Multi-inhabitation-form unmanned aerial vehicle combined with bionic bird feet

Abstract

The invention is applicable to the technical field of unmanned aerial vehicles, and provides a multi-inhabitation form unmanned aerial vehicle combined with bionic bird feet, which comprises an unmanned aerial vehicle main body and bionic bird foot main bodies for grasping branches, the bionic bird foot main body comprises a bionic dwelling and stopping steering mechanism, a gravity center stable adjusting mechanism and a multi-joint grabbing mechanism which are sequentially arranged at the bottom of the unmanned aerial vehicle main body; the bionic dwelling and stopping steering mechanism is used for driving the gravity center stable adjusting mechanism and the multi-joint grabbing mechanism to rotate synchronously. According to the multi-inhabitation form unmanned aerial vehicle combined with the bionic bird feet, through cooperative operation of the joint connecting plate, the assembly frame, the first steering engine and the first steering wheel of the bionic inhabitation steering mechanism, switching between vertical inhabitation and 180-degree upside-down hanging inhabitation is achieved, the inhabitation scene is expanded, flight energy consumption is reduced, and the endurance time is prolonged.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and in particular relates to a multi-above-ground UAV that incorporates biomimetic bird feet. Background Art

[0002] With their significant advantages such as wide working space, flexible maneuverability, and low maintenance costs, drones have received widespread attention and in-depth research in modern society. They have been successfully applied to many outdoor scenarios such as pollution monitoring, topographic mapping, logistics and transportation, disaster management, and precision agriculture, becoming an important tool for various industries to improve efficiency and expand capabilities.

[0003] Currently, drones are limited by the core bottleneck of battery capacity, and their endurance is still unable to meet the needs of long-duration missions, which greatly restricts their application potential in complex environments and continuous operation scenarios. In nature, birds have evolved excellent biological perching ability, which allows them to stay stably on various surfaces such as branches and rocks after flight, thereby effectively reducing flight energy consumption and significantly extending activity time. This efficient energy management method has provided valuable biomimetic inspiration for the development of drone technology, prompting researchers to dedicate themselves to designing biomimetic perching mechanisms for drones in order to save energy and break through the endurance limitation by achieving stable perching. Summary of the Invention

[0004] This invention provides a multi-above-the-mountain drone incorporating bionic bird legs, aiming to solve the problem mentioned in the background art that current drones have insufficient endurance due to battery capacity limitations, making it difficult to meet the needs of long-duration missions.

[0005] This invention is implemented as follows: a multi-perching drone incorporating a biomimetic bird's foot, comprising: a drone body and a biomimetic bird's foot body for gripping tree branches; the biomimetic bird's foot body includes: a biomimetic perching and turning mechanism, a center of gravity stabilization adjustment mechanism, and a multi-joint grasping mechanism sequentially disposed at the bottom of the drone body; the biomimetic perching and turning mechanism is used to drive the center of gravity stabilization adjustment mechanism and the multi-joint grasping mechanism to rotate synchronously, thereby enabling switching between upright perching and 180° upside-down perching.

[0006] Preferably, the assembly includes a joint connecting plate, an assembly frame, a first servo motor, and a first servo disk; the joint connecting plate is fixed to the bottom of the UAV body; the housing of the first servo motor is fixed to the bottom of the joint connecting plate; the first servo disk is fixedly connected to the servo shaft of the first servo motor; the assembly frame is fixed to the bottom of the first servo disk; the center of gravity stabilization adjustment mechanism is connected to the assembly frame, and drives the first servo disk and the assembly frame to rotate through the first servo motor, thereby driving the center of gravity stabilization adjustment mechanism and the multi-joint gripping mechanism to rotate synchronously.

[0007] Preferably, the center of gravity stabilization adjustment mechanism includes: a leg base, a guide rod, two sets of symmetrically arranged linkage assemblies, and a claw base; the leg base is fixedly connected to the assembly frame; the lower end of the guide rod is fixedly connected to the claw base, and the upper end passes through the leg base and can slide freely; the two ends of the linkage assembly are respectively connected to the leg base and the claw base.

[0008] Preferably, each link assembly includes: a first link, a second link, and a third link; the first link is hinged to the leg base via a first pin; one end of the second link is hinged to the first link via a second pin, and the other end is hinged to the foot base; the third link connects the first link and the second link via a third pin.

[0009] Preferably, the first link of both sets of the connecting rod assemblies is provided with a gear structure, and the two gears mesh with each other to keep the included angles of the two sets of connecting rod assemblies with the central axis equal.

[0010] Preferably, the multi-joint gripping mechanism includes: a claw body; the claw body is composed of a foot frame, joint blocks and gripping hook blocks connected in sequence; the foot frame is hinged to the claw base of the center of gravity stabilization adjustment mechanism.

[0011] Preferably, the foot frame is provided with an opening and closing drive mechanism, which includes a second servo motor and a second servo disk; the hook block has a rope hole, the upper end of the pull rope is fixed to the second servo disk, and the lower end passes through the hole in the joint block of the foot frame and is fixed to the rope hole of the hook block; when the second servo motor drives the second servo disk to rotate, the pull rope is wound around the second servo disk to tighten the rope, thereby pulling the hook block to achieve a closing action, so as to control the opening and closing angle of the hook block.

[0012] Preferably, the guide rod is used to guide the center of gravity stabilization adjustment mechanism, constrain the movement trajectory of the center of gravity stabilization adjustment mechanism, so that the foot base always rises and falls in the vertical direction, and ensures that the trajectory of the overall center of gravity change is a vertical straight line.

[0013] Preferably, the outer wall of the guide rod is provided with a limiting groove along the axial direction, and the inner wall of the leg base is provided with a corresponding limiting protrusion. The limiting protrusion slider is embedded in the limiting groove to guide the guide rod and prevent the guide rod from rotating circumferentially relative to the leg base, ensuring that the center of gravity always changes in the vertical direction.

[0014] Preferably, a buffer washer is provided between the joint connecting plate and the UAV body to reduce the disturbance of the UAV attitude caused by the inertial torque generated when the first servo rotates.

[0015] Compared with related technologies, the multi-above-ground unmanned aerial vehicle (UAV) with biomimetic bird feet provided by this invention has the following beneficial effects: Through the coordinated operation of the joint connecting plates, assembly frame, first servo motor, first servo disk, second servo motor, second servo disk, and traction rope of the biomimetic perching and steering mechanism, the system can switch between upright perching and 180° inverted perching, expanding its perching scenarios. The leg base, guide rod, connecting rod assembly, and claw base of the center of gravity stabilization adjustment mechanism work together to ensure that the center of gravity changes along a vertical line, improving perching stability. The claw body of the multi-joint grasping mechanism enhances grasping stability through multi-joint hinges and opening / closing drive mechanisms. The cooperation of these mechanisms enables the UAV to perch stably, reducing flight energy consumption, extending endurance, and better meeting the needs of long-duration missions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an upright perching structure for a multi-perching unmanned aerial vehicle (UAV) incorporating bionic bird feet, provided by the present invention. Figure 2 This is a schematic diagram of an inverted perching structure of a multi-perching drone that incorporates bionic bird feet, provided by the present invention. Figure 3 for Figure 1 An enlarged structural diagram of part A shown in the figure; Figure 4 This is a schematic diagram of a partial structure of the bionic bird foot provided by the present invention; Figure 5 for Figure 4 The diagram shows an enlarged view of part B.

[0017] Reference numerals: 1. UAV body; 2. Joint connecting plate; 3. Assembly frame; 4. Bionic bird foot body; 5. Branch; 6. First servo motor; 7. First servo disc; 8. Leg base; 9. Guide rod; 10. First connecting rod; 11. Second connecting rod; 12. Third connecting rod; 13. First pin; 14. Second pin; 15. Third pin; 16. Claw body; 17. Foot frame; 18. Joint block; 19. Grappling hook block; 20. Claw base; 21. Rope hole; 22. Second servo motor; 23. Second servo disc.

[0018] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0019] This invention provides a multi-above-the-mountain unmanned aerial vehicle (UAV) incorporating biomimetic bird feet, such as... Figure 1-5As shown, the multi-perching drone combined with bionic bird feet includes: a drone body 1 and a bionic bird foot body 4 for gripping tree branches 5; the bionic bird foot body 4 includes: a bionic perching and turning mechanism, a center of gravity stabilization adjustment mechanism and a multi-joint grasping mechanism arranged sequentially at the bottom of the drone body 1; the bionic perching and turning mechanism is used to drive the center of gravity stabilization adjustment mechanism and the multi-joint grasping mechanism to rotate synchronously, so as to realize the switching between upright perching and 180° upside-down perching.

[0020] In this embodiment, the UAV achieves switching between multiple perching modes through a biomimetic perching and turning mechanism, expanding its perching possibilities in different environments and enabling it to adapt to more diverse operational scenarios. The center of gravity stabilization adjustment mechanism helps the UAV maintain stability during perching, reducing the risk of perching failure due to center of gravity shift. The multi-joint grasping mechanism can flexibly adapt to branches 5 of different thicknesses and shapes, improving the stability of the grasp. By reducing flight energy consumption through stable perching, the UAV's endurance is extended, enabling it to better meet the needs of long-duration missions and play a greater role in complex environments and continuous operational scenarios.

[0021] In a further preferred embodiment of the present invention, the biomimetic perching and steering mechanism includes: a joint connecting plate 2, an assembly frame 3, a first servo motor 6, and a first servo disk 7; the joint connecting plate 2 is fixed to the bottom of the UAV body 1; the outer shell of the first servo motor 6 is fixed to the bottom of the joint connecting plate 2; the first servo disk 7 is fixedly connected to the rudder shaft of the first servo motor 6; the assembly frame 3 is fixed to the bottom of the first servo disk 7; the center of gravity stabilization adjustment mechanism is connected to the assembly frame 3, and the first servo motor drives the first servo disk 7 and the assembly frame 3 to rotate, thereby driving the center of gravity stabilization adjustment mechanism and the multi-joint gripping mechanism to rotate synchronously.

[0022] In this embodiment, the joint connecting plate 2 is fixed to the bottom of the UAV body 1, the outer shell of the first servo motor 6 is fixed to the bottom of the joint connecting plate 2, the first servo disk 7 is fixedly connected to the servo shaft of the first servo motor 6, the assembly frame 3 is fixed to the bottom of the first servo disk 7, the center of gravity stabilization adjustment mechanism is connected to the assembly frame 3, and each component is fixed in sequence to form a complete transmission chain, providing a structural basis for the rotational action of the mechanism. The operation process of the bionic perching and steering mechanism is as follows: When the first servo motor 6 is started, its servo shaft drives the first servo disk 7 to rotate. The rotation of the first servo disk 7 will drive the assembly frame 3 fixed at its bottom to rotate synchronously. Since the center of gravity stabilization adjustment mechanism is connected to the assembly frame 3, the assembly frame 3 will then drive the center of gravity stabilization adjustment mechanism and the multi-joint gripping mechanism to rotate together, thereby realizing the adjustment of the perching posture. By driving the coordinated rotation of various components through the first servo motor 6, the center of gravity stabilization adjustment mechanism and the multi-joint gripping mechanism can be rotated synchronously, enabling the switching between upright perching and 180-degree inverted perching. This allows the drone to adapt to different types of pole and rope landing points, increasing the diversity of perching scenarios, helping to reduce flight energy consumption, and improving the drone's operational capabilities in complex environments.

[0023] In a further preferred embodiment of the present invention, the center of gravity stabilization adjustment mechanism includes: a leg base 8, a guide rod 9, two sets of symmetrically arranged linkage assemblies, and a claw base 20; the leg base 8 is fixedly connected to the assembly frame; the lower end of the guide rod 9 is fixedly connected to the claw base 20, and the upper end passes through the leg base 8 and can slide freely; the two ends of the linkage assembly are respectively connected to the leg base 8 and the claw base 20.

[0024] In this embodiment, the leg base 8 is fixedly connected to the assembly frame 3, the lower end of the guide rod 9 is fixedly connected to the claw base 20, and the upper end passes through the leg base 8 and can slide freely. The two sets of symmetrical connecting rod assemblies are respectively connected to the leg base 8 and the claw base 20. The components cooperate with each other to form a complete adjustment structure, providing a basis for the stable adjustment of the center of gravity. When the assembly frame 3 drives the leg base 8 to move, the linkage assembly rotates and extends accordingly, which in turn drives the claw base 20 to move. The guide rod 9 moves synchronously with the claw base 20. Since the upper end of the guide rod 9 is constrained by the leg base 8, its direction of movement is limited, so that the claw base 20 can only move along the axis of the guide rod 9.

[0025] The movement of the linkage assembly causes the claw base 20 to rise and fall. Combined with the constraint of the guide rod 9, this causes the center of gravity of the drone to change, which helps to lower the center of gravity when resting, reduce instability caused by the shift in the center of gravity, improve the stability of the drone when resting, and provide support for stable resting.

[0026] In a further preferred embodiment of the present invention, each group of the linkage assembly includes: a first linkage 10, a second linkage 11, and a third linkage 12; the first linkage 10 is hinged to the leg base 8 via a first pin 13; one end of the second linkage 11 is hinged to the first linkage 10 via a second pin 14, and the other end is hinged to the foot base 20; the third linkage 12 is connected to the first linkage 10 and the second linkage 11 via a third pin 15.

[0027] In this embodiment, the first link 10 is hinged to the leg base 8 via the first pin 13. The first pin 13 provides a pivot point for the first link 10, allowing the first link 10 to rotate relative to the leg base 8 around the first pin 13, providing an initial power transmission path for the overall movement of the link assembly, and ensuring that the assembly can start moving with the adjustment of the mechanism. One end of the second link 11 is hinged to the first link 10 via the second pin 14, and the other end is hinged to the claw base 20. The second pin 14 allows the first link 10 and the second link 11 to rotate relative to each other. When the first link 10 rotates, it will drive the second link 11 to move via the second pin 14, thereby transmitting power to the claw base 20 and causing the claw base 20 to move accordingly. The third link 12 is connected to the first link 10 and the second link 11 respectively via the third pin 15. The third pin 15 allows the third link 12 to rotate flexibly with the first link 10 and the second link 11. During the movement of the link assembly, the third link 12 constrains the relative position of the first link 10 and the second link 11. Together with other links and pins, it enables the claw base 20 to rise and fall smoothly, which helps to ensure the stability of the UAV's center of gravity.

[0028] In a further preferred embodiment of the present invention, the first connecting rod 10 of both sets of connecting rod assemblies is provided with a gear structure, and the two gears mesh with each other to keep the included angles of the two sets of connecting rod assemblies with the central axis equal.

[0029] In this embodiment, the first connecting rod 10 of both sets of connecting rod assemblies is provided with a gear structure, and the two gears mesh with each other. When the first connecting rod 10 of one set of connecting rod assemblies is driven to rotate around the first pin 13, its gear will drive the gear of the other set of first connecting rod 10 to rotate synchronously, so that the two sets of first connecting rod 10 begin to move in coordination. The transmission process and angle constraint effect of gear meshing are as follows: As the gears of the two sets of first connecting rods 10 mesh with each other, the rotation directions of the two sets of first connecting rods 10 are opposite but the rotation angles are the same, thereby ensuring that the included angle between the two sets of connecting rod assemblies and the central axis remains equal, avoiding mechanism offset caused by the movement of the connecting rod on one side being too fast or too slow, and ensuring the symmetry of the movement of the two sets of components. The meshing of the two gears keeps the two sets of linkage assemblies at equal angles with the central axis, so that when the two sets of linkage assemblies drive the claw base 20 to move, they can provide balanced force from both sides. With the constraint of the guide rod 9, the claw base 20 moves smoothly in the vertical direction, which helps to maintain the verticality of the UAV's center of gravity change trajectory and improves the overall stability during the resting process.

[0030] In a further preferred embodiment of the present invention, the multi-joint gripping mechanism includes: a claw body 16; the claw body 16 is composed of a foot frame 17, a joint block 18 and a gripping hook block 19 connected in sequence; the foot frame 17 is hinged to the claw base 20 of the center of gravity stabilization adjustment mechanism.

[0031] In this embodiment, the claw body 16 is composed and connected as follows: the claw body 16 is composed of a foot frame 17, a joint block 18 and a hook block 19 connected in sequence. The foot frame 17 is connected to the claw base 20 of the center of gravity stabilization adjustment mechanism. This multi-joint hinge structure allows the components to rotate relative to each other, providing a flexible basis for the claw body 16 to move. When the claw base 20 moves under the influence of the center of gravity stabilization adjustment mechanism, it will drive the foot frame 17 to move through the hinge point. The movement of the foot frame 17 will then be transmitted to the joint block 18, which in turn will drive the hook block 19 to move, so that the entire claw body 16 can adjust its posture according to the habitat requirements and adapt to different grasping scenarios. The multi-jointed hinged design allows the claw body 16 to bend and rotate flexibly, better fitting branches 5 of different thicknesses and shapes. Combined with subsequent grasping actions, this helps to enhance the fit with the resting place, improve the adaptability during grasping, and provide support for stable resting.

[0032] In a further preferred embodiment of the present invention, the foot frame 17 is provided with an opening and closing drive mechanism, which includes a second servo motor 22 and a second servo disk 23; the hook block 19 has a rope hole 21, the upper end of the pull rope is fixed to the second servo disk 23, and the lower end passes through the hole in the joint block 18 of the foot frame 17 and is fixed at the rope hole 21 of the hook block 19; when the second servo motor 22 drives the second servo disk 23 to rotate, the pull rope is wound around the second servo disk 23 to tighten the rope, thereby pulling the hook block 19 to achieve a closing action, so as to control the opening and closing angle of the hook block 19.

[0033] In this embodiment, the opening and closing drive mechanism inside the foot frame 17 includes a second servo motor 22 and a second servo disk 23. The upper end of the pull rope is fixed on the second servo disk 23, and the lower end passes through the holes in the foot frame 17 and the joint block 18 in sequence, and is fixed at the rope hole 21 of the hook block 19, forming a complete force transmission path and providing structural support for the opening and closing of the hook block 19. The operation process of the opening and closing drive mechanism is as follows: When the second servo motor 22 drives the second servo disk 23 to rotate, the pull rope winds around the second servo disk 23 as it rotates, causing the rope to tighten. The tightened pull rope transmits tension through the sequentially connected components, pulling the hook block 19 to rotate and achieve the closing action. Conversely, when the second servo motor 22 drives the second servo disk 23 to rotate in the opposite direction, the pull rope loosens, and the hook block 19 can return to the open state, thereby controlling the opening and closing angle of the hook block 19. By cooperating with the second servo motor 22, the second servo disc 23 and the pull rope, the opening and closing angle of the grab hook block 19 can be flexibly adjusted, so that the grab hook block 19 can be adapted to branches 5 of different thicknesses, enhancing the fit and firmness when grabbing, which helps to improve the stability of the UAV when it is perched and reduces the risk of slipping due to poor gripping.

[0034] In a further preferred embodiment of the present invention, the guide rod 9 is used to guide the center of gravity stabilization adjustment mechanism, constrain the movement trajectory of the center of gravity stabilization adjustment mechanism, so that the claw base 20 always moves up and down in the vertical direction, ensuring that the trajectory of the overall center of gravity change is a vertical straight line.

[0035] In this embodiment, when the center of gravity stabilization adjustment mechanism is in operation, the linkage assembly drives the claw base 20 to move, and the guide rod 9 moves accordingly. Since the upper end of the guide rod 9 is constrained by the leg base 8, its movement direction is limited, thereby constraining the movement trajectory of the claw base 20, so that the claw base 20 always moves up and down in the vertical direction, avoiding lateral deviation. The beneficial effects of the guide rod 9 are as follows: by constraining the claw base 20 to rise and fall in the vertical direction, it ensures that the trajectory of the overall center of gravity change is a vertical straight line, reduces the shaking of the body caused by the center of gravity shift, improves the stability of the drone when it is resting, reduces the risk of imbalance during resting, and helps the drone to stay more stably at the resting point.

[0036] In a further preferred embodiment of the present invention, the outer wall of the guide rod 9 is provided with a limiting groove along the axial direction, and the inner wall of the leg base 8 is provided with a corresponding limiting protrusion. The limiting protrusion slider is embedded in the limiting groove to guide the guide rod 9 and to prevent the guide rod 9 from rotating circumferentially relative to the leg base 8, so as to ensure that the center of gravity always changes in the vertical direction.

[0037] In this embodiment, when the guide rod 9 slides relative to the leg base 8 as the foot base 20 moves, the limiting protrusion slider slides synchronously in the limiting groove. Due to the embedded relationship between the two, the guide rod 9 cannot rotate circumferentially relative to the leg base 8 around its own axis, so that the movement direction of the guide rod 9 is strictly limited to the axial direction, that is, the vertical direction. By using the slider of the limiting groove and the limiting protrusion to prevent the guide rod 9 from rotating circumferentially, it is further ensured that the center of gravity of the claw base 20 and the whole machine can only change in the vertical direction, avoiding the center of gravity shift caused by the rotation of the guide rod 9, enhancing the guiding accuracy of the center of gravity stability adjustment mechanism, and helping to improve the overall stability of the UAV when it is in a resting position.

[0038] In a further preferred embodiment of the present invention, a buffer washer is provided between the joint connecting plate 2 and the UAV body 1 to reduce the disturbance of the UAV attitude caused by the inertial torque generated when the first servo motor 6 rotates.

[0039] In this embodiment, when the first servo motor 6 operates and drives the related mechanism to rotate, it generates an inertial torque. This torque is transmitted to the buffer washer through the assembly frame 3 and the joint connecting plate 2. Because the buffer washer has its own elastic deformation capability, it absorbs part of the torque energy and weakens the transmission intensity of the torque to the UAV body 1. By reducing the disturbance of the UAV attitude caused by the inertial torque generated when the first servo motor 6 rotates, the UAV body 1 can maintain a relatively stable attitude when the bionic perching and turning mechanism is operating, reducing the impact of attitude swaying on perching accuracy and helping to improve the reliability of the UAV during the perching process.

[0040] In summary, compared with related technologies, the biomimetic perching and steering mechanism, through the coordinated operation of the joint connecting plate 2, assembly frame 3, first servo motor 6, first servo disc 7, second servo motor 22, second servo disc 23, and traction rope, enables switching between upright perching and 180° inverted perching, expanding the perching scenarios. The leg base 8, guide rod 9, connecting rod assembly, and claw base 20 of the center of gravity stabilization adjustment mechanism work together to ensure the center of gravity changes along a vertical line, improving perching stability. The claw body 16 of the multi-joint grasping mechanism enhances grasping stability through multi-joint hinges and opening / closing drive mechanisms. The cooperation of these mechanisms enables the UAV to perch stably, reducing flight energy consumption, extending endurance, and better meeting the needs of long-duration missions.

[0041] It is worth noting that the circuits, electronic components, and modules involved in this invention are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this invention does not involve improvements to the software and methods.

[0042] It should be understood, in the several embodiments provided in this application, that the disclosed apparatus may be implemented in other ways.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not depart from the concept of the present invention. These technical solutions are also within the scope of protection of the present invention.

Claims

1. A multi-above-ground unmanned aerial vehicle (UAV) incorporating biomimetic bird feet, characterized in that, include: The main body of the drone and the main body of the bionic bird's foot for gripping tree branches; The bionic bird foot body includes: a bionic perching and turning mechanism, a center of gravity stabilization adjustment mechanism, and a multi-joint grasping mechanism, which are sequentially arranged at the bottom of the drone body; The biomimetic perching and steering mechanism is used to drive the center of gravity stabilization adjustment mechanism and the multi-joint grasping mechanism to rotate synchronously.

2. The multi-above-ground unmanned aerial vehicle (UAV) with biomimetic bird legs as described in claim 1, characterized in that, The biomimetic perching and steering mechanism includes: Joint connecting plate, assembly frame, first servo motor and first servo disc; The joint connecting plate is fixed to the bottom of the drone body; The housing of the first servo motor is fixed to the bottom of the joint connecting plate; The first rudder disk is fixedly connected to the rudder shaft of the first servo motor; The mounting bracket is fixed to the bottom of the first rudder disk; The center of gravity stabilization adjustment mechanism is connected to the assembly frame.

3. The multi-above-ground unmanned aerial vehicle (UAV) with biomimetic bird feet as described in claim 2, characterized in that, The center of gravity stabilization adjustment mechanism includes: Leg base, guide rod, two symmetrically arranged sets of linkage assemblies, and claw base; The leg base is fixedly connected to the assembly frame; The lower end of the guide rod is fixedly connected to the claw base, and the upper end passes through the leg base and can slide freely; The two ends of the connecting rod assembly are respectively connected to the leg base and the claw base.

4. The multi-above-ground unmanned aerial vehicle (UAV) with biomimetic bird legs as described in claim 3, characterized in that, Each of the aforementioned link assemblies includes: First link, second link, and third link; The first connecting rod is hinged to the leg base via a first pin; One end of the second connecting rod is hinged to the first connecting rod via a second pin, and the other end is hinged to the claw base; The third link is connected to the first link and the second link via a third pin.

5. The multi-above-place drone with biomimetic bird feet as described in claim 3, characterized in that, Both sets of connecting rod assemblies have a gear structure in their first connecting rods, and the two gears mesh with each other to maintain the same angle between the two sets of connecting rod assemblies and the central axis.

6. The multi-above-ground unmanned aerial vehicle (UAV) with biomimetic bird feet as described in claim 1, characterized in that, The multi-joint gripping mechanism includes: Main body of the claws; The main body of the claw is composed of a foot frame, joint blocks and a claw block that are hinged together in sequence. The foot frame is hinged to the foot base of the center of gravity stabilization adjustment mechanism.

7. The multi-above-place drone with biomimetic bird feet as described in claim 6, characterized in that, The foot frame is equipped with an opening and closing drive mechanism, which includes a second servo motor and a second servo disk; the hook block has a rope hole, the upper end of the pull rope is fixed to the second servo disk, and the lower end passes through the hole in the joint block of the foot frame and is fixed to the rope hole of the hook block.

8. The multi-above-ground unmanned aerial vehicle (UAV) with biomimetic bird feet as described in claim 3, characterized in that, The guide rod is used to guide the center of gravity stabilization adjustment mechanism.

9. The multi-above-place drone with biomimetic bird feet as described in claim 3, characterized in that, The outer wall of the guide rod is provided with a limiting groove along the axial direction, and the inner wall of the leg base is provided with a corresponding limiting protrusion. The limiting protrusion slider is embedded in the limiting groove for guiding the guide rod.

10. The multi-above-ground unmanned aerial vehicle (UAV) with biomimetic bird feet as described in claim 1, characterized in that, A buffer gasket is provided between the joint connecting plate and the drone body.

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