A multi-stage buffer magnetic drive bird claw system of a flapping-wing aircraft and a working method thereof

Abstract

The present application relates to the technical field of flapping-wing aircraft, in particular to a multi-stage buffer magnetic drive bird claw system of a flapping-wing aircraft and a working method, the bird claw assembly in the system comprises a thigh assembly, a shank assembly and a claw assembly which are connected in sequence, and the three assemblies are each provided with a buffer unit, the buffer chamber of the buffer unit is internally provided with at least two groups of buffer springs which are symmetrically arranged and have coinciding axes, the ends of the two groups of buffer springs away from each other are connected to the chamber wall of the buffer chamber, and the ends of the two groups of buffer springs close to each other are connected to a drive rocker arm, the drive rocker arm is driven to swing by a driven rudder, one group of buffer springs is compressed at the same time, and the other group of buffer springs is stretched, the elastic force of the buffer springs is converted into linear pushing force on corresponding supporting members in the thigh assembly, the shank assembly and the claw assembly, a flexible gripping action is realized, and when impact is borne, the buffer springs also play an energy absorption mechanism to reduce impact damage to the rudder.

Description

Technical Field

[0001] This invention relates to the field of flapping-wing aircraft technology, specifically to a multi-stage buffered magnetic drive bird claw system and its working method for flapping-wing aircraft. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Ornithoptering aircraft, mimicking the flight patterns of birds or insects, possess advantages such as light weight, high flight efficiency, strong maneuverability, and good stealth, showing broad application prospects in fields such as environmental monitoring, military reconnaissance, and disaster relief. In recent years, with advancements in biomimetic technology, microelectromechanical systems (MEMS), and materials science, research on ornithoptering aircraft has focused primarily on the design of efficient wing drive mechanisms, optimization of flight control strategies, and innovation in wing aerodynamic shape and structure. For example, foldable wing technology allows for a significant reduction in storage space when not in mission mode, while providing a larger lift area when deployed, effectively improving the aircraft's endurance, flight stability, and adaptability to changes in environmental airflow.

[0004] However, despite the significant limitations of flapping-wing flight technology in landing and active grasping operations, its application in complex real-world scenarios (such as forest canopy environments, post-disaster ruins, or structured indoor environments) is severely restricted. Existing flapping-wing aircraft generally employ simplified or biomimetic rigid gripper structures when attempting to land on and grasp irregularly shaped objects such as branches, railings, and pipes. These traditional structures suffer from several key drawbacks:

[0005] At the moment of impact upon landing, the claw structure lacks an effective buffer and energy absorption mechanism. The huge impact momentum is almost directly transmitted to precision drive components such as servos and gearboxes, which can easily lead to overload of the mechanism, damage to transmission components, or control instability.

[0006] At the same time, the claw structure is often a simple opening and closing pattern, which has poor adaptability and makes it difficult to conform to objects of different shapes, thicknesses and surface textures. It has the problems of small gripping contact area, strong local pressure but insufficient overall gripping force, and is prone to slipping or debonding under the influence of landing impact.

[0007] In addition, existing gripping mechanisms typically have complex drive and transmission schemes, slow response, and high power consumption, which are not conducive to the strict weight and power consumption limits of flapping-wing aircraft platforms. Summary of the Invention

[0008] To address the technical problems existing in the background art, the present invention provides a multi-stage buffer magnetic drive bird claw system and its working method for flapping-wing aircraft, which has multi-stage buffering, magnetic drive deployment and serrated gripping structure, aiming to solve the problems of impact damage, weak grip and complex deployment in the prior art, and improve the landing and gripping performance of flapping-wing aircraft in complex environments.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] The first aspect of the present invention provides a multi-stage buffer magnetic drive bird claw system for flapping-wing aircraft, including a bird claw assembly, which is movably connected to the flapping-wing aircraft via a connector assembly; the bird claw assembly includes a thigh assembly, a lower leg assembly and a claw assembly that are movably connected in sequence, and the claw assembly is movably connected to a fore toe assembly and a hind toe assembly respectively.

[0011] The thigh assembly, lower leg assembly, and claw assembly are all equipped with a buffer unit. The buffer unit includes a buffer chamber, which contains at least two sets of symmetrically arranged buffer springs with coincident axes. The ends of the two sets of buffer springs that are far apart from each other are connected to the chamber wall, and the ends that are close to each other are connected to the drive rocker arm. The drive rocker arm is driven by the drive servo to swing, compressing one set of buffer springs while stretching the other set of buffer springs. The elastic force of the buffer springs is converted into a linear driving force on the corresponding support components in the thigh assembly, lower leg assembly, and claw assembly, thereby realizing the movement of the thigh assembly, lower leg assembly, and claw assembly.

[0012] As a further implementation, the thigh assembly includes a thigh support member and a buffer unit, which is a buffer chamber located at the top of the thigh support member. The buffer chamber houses the thigh assembly drive rocker arm and at least two sets of symmetrically arranged thigh buffer springs with coincident axes. One end of the thigh buffer spring is connected to the wall of the buffer chamber, and the other end is connected to the thigh assembly drive rocker arm. The thigh assembly drive rocker arm is connected to the thigh assembly drive servo motor.

[0013] As a further implementation, the lower leg assembly includes a lower leg support member and a buffer unit, which is a buffer chamber located at the top of the lower leg support member. The buffer chamber houses the lower leg assembly drive rocker arm and at least two sets of symmetrically arranged lower leg buffer springs with coincident axes. One end of the lower leg buffer spring is connected to the wall of the buffer chamber, and the other end is connected to the lower leg assembly drive rocker arm. The lower leg assembly drive rocker arm is connected to the lower leg assembly drive servo motor.

[0014] As a further implementation, the claw assembly includes a claw support member and a buffer unit, which is a buffer chamber located at the top of the claw support member. The buffer chamber houses the claw assembly drive rocker arm and at least two sets of symmetrically arranged claw buffer springs with coincident axes. One end of the claw buffer spring is connected to the wall of the buffer chamber, and the other end is connected to the claw assembly drive rocker arm. The claw assembly drive rocker arm is connected to the claw assembly drive servo motor.

[0015] As a further implementation, the thigh assembly drive servo is mounted on the connector assembly, the lower leg assembly drive servo is mounted at the bottom of the thigh support, and the claw assembly drive servo is mounted at the bottom of the lower leg support.

[0016] As a further implementation, at least one claw retraction servo is provided at the bottom of the claw support. The claw retraction servo drives the claw retraction reel to rotate. The claw retraction reel is provided with a drive line, which pulls the corresponding front toe assembly and rear toe assembly to achieve the closing action.

[0017] As a further implementation, both the foretoy assembly and the hindtoy assembly include multiple movably connected phalanges; the proximal phalanges are movably connected to the claw support, and the distal phalanges are movably connected to the nail; an extension spring is provided between the proximal phalanges and the claw support; a first magnet is provided at the apex of each phalange, and a second magnet is provided on the nail; the first magnets of adjacent phalanges are mutually repulsive, and the second magnets are mutually repulsive to the first magnets on the distal phalanges.

[0018] As a further implementation, the apex of the finger bone is an acute angle, and at least two holes are arranged side by side on the apex, one of which is connected to the first magnet, and the other hole accommodates the drive wire to pass through.

[0019] As a further implementation, at least two holes are arranged side by side on one side of the nail, one hole is connected to the second magnet, and the other hole accommodates the drive wire through which it passes and is connected to the drive wire.

[0020] A second aspect of the present invention provides a method for operating a multi-stage buffered magnetic drive bird talon system for a flapping-wing aircraft, comprising the following steps:

[0021] The flapping-wing aircraft flies to the area where the target object is located, and by adjusting its own flight attitude, the talons align with and approach the target object.

[0022] As the flapping-wing aircraft lands and is about to make contact with the target object, the thigh assembly drives the servo motor, the lower leg assembly drives the servo motor, and the claw assembly drives the servo motor to move, so that the claw assembly is oriented toward the target object.

[0023] When the flapping-wing aircraft lands and contacts the target object, the claw retracts and the servo motor moves, which drives the claw retractor to rotate and tighten the drive line. The drive line pulls the front toe assembly and the rear toe assembly to bend, causing the finger bones and nails to deform around the target object and surround its shape.

[0024] By adjusting the servo motors driven by the thigh assembly, the lower leg assembly, and the claw assembly, the flapping-wing aircraft can land on the target object and perform operations.

[0025] When the task is completed, the claw retracts and the servo rotates in the opposite direction, releasing the drive cable; the phalanges return to the open state under the mutual repulsion between the first magnets, the nails and the phalanges at the ends return to the open state under the mutual repulsion between the second magnet and the first magnet, and the fore toe assembly and the hind toe assembly return to the open state under the action of the extension spring, releasing the target.

[0026] The flapping-wing aircraft activated its flapping wings and flew away from the target.

[0027] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects:

[0028] 1. To address the issue of impact damage or control instability during landing and grasping of objects like tree branches by bird talisman systems, symmetrically arranged buffer springs are incorporated into the thigh, lower leg, and claw assemblies. Upon landing impact, the impact momentum forces the corresponding support components (such as the thigh support) to move, compressing or stretching the buffer springs. The elastic deformation of these springs effectively absorbs and dissipates impact energy, protecting precision components such as the servo motor. Simultaneously, the introduction of buffer springs transforms the traditional rigid force transmission path into an "elastic medium" transmission. The rigid force generated by the servo motor is simultaneously transmitted to both sets of buffer springs via the rocker arm. These springs undergo tensile and compressive deformations respectively. Utilizing the elastic recovery capability of the buffer springs, the driving force generated by the servo motor is flexibly transmitted to the corresponding support components, achieving flexible movement. This further protects precision components such as the servo motor, reduces the risk of damage to these components due to overload, resolves key defects in existing technologies, and improves the durability and reliability of the entire grasping system.

[0029] 2. Addressing the issues of complex structure and slow response in existing bird claw systems when deploying the claws, this solution utilizes the principle of magnetic repulsion. A first magnet is fixed at the apex of each phalanx, and a second magnet is fixed on the nail. When the claw needs to open, the control system simply reverses the claw retraction servo to release the drive line, without providing additional opening power. The first magnets, arranged with the same polarity between adjacent phalanges, generate mutual repulsion, and the second magnet on the nail also generates mutual repulsion with the first magnet on the phalanx. Under the combined action of these repulsive forces, each phalanx is naturally pushed apart, driving the entire toe to quickly and reliably return to a fully open state. This transforms the traditional active-driven deployment into a passive magnetic-driven deployment, eliminating the complex reverse drive mechanism, simplifying the overall mechanical structure and control logic, and significantly reducing the energy consumption of the claw opening action, meeting the stringent low-power requirements of flapping-wing aircraft. The claw's gripping action is achieved by tightening the drive line between the phalanx and nail. This drive line pulling method is simple in structure and lightweight, also meeting the stringent low-power requirements of flapping-wing aircraft.

[0030] 3. Addressing the issue of poor adaptability of the claw structure, the sharp-angled phalanges, in conjunction with the nails, form a serrated gripping surface when gripping. The irregular, serrated contour reduces the effective contact area with the target, significantly increasing the pressure at the contact point. Higher pressure means the claws can more effectively "bite" or "grip" the object's surface, generating greater static friction even on smooth or uneven surfaces. This solves the problem of insufficient overall gripping force and easy slippage, greatly improving the reliability and stability of the grip, enabling the flapping-wing aircraft to achieve stable parking on various complex surfaces.

[0031] 4. Pressure sensors can be integrated into the finger bones to achieve real-time sensing and closed-loop control of the gripping force. During the gripping process, the pressure sensor monitors the force between the finger bone and the object in real time and feeds the signal back to the control system. By comparing with a preset gripping force threshold, the system dynamically controls the stopping of the claw retraction servo, thus forming a closed-loop control circuit. This ensures that the gripping force is large enough to prevent the object from slipping, while also being limited to a safe range to avoid crushing the object (such as twigs) or causing overload of the mechanism itself, achieving precise, reliable, and adaptive gripping operations. Attached Figure Description

[0032] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0033] Figure 1 A schematic diagram of the overall structure of a flapping-wing aircraft talus system provided in one or more embodiments of the present invention;

[0034] Figure 2 An assembly diagram of a flapping-wing aircraft and a connecting assembly provided for one or more embodiments of the present invention;

[0035] Figure 3 A schematic diagram of the assembly of the connector assembly and the assembly of the connector assembly and the bird claw assembly provided in one or more embodiments of the present invention;

[0036] Figure 4 This is a schematic diagram of the overall assembly of the bird claw assembly provided in one or more embodiments of the present invention;

[0037] Figure 5 This is a schematic diagram of a thigh assembly provided for one or more embodiments of the present invention;

[0038] Figure 6 This is an assembly diagram of the rocker arm, buffer chamber, and buffer spring of a thigh-driven rudder aircraft provided for one or more embodiments of the present invention.

[0039] Figure 7A schematic diagram of the assembly of the rocker arm and the buffer spring of a thigh-driven rudder aircraft provided for one or more embodiments of the present invention;

[0040] Figure 8 This is a schematic diagram of a lower leg assembly provided in one or more embodiments of the present invention;

[0041] Figure 9 A schematic diagram of a claw assembly provided for one or more embodiments of the present invention;

[0042] Figure 10 A schematic diagram of the foretoine assembly in an extended state provided in one or more embodiments of the present invention;

[0043] Figure 11 A schematic diagram of a finger bone component provided for one or more embodiments of the present invention;

[0044] Figure 12 A schematic diagram illustrating the assembly of finger bones and fingernails according to one or more embodiments of the present invention;

[0045] Figure 13 A schematic diagram of the bird claw assembly provided in one or more embodiments of the present invention during the flight of a flapping-wing aircraft;

[0046] Figure 14 A schematic diagram of a flapping-wing aircraft about to touch a tree branch during landing, provided for one or more embodiments of the present invention;

[0047] Figure 15 A schematic diagram of a flapping-wing aircraft landing and contacting a tree branch, provided in one or more embodiments of the present invention;

[0048] Figure 16 A schematic diagram of a flapping-wing aircraft landing and contacting a tree branch, provided in one or more embodiments of the present invention;

[0049] Figure 17 This is a schematic diagram of a flapping-wing aircraft that has landed and come to a stop after contacting a tree branch, according to one or more embodiments of the present invention.

[0050] Figures 1-2 In Chinese: 1. Flapping-wing aircraft; 2. Connector assembly; 3. Claw assembly;

[0051] Figures 3-4 In the middle: 21. Connector between fuselage and talons; 22. Thigh assembly drive servo; 23. Thigh assembly drive rocker arm; 31. Thigh assembly; 32. Lower leg assembly; 33. Talon assembly;

[0052] Figures 5-7 Middle: 311, Thigh support component; 312, Thigh buffer spring; 313, Thigh buffer compartment cover; 314, Lower leg assembly drive servo motor; 315, Lower leg assembly drive rocker arm;

[0053] Figure 8 In the middle: 321, lower leg support component; 322, lower leg buffer spring; 323, lower leg buffer compartment cover; 324, claw assembly drive servo motor; 325, claw assembly drive rocker arm;

[0054] Figure 9 In the middle: 331, claw support component; 332, claw buffer spring; 333, claw buffer compartment cover; 334, claw retractable servo motor; 335, claw retractable cable reel; 336, rear toe assembly; 337, front toe assembly;

[0055] Figures 10-12 In Chinese: 3361, finger bone; 3362, first magnet; 3363, second magnet; 3364, fingernail; 3365, extension spring. Detailed Implementation

[0056] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0057] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0058] The following embodiments provide a multi-stage buffered magnetic drive bird claw system and its working method for flapping-wing aircraft. By setting buffer springs in the drive devices of the thigh assembly, lower leg assembly, and claw assembly, the impact force during landing can be effectively absorbed, protecting the servo motor from damage. The claw assembly is deployed by utilizing the principle of like poles repulsion of magnets in conjunction with the elastic restoring force of the springs. The gripping pressure is increased by using the serrated front toe assembly and rear toe assembly, thereby improving the stability and reliability of flapping-wing aircraft during landing and grasping in complex environments.

[0059] Example 1:

[0060] A multi-stage buffer magnetic drive bird claw system for flapping-wing aircraft includes a bird claw assembly, which is movably connected to the flapping-wing aircraft via a connector assembly. The bird claw assembly includes a thigh assembly, a lower leg assembly, and a claw assembly that are movably connected in sequence, and the claw assembly is movably connected to a fore toe assembly and a hind toe assembly, respectively.

[0061] The thigh assembly, lower leg assembly, and claw assembly are all equipped with a buffer unit. The buffer unit includes a buffer chamber, inside which are at least two sets of symmetrically arranged buffer springs with coincident axes. One end of the buffer spring is connected to the chamber wall, and the other end is connected to a drive rocker arm. The drive rocker arm is connected to a drive servo motor. The drive servo motor drives the drive rocker arm to rotate, compressing one set of buffer springs while stretching the other set. The elastic force of the buffer springs is converted into a linear driving force on the corresponding support components in the thigh assembly, lower leg assembly, and claw assembly, thereby realizing the movement of the thigh assembly, lower leg assembly, and claw assembly.

[0062] like Figures 1-3 As shown, the bird claw system provided in this embodiment includes a bird claw assembly 3, which is movably connected to the flapping-wing aircraft 1 via a connector assembly 2; the flapping-wing aircraft 1 is designed without a landing claw.

[0063] The connecting assembly 2 includes a connecting part 21 between the fuselage and the talons; a servo mounting bracket is provided on the connecting part 21 between the fuselage and the talons, and the thigh assembly drive servo 22 is fixed to the servo mounting bracket by bolts. The thigh assembly drive servo 22 is fixedly connected to the thigh assembly drive rocker arm 23, and the thigh assembly drive rocker arm 23 is connected to the thigh assembly 31. The thigh assembly 31 is driven to move by the thigh assembly drive servo 22 in cooperation with the thigh assembly drive rocker arm 23.

[0064] like Figure 4 As shown, the bird claw assembly 3 includes: a thigh assembly 31, a lower leg assembly 32, and a claw assembly 33; the thigh assembly 31 is movably connected to the lower leg assembly 32, and the lower leg assembly 32 is movably connected to the claw assembly 33.

[0065] like Figure 5 As shown, the thigh assembly 31 includes: thigh support 311, thigh buffer spring 312, thigh buffer compartment cover 313, lower leg assembly drive servo motor 314, and lower leg assembly drive rocker arm 315.

[0066] The thigh support 311 has a buffer chamber at its top, which houses the thigh assembly drive rocker arm 23. Inside the buffer chamber are at least two sets of thigh buffer springs 312. One end of each thigh buffer spring 312 is connected to the wall of the buffer chamber, and the other end is connected to the thigh assembly drive rocker arm 23. The thigh assembly drive servo 22 drives the thigh assembly drive rocker arm 23 to rotate, stretching one set of thigh buffer springs 312 and compressing the other. The compressed thigh buffer spring 312 pushes the thigh support 311 to move, thus moving the thigh assembly 31.

[0067] The bottom end of the thigh support 311 is provided with a lower leg assembly drive servo motor 314. The lower leg assembly drive servo motor 314 drives the lower leg assembly drive rocker arm 315 to rotate. By stretching and compressing the buffer spring in the lower leg assembly 32, the movement of the lower leg assembly 32 is realized.

[0068] The thigh support 311 is equipped with a buffer chamber, a servo mounting bracket, and a limiting device. The thigh support 311 is movably connected to the lower leg assembly 32. The lower leg assembly drive servo 314 is fixed on the servo mounting bracket of the thigh support 311, and the lower leg assembly drive rocker arm 315 is fixed on the lower leg assembly drive servo 314 by bolts. The rotation of the thigh assembly drive servo 22 drives the thigh assembly drive rocker arm 23 to rotate, thereby moving the thigh assembly 31.

[0069] like Figure 6 and Figure 7 As shown, two thigh buffer springs 312 are symmetrically arranged on both sides of the thigh assembly drive rocker arm 23. The thigh assembly drive rocker arm 23 and the thigh buffer springs 312 are arranged together in the buffer chamber of the thigh support 311. The thigh buffer chamber cover 313 is fixed to the buffer chamber of the thigh support 311 by bolts to prevent the thigh buffer springs 312 from falling out.

[0070] The thigh assembly drive rocker arm 23 extends into the buffer chamber through a hole in the buffer chamber. The two thigh buffer springs 312 are always in a compressed state (i.e., pre-tightened state) inside the buffer chamber. The elastic force generated by the compressed buffer springs can fix the thigh assembly drive rocker arm 23 extending into the buffer chamber. When the thigh assembly drive rocker arm 23 is driven by the thigh assembly drive servo 22 to swing, one set of thigh buffer springs 312 will be further compressed, and the other set of thigh buffer springs 312 will be extended. The compressed thigh buffer springs 312 transmit the force of the thigh assembly drive rocker arm 23 to the thigh support member 311, causing the thigh support member 311 to move, thereby causing the thigh assembly 31 to move.

[0071] When the thigh assembly 31 is subjected to an impact, the force generated will be transmitted to the thigh buffer spring 312. The deformation of the thigh buffer spring 312 can protect the thigh assembly drive rocker arm 23, thereby protecting the thigh assembly drive servo motor 22.

[0072] like Figure 8 As shown, the lower leg assembly 32 includes: a lower leg support 321, a lower leg buffer spring 322, a lower leg buffer compartment cover 323, a claw assembly drive servo motor 324, and a claw assembly drive rocker arm 325;

[0073] The lower leg support 321 has a buffer chamber at its top, which houses the lower leg assembly drive rocker arm 315. Inside the buffer chamber are at least two sets of lower leg buffer springs 322. One end of each lower leg buffer spring 322 is connected to the chamber wall, and the other end is connected to the lower leg assembly drive rocker arm 315. The lower leg assembly drive servo 314 drives the lower leg assembly drive rocker arm 315 to rotate. One set of lower leg buffer springs 322 is stretched, while the other set is compressed. The compressed lower leg buffer spring 322 pushes the lower leg support 321 to move, thus moving the lower leg assembly 32.

[0074] The lower leg support 321 is equipped with a claw assembly drive servo motor 324 at its bottom end. The claw assembly drive servo motor 324 drives the claw assembly drive rocker arm 325 to rotate. By stretching and compressing the buffer spring inside the claw assembly 33, the movement of the claw assembly 33 is achieved.

[0075] The lower leg support 321 is equipped with a buffer chamber, a servo motor mounting bracket, and a limiting device. The lower leg assembly 32 is movably connected to the claw assembly 33. The claw assembly drive servo motor 324 is fixed on the servo motor mounting bracket of the lower leg support 321, and the claw assembly drive rocker arm 325 is fixed on the claw assembly drive servo motor 324 by bolts. The rotation of the lower leg assembly drive servo motor 314 drives the lower leg assembly drive rocker arm 315 to move, thereby driving the lower leg assembly 32 to move.

[0076] Two lower leg buffer springs 322 are symmetrically arranged on both sides of the lower leg assembly drive rocker arm 315. The lower leg assembly drive rocker arm 315 and the lower leg buffer springs 322 are arranged together in the buffer chamber of the lower leg support 321. The lower leg buffer chamber cover 323 is fixed to the buffer chamber of the lower leg support 321 by bolts to prevent the lower leg buffer springs 322 from falling out.

[0077] The calf cushioning spring 322 and the calf assembly drive rocker arm 315 work in a similar manner to the thigh assembly 31. The movement of the calf assembly drive rocker arm 315 will compress one side of the calf cushioning spring 322 and extend the other side. The compressed calf cushioning spring 322 transmits the force of the calf assembly drive rocker arm 315 to the calf support member 321, causing the calf support member 321 to move, thereby causing the calf assembly 32 to move.

[0078] When the lower leg assembly 32 is subjected to an impact, the force generated will be transmitted to the lower leg buffer spring 322. The deformation of the lower leg buffer spring 322 can protect the lower leg assembly drive rocker arm 315, thereby protecting the lower leg assembly drive servo motor 314.

[0079] The limiting devices provided on the thigh support 311 and the calf support 321 can prevent the calf assembly 32 from moving in the opposite direction.

[0080] like Figure 9As shown, the claw assembly 33 includes: claw support 331, claw buffer spring 332, claw buffer compartment cover 333, claw retraction servo motor 334, claw retraction cable reel 335, front toe assembly 337, and rear toe assembly 336.

[0081] The claw support 331 has a buffer chamber at its top, which houses the lower leg assembly drive rocker arm 315. Inside the buffer chamber are at least two sets of claw buffer springs 332. One end of each claw buffer spring 332 is connected to the wall of the buffer chamber, and the other end is connected to the claw assembly drive rocker arm 325. The claw assembly drive servo 324 drives the claw assembly drive rocker arm 325 to rotate, stretching one set of claw buffer springs 332 and compressing the other. The compressed claw buffer spring 332 pushes the claw support 331 to move, thus moving the claw assembly 33.

[0082] The claw support 331 has a claw retraction servo 334 at its bottom end. The claw retraction servo 334 drives the claw retraction reel 335 to rotate, so that the drive line pulls the front toe assembly 337 and the rear toe assembly 336 to achieve a closing action.

[0083] In this embodiment, there are two claw retraction servo motors 334. One claw retraction servo motor 334 drives all the front toe assemblies 337 through a drive line, and the other claw retraction servo motor 334 drives all the rear toe assemblies 336 through a drive line.

[0084] In this embodiment, the anterior toe assembly 337 has three sets, and the posterior toe assembly 336 has one set.

[0085] The claw support 331 is provided with a buffer chamber, a servo mounting bracket, a front toe assembly 337 mounting hole, a rear toe assembly 336 mounting hole, and a wire hole. The three front toe assembly 337 mounting holes are all on different planes. The claw assembly drives the servo 324 to rotate, which in turn drives the claw assembly to drive the rocker arm 325 to rotate, thereby driving the claw assembly 33 to move.

[0086] The claw assembly drive rocker arm 325 and the claw buffer spring 332 are together installed in the buffer chamber of the claw support 331. The two claw buffer springs 332 are symmetrically arranged on both sides of the claw assembly drive rocker arm 325. The claw buffer chamber cover 333 is fixed on the buffer chamber of the claw support 331 to prevent the claw buffer spring 332 from falling out.

[0087] The movement of the claw assembly driving the rocker arm 325 will compress the claw buffer spring 332 on one side and extend the claw buffer spring 332 on the other side. The compressed claw buffer spring 332 transmits the force of the claw assembly driving the rocker arm 325 to the claw support 331, causing the claw support 331 to move, thereby driving the claw assembly 33 to move.

[0088] When the claw assembly 33 is subjected to an impact, the force generated will be transmitted to the claw buffer spring 332. The deformation of the claw buffer spring 332 can protect the claw assembly drive rocker arm 325, thereby protecting the claw assembly drive servo motor 324.

[0089] Three front toe assemblies 337 are movably connected to the three front toe assembly 337 fixing holes respectively, and one rear toe assembly 336 is movably connected to the rear toe assembly 336 fixing hole; two claw retraction servos 334 are fixed on the servo mounting bracket on the claw support 331, and a claw retraction spool 335 is fixed on the claw retraction servo 334.

[0090] like Figure 10 As shown, the front toe assembly 337 and the rear toe assembly 336 have the same structure, both including: phalanx 3361, first magnet 3362, second magnet 3363, nail 3364, and extension spring 3365;

[0091] Multiple phalanges 3361 are movably connected by pins. The first phalange 3361 is movably connected to the claw support 331, and the last phalange 3361 is movably connected to the nail 3364. Each phalange 3361 has a first magnet 3362 at its apex, and the nail 3364 has a second magnet 3363. Adjacent first magnets 3362 are mutually repulsive, and the first magnet 3362 and the second magnet 3363 are mutually repulsive.

[0092] like Figure 11 As shown, at least one cross section of the finger bone 3361 is triangular, with two base angles of the triangle being rounded and holes provided at the base angles. Adjacent finger bones 3361 are movably connected by pins passing through the base angle holes. The apex of the finger bone 3361 is an acute angle, and two holes of different diameters are arranged side by side at the apex. The larger diameter hole is used to fix the first magnet 3362, and the smaller diameter hole is a wire hole that allows the drive wire to pass through.

[0093] like Figure 12 As shown, the nail 3364 has an acute-angled fingertip, a finger root movably connected to the phalanx 3361, and at least two side surfaces formed between the fingertip and the finger root. One side facing the gripping working area is the inner side. The inner side of the nail 3364 has two holes of different diameters arranged side by side. The larger diameter hole is used to fix the second magnet 3363, and the smaller diameter hole is used for threading. One end of the drive wire is wound on a take-up reel, and the other end is fixed to the threading hole on the nail 3364.

[0094] In this embodiment, both the first magnet 3362 and the second magnet 3363 can be cylindrical magnets.

[0095] The apex of the phalanx 3361 and one side of the nail 3364 form a serrated gripping surface, which can increase the pressure of the contact surface under the same pressure. Furthermore, the irregularly shaped phalanx 3361 and nail 3364 can be used together to further increase the pressure of the contact surface under the same pressure.

[0096] like Figure 10 As shown, one end of the extension spring 3365 is fixed to the phalanx 3361 at the proximal end, and the other end is fixed to the claw support 331. When the drive line tightens, the foretoy assembly 337 and the hindtoy assembly 336 grip each other, and the arms of the extension spring 3365 deform inward. When the drive line is relaxed, the extension spring 3365 returns to its extended state, pushing the phalanx 3361 at the proximal end of the foretoy assembly 337 and the hindtoy assembly 336 to open.

[0097] Limiting devices are provided in both the phalanx 3361 and the nail 3364 to prevent the phalanx 3361 and the nail 3364 from stretching too much and moving in the opposite direction due to the repulsive force of the first magnet 3362 and the second magnet 3363 when the drive line is relaxed.

[0098] The limiting device of finger bone 3361, such as Figure 11 and Figure 12 As shown, it includes a protrusion, which is set on the side between the two bottom corners of the finger bone 3361. When the repulsive force between adjacent first magnets 3362 is too large, the opening angle of adjacent finger bones 3361 is prone to be too large. The protrusions on adjacent finger bones 3361 will abut against each other to prevent the opening angle from expanding further.

[0099] The limiting device of the fingernail 3364 is also a protrusion. The protrusion is located on the outside of the fingernail 3364, that is, on the side not in the gripping working area. When the repulsive force of the first magnet 3362 and the second magnet 3363 is too great, the protrusion on the fingernail 3364 abuts against the protrusion on the adjacent phalanx 3361, preventing the opening angle from expanding further.

[0100] All three foreleg assemblies 337 use drive lines to pass through the wiring holes of the foreleg assembly 337 fixing holes. The drive lines in the two foreleg assemblies 337 reach the wiring hole on the middle claw support 331 through an inclined wiring hole on the claw support 331. The middle foreleg assembly 337 passes through the wiring hole on the middle claw support 331, merges with the drive lines on both sides, passes through the wiring hole above, and then connects to the claw retraction cable reel 335.

[0101] The hind toe assembly 336 is connected to the claw retraction spool 335 by passing the drive cable through the cable hole near the fixing hole of the hind toe assembly 336 and through the cable hole above.

[0102] The claw retraction servo 334 rotates, which drives the claw retraction reel 335 to rotate, tightening the drive cable and realizing the claw's tightening movement.

[0103] The finger bone 3361 integrates a pressure sensor. When the claw grips an object such as a branch, the force is transmitted to the control system through the pressure sensor. When a certain value is reached, the claw retracts and the servo motor 334 stops rotating.

[0104] The extension movement of the claw is as follows: the claw retracts and the servo motor 334 rotates in another direction, the drive line relaxes, and at the same time, the first magnet 3362 fixed together with the adjacent finger bones 3361 is of the same polarity, and the second magnet 3363 in the nail 3364 is also of the same polarity as the first magnet 3362 on the adjacent finger bone 3361, which will generate a repulsive force, restoring the front toe assembly 337 and the rear toe assembly 336 to the extended state. At the same time, the front toe assembly 337 and the rear toe assembly 336 are restored to the unfolded state under the action of the extension spring 3365.

[0105] The force generated when the drive line contracts can overcome the aforementioned repulsive force and the elastic force of the extension spring 3365 to bend and retract the fore toe assembly 337 and the hind toe assembly 336.

[0106] This solution addresses the issue of servo motor damage caused by the impact generated when the bird claw system lands and grabs objects such as tree branches. The solution innovatively incorporates symmetrically arranged buffer spring devices (thigh buffer spring 312, lower leg buffer spring 322, and claw buffer spring 332) at the thigh assembly drive rocker arm 23, the lower leg assembly drive rocker arm 315, and the claw assembly drive rocker arm 325.

[0107] The core of the above design lies in changing the traditional rigid force transmission path to an "elastic medium" transmission. Whether it's the driving force actively output by the servo motor or the reaction force generated by an external impact, the transmission path passes through a buffer spring, rather than acting directly on the servo motor output shaft. Upon landing impact, the enormous impact momentum forces the support components (such as the thigh support 311) to move, thereby compressing or stretching their corresponding buffer springs. The elastic deformation process of the springs effectively absorbs and dissipates the impact energy, transforming the instantaneous, violent impact into a moderate, gradual elastic potential energy. Ultimately, only a small portion of the buffered force is transmitted to the servo motor arm and the servo motor itself. This significantly reduces the risk of damage to precision transmission components such as the servo motor and gears due to overload, fundamentally solving the key defects in existing technologies and significantly improving the durability and reliability of the entire gripping system.

[0108] When the servo drives the rocker arm to move the talon system, the rigid force generated by the servo is transmitted to two sets of buffer springs via the rocker arm. The two sets of buffer springs undergo tensile and compressive deformations respectively. Utilizing the elastic recovery capability of the buffer springs, the driving force generated by the servo is flexibly transmitted to the corresponding support components, thereby achieving flexible movement. When the entire talon contacts an object, even if the order and force of contact between different parts of the object are different, the buffer springs can allow for a small, adaptive adjustment space between each assembly, helping the entire talon to better surround the object and further protecting precision components such as the servo. This makes the mechanical structure no longer a rigid transmission method, but rather a flexible transmission method that mimics the tendon and ligament structure of the claws of birds or mammals, thereby reducing the risk of damage to precision transmission components such as the servo due to overload.

[0109] To address the issues of existing bird claw systems having complex structures and requiring active reversal by servo motors when the claws are extended, this solution utilizes the principle of like poles repelling each other. A first magnet 3362 is fixed at the apex of each finger bone 3361, and a second magnet 3363 is fixed on the nail 3364.

[0110] When the claw needs to open after gripping via servo retraction, the control system simply reverses servo 334 to release the drive line, without providing additional opening power. At this time, the first magnets 3362 (NN or SS) arranged with the same polarity between adjacent phalanges 3361 generate a strong repulsive force, while the second magnet 3363 on the nail 3364 also generates a repulsive force with the first magnets 3362 on adjacent phalanges 3361. Under the combined action of these repulsive forces, the phalanges are naturally pushed apart, driving the entire toe to quickly and reliably return to a fully open state. This design cleverly transforms traditional active-driven deployment into passive magnetic-driven deployment, omitting the complex reverse drive mechanism, simplifying the overall mechanical structure and control logic, and significantly reducing the energy consumption of the claw opening action, perfectly meeting the stringent low-power requirements of flapping-wing aircraft.

[0111] To address the issue of large contact area and high pressure but weak grip when the claws grip, the phalanges 3361 and nails 3364 of the fore toe assembly 337 and hind toe assembly 336 are designed with irregular shapes and combined to form a serrated gripping surface.

[0112] The serrated, irregular contour is not designed to increase the contact area, but rather to reduce the effective contact area. According to the pressure formula (P=F / S), with a constant gripping force (F), the acute-angled structure on the finger bone 3361 reduces the actual contact area (S) with the object being gripped (such as a tree branch), significantly increasing the pressure (P) at the contact point. Higher pressure means the entire claw can more effectively "bite" or "grip" the object's surface, generating greater static friction even on smooth or uneven surfaces, thus fundamentally solving the problem of insufficient overall gripping force and easy slippage. This design greatly improves the reliability and stability of the grip, enabling the flapping-wing aircraft to achieve stable parking on various complex surfaces.

[0113] The finger bone 3361 integrates a pressure sensor, enabling real-time sensing and closed-loop control of the gripping force. During the gripping process, the pressure sensor monitors the force between the finger bone 3361 and the object in real time and feeds the signal back to the control system. The system dynamically controls the stopping of the claw retraction servo 334 by comparing it with a preset gripping force threshold. This forms a closed-loop control circuit, ensuring that the gripping force is large enough to prevent the gripped object from slipping, while being limited to a safe range to avoid crushing the gripped object (such as a twig) or causing overload of the mechanism itself, thus achieving precise, reliable, and adaptive gripping operations.

[0114] Example 2:

[0115] A method for operating a multi-stage buffered magnetic drive bird claw system for a flapping-wing aircraft includes the following steps:

[0116] The flapping-wing aircraft flies to the area where the target object is located, and by adjusting its own flight attitude, the talons align with and approach the target object.

[0117] When the flapping-wing aircraft lands and is about to make contact with the target object, the thigh assembly 31 drives the servo motor, the lower leg assembly drives the servo motor 314 and the claw assembly drives the servo motor 324 to move, so that the claw assembly 33 is oriented toward the target object.

[0118] When the flapping-wing aircraft lands and contacts the target object, the claw retraction servo 334 actuates, causing the claw retraction servo 334 to rotate and tighten the drive cable. The drive cable pulls the fore toe assembly 337 and the hind toe assembly 336 to bend, causing the phalanges 3361 and nails 3364 to deform around the target object and surround its shape. During contact with the target object, the buffer springs in the thigh assembly 31, lower leg assembly 32 and claw assembly 33 absorb the impact force of the target object on the flapping-wing aircraft. The pressure sensors integrated in the phalanges 3361 and / or nails 3364 monitor the grasping force in real time. When the grasping force reaches a preset threshold, the claw retraction servo 334 stops rotating, forming a closed-loop control of the grasping force to achieve stable and adaptive gripping.

[0119] The flapping-wing aircraft adjusts its attitude when landing on the target object by the action of the thigh assembly 31 driving servo motor, the lower leg assembly driving servo motor 314 and the claw assembly driving servo motor 324, and performs the operation.

[0120] When the task is completed, the claw retracts and the servo motor 334 rotates in the opposite direction, releasing the drive cable; the finger bones 3361 return to the open state under the mutual repulsion between the first magnet 3362, the distal finger bones 3361 and the nail 3364 return to the open state under the mutual repulsion between the second magnet 3363 and the first magnet 3362, and the fore toe assembly 337 and the hind toe assembly 336 return to the open state under the action of the extension spring 3365, releasing the target object;

[0121] The flapping-wing aircraft initiates its flapping wings, flies away from the target, and completes the entire grab-park-release operation cycle.

[0122] When the flapping-wing aircraft is in normal flight, the thigh assembly drive servo 22 and thigh assembly drive rocker arm 23 are both at their midpoints, the two thigh buffer springs 312 are of equal length, the lower leg assembly drive servo 314 and lower leg assembly drive rocker arm 315 are both at their midpoints, the two lower leg buffer springs 322 are of equal length, the claw assembly drive servo 324 and claw assembly drive rocker arm 325 are both at their midpoints, the two claw buffer springs 332 are of equal length, the claw retraction servo 334, the claw retraction coil 335, and the drive cable are in a relaxed state, the finger bones 3361 and nails 3364 are in an extended state under the repulsive force of the first magnet 3362 and the second magnet 3363, the fore toe assembly 337 and the hind toe assembly 336 are both in a straight state due to the limiting device, and the fore toe assembly 337 and the hind toe assembly 336 are in an extended state under the elastic force of the extension spring 3365. Figure 13 As shown.

[0123] like Figure 14 As shown, when the flapping-wing aircraft lands and is about to touch the tree branch, the thigh assembly drives the servo 22 and the thigh assembly drives the rocker arm 23 to rotate. One thigh buffer spring 312 is compressed and the other thigh buffer spring 312 is extended. The thigh assembly 31 moves in the direction of compression of the thigh buffer spring 312, that is, it moves forward.

[0124] The lower leg assembly drive servo 314 and lower leg assembly drive rocker arm 315 rotate slightly, one lower leg buffer spring 322 is compressed, the other lower leg buffer spring 322 is extended, and the lower leg assembly 32 moves in the direction of compression of the lower leg buffer spring 322, that is, it moves forward a certain distance on the basis of the thigh assembly 31 moving forward.

[0125] The claw assembly drives the servo motor 324 and the claw assembly drives the rocker arm 325 to rotate slightly. One claw buffer spring 332 is compressed, and the other claw buffer spring 332 is extended. The claw assembly 33 moves in the direction of compression of the claw buffer spring 332, that is, it moves backward.

[0126] At the same time, the claw retraction servo 334 rotates, causing the claw retraction reel 335 to rotate, and the drive line slightly retracts, causing the front toe assembly 337 and the rear toe assembly 336 to bend and retract slightly.

[0127] like Figure 15 As shown, when the flapping-wing aircraft lands and contacts the tree branch, the thigh assembly drive servo 22 and the thigh assembly drive rocker arm 23 rotate in the opposite direction. One thigh buffer spring 312 is compressed and the other thigh buffer spring 312 is extended to buffer the impact force generated by contacting the tree branch, while driving the thigh assembly 31 to move backward.

[0128] The rotation directions of the lower leg assembly drive servo 314 and the lower leg assembly drive rocker arm 315 are opposite to the above directions. One lower leg buffer spring 322 is compressed, and the other lower leg buffer spring 322 is extended, that is, it moves backward.

[0129] The claw assembly drives the servo motor 324 and the claw assembly drives the rocker arm 325 to rotate. One claw buffer spring 332 is compressed, and the other claw buffer spring 332 is extended. The claw assembly 33 moves in the direction of compression of the claw buffer spring 332, that is, it moves forward.

[0130] At the same time, the claw retraction servo 334 rotates, causing the claw retraction reel 335 to rotate, driving the retraction cable to bend the front toe assembly 337 and the rear toe assembly 336.

[0131] like Figure 16 As shown, when the flapping-wing aircraft lands and contacts the tree branch, the thigh assembly drive servo 22 and thigh assembly drive rocker arm 23 continue to rotate in the aforementioned direction. One thigh buffer spring 312 is compressed and the other thigh buffer spring 312 is extended to buffer the impact force generated by contacting the tree branch, while driving the thigh assembly 31 to continue to move backward.

[0132] The lower leg assembly drives the servo motor 314 and the lower leg assembly drives the rocker arm 315 to move in the aforementioned rotational direction. One lower leg buffer spring 322 is compressed, and the other lower leg buffer spring 322 is extended, continuing to move backward.

[0133] The claw assembly drives the servo motor 324 and the claw assembly drives the rocker arm 325 to rotate. One claw buffer spring 332 is compressed, and the other claw buffer spring 332 is extended. The claw assembly 33 moves in the direction of compression of the claw buffer spring 332 and continues to move forward.

[0134] The claw retraction servo 334 rotates, causing the claw retraction reel 335 to continue rotating, driving the cable to retract and bend the front toe assembly 337 and the rear toe assembly 336 to contact the tree branch. The serrated front toe assembly 337 and the rear toe assembly 336 clamp the tree branch until the pressure sensor in the finger bone 3361 reaches a certain value, at which point the claw retraction servo 334 stops rotating.

[0135] like Figure 17 As shown, when the flapping-wing aircraft lands and comes to a stable stop on the tree branch, the thigh assembly drive servo 22 and the thigh assembly drive rocker arm 23 move slightly in the opposite direction to the direction after contacting the tree branch. The compressed thigh buffer spring 312 recovers slightly, and the stretched thigh buffer spring 312 also recovers slightly, that is, the thigh assembly 31 moves forward.

[0136] The lower leg assembly drives the servo motor 314 and the lower leg assembly drives the rocker arm 315 to rotate. The compressed lower leg buffer spring 322 recovers, and the stretched lower leg buffer spring 322 also recovers slightly, causing the lower leg assembly 32 to move forward.

[0137] The claw assembly drives the servo motor 324 and the claw assembly drives the rocker arm 325 to move backward, adjusting the direction of the claw assembly 33 to downward, as shown. Figure 17 As shown, the claw retraction servo 334 rotates, driving the claw retraction coil 335 to remain in a tightened state, so that the front toe assembly 337 and the rear toe assembly 336 remain in a tightened state, ultimately enabling the flapping-wing aircraft 1 to land stably on the tree branch.

[0138] This solution features highly adaptive grasping capabilities, ensuring stable and reliable gripping.

[0139] a. Multi-degree-of-freedom biomimetic structure: It adopts a multi-joint structure of thigh, lower leg and claw, which imitates the leg of a bird, providing greater flexibility and range of motion, so that the claw can approach and envelop the target object from different angles;

[0140] b. Bionic multi-toed collaborative grasping: The claw assembly 33 adopts a distribution of four toes, three in front and one behind, which can better adapt to rod-shaped or irregular objects of different shapes and thicknesses, increasing the contact point and coverage area;

[0141] c. Intelligent closed-loop force control: The finger bone 3361 integrates a pressure sensor that can sense the magnitude of the gripping force in real time and feed it back to the control system. When the gripping force reaches a preset value, the servo motor automatically stops, achieving precise closed-loop control of the gripping force. This avoids slippage caused by insufficient gripping force and also prevents damage to the target object or its own mechanism due to excessive force, achieving stable, reliable, and adaptive gripping.

[0142] d. High-friction gripping surfaces: The finger bones 3361 and nails 3364 are designed with serrated working surfaces, which can effectively increase the friction during gripping, prevent slippage, and adapt to different surface textures.

[0143] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-stage buffered magnetic drive bird claw system for a flapping-wing aircraft, comprising a bird claw assembly, wherein the bird claw assembly is movably connected to the flapping-wing aircraft via a connector assembly, characterized in that, The bird claw assembly includes a thigh assembly, a lower leg assembly, and a claw assembly that are movably connected in sequence, and the claw assembly is movably connected to the fore toe assembly and the hind toe assembly, respectively; The thigh assembly, lower leg assembly, and claw assembly are all equipped with a buffer unit. The buffer unit includes a buffer chamber, and the buffer chamber contains at least two sets of symmetrically arranged buffer springs with coincident axes. The ends of the buffer springs that are far apart from each other are connected to the wall of the buffer chamber, and the ends that are close together are connected to a drive rocker arm. The drive rocker arm is driven by a drive servo to swing, compressing one set of buffer springs while stretching the other set of buffer springs. The elastic force of the buffer springs is converted into a linear driving force on the corresponding support components in the thigh assembly, lower leg assembly, and claw assembly, thereby realizing the movement of the thigh assembly, lower leg assembly, and claw assembly. The thigh assembly includes a thigh support member and a buffer unit, which is a buffer chamber disposed at the top of the thigh support member. The buffer chamber accommodates the thigh assembly drive rocker arm and at least two sets of symmetrically arranged thigh buffer springs with coincident axes. One end of the thigh buffer spring is connected to the wall of the buffer chamber, and the other end is connected to the thigh assembly drive rocker arm. The thigh assembly drive rocker arm is connected to the thigh assembly drive servo motor. The lower leg assembly includes a lower leg support member and a buffer unit, which is a buffer chamber disposed at the top of the lower leg support member. The buffer chamber accommodates the lower leg assembly drive rocker arm and at least two sets of symmetrically arranged lower leg buffer springs with coincident axes. One end of the lower leg buffer spring is connected to the wall of the buffer chamber, and the other end is connected to the lower leg assembly drive rocker arm. The lower leg assembly drive rocker arm is connected to the lower leg assembly drive servo motor. The claw assembly includes a claw support member and a buffer unit, which is a buffer chamber disposed at the top of the claw support member. The buffer chamber houses the claw assembly drive rocker arm and at least two sets of symmetrically arranged claw buffer springs with coincident axes. One end of each claw buffer spring is connected to the wall of the buffer chamber, and the other end is connected to the claw assembly drive rocker arm. The claw assembly drive rocker arm is connected to the claw assembly drive servo motor.

2. The multi-stage buffer magnetic drive bird talon system for flapping-wing aircraft as described in claim 1, characterized in that, At least one claw retraction servo motor is provided at the bottom of the claw support member. The claw retraction servo motor drives the claw retraction reel to rotate. The claw retraction reel is provided with a drive line. The drive line pulls the corresponding front toe assembly and rear toe assembly to achieve a closing action.

3. The multi-stage buffer magnetic drive bird talon system for flapping-wing aircraft as described in claim 2, characterized in that, Both the fore toe assembly and the hind toe assembly include multiple movably connected phalanges; the proximal phalanges are movably connected to the claw support and an extension spring is provided between them, and the distal phalanges are movably connected to the nail.

4. The multi-stage buffer magnetic drive bird talon system for flapping-wing aircraft as described in claim 3, characterized in that, Each finger bone has a first magnet at its apex and a second magnet on its nail. Adjacent first magnets are mutually repulsive, and the second magnet is mutually repulsive to the first magnet on the distal finger bone.

5. A multi-stage buffered magnetic drive bird talon system for flapping-wing aircraft as described in claim 4, characterized in that, The apex of the finger bone is an acute angle, and at least two holes are arranged side by side on the apex, one of which is connected to the first magnet, and the other hole accommodates the drive wire to pass through.

6. The multi-stage buffered magnetic drive bird talon system for flapping-wing aircraft as described in claim 4, characterized in that, The nail has at least two holes arranged side by side, one of which is connected to the second magnet, and the other hole accommodates the drive wire through which it is connected.

7. A method of operating the bird claw system of a flapping-wing aircraft as described in any one of claims 1-6, characterized in that, Includes the following steps: The flapping-wing aircraft flies to the area where the target object is located, and by adjusting its own flight attitude, the talons align with and approach the target object. As the flapping-wing aircraft lands and is about to make contact with the target object, the thigh assembly drives the servo motor, the lower leg assembly drives the servo motor, and the claw assembly drives the servo motor to move, so that the claw assembly is oriented toward the target object. When the flapping-wing aircraft lands and contacts the target object, the claw retracts and the servo motor moves, which drives the claw retractor to rotate and tighten the drive line. The drive line pulls the front toe assembly and the rear toe assembly to bend, causing the finger bones and nails to deform around the target object and surround its shape. By adjusting the servo motors driven by the thigh assembly, the lower leg assembly, and the claw assembly, the flapping-wing aircraft can land on the target object and perform operations. When the task is completed, the claw retracts and the servo rotates in the opposite direction, releasing the drive cable; the phalanges return to the open state under the mutual repulsion between the first magnets, the nails and the phalanges at the ends return to the open state under the mutual repulsion between the second magnet and the first magnet, and the fore toe assembly and the hind toe assembly return to the open state under the action of the extension spring, releasing the target. The flapping-wing aircraft activated its flapping wings and flew away from the target.

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