Biomimetic gripping mechanism for micro air vehicles

Abstract

This invention provides a biomimetic grasping mechanism for micro-aircraft, comprising a reset servo, a deformable elastic frame, a biomimetic claw, a trigger, and a flexible tendon. The reset servo is mounted on the fuselage of the aircraft and is driven by the biomimetic claw via the flexible tendon. The root end of the biomimetic claw is connected to the fuselage via the deformable elastic frame, and the biomimetic claw and the deformable elastic frame form a bistable system. The biomimetic claw includes a symmetrically arranged left and right biomimetic claws, with the two ends of the trigger respectively installed at the ends of the left and right biomimetic claws. This invention utilizes the bistable principle. During the process of the reset servo pulling the flexible tendon to open the biomimetic claw, the deformable elastic frame generates elastic deformation and accumulates potential energy. After the trigger closes the claw, the elastic element of the deformable elastic frame continuously applies a closing torque to the biomimetic claw, maintaining the closed state without continuous power supply. This achieves zero-power object grasping and perching, effectively reducing the energy consumption of the micro-aircraft.

Description

Technical Field

[0001] This invention relates to the field of aircraft and unmanned aerial vehicle (UAV) technology, and more specifically, to a biomimetic grasping mechanism for micro-aircraft. Background Technology

[0002] Micro-aircraft are lightweight and highly maneuverable. By integrating a lightweight biomimetic grasping mechanism, they can achieve perching behavior by gripping objects, significantly extending their operational time. Alternatively, they can utilize their grasping capabilities to perform environmental interaction functions such as sampling and object delivery, thereby expanding the mission boundaries of micro-aircraft. Micro-aircraft with grasping and perching capabilities have broad application prospects in both civilian and military fields and have attracted widespread attention both domestically and internationally.

[0003] Currently, grasping mechanisms applied in the field of aircraft / drones, such as "a knee-bending triggered spring-cable bionic claw collaborative grasping method (authorization announcement number: CN117021063B)," "a bionic claw device for drone perching (application publication number: CN116923758A)," "a bionic leg claw device based on the resting of flapping-wing aircraft (application publication number: CN118254958A)," "a grasping mechanism suitable for bionic micro flapping-wing aircraft (application publication number: CN120246301A)," "a flying robot suitable for perching, climbing, and grasping and its control method (authorization announcement number: CN112092550B)," and "a bionic leg claw device based on quadcopter drones that can quickly perch and grasp (authorization announcement number: CN116513460B)," are ingeniously designed but have complex control methods and structures, and are relatively heavy, making them unsuitable for integration into lightweight micro aircraft to achieve perching and grasping.

[0004] Existing aircraft grasping mechanisms are complex in structure, cumbersome in control, and heavy, making them unsuitable for integration into lightweight micro-aircraft. For lightweight biomimetic grasping mechanisms for micro-aircraft applications, a simple, easily controlled bistable biomimetic claw mechanism is needed. This mechanism aims to enable stable grasping and perching of micro-aircraft or the grabbing of target objects, effectively improving the mission endurance of micro-aircraft, significantly expanding their environmental interaction capabilities, and adapting to the application needs of micro-aircraft in various civilian and military fields. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a biomimetic grasping mechanism for micro aircraft.

[0006] According to the present invention, a bionic grasping mechanism for a micro-aircraft includes: a reset servo, a deformable elastic frame, a bionic claw, a trigger, and a flexible tendon. The reset servo is mounted on the fuselage of the aircraft and is driven by the bionic claw through the flexible tendon. The root end of the bionic claw is connected to the fuselage through the deformable elastic frame, and the bionic claw and the deformable elastic frame form a bistable system. The bionic claw includes a symmetrically arranged left bionic claw and a right bionic claw, and the two ends of the trigger are respectively installed at the ends of the left bionic claw and the right bionic claw.

[0007] The bionic claw includes an open state and a closed state. When the bionic claw is in the open state, the trigger is in the tensioned state. When the trigger touches the object being grasped, the trigger deforms and triggers the bionic claw to overcome the energy barrier of the bistable system and switch to the closing state. The bionic claw continuously applies the closing torque through the elastic force of the deformable elastic frame. When the bionic claw is in the closed state, the reset servo can drive the bionic claw to reset to the open state.

[0008] Preferably, both the left and right bionic claws include two side claws and a middle claw, and the claw tip of each claw adopts a bionic barb structure.

[0009] Preferably, the trigger comprises a flexible wire made of flexible fiber material, and each of the two middle claws has a trigger mounting hole near the claw tip, and the two ends of the trigger are fastened to the two trigger mounting holes.

[0010] Preferably, the flexible tendon comprises a flexible thread made of flexible fiber material, and a flexible tendon mounting hole is provided at the end of the middle claw of the left or right bionic claw near the claw root. One end of the flexible tendon is fixedly mounted on the flexible tendon mounting hole, and the other end is fixedly connected to the output end of the reset servo motor. The left and right bionic claws can be opened synchronously by pulling the flexible tendon.

[0011] Preferably, the root of each of the bionic claws is provided with a pivot hole, and the left and right bionic claws are connected by a pin passing through the pivot hole to form a rotating pair, and both the left and right bionic claws can rotate around the pin.

[0012] Preferably, there are at least two deformable elastic frames, each of which includes a fixed end and two cantilever beams symmetrically arranged on the fixed end. The fixed end is provided with a mounting buckle, and the deformable elastic frame is installed on the machine body through the mounting buckle.

[0013] Preferably, a limiting boss is provided on the cantilever end of any of the cantilever beams, and the limiting boss is used to keep the bionic claw in its open state when it opens.

[0014] Preferably, each of the cantilever beams is provided with a connecting hole at its cantilever end, and each of the bionic claws is provided with a connecting shaft hole at its claw root. The bionic claw and the deformable elastic frame are connected by a pin passing through the connecting hole and the connecting shaft hole.

[0015] Preferably, the deformable elastic frame includes a front deformable elastic frame and a rear deformable elastic frame, which are respectively disposed on the outer side of the root of the bionic claw.

[0016] Preferably, the deformable elastic frame is made of anisotropic composite material, which includes one or more fiber materials, including carbon fiber, glass fiber, and Kevlar fiber. The deformable elastic frame is made by cutting after curing and reinforcing multiple layers of unidirectional fibers laid in different directions.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention achieves a complete automatic triggering, grasping or perching, and resetting process through the coordinated operation of various components. The overall structure is lightweight and modular, adapting to the integration requirements of micro-aircraft. Through the design of the bistable principle, during the process of the resetting servo pulling the flexible tendon to open the bionic claw, the deformable elastic frame generates elastic deformation and accumulates potential energy. After triggering the closing, the elastic element of the deformable elastic frame continuously applies the closing torque to the bionic claw, maintaining the closed state without continuous power supply, realizing zero-power object grasping and perching, effectively reducing the energy consumption of micro-aircraft, and further improving its mission duration.

[0018] 2. The present invention uses a bionic barb-shaped structure at the tip of the bionic claw, which can embed into the surface of the object being grasped, greatly improving the reliability of grasping or gripping; by utilizing the elastic deformation of the cantilever beam of the deformable elastic frame, the bionic claw can open and maintain its closed state, and has the characteristics of a large opening angle, simple overall structure, few moving parts, and reliable grasping.

[0019] 3. This invention integrates an automatic trigger, which can automatically close the two bionic claws when touching an object. The control method is simple, the trigger is sensitive and the reliability is high. Attached Figure Description

[0020] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram illustrating the overall structure of the biomimetic grasping mechanism for micro-aircraft, which is the main feature of this invention. Figure 2This is an exploded view of the overall structure of the biomimetic grasping mechanism for micro-aircraft, which is the main feature of this invention. Figure 3 This invention is mainly illustrated by a front view of the bionic grasping mechanism for micro-aircraft and a schematic diagram of the triggering method of the bionic claw. Figure 4 This is a schematic diagram illustrating the resetting of the bionic claw from a closed state to an open state, which is the main feature of this invention. Figure 5 This is a schematic diagram illustrating the structure of the deformable elastic frame, which is the main feature of this invention. Figure 6 This is a schematic diagram illustrating the structure of the bionic claw, which is the main feature of this invention.

[0021] Reference numerals: 1. Fuselage; 2. Reset servo; 3. Deformable elastic frame; 4. Bionic claw; 5. Trigger; 6. Flexible tendon; 7. Pin; 8. Front deformable elastic frame; 9. Rear deformable elastic frame; 10. Mounting buckle; 11. Cantilever beam; 12. Limiting boss; 13. Connecting hole; 14. Left bionic claw; 15. Right bionic claw; 16. Side claw; 17. Middle claw; 18. Claw tip; 19. Trigger mounting hole; 20. Flexible tendon mounting hole; 21. Rotary shaft hole; 22. Connecting shaft. Detailed Implementation

[0022] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0023] like Figures 1 to 6As shown, a bionic grasping mechanism for a micro-aircraft according to the present invention includes: a reset servo 2, a deformable elastic frame 3, a bionic claw 4, a trigger 5, and a flexible tendon 6. The reset servo 2 is mounted on the fuselage 1 of the micro-aircraft. The reset servo 2 is drivenly connected to the bionic claw 4 via the flexible tendon 6. The root end of the bionic claw 4 is connected to the fuselage 1 via the deformable elastic frame 3, and the bionic claw 4 and the deformable elastic frame 3 form a bistable system. The bionic claw 4 includes a symmetrically arranged left bionic claw 41 and a right bionic claw 42. The two ends of the trigger 5 are respectively installed at the ends of the left bionic claw 41 and the right bionic claw 42. The bionic claw 4 has an open state and a closed state. When the bionic claw 4 is in the open state, the trigger 5 is in a taut state. In the open state, the deformable elastic frame 3 is in a deformed state. When the trigger 5 touches the object being grasped, the trigger 5 deforms and triggers the bionic claw 4 to overcome the energy barrier of the bistable system and switch to the closed state. Because the deformable cantilever beam of the deformable elastic frame 3 in the open state applies pre-pressure to the bionic claw 4, that is, the trigger 5 achieves the automatic closing of the bionic claw 4 by touching the object being grasped. The bionic claw 4 continuously applies the closing torque through the elastic force of the deformable elastic frame 3, that is, the deformable elastic frame 3 provides the closing torque for the bionic claw 4 through its own elastic deformation. When the bionic claw 4 is in the closed state, the reset servo 2 can drive the bionic claw 4 to return to the open state. That is, the reset servo 2 achieves the reset of the open state of the bionic claw 4 after triggering the closing by pulling the flexible tendon 6. Bistable refers to the two states of the bionic claw 4: open and closed. In the open state, the left and right bionic claws rest on the left and right limiting protrusions, with a maximum opening angle of about 180 degrees. In the closed state, if there is no object being grasped, the left and right bionic claws are fully closed (i.e., the cantilever beam of the elastic frame is not deformed). If there is an object being grasped, the turning position of the left and right bionic claws is determined by the thickness of the object being grasped, or by the position of the barbs at the end of the bionic claws embedding into the surface of the object being grasped (such as the bark of a thick tree).

[0024] Existing aircraft grasping mechanisms are complex in structure, cumbersome in control, and heavy, making them unsuitable for integrated use with lightweight micro aircraft. This application features a simple structure and easy control, enabling micro aircraft to stably grasp and perch or grasp target objects, effectively improving the mission endurance of micro aircraft, significantly expanding their environmental interaction functions, and adapting to the application needs of micro aircraft in multiple fields, including civilian and military applications.

[0025] The bionic claw 4 has four, six, or eight claws; this application uses a six-claw configuration as an example. Both the left bionic claw 41 and the right bionic claw 42 include two side claws 43 and one middle claw 44, for a total of three claws. The claw tip 45 of any claw of the bionic claw 4 adopts a bionic barb structure for embedding into the surface of the object being grasped during resting or grasping.

[0026] The trigger 5 comprises a flexible wire made of flexible fiber material. Each of the two middle claws 44 has a trigger mounting hole 46 near its tip 45. Both ends of the trigger 5 are securely mounted in the two trigger mounting holes 46. When the bionic claws 4 are open, the trigger 5 is in a taut, tensioned state. Upon contact with the object being grasped, it pulls the left bionic claw 41 and right bionic claw 42 to close, causing the bionic claws 4 to overcome the energy barrier and enter the closed state under the elastic force of the variable elastic frame 6.

[0027] The flexible tendon 6 comprises a flexible thread made of flexible fiber material. A flexible tendon mounting hole 47 is provided at the end of the claw 44 near the claw root in either the left bionic claw 41 or the right bionic claw 42. One end of the flexible tendon 6 is securely mounted in the flexible tendon mounting hole 47, and the other end is securely connected to the output end of the reset servo motor 2. The left bionic claw 41 and the right bionic claw 42 can open synchronously by pulling on the flexible tendon 6.

[0028] Each claw of the bionic claw 4 has a pivot hole 48 at its root. The left bionic claw 41 and the right bionic claw 42 are connected by a pin 7 passing through the pivot hole 48 to form a rotating pair. Both the left bionic claw 41 and the right bionic claw 42 can rotate around the pin 7. That is, the pin 7 acts as a pivot 71 to realize the connection and relative rotation of the left bionic claw 41 and the right bionic claw 42.

[0029] The deformable elastic frame 3 is made of anisotropic composite material, which includes one or more fiber materials, such as carbon fiber, glass fiber, and Kevlar fiber. The deformable elastic frame 3 is made by cutting after curing and reinforcing multiple layers of unidirectional fibers laid in different directions. The anisotropy of the material is achieved by arranging fibers in different directions in each layer, which balances elastic deformation capacity and structural strength, while also meeting the requirements for lightweighting.

[0030] There are at least two deformable elastic frames 3. This application uses two deformable elastic frames 3 as an example for illustration. To further increase the claw engagement torque, the number can be increased to four or six. The deformable elastic frames 3 are connected to the bionic claw 4 to form a bistable system. After the bionic claw 4 is triggered to close, the elastic force of the deformable elastic frames 3 continuously applies the claw engagement torque, enabling the micro-aircraft to grasp, perch, or grab objects with zero power consumption.

[0031] The deformable elastic frame 3 includes a front deformable elastic frame 31 and a rear deformable elastic frame 32. The front deformable elastic frame 31 and the rear deformable elastic frame 32 are respectively disposed on the outer side of the root of the bionic claw 4, that is, on the front side and the rear side of the root of the bionic claw 4.

[0032] The deformable elastic frame 3 is an elastic cantilever beam structure. Each deformable elastic frame 3 includes a fixed end and two cantilever beams 34 symmetrically arranged on the fixed end. The fixed end is provided with a mounting buckle 33. The deformable elastic frame 3 is installed on the body 1 through the mounting buckle 33.

[0033] Each cantilever beam 34 has a limiting boss 35 on its cantilever end. The limiting boss 35 is used to keep the bionic claw 4 in its open state when it opens, so that the angle between the roots of the left bionic claw 41 and the right bionic claw 42 is maintained at about 180 degrees. The output end of the reset servo motor 2 rotates and pulls the flexible tendon 6, causing the left and right bionic claws of the bionic claw 4 to open synchronously, and causing the deformable elastic frame 3 to generate elastic deformation and accumulate elastic potential energy. After the bionic claw 4 crosses the energy barrier, it remains in the open state under the limiting action of the limiting boss 35 of the deformable elastic frame 3, and the trigger 5 is synchronously tightened during this process. The output end of the reset servo motor 2 rotates in the opposite direction to relax the flexible tendon 6, completing the reset of the open state of the bionic claw 4, and preparing for the next trigger to close.

[0034] Each cantilever beam 34 of the deformable elastic frame 3 has a connecting hole 36 at its cantilever end, and each claw of the bionic claw 4 has a corresponding connecting shaft hole 49 at its claw root. The bionic claw 4 and the deformable elastic frame 3 are connected by a pin 7 passing through the connecting holes 36 and 49. By inserting the pin 7 into the connecting shaft hole 49 of the bionic claw 4 and the connecting holes 36 of the front and rear deformable elastic frames 3 as connecting shafts 72, the front deformable elastic frame 31, the bionic claw 4, and the rear deformable elastic frame 32 are connected and fixed. The elastic force generated by the deformation of the cantilever beam 34 is applied to the bionic claw 4 through the connecting shaft 72. During the opening process of the bionic claw 4, the deformable elastic frame 3 undergoes elastic deformation and accumulates elastic potential energy. At the same time, it continuously provides the closing torque for the bionic claw 4 through its own elastic deformation, ensuring the stability of grasping and perching.

[0035] The working principle of this application is as follows: The triggering mechanism of the bistable bionic claw changes from the open state to the closed state: Trigger 5 is a flexible string, with its two ends connected to the ends of the middle claws 44 of the left bionic claw 41 and the right bionic claw 42, respectively. When the bionic claw 4 is in the open state, trigger 5 remains taut. When the bionic claw 4 approaches and touches the target object, trigger 5 first contacts the target object and deforms under force, thereby pulling the left bionic claw 41 and the right bionic claw 42 to close in the middle. This causes the bionic claw 4 to overcome the energy barrier of the bistable system composed of the left and right bionic claws 4 and the deformable elastic frame 3, causing the bionic claw 4 to switch from the open state to the closed state. During this process, the elastic force of the deformable elastic frame 3 drives the bionic claw to close quickly. After closing, the claw tip 45 of each claw embeds into the surface of the target object by means of its biomimetic barb-like structure; since the deformable elastic frame 3 still deforms after closing and continuously provides the closing torque to the biomimetic claw 4, the biomimetic claw 4 maintains a stable closed state; in addition, the biomimetic barb-like structure of the claw tip 45 can greatly improve the contact friction and gripping stability, preventing the aircraft from falling off when resting or the object from slipping when grasping, thereby achieving zero-power gripping or grasping of objects.

[0036] The bistable bionic claw resets from a closed state to an open state: The flexible tendon 6 is tightened by rotating the output shaft of the reset servo motor 2, which in turn pulls the bionic claw 4 connected to the flexible tendon 6. The figure shows the right bionic claw 42, which causes the angle between the roots of the left and right bionic claws in the closed state to increase synchronously, while simultaneously driving the deformable elastic frame 3 to produce greater elastic deformation. Figure 4 As shown, when the reset servo 2 pulls the flexible tendon 6, with the connecting shaft 72 of the right bionic claw 42 as the fulcrum and the length from the flexible tendon mounting hole 47 to the connecting shaft 72 as the lever arm, the pulling torque generated by the servo causes the right bionic claw to open further. Simultaneously, this torque drives the rotating shaft 71 between the left and right bionic claws to move, and pulls the left bionic claw 41 to rotate synchronously with the connecting shaft 72 on the left side as the fulcrum to open further. When the bionic claw 4 is fully open, the trigger 5 tightens the string, and the bionic claw 4 tends to continue to open under the elastic force of the deformable elastic frame 3. The limiting boss 35 on the deformable elastic frame 3 prevents the left and right bionic claws from opening further, keeping the angle between the roots of the left and right bionic claws in an open state of about 180 degrees. Then the reset servo 2 rotates in the opposite direction, making the flexible tendon 6 relax, preparing for the next trigger to close the bionic claw 4.

[0037] This application enables automatic triggering, closing, and resetting of a bistable bionic claw. The bistable design allows micro-aircraft to grasp, perch, or grab objects with zero power consumption.

[0038] The lightweight bionic grasping mechanism of this application is designed based on the bistable principle. During the process of the reset servo 2 pulling the flexible tendon 6 to open the bionic claw 4, the deformable elastic frame 3 generates elastic deformation and accumulates potential energy. After triggering the closing, the elastic element of the deformable elastic frame 3 continuously applies the closing torque to the bionic claw 4. It can maintain the closed state without continuous power supply, realizing zero-power object grasping and gripping, effectively reducing the energy consumption of micro aircraft and further improving its mission duration.

[0039] During the resetting and opening process of the gripping mechanism in this application, the resetting servo motor 2 rotates to pull the flexible tendon 6. The flexible tendon 6 pulls on one side of the bionic claw 4 and drives both sides of the bionic claw 4 to open synchronously. The deformable elastic frame 3 undergoes elastic deformation and accumulates elastic potential energy as the bionic claw 4 opens. When the bionic claw 4 crosses the energy barrier, it has a tendency to continue opening. At this time, the limiting boss 35 on the deformable elastic frame 3 limits the bionic claw 4 to keep it in a stable opening state. At the same time, the trigger 5 string is synchronously tightened to a taut state. After the opening action is completed, the resetting servo motor 2 rotates in the opposite direction to restore the flexible tendon 6 to a relaxed state. The mechanism completes the resetting and waits for the next trigger to close.

[0040] The components of this application work together to achieve a complete action process of automatic triggering, grasping or perching, and resetting, and the overall structure is lightweight and modular, adapting to the integration requirements of micro-aircraft.

[0041] This application solves the compatibility problem of existing technologies. Its overall structure is simple, easy to control, has few moving parts, high reliability, light weight, and low energy consumption. It can be efficiently integrated into micro aircraft, enabling them to achieve stable environmental interaction functions such as habitat, sampling, and item delivery, providing reliable support for the functional expansion and application scenario extension of micro aircraft.

[0042] The lightweight bionic grasping mechanism of this application has a bionic claw 4 with a claw tip 45 that adopts a bionic barb-like structure, which can be embedded into the surface of the object being grasped, greatly improving the reliability of grasping or gripping; by utilizing the elastic deformation of the cantilever beam 34 of the deformable elastic frame 3, the opening action of the bionic claw 4 can be realized and the closed state of the bionic claw 4 can be maintained. It has the characteristics of large opening angle of bionic claw 4, simple overall structure, few moving parts, and reliable grasping.

[0043] The lightweight bionic grasping mechanism of this application utilizes the bistable principle of the bionic claw 4. After triggering, the elastic element can continuously apply the closing torque to maintain the closing state of the bionic claw, achieving zero-power grasping and perching, which is beneficial to increasing the mission duration of micro-aircraft.

[0044] The lightweight bionic gripping mechanism of this application integrates an automatic trigger that can automatically close the two bionic claws 4 when touching an object. The control method is simple, the trigger is sensitive, and the reliability is high.

[0045] The biomimetic grasping mechanism of this application achieves automatic triggering and zero-power grasping based on the bistable principle. It features simple structure, few moving parts, light weight, easy control, and high reliability. It can be integrated into micro-aircraft to realize functions such as perching, sampling, and delivery, effectively improving the mission duration of micro-aircraft and expanding its environmental interaction boundaries. It has broad application prospects in both civilian and military fields.

[0046] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0047] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A biomimetic grasping mechanism for micro-aircraft, characterized in that, include: The aircraft is equipped with a reset servo (2), a deformable elastic frame (3), a bionic claw (4), a trigger (5), and a flexible tendon (6). The reset servo (2) is mounted on the fuselage (1) of the aircraft. The reset servo (2) is driven to the bionic claw (4) through the flexible tendon (6). The root end of the bionic claw (4) is connected to the fuselage (1) through the deformable elastic frame (3). The bionic claw (4) and the deformable elastic frame (3) form a bistable system. The bionic claw (4) includes a symmetrically arranged left bionic claw (41) and a right bionic claw (42). The two ends of the trigger (5) are respectively installed at the ends of the left bionic claw (41) and the right bionic claw (42). The bionic claw (4) includes an open state and a closed state. When the bionic claw (4) is in the open state, the trigger (5) is in the tensioned state. When the trigger (5) touches the object being grasped, the trigger (5) deforms and triggers the bionic claw (4) to cross the energy barrier of the bistable system and switch to the closing state. The bionic claw (4) continuously applies the closing torque through the elastic force of the deformable elastic frame (3). When the bionic claw (4) is in the closed state, the reset servo (2) can drive the bionic claw (4) to reset to the open state.

2. The biomimetic grasping mechanism for micro-aircraft as described in claim 1, characterized in that, The left bionic claw (41) and the right bionic claw (42) each include two side claws (43) and a middle claw (44), and the claw tip (45) of any claw of the bionic claw (4) adopts a bionic barb structure.

3. The biomimetic grasping mechanism for micro-aircraft as described in claim 2, characterized in that, The trigger (5) includes a flexible wire made of flexible fiber material. Each of the two middle claws (44) has a trigger mounting hole (46) near the claw tip (45). The two ends of the trigger (5) are fastened to the two trigger mounting holes (46).

4. The biomimetic grasping mechanism for micro-aircraft as described in claim 2, characterized in that, The flexible tendon (6) includes a flexible line made of flexible fiber material. The middle claw (44) of the left bionic claw (41) or the right bionic claw (42) is provided with a flexible tendon mounting hole (47) near the claw root. One end of the flexible tendon (6) is fixedly installed on the flexible tendon mounting hole (47), and the other end is fixedly connected to the output end of the reset servo motor (2). The left bionic claw (41) and the right bionic claw (42) can be opened synchronously by pulling the flexible tendon (6).

5. The biomimetic grasping mechanism for micro-aircraft as described in claim 1 or 2, characterized in that, The root of each claw of the bionic claw (4) is provided with a pivot hole (48). The left bionic claw (41) and the right bionic claw (42) are connected by a pin (7) passing through the pivot hole (48) to form a rotating pair. The left bionic claw (41) and the right bionic claw (42) can both rotate around the pin (7).

6. The biomimetic grasping mechanism for micro-aircraft as described in claim 1, characterized in that, There are at least two deformable elastic frames (3), and each of the deformable elastic frames (3) includes a fixed end and two cantilever beams (34) symmetrically arranged on the fixed end. The fixed end is provided with a mounting buckle (33), and the deformable elastic frame (3) is installed on the body (1) through the mounting buckle (33).

7. The biomimetic grasping mechanism for micro-aircraft as described in claim 6, characterized in that, Each of the cantilever beams (34) is provided with a limiting boss (35) at the cantilever end, which is used to keep the bionic claw (4) in its open state when it is opened.

8. The biomimetic grasping mechanism for micro-aircraft as described in claim 6, characterized in that, A connecting hole (36) is provided on the cantilever end of any of the cantilever beams (34), and a connecting shaft hole (49) is provided on the root of any of the claws of the bionic claw (4). The bionic claw (4) and the deformable elastic frame (3) are connected by a pin (7) passing through the connecting hole (36) and the connecting shaft hole (49).

9. The biomimetic grasping mechanism for micro-aircraft as described in claim 1 or 6, characterized in that, The deformable elastic frame (3) includes a front deformable elastic frame (31) and a rear deformable elastic frame (32), which are respectively disposed on the outer side of the root of the bionic claw (4).

10. The biomimetic grasping mechanism for micro-aircraft as described in claim 1 or 6, characterized in that, The deformable elastic frame (3) is made of anisotropic composite material, which includes one or more fiber materials, including carbon fiber, glass fiber, and Kevlar fiber. The deformable elastic frame (3) is made by cutting after being reinforced and cured by laying up multiple layers of unidirectional fibers in different directions.

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