of the injection molding suction cup 4 quickly changes from Figure 6 the negative pressure concave state A shown to the positive pressure convex state C, thereby realizing the rapid desorption of the object.

[0073] During specific implementation, as Figure 7As shown in the figure, a bistable multi-modal perching device for drones disclosed in the embodiments of the present invention can be carried on a drone. When encountering a strip-shaped object, the bistable multi-modal perching device for drones disclosed in the embodiments of the present invention and the drone carrying it approach the strip-shaped object. At this time, the state maintained by the bistable system 3 is steady state one, and the bobbitt worm hook grasping hand 1 is in an open state. When the bistable system 3 receives the downward force provided by the push-pull mechanism 5, the bistable system 3 will change from steady state one to steady state two, and instantly the bobbitt worm hook grasping hand 1 becomes in a grasping state, so that the strip-shaped object is grasped, thereby realizing overall perching.

[0074] When the whole needs to be separated from the strip-shaped object, the state maintained by the bistable system 3 is steady state two. At this time, the bobbitt worm hook grasping hand 1 is in a grasping state. When the bistable system 3 receives the upward force provided by the push-pull mechanism 5, the bistable system 3 will change from steady state two to steady state one, and instantly the bobbitt worm hook grasping hand 1 becomes in an open state, so that the strip-shaped object is released, thereby separating the whole from the strip-shaped object.

[0075] It should be noted that the drone in Embodiment 3 is for illustrative purposes and does not specifically refer to a certain drone, aiming to emphasize an implementation manner of the embodiments of the present invention.

[0076] It should be noted that the various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0077] It should also be noted that in this text, the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. In addition, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations, nor can they be construed as indicating or implying relative importance. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or terminal device comprising the element.

[0078] The technical solutions provided in the present application have been introduced in detail above. Specific examples are used in this text to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only for helping to understand the present application, and the content of this specification should not be construed as a limitation to the present application. At the same time, for those of ordinary skill in the art, according to the present application, there will be various forms of changes in the specific implementation manners and application scopes. It is not necessary and impossible to list all the implementation manners here, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A bistable-based multi-modal perching device for drones, characterized in that, Comprising: A bionic Bobbit worm device and a bionic sea anemone device; The bionic Bobbit worm device includes: A fixing module: including an upper bottom plate, an upper support frame fixed to the upper bottom plate, an upper waterproof servo fixing base, an upper waterproof servo fixing cover, a push-pull fixing member, and a bistable system fastener; A driving unit: including an upper driving waterproof servo and a push-pull mechanism connected to the upper driving waterproof servo, the upper driving waterproof servo is fixed to the upper waterproof servo fixing base, and the push-pull mechanism is fixed to the push-pull fixing member; A grasping unit: including a bistable system and a bionic Bobbit worm hook grasping hand fixed to the bistable system, the bistable system is hinged to the upper support frame through the bistable system fastener and connected to the push-pull mechanism, and the bistable system is driven by the push-pull mechanism to switch between two stable states, realizing the closing and opening of the bionic Bobbit worm hook grasping hand; The bionic sea anemone device includes: A fixing module: including a lower bottom plate, a lower support frame fixed to the lower bottom plate, a liquid storage tank fixing member, a lower waterproof servo fixing base, and a lower waterproof servo fixing cover; A driving unit: including a lower driving waterproof servo and a push rod connected thereto; A hydraulic unit: including a liquid storage tank, a push rod piston, a liquid guide pipe, and a collecting pipe, the liquid storage tank is fixed to the liquid storage tank fixing member and communicated with the collecting pipe through the liquid guide pipe; An adsorption unit: including a plurality of bionic sea anemone tentacles communicated with the collecting pipe and injection molded suction cups fixed to the bionic sea anemone tentacles, the push rod piston moves in the liquid storage tank to drive the liquid to flow between the injection molded suction cups and the liquid storage tank, realizing the adsorption and desorption of the injection molded suction cups.

2. The device according to claim 1, characterized in that, In the bionic Bobbit worm device: The driving mode of the push-pull mechanism is gear-rack transmission, cam transmission or synchronous pulley transmission; The bistable system is made of an elastic material, including one of silicone, rubber or TPU.

3. The device according to claim 1, characterized in that In the bionic sea anemone device: The bionic sea anemone tentacles and the injection molded suction cups are made of an elastic material, including one of silicone, rubber or TPU; The injection molded suction cup is a closed integrated injection molded structure, and each injection molded suction cup works independently.

4. The device according to claim 1, characterized in that, The bistable system is hemispherical. When it is switched from stable state one to stable state two under the drive of the push-pull mechanism, the bionic Bobbit worm hook grasping hand closes to grasp an object; when it is switched from stable state two to stable state one, the bionic Bobbit worm hook grasping hand opens to release the object.

5. The device according to claim 1, characterized in that In the bionic sea anemone device: When the push rod piston moves out of the liquid storage tank, the liquid is pumped back from the injection molded suction cup to the liquid storage tank, and the injection molded suction cup changes from a positive pressure convex state to a negative pressure concave state to realize adsorption; When the push rod piston moves into the liquid storage tank, the liquid is pumped from the liquid storage tank into the injection molded suction cup, and the injection molded suction cup changes from a negative pressure concave state to a positive pressure convex state to realize desorption.

6. The device according to claim 1, characterized in that The upper bottom plate and the lower bottom plate are connected through the lower support frame to form an integral UAV carrying structure.

7. A bionic Bobbit worm device, characterized in that, Comprising the fixing module, the driving unit and the grasping unit according to any one of claims 1-4.

8. A bionic anemone device, characterized in that, Comprising the fixing module, the driving unit, the hydraulic unit and the adsorption unit according to any one of claims 1-5.

9. An aerial drone or a cross-media drone, characterized in that, Carrying the bistable-based multi-modal perching device according to any one of claims 1-7.

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