Bionical mechanical gripper for an aircraft and flapping wing aircraft thereof

Abstract

This invention discloses a biomimetic mechanical gripper for aircraft, comprising a base, a drive assembly, a retraction mechanism, leg mechanisms, and a gripper mechanism. The drive assembly and retraction mechanism are mounted on the base. Leg mechanisms are symmetrically arranged at both ends of the base's bottom, with the gripper mechanism mounted on the bottom of each leg mechanism. The base connects the flapping-wing aircraft to the leg mechanisms. The drive assembly drives the movement of the gripper mechanism. The retraction mechanism, via a retraction servo, retracts the gripper mechanism. The leg mechanisms serve as an intermediate force transmission carrier and core buffer component during the gripping process. The gripper mechanism completes the gripping and releasing of objects through tightening and loosening movements. This invention can further improve the adaptability and operational capability of flapping-wing aircraft in performing gripping and carrying tasks in complex environments.

Description

Technical Field

[0001] This invention belongs to the field of aircraft design and manufacturing technology, specifically relating to a biomimetic mechanical gripper for aircraft and its flapping-wing aircraft. Background Technology

[0002] Bionic flapping-wing aircraft are modeled after large and medium-sized birds. Compared with fixed-wing and rotary-wing aircraft, they have the high efficiency and high energy utilization of flapping-wing motion. They can adapt to complex airflow by adjusting the shape of their wings and have broad prospects in specific scenarios such as environmental monitoring and instrument deployment.

[0003] However, in practical applications, existing robotic arms for ornithopter aircraft, whether for dynamic transport or for perching on objects like branches, have significant drawbacks: structural design limitations restrict the types of objects that can be grasped (only suitable for regular objects); excessive local pressure during grasping can easily damage fragile objects; or redundant materials and structures result in excessive weight, increasing energy consumption, shortening flight time, and potentially causing grasping failure due to load imbalance. Furthermore, grippers, robotic arms, reconfigurable frames, and bird-like graspers with grasping functions are generally used in helicopters and rotary-wing UAVs, with few suitable for ornithopter aircraft. This makes them unsuitable for ornithopter aircraft, especially medium to large-sized ones. Summary of the Invention

[0004] To overcome the problems existing in the prior art, the present invention aims to provide a biomimetic mechanical gripper for aircraft and its flapping-wing aircraft. By introducing a biomimetic gripping mechanism, the flapping-wing aircraft achieves a lightweight overall structure while maintaining stable gripping performance, thereby effectively reducing energy consumption. Furthermore, this mechanism has the ability to autonomously retract the gripper during flight, significantly reducing air resistance. The above design further enhances the adaptability and operational capability of the flapping-wing aircraft in performing gripping and carrying tasks in complex environments.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A biomimetic mechanical gripper for aircraft includes a base 13, a drive assembly, a retraction mechanism, a leg mechanism, and a gripper mechanism;

[0007] The base 13 is equipped with a drive component and a convergence mechanism;

[0008] The base 13 has symmetrically arranged leg mechanisms at its bottom left and right ends, and claw mechanisms are installed at the bottom of the leg mechanisms;

[0009] The base 13 is used to connect the flapping-wing aircraft and the leg mechanism to realize the linkage between flight and grabbing / throwing.

[0010] The drive component is used to drive the movement of the claw mechanism to realize the gripping and releasing actions of the claw mechanism;

[0011] The convergence mechanism uses a convergence servo motor on it to achieve the convergence of the claw mechanism;

[0012] The leg mechanism is used for force transmission and buffering during the grasping process, and it has a built-in spring 20. On the one hand, the elastic potential energy of the spring 20 can grasp objects of different sizes, improving the success rate of grasping, while reducing the slight reaction force when grasping objects, preventing excessive local pressure from damaging fragile objects. On the other hand, it can protect the gripper from being damaged by the rigid force during landing.

[0013] The claw mechanism is used to grasp and release objects.

[0014] The base 13 serves as the mounting reference for the entire gripper. It has two protruding grooves on its top, each shaped like a flower with four protrusions inside. These grooves connect and engage with the flower-shaped groove at the bottom of the gripping servo groove 5, and are secured with screws to ensure that the gripping servo groove 5 does not rotate or slide during operation, while providing sufficient rotation space for the gripping wheel 1. Two cylindrical through holes are located on the rear side of the middle section, used to connect the retracting mechanism via a rotating joint, allowing it to move only along the axis of the base 13 (perpendicular to the horizontal direction of the base 13). Ear plates are located on both sides, wider at the bottom and narrower at the top, with an arc-shaped top and a circular through hole in the middle for embedding rolling bearings 12. This provides torque support to one side of the gripping wheel 1, preventing damage to the gripping servo 2 connected to the gripping wheel 1 on the other side due to uneven force distribution.

[0015] The drive assembly is embedded in the grooves of two protrusions on the base 13. The drive assembly includes a gripping servo motor 2, a gripping servo motor groove 5, a first rope 17, a second rope 19, and a grooved wheel 1.

[0016] A cross servo arm 3 is fixed on the output shaft of the gripping servo 2. The gripping servo 2 transmits output torque through the cross servo arm 3 on the output shaft to drive the grooved wheel 1 to rotate around the X-axis of the base 13 (parallel to the horizontal direction of the base 13), so that the rope tightens and loosens, thereby driving the gripping and loosening of the claw mechanism.

[0017] The grooved wheel 1 is a coaxial rotating structure, consisting of three sets of discs of the same diameter but different thicknesses stacked axially. The middle disc has four evenly distributed circular through holes for fixing the first rope 17 and the second rope 19. The side disc has a special cross-shaped hollow slot structure, and the middle area is transitioned by an arc. The whole is symmetrically arranged around the central hole. The edges of the hollow slot structure have rounded chamfers or arc designs to facilitate the insertion of the cross servo arm 3. The part is a multi-layered stepped cylinder. The two grooves in the middle facilitate the reverse winding of the first rope 17 and the second rope 19, thereby realizing the tightening and loosening of the ropes and driving the gripping and releasing of the claw mechanism.

[0018] The convergence mechanism is connected to the through hole behind the base 13 via a rotating joint. The convergence mechanism includes a convergence servo motor 11 and a convergence servo motor slot 10, a second link 16 and a first link 9 connected to the base 13.

[0019] The convergent servo slot 10 is used to embed the convergent servo 11. The overall support base structure is in the shape of a flat plate. Two sets of symmetrical thick ear plate components are distributed on the plate surface: one set is a wedge block with a circular through hole and a hollow groove, and the other set is a wedge block with a circular through hole. The hollow groove is to prevent the servo cable from being squeezed and damaged. The two circular through holes are used for positioning and connection of the servo. One end of the flat plate is provided with an ear-shaped protrusion with a circular through hole, which is convenient for connection and fixation with the base 13. Each support structure and the flat plate are transitioned by a right angle or a slope to enhance the structural strength of the parts. The ear plate has multiple sets of holes and grooves to achieve precise embedding and stable support of the servo.

[0020] The second link 16 and one end of the first link 9 are connected by a rotating joint. The other end of the first link 9 is connected to the output shaft of the convergence servo motor 11 by a screw. The second link 16 is connected to the groove in front of the base 13 by a rotating joint.

[0021] The convergence servo 11 is embedded in the convergence servo slot 10. The convergence servo 11 drives the first connecting rod 9 to rotate, which in turn drives the second connecting rod 16 and the base 13 to move, thereby converging the entire gripper.

[0022] The leg mechanism is symmetrically embedded in the slots on the base 13. The leg mechanism includes a spring 20, a support column housing 7, a support column 6, and a left idler wheel 27 and a right idler wheel 4 thereon.

[0023] The left idler wheel 27 and the right idler wheel 4 are installed symmetrically in opposite directions in the grooves on the left and right sides of the top of the support column 6 and are fixed by pins;

[0024] The support column 6 and the support column housing 7 are fixed by the elastic potential energy of the spring 20 and the tensile tension of the first rope 17 and the second rope 19. The spring 20 is inside the support column housing 7. When the rope is tightened and relaxed, it passes through the right idler wheel 4 and the left idler wheel 27, passes through the support column 6, the support column housing 7 and the spring 20, and is connected to the claw mechanism.

[0025] The claw mechanism includes a claw base 8, a front claw 14, and two rear claws 15; the front claw 14 and the two rear claws 15 include a first claw 21, a second claw joint 22, and a third claw joint 23.

[0026] The first hook 21 has an eagle claw structure with a streamlined, pointed curved surface at the claw end. The bottom is a block with two sets of circular through holes; one set is for securing the first rope 17, and the other is connected to the second claw joint 22. A cylindrical connecting boss is located on top for securing the second rope 19. The second claw joint 22 is a groove-shaped structure with double ear plates. The ear plates have circular mounting holes and are connected to the first hook 21 via pins. Two sets of through-hole grooves are located on the top center; one set is for connecting to the third claw joint 23, and the other is for passing through the first rope 17. A hollow cylindrical protrusion is located below for passing through the second rope 19. The joint bends and straightens by adjusting the tightness and looseness of the rope. The third claw joint 23 also has a groove-shaped design with ear plates. The ear plates have mounting holes and are connected to the second claw joint 22 via pins. A hollow cylindrical protrusion is located on the bottom center for passing through the second rope 19. Two sets of through-hole grooves are located on the top and bottom center. The groove has two sets: one for connecting to the claw base 8 and the other for passing through the first rope 17. Near the ear plate is a square plate with a rounded-corner through hole at its center. The through hole on the square plate is concentric with the through-hole groove at the bottom, serving as a guide to prevent the rope from deviating. The first rope 17 passes through the through hole on the square plate and the through-hole groove at the bottom, and the joint's bending and straightening are achieved by adjusting the tightness and looseness of the rope. The claw base 8 is a three-armed symmetrical triangular structure. The central area is a connecting seat with a triangular cutout. The three arms are evenly distributed at 120° angles, and each arm has a circular mounting hole and groove. It is connected and fixed to the support column housing by screws. The arm ends have rounded-corner connecting ear plates with through holes for connecting the third claw joint 23. Additionally, the central connecting seat has staggered circular rounded-corner through holes for passing through the first rope 17 and the second rope 19, serving as guides to prevent wiring tangles.

[0027] The adjacent front claws 14 and the two rear claws 15 are spaced 120° apart. Each individual claw has the same structure; therefore, only the motion mechanism of a single claw will be described below, while the motion mechanisms of the other two claws are the same. Each individual claw includes a first toe 21, a second claw joint 22, and a third claw joint 23. The third claw joint 23 is connected to the claw base 8 via a revolute joint, and the second claw joint 22 is connected to the first toe 21 via a revolute joint. A first rope 17 passes through the opening below the claw base 8, the third claw joint 23, the second claw joint 22, and the first toe 21, and is threaded... The second rope 19 passes through the opening above the base 13, the third claw joint 23, the second claw joint 22, and the first hook 21, connecting the entire claw. The movement mechanism of the other two hooks is the same, ultimately forming a three-point encircling grip with "1 front hook + 2 rear hooks" (distributed at 120° intervals), which is suitable for irregular objects such as round and square objects. At the same time, the spring 20 between the support column and the support column shell 7 is compressed, thereby tightening the rope to ensure the success rate of object gripping. The gripping force is evenly transmitted through the rope tension to avoid excessive local pressure that could damage the object.

[0028] One end of the first rope 17 is fixed in the circular through hole of the middle disc of the grooved wheel 1, and is wound counterclockwise around a groove of the grooved wheel 1 away from the cross-shaped hollow slot; the base 13 has an opening at the bottom, and the leg mechanism is fixed by screws; the other end of the first rope 17 passes through the left idler wheel 27 of the leg mechanism for guidance and drag reduction, passes through the support column 6 (with a smooth thread hole inside that is adapted to the rope), the support column housing 7, and then passes through the triangular hollow connecting seat in the central area of ​​the claw base 8, passes through the staggered circular rounded corner through hole on the central connecting seat (the staggered pupil at the top), and then passes through the through hole groove on the bottom of the third claw joint 23 and the rounded corner through hole in the center of the square plate near the ear plate, and the through hole groove on the middle of the second claw joint 22 in sequence, and is finally fixed to the block body on the circular through hole at the bottom of the first hook toe 21, thus forming an "upper traction path";

[0029] One end of the second rope 19 is also fixed in the circular through hole of the middle disc of the grooved wheel 1, and is wound clockwise around another groove of the grooved wheel 1 near the cross-shaped hollow slot; the other end of the second rope 17 passes through the right idler wheel 4 of the leg mechanism for guidance and drag reduction, passes through the support column 6 (a different thread hole than the first rope) and the support column housing 7 in sequence, and then passes through the triangular hollow connecting seat in the central area of ​​the claw base 8, passes through the staggered circular rounded corner through hole on the central connecting seat (the staggered pupil at the lower end), and then passes through the hollow cylindrical boss in the middle of the third claw joint 23 and the hollow cylindrical protrusion under the second claw joint 22 in sequence, and is finally fixed to the cylindrical connecting boss above the first hook toe 21, thus forming a "lower traction path";

[0030] When an object needs to be grasped, the drive assembly connects to the groove pin of the base 13 via the protrusion on the grasping servo slot 5. The grasping servo 2 receives the signal transmitted by the microcontroller and outputs torque, which is transmitted to the grooved wheel 1 through the cross servo arm 3 fixed to the output shaft. Since the two ends of the cross servo arm 3 are detachably fixed to the spokes of the grooved wheel 1 by cross screws, there is no risk of slippage in torque transmission. Consequently, the grooved wheel 1 rotates counterclockwise around the X-axis (parallel to the horizontal direction of the base 13), and the first rope 17 wound in the wheel groove is unwound while the second rope 19 is wound in. Because the first hook 21 and the second claw joint 22 are connected by a revolute joint, and the second claw joint 22 and the third claw joint 23 are connected by a revolute joint, when the first rope 17 is relaxed and the second rope 19 is tightened, the first hook 21, the second claw joint 22, and the third claw joint 23 will all rotate around the revolute joint and apply a centripetal force to the first hook 21. The first hook 21 first adheres to the surface of the object, then the second claw joint 22 bends to enhance the wrapping effect, and finally the third claw joint 23 makes a slight adjustment of the angle so that the claws completely cover the object to be grasped.

[0031] When an object needs to be released, the gripping servo 2 receives a signal from the microcontroller and outputs a reverse torque. The cross servo arm 3 fixed on the output shaft rotates in the opposite direction, transmitting force to the grooved wheel 1. The grooved wheel 1 rotates clockwise around the X-axis (parallel to the horizontal direction of the base 13). The first rope 17 wrapped in the wheel groove tightens and the second rope 19 loosens. Since the first hook 21 and the second claw joint 22 are connected by a revolute joint, and the second claw joint 22 and the third claw joint 23 are connected by a revolute joint, when the first rope 17 tightens and the second rope 19 loosens, the first hook 21, the second claw joint 22, and the third claw joint 23 will all rotate around the revolute joint and apply an outward pulling force to the first hook 21, forcing each joint to rotate around the revolute joint (made of ultra-light and wear-resistant fiber material), thus realizing the release action of the gripper.

[0032] The convergent servo slot 10 is fixed to the base 13 via a revolute joint. The convergent servo slot 10 is a rectangular slot structure adapted to the shape of the convergent servo 11. The side of the base 13 where it mates with the convergent servo slot 10 is designed with a lug plate similar to a T-shaped mortise structure. A "fastenerless fixation" is achieved between the convergent servo 11 and the convergent servo slot 10 via pins. The output shaft of the convergent servo 11 is connected and fixed to one end of the first connecting rod 9 via a revolute joint. When the aircraft is in flight, the convergent servo 11... 1. Drive the first link 9 to rotate downward around the output axis. The other end of the first link 9 is connected to the second link 16 through a rotating joint via a pin, thereby driving the synchronous movement of the second link 16. The other end of the second link 16 is hinged to the ear plate on the side of the base 13. Under the thrust of the first link 9, the base 13 flips upward around the rotation point connected to the aircraft fuselage, ultimately making the entire bionic mechanical gripper tightly adhere to the aircraft fuselage, realizing the convergence of the entire bionic mechanical gripper. The convergence angle can be controlled by the angular precision of the convergence servo 11.

[0033] When performing a gripping task, the retraction servo 11 rotates in the opposite direction, and the first link 9 drives the second link 16 to flip the base 13 downward to an angle suitable for precise gripping, thereby achieving stable and accurate gripping by the gripper.

[0034] The leg mechanism and the base 13 are in an interference fit. After assembly, they are fixed again by a set screw to ensure that the leg mechanism does not loosen during flight and grabbing. The support column 6 and the support column housing 7 are in a sliding fit. The spring 20 inside the support column housing 7 is sleeved at the lower step of the support column.

[0035] When the claw grasps an object, if the object has a slight reaction force, the support column 6 can retract into the support column housing 7, compressing the spring 20 to generate a buffer force, avoiding rigid impact damage to the claw joint or the object; and when the aircraft lands, the spring 20 can also act as a landing buffer, preventing the aircraft from being subjected to a large rigid impact force during landing, which could damage parts.

[0036] The idler pulley is fixed to the upper end of the support column 6 by a pin. Its rope diameter is smaller than the pulley groove diameter, which can ensure that the rope moves along a fixed path during tightening / unwinding, avoiding rope deviation, wear or transmission failure caused by friction against the inner wall of the support column 6.

[0037] The present invention also provides a flapping-wing flying robot, including a flight body and a bionic mechanical gripper of the flight body, wherein the base 13 of the bionic mechanical gripper of the flight body is fixedly connected to the middle part of the flight body.

[0038] The beneficial effects of this invention are:

[0039] 1. Wide grasping range and strong adaptability: The three-point encircling claw structure with a 120° distribution can adapt to round, square and irregularly shaped objects, solving the problem of limited grasping types of existing robotic arms; at the same time, the anti-slip rubber of the hook toe and the buffer spring of the leg mechanism further improve the grasping stability of smooth and fragile objects.

[0040] 2. Lightweight design and low energy consumption: The base, connecting rods and other structures are made of carbon fiber and synthetic resin fiber materials, and the weight of a single gripper is only about 40g; the drive components use micro servos, resulting in low overall energy consumption. After assembly, the impact on the flight time of the aircraft is less than 5%, which solves the problem of the excessive weight of existing manipulators leading to shortened flight time.

[0041] 3. Low flight drag and high stability: The convergence mechanism can retract the grippers to fit the fuselage during flight. Wind tunnel testing has verified that air drag is reduced by nearly 30%, which reduces the energy consumption and attitude fluctuations of the aircraft during flight and improves flight stability.

[0042] 4. Simple structure and high reliability: The use of rope transmission instead of complex mechanical transmission reduces the number of moving parts and lowers the risk of failure; the components are detachably connected by pins, screws, etc., which facilitates maintenance and replacement.

[0043] 5. Convenient control and easy integration: The drive component only requires two micro servos, and the grabbing and retraction actions can be achieved through simple forward and reverse control. It is easy to integrate with the control system of existing flapping-wing aircraft without the need to add a complicated control module.

[0044] In summary, the bionic mechanical gripper of this invention effectively solves the problems of lack of grasping function, poor grasping stability, and high energy consumption in existing flapping-wing aircraft. Its lightweight, wide adaptability, and low drag characteristics make it a promising candidate for application in flapping-wing aircraft in various fields such as military and civilian applications. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of the bionic mechanical gripper in a preferred embodiment of the present invention.

[0046] Figure 2 This is a schematic diagram of the base structure of the biomimetic mechanical gripper shown.

[0047] Figure 3 This is a schematic diagram of the structure of a single bionic mechanical gripper of the present invention.

[0048] Figure 4 This is a schematic diagram of the structure of a single claw mechanism of the present invention.

[0049] Figure 5 This is a longitudinal section diagram of the rope routing of a single bionic mechanical gripper of the present invention.

[0050] Figure 6 This is a schematic diagram of the flapping-wing flying robot with bionic grippers of the present invention in an idle state.

[0051] Figure 7 This is a schematic diagram of the flapping-wing flying robot with bionic grippers of the present invention in flight mode.

[0052] Figure 8 This is a schematic diagram of the flapping-wing flying robot with bionic grippers of the present invention in a flight grasping state.

[0053] Explanation of reference numerals in the attached figures:

[0054] 1. Grooved wheel; 2. Gripping servo; 3. Cross servo arm; 4. Right idler wheel; 5. Gripping servo groove; 6. Support column; 7. Support column housing; 8. Claw base; 9. First link; 10. Retractable servo groove; 11. Retractable servo; 12. Rolling bearing; 13. Base; 14. Rear grappling hook; 15. Front grappling hook; 16. Second link; 17. First rope; 18. Washer; 19. Second rope; 20. Spring; 21. First grappling hook; 22. Second claw joint; 23. Third claw joint; 24. Flapping wing aircraft; 25. Irregularly shaped carry-on; 26. Gripping claw positioning and stability reinforcement; 27. Left idler wheel Detailed Implementation

[0055] The present invention will now be described in further detail with reference to the accompanying drawings.

[0056] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "X-axis", "Y-axis", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0057] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "embedding" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or a wire connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0058] Reference Figures 1-5As shown: The present invention is a bionic mechanical gripper for aircraft and its flapping-wing aircraft. The bionic mechanical gripper of the present invention is generally divided into a base 13, a drive component, a retraction mechanism, a leg mechanism and a claw mechanism. Each component works together to achieve functions such as gripping, retraction and buffering, and the whole is adapted to the flapping-wing aircraft body, and the working state can be flexibly adjusted according to different working conditions.

[0059] The base 13 serves as the mounting reference component for the entire gripper, and its structural design is precisely adapted to the assembly requirements of each component. The top of the base has two protrusions and a flower-shaped groove in the middle. Four protrusions are evenly distributed in the groove, which cooperate with the flower-shaped groove at the bottom of the gripping servo groove 5. The groove is then fixed with screws, which can effectively prevent the groove wheel 1 from rotating or sliding when the gripping servo 2 is working, while providing sufficient space for the groove wheel 1 to move. The rear side of the middle of the base 13 has two cylindrical through-hole grooves, which are connected to the convergence component through a rotating joint, restricting its movement to only around the axis along the Y-axis of the base 13 (perpendicular to the horizontal direction of the base 13). The sides have ear plates that are wider at the bottom and narrower at the top and have an arc shape at the top, with a circular through hole in the middle for embedding the rolling bearing 12, providing torque support for one side of the groove wheel 1, and preventing damage to the gripping servo 2 connected to the groove wheel 1 due to uneven force. The opening at the bottom of the base 13 is used to fix the leg mechanism to ensure the structural stability after the components are assembled.

[0060] The drive assembly is embedded in the flower-shaped groove on the top of the base 13. The assembly includes a gripping servo 2, ropes for tightening and loosening (divided into a first rope 17 and a second rope 19), and a grooved wheel 1. The gripping servo 2 is the power core. By driving the grooved wheel 1 to rotate around the X-axis parallel to the horizontal direction of the base 13, the ropes are tightened and loosened, which in turn indirectly drives the claw mechanism to complete the gripping and releasing actions.

[0061] In actual assembly and operation, the drive component is connected to the base 13 groove by a pin through the protrusion on the gripping servo slot 5, which is convenient for assembly and ensures structural stability. When the gripping servo 2 receives the signal from the main controller of the aircraft, it outputs torque and transmits it to the slotted wheel 1 through the cross servo arm 3 on the output shaft. Since the cross servo arm 3 and the spoke of the slotted wheel 1 are detachably fixed by cross screws, the risk of slippage during torque transmission is effectively avoided. The slotted wheel 1 is a coaxial rotating structure, which is composed of three sets of discs of the same diameter and different thicknesses stacked along the axis. The middle disc has four circular through holes evenly distributed for fixing the rope. The side disc has a cross-shaped hollow slot structure, which is symmetrically arranged around the central hole through an arc transition. The edges of the slot are rounded or rounded to facilitate the insertion of the cross servo arm 3. The two grooves in the middle facilitate the reverse winding of the first rope 17 and the second rope 19, providing a structural basis for rope transmission.

[0062] Specifically, when the grooved wheel 1 rotates counterclockwise around the X-axis, the first rope 17 wound in the groove gradually loosens, while the second rope 19 tightens simultaneously, thus realizing the gripping action of the claw. At the same time, an opening is provided at the bottom of the base 13 for fixing the leg mechanism. During the transmission process, the first rope 17 first passes through the idler wheel 4 on the leg mechanism for guidance and drag reduction. After the idler wheel 4 changes the direction of the cable, it passes through the support column 6 and the support column housing 7 in sequence (the support column housing 7 has a specially designed and smoothed cable hole to reduce cable wear). Then it passes through the upper opening of the third claw joint 9, the second claw joint 10, and the first hook 11 of the claw mechanism, finally forming an "upper traction path" in series. The second rope 19 passes through the upper opening of the above components in the same way to form a "lower traction path". The dual-path design ensures that the forces on each joint of the claw are balanced. When the first rope 17 is relaxed and the second rope 19 is tightened, a centripetal force is applied to the first hook 11, the second claw joint 10, and the third claw joint 9, forcing each joint to rotate clockwise around the rotating joint made of ultra-light wear-resistant fiber material. The entire grasping process has a clear sequence of actions: the first hook 11 will first adhere to the surface of the object, then the second claw joint 10 will bend to enhance the wrapping of the object, and finally the third claw joint 9 will make a slight angle adjustment. "One front hook + two rear hooks" (the three are distributed in pairs at 120° intervals) form a three-point encircling grasping structure. This structure can adapt to various irregularly shaped objects such as round and square objects. During this process, the spring 20 between the support column 6 and the support column housing 7 is compressed, thereby tightening the rope and further ensuring the success rate of object grasping. The grasping force is evenly transmitted to each contact point of the claw through the rope tension, effectively avoiding the problem of excessive local pressure causing damage to the object. When it is necessary to release the object, the grasping servo 2 rotates in the opposite direction, driving the grooved wheel 1 to rotate counterclockwise. At this time, the first rope 17 tightens and the second rope 19 relaxes. The first hook 11 naturally opens under the combined action of the rope tension (or the slight reaction force of the object) and the smooth characteristics of the joint rotation pair. The two ropes return to a relaxed state, thereby completing the object release.

[0063] The convergence mechanism is connected to two cylindrical through holes at the rear of the base 13 via a rotating joint. This mechanism includes a convergence servo 11, a convergence servo slot 10, a second connecting rod 16, and a first connecting rod 9. Its core function is to achieve the convergence and deployment of the grippers, reducing flight drag. A dedicated slot is provided for mounting the convergence servo 14. The slot is a flat support base structure with two sets of symmetrical thick ear plate assemblies distributed on the plate: one set consists of wedge-shaped blocks with circular through holes and slots, and the other set consists of wedge-shaped blocks with circular through holes. The slots prevent damage to the servo cables from compression. The two circular through holes are used for servo positioning and connection. One end of the plate has an ear-shaped protrusion with a circular through hole for easy connection and fixation to the base 13. The support structure on it transitions to the plate at a right angle or with a slope, enhancing structural strength. The convergence servo 11 is mounted in the convergence servo slot 10. Its output shaft is connected to one end of the first connecting rod 9 via a revolute joint. The other end of the first connecting rod 9 is connected to the second connecting rod 16 via a revolute joint. The second connecting rod 16 is connected to the groove in front of the base 13 via a revolute joint. The side of the base 13 where it mates with the convergence servo slot 10 is designed with a "T-shaped mortise" ear plate, which can achieve "fastenerless fixing" of the two by means of a pin, which ensures connection strength and simplifies the assembly process.

[0064] The convergence servo 14 drives the first link 9 to rotate by outputting torque, which in turn drives the second link 16 and the base 13 to move, ultimately realizing the convergence action of the entire gripper. Specifically, the output shaft of the retractable servo 14 is fixed to one end of the first link 9 via a revolute joint. When the aircraft is in flight, the retractable servo 14 drives the first link 9 to rotate downward around the axis of the output shaft. The other end of the first link 9 is connected to the second link 16 via a revolute joint, thus driving the second link 16 to move synchronously. The other end of the second link 16 is hinged to the lug of the groove in front of the base 13. Under the thrust of the first link 9, the base 13 will flip upward around the rotation point connected to the back of the retractable servo slot, ultimately making the entire bionic mechanical gripper fit tightly against the aircraft fuselage, achieving gripper retraction. The retraction angle can be precisely controlled by the rotational accuracy of the retractable servo 14. When a gripping task needs to be performed, the retractable servo 14 rotates in the opposite direction, the first link 9 pulls the second link 16, causing the base 13 to flip downward until it is adjusted to a suitable and accurate gripping angle, providing sufficient gripping space for the gripper mechanism.

[0065] The leg mechanism, including a spring 20, a support column housing 7, a support column 6, a left idler pulley 27, and a right idler pulley 4, is embedded in the slots on both sides of the base 13. It serves multiple functions, including force transmission, buffering protection, and rope guidance. The left idler pulley 27 and right idler pulley 4 are symmetrically installed in the grooves on the top of the support column 6 and secured with pins. Their groove diameter is larger than the rope diameter, ensuring the rope always moves along a fixed path during tightening and loosening, effectively preventing rope deviation, friction against the inner wall of the support column 6, and thus avoiding rope wear or transmission failure. The support column 6 and support column housing 7 are secured by the elastic potential energy of the spring 20 and the tensile tension of the rope. The spring 20 is built into the support column housing 7, which has a smoothed threading hole adapted to the rope, reducing wear during rope transmission. The leg mechanism and the slots of the base 13 are interference-fitted and then secured again with set screws after assembly, ensuring no loosening during flight and grabbing. The leg mechanism not only connects the base 13 to the claw mechanism, but also provides a buffer function. The support column 6 and the support column housing 7 are connected by a spring 20, which is built into the support column housing 7. During the tightening and loosening process, the rope passes through the right idler wheel 4 and the left idler wheel 27, and then passes through the support column 6, the support column housing 7 and the spring 20 in sequence, and finally connects to the claw mechanism.

[0066] In terms of assembly stability, the leg mechanism and the base 13 are fitted with an interference fit. After assembly, a secondary fixation is performed using set screws to ensure that the leg mechanism will not loosen during aircraft flight and gripper grabbing. The support column 6 and the support column housing 7 are fitted with a sliding fit. The spring 20 inside the support column housing 7 is sleeved at the lower step of the support column 6. This structural design gives the leg mechanism good cushioning performance: when the claw grabs an object, if the object has a slight reaction force, the support column 6 can retract into the support column housing 7, compressing the spring 20 to generate a cushioning force, avoiding rigid impact damage to the claw joint or the grabbed object; and after the spring 20 is compressed, it tightens the rope, which can ensure the success rate of object grabbing, and the grabbing force is evenly transmitted through the rope tension, avoiding excessive local pressure that could damage the object; at the same time, when the aircraft lands, the spring 20 assembly can also play a landing cushioning role, reducing the large rigid impact force on the aircraft during landing and protecting the aircraft parts from damage.

[0067] The claw mechanism is the part that directly contacts the object, and its structural design directly affects the grasping effect. This mechanism includes a claw base 8, one front claw 15, and two rear claws 14. The claws are spaced 120° apart, forming a three-point encircling grasping structure. This distribution improves grasping stability and adapts to objects of various shapes. Each claw has an identical structure, including a first toe 11, a second claw joint 10, and a third claw joint 9. The first toe 21 has an eagle claw structure with a streamlined, pointed curved surface. The bottom is a block with two sets of circular through holes for fixing the first rope 17 and connecting it to the second claw joint 22. A cylindrical connecting boss is provided on top for fixing the second rope 19. The second claw joint 22 is a groove-shaped structure with double ear plates. The ear plates have circular mounting holes and are connected to the first hook 21 by a pin. There are two sets of through-hole grooves in the middle upper part, which are used to connect with the third claw joint 23 and pass through the first rope 17, respectively. There is a hollow cylindrical protrusion at the bottom for the second rope 19 to pass through. The third claw joint 23 is also a groove-shaped design with ear plates and is connected to the second claw joint 22 by a rotating joint. There is a hollow cylindrical protrusion in the middle lower part for the second rope 19 to pass through. There are two sets of through-hole grooves at the top and bottom, which are used to connect with the claw base 8 and pass through the first rope 17, respectively. There is a square plate with rounded corner through holes near the ear plates, which is concentric with the bottom through-hole groove, and plays a role in preventing the wire from deviating. The claw base 8 is a three-armed symmetrical triangular structure with a connecting seat with a triangular cutout in the central area. The three arms are evenly distributed at 120°. The arms are provided with circular mounting holes and grooves and are fixed to the support column housing 7 by screws. The arm ends are provided with connecting ear plates with rounded transitions for connecting the third claw joint 23. The central connecting seat is also provided with staggered circular rounded corner through holes for the first rope 17 and the second rope 19 to pass through, so as to avoid messy wiring. Regarding joint connections, the third claw joint 9 is connected to the base 13 via a revolute joint, and the second claw joint 10 is connected to the first hook toe 11 via a revolute joint, ensuring that each joint can rotate flexibly. Regarding rope connections, the first rope 17 passes through the opening above the base 13, the support column, the support column housing 7, the third claw joint 9, the second claw joint 10, and the first hook toe 11, connecting the entire claw. The second rope 19 passes through the opening below the base 13, the third claw joint 9, the second claw joint 10, and the first hook toe 11, also connecting the entire claw. The dual-rope connection design provides power transmission guarantee for the synchronous movement of each joint of the claw, ensuring coordinated movement of each joint during the grasping process.

[0068] The core action of the gripper is as follows: When an object needs to be gripped, the gripping servo 2 receives a signal from the main controller of the aircraft, outputs torque and transmits it to the grooved wheel 1 through the cross servo arm 3, causing the grooved wheel 1 to rotate counterclockwise around the X-axis. At this time, the first rope 17 wrapped in the wheel groove is relaxed and the second rope 19 is tightened.

[0069] One end of the first rope 17 is fixed in the circular through hole of the middle disc of the grooved wheel 1, and is wound counterclockwise around the groove away from the cross-shaped hollow slot. The other end passes through the left idler wheel 27, and then passes through the support column 6, the support column housing 7, and then through the misaligned through hole above the central connecting seat of the claw base 8. It then passes through the through hole groove and square plate through hole at the bottom of the third claw joint 23, and the through hole groove in the middle of the second claw joint 22, and is finally fixed to the block at the bottom of the first hook 21, forming an "upper traction path". The second rope 19 is fixed at one end to the circular through hole of the middle disc of the grooved wheel 1, and is wound clockwise around the groove near the cross-shaped hollow slot. The other end passes through the right idler wheel 4, passes through the support column 6 and the support column shell 7 in sequence, and enters the misaligned through hole below the center connecting seat of the claw base 8. It then passes through the hollow cylindrical boss of the third claw joint 23 and the hollow cylindrical protrusion of the second claw joint 22 in sequence, and is finally fixed to the connecting boss above the first hook toe 21, forming a "lower traction path".

[0070] The tension changes of the dual ropes apply centripetal force to the first hook 21, the second claw joint 22, and the third claw joint 23. Each joint rotates around a revolute joint made of ultra-lightweight, wear-resistant fiber material. The movement is layered and orderly: the first hook 21 first adheres to the object surface, then the second claw joint 22 bends to enhance the wrapping effect, and finally the third claw joint 23 finely adjusts its angle so that the three hooks completely cover the object. At the same time, the support column 6 retracts into the support column shell 7, compressing the spring 20 to generate a buffering force. This avoids rigid impact damage to the claw joints or the object, while also keeping the ropes taut to ensure a high success rate of grasping. Furthermore, the grasping force is evenly transmitted through the rope tension, preventing excessive local pressure.

[0071] When an object needs to be released, the gripping servo 2 receives a reverse signal and outputs a reverse torque, causing the cross servo arm 3 to rotate in the opposite direction, which in turn causes the grooved wheel 1 to rotate clockwise around the X-axis. At this time, the first rope 17 wound in the wheel groove tightens and the second rope 19 loosens, applying an outward pulling force to the first hook 21, forcing each joint to rotate in the opposite direction around the revolute joint, and the claw mechanism naturally opens. Simultaneously, the spring 20 releases its elastic potential energy, pushing the support column 6 to reset, the two ropes return to a relaxed state, and the object smoothly detaches from the gripper.

[0072] When the aircraft is in flight, the convergence servo 11 drives the first link 9 to rotate downward around the output axis. The first link 9 pushes the second link 16 to move synchronously. The second link 16 drives the base 13 to rotate upward around the rotation point connected to the fuselage, ultimately making the entire gripper fit tightly against the aircraft fuselage, achieving full convergence. If a sudden grasping demand is required, the convergence servo 11 finely adjusts the angle, causing the base 13 to rotate downward to an angle of 30° with the fuselage, maintaining a "semi-converged" state to balance wind resistance and response speed.

[0073] When a grasping task is required, the retractable servo 11 rotates in the opposite direction, the first link 9 pulls the second link 16, causing the base 13 to flip downwards to be perpendicular to the fuselage (angle 90°), the leg mechanism fully extends, providing ample grasping space for the claw mechanism to ensure accurate alignment.

[0074] Application examples of this biomimetic mechanical gripper:

[0075] like Figures 6-8 As shown, the present invention also provides a flapping-wing flying robot, which includes an aircraft body and the aforementioned bionic mechanical grippers (as a bionic grasping and landing device). The convergence servo slot 1 of the landing device is fixedly connected to the middle of the aircraft body and is fixed by gripper positioning and stability reinforcement 26. It is usually installed in a symmetrical manner, with one gripper installed on each side of the belly of the flapping-wing aircraft. The main controller of the aircraft controls the movement of the grippers on both sides at the same time, so that the grippers exhibit different movement performances in different working states.

[0076] In idle state (see reference) Figure 6 When the flapping wing aircraft is in motion, the retracting servo 11 drives the first link 9 to rotate upward to its limit position, which in turn drives the second link 16 to pull the base 13 downward to flip it, so that the entire gripper is perpendicular to the fuselage belly. At the same time, the gripping servo 2 drives the grooved wheel 1 to rotate, so that the first rope tightens and the second rope loosens, further enabling the flapping wing aircraft to stand steadily on the ground.

[0077] In flight status (reference) Figure 6 When the servo motor 11 drives the first link 9 to rotate downwards, it in turn pushes the second link 16, causing the base 13 to flip upwards to an angle of 30° with the fuselage. At this time, the gripper remains in a "semi-converged" state. This state avoids excessive wind resistance when the gripper is fully extended, reduces space occupation, and affects the flight efficiency of the aircraft. It also ensures that the gripper can quickly switch to the gripping state to deal with sudden gripping needs. Moreover, the left idler wheel 27 and the right idler wheel 4 are closely attached to the rope without relative slippage, ensuring transmission stability. The gripping servo motor 2 keeps the first rope slack and the second rope taut, and the gripper maintains the gripping state. The support column 6 slightly compresses the spring 20 to further tighten the rope and prevent the hook from shaking and wearing.

[0078] During the flight grasping state, the entire action sequence is more refined: First, the grippers unfold. When the aircraft flies to a position 2-3 meters diagonally above the target object, the main controller sends a signal to the convergence drive servo 14, causing it to rotate in the opposite direction. This drives the first link 9 to push the second link 16, thereby causing the base 13 to flip downwards to be perpendicular to the fuselage (90° angle). The leg mechanism fully unfolds, preparing for grasping. Next, precise alignment occurs. The aircraft adjusts its attitude through visual sensors. When the aircraft reaches its lowest point and begins to fly upwards, the fuselage is exactly parallel to the ground, ensuring that the "front hook + rear hook" of the gripper mechanism is precisely aligned above the object's center of gravity, guaranteeing accurate grasping position. Finally, the grasping action is initiated. The grasping servo 2 is activated, driving the grooved wheel 1 clockwise. The needle rotates to tighten the double ropes, causing the first hook 11, the second claw joint 10, and the third claw joint 9 to bend sequentially, forming a three-point encircling structure. The gripping servo 2 rotates to its limit position to maintain rope tension, and the spring 20 is compressed to prevent the object from falling. After gripping, the gripper enters the claw retraction and transfer phase. The retraction drive servo 14 actuates again, adjusting the gripper to a "semi-retracted" state. At this time, the aircraft activates the flapping wing mechanism to carry the gripped object for transfer. Finally, the object is released. When the aircraft reaches the target position, the gripping servo 2 rotates in the opposite direction to loosen the ropes. The claw mechanism naturally opens under the tension of the ropes, placing the object in the designated position. Subsequently, the gripper returns to the flight state or idle state as needed, completing the entire gripping-transfer-release process.

Claims

1. A bionic mechanical gripper for an aircraft, characterized in that It includes a base (13), a drive assembly, a convergence mechanism, a leg mechanism, and a claw mechanism; A drive assembly and a convergence mechanism are provided on the base (13); The base (13) has symmetrically arranged leg mechanisms at its bottom left and right ends, and claw mechanisms are installed at the bottom of the leg mechanisms; The base (13) is used to connect the flapping-wing aircraft and the leg mechanism to realize the linkage between flight and grabbing and throwing; The drive component is used to drive the movement of the claw mechanism to realize the gripping and releasing actions of the claw mechanism; The convergence mechanism uses a convergence servo motor on it to achieve the convergence of the claw mechanism; The leg mechanism is used for force transmission and cushioning during the grasping process; The claw mechanism is used to grasp and release objects; The base (13) is the mounting reference for the entire gripper. It has two protruding slots on the top, which are flower-shaped and have four protrusions inside. They are connected and fitted with the flower-shaped groove at the bottom of the gripper servo slot (5) and fixed with screws. The rear side of the middle section has two cylindrical through holes for connecting the retracting mechanism through a rotating pair, so that it can only move along the axis in the Y-axis direction of the base (13). The sides have ear plates, which are wider at the bottom and narrower at the top, with an arc shape at the top and a circular through hole in the middle for embedding the rolling bearing (12) to provide torque support for one side of the slot wheel (1). The drive assembly is embedded in two protruding slots on the base (13). The drive assembly includes a gripping servo (2), a gripping servo slot (5), a first rope (17), a second rope (19), and a slotted wheel (1). The gripping servo (2) has a cross servo arm (3) fixed on its output shaft. The gripping servo (2) transmits output torque through the cross servo arm (3) on its output shaft to drive the slotted wheel (1) to rotate around the X-axis of the base (13), so that the rope tightens and loosens, thereby driving the gripping and loosening of the claw mechanism. The grooved wheel (1) is a coaxial rotating structure, consisting of three sets of discs of the same diameter and different thicknesses stacked along the axial direction. The middle disc has four circular through holes evenly distributed for fixing the first rope (17) and the second rope (19). The side disc has a cross-shaped hollow slot structure, and the middle area is transitioned by an arc. The whole is symmetrically arranged around the central hole. The edge of the hollow slot structure has a rounded chamfer or arc design. The two grooves in the middle of the grooved wheel (1) facilitate the reverse winding of the first rope (17) and the second rope (19), realizing the tightening and loosening of the rope, and driving the gripping and releasing of the claw mechanism.

2. A bionic mechanical gripper for an aerial vehicle according to claim 1, wherein, The convergence mechanism is connected to the through hole behind the base (13) via a rotating joint. The convergence mechanism includes a convergence servo (11) and a convergence servo slot (10), a second link (16) and a first link (9) connected to the base (13). The convergent servo slot (10) is used to embed the convergent servo (11). The overall support base structure is flat. Two sets of symmetrical thick ear plate components are distributed on the plate: one set is a wedge block with a circular through hole and a hollow groove, and the other set is a wedge block with a circular through hole. One end of the plate is provided with an ear-shaped protrusion with a circular through hole, which is convenient to connect and fix with the base (13). Each support structure is connected to the plate through a right angle or a slope. The second link (16) and one end of the first link (9) are connected by a rotating joint. The other end of the first link (9) is connected to the output shaft of the convergence servo (11) by a screw. The second link (16) is connected to the groove in front of the base (13) by a rotating joint. The convergence servo (11) is embedded in the convergence servo slot (10). The convergence servo (11) drives the first link (9) to rotate, thereby driving the movement of the second link (16) and the base (13) to converge the entire gripper.

3. A bionic mechanical gripper for an aerial vehicle according to claim 2, wherein, The leg mechanism is symmetrically embedded in the slots on the base (13). The leg mechanism includes a spring (20), a support column housing (7), a support column (6), and a left idler wheel (27) and a right idler wheel (4) thereon. The left idler wheel (27) and the right idler wheel (4) are installed symmetrically in opposite directions in the grooves on the left and right sides of the top of the support column (6) and are fixed by pins; The support column (6) and the support column housing (7) are fixed by a spring (20) and a first rope (17) and a second rope (19). The spring (20) is located inside the support column housing (7). When the rope is tightened and loosened, it passes through the right idler wheel (4) and the left idler wheel (27), passes through the support column (6), the support column housing (7) and the spring (20), and is connected to the claw mechanism.

4. A bionic mechanical gripper for an aerial vehicle according to claim 3, wherein, The claw mechanism includes a claw base (8) and a front claw (14) and two rear claws (15); the front claw (14) and the two rear claws (15) include a first claw (21), a second claw joint (22) and a third claw joint (23); The first hook (21) is a claw structure with a streamlined pointed curved surface. The bottom is a block with two sets of circular through holes. One set is for fixing the first rope (17), and the other set is connected to the second claw joint (22). There is also a cylindrical connecting boss on the top for fixing the second rope (19). The second claw joint (22) is a groove structure with double ear plates. The ear plates have circular mounting holes and are connected to the first hook (21) by a pin. There are two sets of through hole grooves on the top of the middle. One set is used to connect to the third claw joint (23), and the other set is used to pass through the first rope (17). There is a hollow cylindrical protrusion on the bottom for passing through the second rope (19). The joint can bend and straighten by tightening and loosening the rope. The third claw joint (23) is a groove design with ear plates. The ear plates have mounting holes and are connected to the second claw joint (22) by a pin. There is a hollow cylindrical protrusion on the bottom of the middle for passing through. The second rope (19) has two sets of through-hole grooves at the bottom. One set is used to connect with the claw base (8), and the other set is used to pass through the first rope (17). There is a square plate near the ear plate with a rounded through hole at the center. The through hole on the square plate is concentric with the through-hole groove at the bottom. The first rope (17) passes through the through hole on the square plate and the through-hole groove at the bottom. The bending and straightening of the joint is achieved by tightening and loosening the rope. The claw base (8) is a three-arm symmetrical triangular structure. The central area is a central connecting seat with a triangular hollow. The three arms are evenly distributed at 120°. The arms are provided with circular mounting holes and grooves. They are connected and fixed to the support column shell by screws. The arm ends are connected with rounded ear plates. The ear plates are provided with through holes for connecting the third claw joint (23). The central connecting seat is provided with staggered rounded through holes for passing through the first rope (17) and the second rope (19). The adjacent front claw (14) and the two rear claws (15) are spaced 120° apart.

5. A bionic mechanical gripper for an aerial vehicle according to claim 4, wherein, One end of the first rope (17) is fixed in the circular through hole of the middle disc of the grooved wheel (1) and is wound counterclockwise in a groove away from the cross-shaped hollow slot of the grooved wheel (1); the base (13) has an opening at the bottom and the leg mechanism is fixed by screws. The other end of the first rope (17) passes through the left idler wheel (27) of the leg mechanism for guidance and drag reduction, passes through the support column (6) and the support column shell (7) in sequence, and then passes through the triangular hollow center connecting seat in the central area of ​​the claw base (8). It passes through the misaligned circular rounded corner through hole on the center connecting seat, and then passes through the through hole groove on the bottom of the third claw joint (23) and the rounded corner through hole in the center of the square plate near the ear plate, and the through hole groove on the middle of the second claw joint (22) in sequence. Finally, it is fixed on the block body of the circular through hole at the bottom of the first hook toe (21) to form the upper traction path. One end of the second rope (19) is fixed in the circular through hole of the middle disc of the grooved wheel (1) and is wound clockwise around another groove of the grooved wheel (1) near the cross-shaped hollow slot; the other end of the second rope (19) passes through the right idler wheel (4) of the leg mechanism for guidance and drag reduction, passes through the support column (6) and the support column shell (7) in sequence, and then passes through the triangular hollow connecting seat in the central area of ​​the claw base (8), passes through the staggered circular rounded corner through hole on the central connecting seat, and then passes through the hollow cylindrical boss in the middle of the third claw joint (23) and the hollow cylindrical protrusion under the second claw joint (22) in sequence, and finally is fixed to the cylindrical connecting boss above the first hook toe (21), thus forming a lower traction path.

6. A flapping-wing robot, characterized by, The aircraft includes a main body and a bionic mechanical gripper as described in any one of claims 1-5, wherein the base (13) of the bionic mechanical gripper is fixedly connected to the middle part of the main body.

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