A bird-like jumping and perching multi-environment robot and a bird-like jumping and perching method

Abstract

The application discloses a bird-like jumping and perching multi-perching robot and a bird-like jumping and perching method. The bird-like jumping and perching multi-perching robot comprises a UAV body with a UAV base, a leg motor driver, a coaxial hip joint motor speed reduction module and a hip joint rotating assembly, and two groups of symmetrical leg modules fixed to the hip joint rotating assembly; the leg module is integrated with a claw motor speed reduction module, a double full-equal parallelogram linkage mechanism, and a bionic bird claw assembly with an internal ratchet chain wheel-ratchet tooth one-way locking structure. The application breaks through the limitation of the differentiation of perching and jumping functions in the prior art, integrates the functions of jumping, active and passive grabbing, and branch perching in one set of mechanism, and can realize multi-perching movement of the UAV, and is suitable for scenes such as low-altitude long-time residence monitoring and complex terrain movement detection.

Description

Technical Field

[0001] This application relates to the field of biomimetic robot technology, specifically to a bird-like perching multi-purpose robot and a bird-like perching method for perching. Background Technology

[0002] Over hundreds of millions of years of evolution, birds' legs and claws have evolved powerful active / passive grasping, jumping / walking abilities while maintaining small size and lightweight design. With the development and application of low-altitude technology, drone technology has seen rapid growth in recent years. Perching robots, primarily quadcopter drones, are constantly emerging and iterating. Perching mechanisms mimic the powerful grasping and locking capabilities of bird legs and claws, exhibiting diverse structures and performance characteristics, and possessing both active and passive grasping capabilities. This greatly facilitates long-term drone surveillance. However, existing publicly available biomimetic leg and claw designs exhibit a two-pronged approach: perching legs and claws abandon walking / jumping abilities, while jumping legs lack both grasping and perching / grasping capabilities. Current technology lacks biomimetic bird legs and claws that simultaneously possess both capabilities, i.e., multi-amphibious robots with hopping and perching abilities.

[0003] Publication number CN120003755A discloses a quadcopter drone with both active and passive perching capabilities and its leg claw mechanism. The legs in this technology are passive and lack jumping ability. Publication number CN119749849A discloses a flapping-wing aircraft capable of catapult takeoff. This technology achieves jumping by rapidly bouncing and swinging the legs using brushless motors. However, this technology lacks the use of claws and therefore lacks the ability to grasp and perch. Summary of the Invention

[0004] The purpose of this invention is to provide a bird-inspired hopping amphibious robot to at least solve one of the above-mentioned technical problems.

[0005] In one aspect, the present invention provides a bird-like jumping amphibious robot, the bird-like jumping amphibious robot comprising:

[0006] The drone body has a drone base;

[0007] Leg motor driver, the leg motor driver being mounted on the drone base;

[0008] A hip joint rotation assembly, which is mounted below the drone base;

[0009] A hip joint motor reduction module, wherein both the hip joint motor reduction module and the hip joint rotation component are mounted on the center line of the drone base, and the hip joint motor reduction module is connected to the hip joint rotation component via a rope for transmission.

[0010] The leg module comprises two units, symmetrically arranged on both sides of the hip joint rotation assembly, and fixedly connected to the hip joint rotation assembly. Each leg module includes a claw motor reduction module, a femur, a knee joint motor reduction module, a transmission linkage assembly, a tibial linkage assembly, an ankle joint transmission assembly, a tarsal linkage assembly, a foot parallel linkage assembly, a bionic bird claw assembly, foot adaptive soft rubber, and a leg extension spring. The femur is fixedly connected to the hip joint rotation assembly, and the transmission linkage assembly and the tibial linkage assembly are arranged parallel and symmetrically, with one end of each assembly connected to the femur.

[0011] The other end of the transmission link assembly and the other end of the tibial link assembly are both connected to the ankle joint transmission assembly.

[0012] One end of the tarsal link assembly is connected to the ankle joint transmission assembly, and the other end of the tarsal link assembly is connected to the foot parallel link assembly;

[0013] One end of the leg extension spring is connected to the femur, and the other end of the leg extension spring is connected to the ankle joint transmission assembly;

[0014] The foot parallel linkage assembly is fixedly connected to the bionic bird claw assembly via the foot adaptive soft rubber;

[0015] The claw motor reduction module and the knee joint motor reduction module are both installed on the femur;

[0016] The claw motor reduction module is connected to the bionic bird claw assembly via a rope;

[0017] The knee joint motor reduction module is fixedly connected to the transmission linkage assembly;

[0018] The bionic bird claw assembly is equipped with a ratchet-tooth one-way locking structure.

[0019] Optionally, the hip joint rotation assembly includes a hip joint reversing rope pulley, a hip joint rotation base, a hip joint rotating body, a rope preload bolt, a hip joint rotation shaft, a leg docking shaft, a hip joint forward rotation rope, and a hip joint reversing rope;

[0020] The hip joint rotating base is fixed to the drone base, and the hip joint reversing rope pulley is installed on the hip joint rotating base; the hip joint rotating body is rotatably connected to the hip joint rotating base through the hip joint rotating shaft, and the hip joint rotating body is provided with two symmetrically arranged spools.

[0021] The rope preload bolt passes sequentially through the hip joint rotator and the leg docking shaft; the leg module is fixedly connected to the leg docking shaft through the rotator docking hole on the femur;

[0022] The forward rotation rope of the hip joint is led out from the hip joint motor reduction module, wound around one side of the groove of the hip joint rotating body, and then threaded through a rope pre-tightening bolt and fixed to the leg docking shaft; the reverse rotation rope of the hip joint is led out from the hip joint motor reduction module, wound around the other side of the groove of the hip joint rotating body after the reverse rotation rope pulley is reversed, threaded through another rope pre-tightening bolt and fixed to another leg docking shaft.

[0023] Optionally, the hip joint motor reduction module includes a hip joint motor, a hip joint motor support column, a hip joint motor encoder, a hip joint motor mount, a hip joint planetary gear, a hip joint fixed gear, a hip joint planetary carrier, a hip joint drive spool, and a hip joint reducer support column.

[0024] The hip joint motor encoder is fixed to the tail of the hip joint motor via the hip joint motor mount; the hip joint planetary gear, the hip joint fixed gear, and the hip joint planetary carrier constitute a hip joint planetary reducer, and the hip joint planetary reducer meshes with the rotating shaft gear of the hip joint motor; the hip joint fixed gear is fixedly connected to the hip joint motor mount below via the hip joint motor support column, and fixedly connected to the UAV base above via the hip joint reducer support column; the hip joint drive pulley is mounted on the hip joint planetary carrier and rotates synchronously with it;

[0025] Both the forward rotation rope and the reverse rotation rope of the hip joint are engaged with the hip joint drive spool.

[0026] Optionally, the claw motor reduction module includes a claw drive motor, a claw motor support column, a claw motor encoder, a claw motor encoder seat, a worm gear, a worm, a claw drive pulley, a femoral guide pulley, a claw bending rope, and a claw extension rope;

[0027] The claw motor encoder is fixedly connected to the claw drive motor via the claw motor encoder mount, and the claw motor encoder mount is fixedly connected to the upper part of the femur via the claw motor support column; the worm gear is mounted on the rotating shaft of the claw drive motor, the worm wheel is coaxially fixedly connected to the claw drive spool and rotatably connected to the femur, and the worm gear and worm wheel are orthogonally arranged on the femur; two femur guide pulleys are provided and are coaxially mounted side by side on the rotating shaft below the femur;

[0028] The claw flexion rope and claw extension rope are respectively led out from both sides of the claw drive pulley, and after being led out from the same side of the two femoral guide pulleys, they cooperate with the ankle joint transmission assembly, and are then dispersed by the ankle joint transmission assembly and connected to the bionic bird claw assembly.

[0029] Optionally, the ankle joint transmission assembly includes an ankle joint frame, a toe flexion cable tensioning pulley, and a toe extension cable steering pulley;

[0030] The claw flexion rope is distributed into four toe flexion ropes after passing through the toe flexion rope tensioning pulley and is respectively connected to the four toe modules of the bionic bird claw assembly; the claw extension rope is distributed into four toe extension ropes after passing through the toe extension rope deflector pulley and is respectively connected to the four toe modules of the bionic bird claw assembly.

[0031] Optionally, the knee joint motor reduction module includes a knee joint motor, a knee joint motor encoder, a knee joint motor mount, a knee joint motor support column, a knee joint planetary carrier, a clamping block, a knee joint planetary gear, and a knee joint fixed gear.

[0032] The knee joint motor encoder is fixed to the tail of the knee joint motor via the knee joint motor mount; the knee joint planetary gear, the knee joint fixed gear, and the knee joint planetary carrier constitute a knee joint planetary reducer, and the knee joint planetary reducer meshes with the rotating shaft gear of the knee joint motor; the knee joint fixed gear is fixed to the side of the femur after being fixed to the knee joint motor mount via the knee joint motor support column; the knee joint planetary carrier is fixed to the transmission linkage assembly on one side via the clamping block.

[0033] Optionally, the transmission link assembly includes a transmission link and a transmission link connector, with one transmission link connector symmetrically fixed to each end of the transmission link;

[0034] The tibial link assembly includes a tibial link, a tibial gear connector, a tibial gear, and a tibial rod connector. The tibial gear connector is coaxially fixed to the tibial gear. One end of the tibial link is fixed to the tibial rod connector, and the other end is symmetrically and parallelly fixed to the tibial gear connector. The tibial gear connector and the transmission rod connector in the lower four-bar linkage are coaxially connected at the ankle joint transmission assembly and rotate independently.

[0035] The tarsal link assembly includes a tarsal link, a tarsal rod connector, a tarsal rod gear connector, and a tarsal rod gear. The tarsal rod gear connector and the tarsal rod gear are coaxially fixed. One end of the tarsal link is fixed to the tarsal rod connector, and the other end is symmetrically and parallelly fixed to the tarsal rod gear connector. The tarsal rod gear connector is installed on the ankle joint transmission assembly. The tibial gear and the tarsal rod gear are arranged side by side and mesh.

[0036] The foot parallel linkage assembly includes a foot frame and a foot rotation shaft. The two sets of transmission linkage assemblies and the two sets of tarsal linkage assemblies are respectively connected by two foot rotation shafts.

[0037] This application also provides a bird-like perching method for use in the bird-like perching amphibious robot described above, wherein the bird-like perching amphibious robot's perching method includes:

[0038] S11. The drone visually identifies the position of the branch to be perched on, adjusts the hip joint angle so that the posture of the bionic bird claw component is consistent with the landing direction of the drone, and monitors and adjusts the hip joint angle in real time through vision.

[0039] S12. Adjust the knee joint motor to passive mode, adjust the bionic bird claw assembly to the extended state through the claw motor reduction module, and adjust the tension of the claw flexion rope to the pre-tension state.

[0040] S13. The drone descends to the tree branch at the planned perching speed vector. The bionic bird claw component stops moving due to the impact force. The inertia of the drone body forces the leg module to fold passively. The claw flexion rope is tensioned at the ankle joint transmission component, driving the bionic bird claw component to passively grasp the tree branch.

[0041] S14. The drone uses the IMU to calculate its body attitude and adjusts the hip joint angle to maintain balance and complete the resting process.

[0042] Optionally, in step S11, the drone visually identifies the posture of the branch to be perched on, adjusts the hip joint angle so that the posture of the bionic bird claw component is consistent with the landing direction of the drone, and monitors and adjusts the hip joint angle in real time visually, including:

[0043] S111, The three-dimensional coordinate parameters of the tree branch to be perched on are collected by the binocular vision module mounted on the drone body. At the same time, the UAV's own three-dimensional coordinate parameters are collected through the UAV flight control system. );

[0044] S112. Based on the three-dimensional coordinate parameters of the tree branch and the three-dimensional coordinate parameters of the UAV, calculate the horizontal descent direction angle of the UAV pointing towards the tree branch. ;

[0045] S113. The actual deflection angle of the hip joint is collected by a Hall angle sensor deployed on the hip joint rotation assembly. ;

[0046] S114, The descent direction angle Set as target angle for hip joint After the hip joint rotation component causes the leg module to deflect, the opening direction of the bionic bird claw component is consistent with the landing direction.

[0047] S115. Output PWM duty cycle command to the hip joint motor through the following adjustment strategy. :

[0048] (1) If Output Control the hip joint motor to rotate forward, which in turn drives the hip joint rotation component to increase the deflection angle;

[0049] (2) If Output =40%, control the hip joint motor to reverse, driving the hip joint rotation component to reduce the deflection angle;

[0050] (3) If Output =50%, stop the hip joint motor rotation;

[0051] S116. Repeat S111-S115 every 100ms. or Recalculate the landing direction angle and update the target hip angle; when three consecutive acquisitions are completed... At this time, it is determined that the hip joint angle adjustment is complete.

[0052] Optionally, step S12, adjusting the knee joint motor to passive mode, adjusting the bionic bird claw assembly to an extended state via the claw motor reduction module, and adjusting the tension of the claw flexion rope to a pre-tensioned state, includes:

[0053] S121. Send mode switching command to knee joint motor The power output of the knee joint motor is cut off, putting the knee joint in a passive, free-rotation state; the mode signal fed back from the knee joint motor driver is read. ,when When =1, the passive mode switch is considered complete;

[0054] S122, Output PWM duty cycle command to the claw drive motor of the claw motor reduction module. =40%, the drive claw motor reverses, causing the four toe modules of the bionic bird claw assembly to fully extend; read the claw extension limit switch signal. ,when When =1, output =50%, stop the claw drive motor from rotating;

[0055] S123, Control the stepper motor of the rope pretensioning bolt to rotate and output the pretensioning rotation command. Real-time acquisition of the tension value of the claw-bending rope. ,when When the torque reaches 8N, the stepper motor stops rotating, indicating that the claw-bending rope has reached the pre-tension state.

[0056] This application's bird-inspired perching amphibious robot overcomes the design limitations of existing technologies where perching legs lack jumping capabilities and jumping legs lack grasping and perching capabilities. It integrates jumping, walking, active / passive grasping, and branch perching functions into a single leg mechanism, achieving multi-amphibious mobility for the drone. The drone body, equipped with a bionic leg module, retains the flight characteristics of a quadcopter while enabling jumping between the ground and branches through the coordinated movement of the hip, knee, and ankle joints. Simultaneously, it achieves stable perching using a bionic bird claw component, significantly expanding the drone's operational scenarios and meeting diverse needs such as low-altitude long-term surveillance and mobile detection in complex terrain. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the structure of an amphibious robot that mimics bird-like jumping according to an embodiment of this application.

[0058] Figure 2 yes Figure 1 The diagram shown is another structural schematic of the bird-like jumping amphibious robot, which is a side view of the overall structure.

[0059] Figure 3 yes Figure 1 The diagram shown is another structural schematic of the amphibious robot that mimics bird-like jumping, and is a rear view of the structure.

[0060] Figure 4 yes Figure 1 The diagram shows the structure of the left leg of the amphibious robot that mimics bird-like jumping.

[0061] Figure 5 yes Figure 1 Another structural diagram of the left leg of the amphibious robot shown, which mimics bird-like jumping.

[0062] Figure 6 yes Figure 1 A partial cross-sectional view of the left leg and a schematic diagram of the claw-driven rope in the amphibious robot shown.

[0063] Figure 7 yes Figure 1 The diagram shows the structure of the leg linkage in the amphibious robot that mimics bird-like jumping.

[0064] Figure 8 yes Figure 1 The diagram shows the structural diagram of the drone fuselage in the bird-inspired hopping amphibious robot.

[0065] Figure 9 yes Figure 1 The diagram shows a passive grasping structure in an amphibious robot that mimics bird-like jumping.

[0066] Figure 10 yes Figure 1 The diagram shows a passive grasping structure in an amphibious robot that mimics bird-like jumping.

[0067] Figure 11 yes Figure 1 The diagram shows the structure of the hip joint in an amphibious robot that mimics bird-like jumping.

[0068] Figure 12 yes Figure 1 The diagram shows another structural feature of the hip joint in the bird-like jumping amphibious robot.

[0069] Figure 13 yes Figure 1 The diagram shows an example of a habitat method implementation in a bird-inspired hopping amphibious robot.

[0070] Figure 14 yes Figure 1 The diagram shows an example of a jumping method in an amphibious robot that mimics bird-like jumping.

[0071] Figure 15 yes Figure 1 The diagram shows an implementation example of a branch-hopping perching method in a bird-inspired amphibious robot.

[0072] Figure label:

[0073] 1. Drone body; 1-1. Drone base;

[0074] 2. Leg motor driver;

[0075] 3. Claw motor reduction module; 3-1. Claw drive motor; 3-2. Claw motor support column; 3-3. Claw motor encoder; 3-4. Claw motor encoder seat; 3-5. Worm gear; 3-6. Worm; 3-7. Claw drive pulley; 3-8. Femoral guide pulley; 3-9. Claw bending rope; 3-10. Claw extension rope.

[0076] 4. Hip joint motor reduction module; 4-1. Hip joint motor; 4-2. Hip joint motor support column; 4-3. Hip joint motor encoder; 4-4. Hip joint motor mount; 4-5. Hip joint planetary gear; 4-6. Hip joint fixed gear; 4-7. Hip joint planetary carrier; 4-8. Hip joint drive pulley; 4-9. Hip joint reduction support column.

[0077] 5. Femur, 5-1. Rotator docking hole

[0078] 6. Knee joint motor reduction module; 6-1. Knee joint motor; 6-2. Knee joint motor encoder; 6-3. Knee joint motor mount; 6-4. Knee joint motor support column; 6-5. Knee joint planetary carrier; 6-6. Clamping block; 6-7. Knee joint planetary gear; 6-8. Knee joint fixed gear.

[0079] 7. Transmission connecting rod assembly; 7-1. Transmission connecting rod; 7-2. Transmission rod joint;

[0080] 8. Tibial link assembly; 8-1. Tibial link; 8-2. Tibial gear joint; 8-3. Tibial gear; 8-4. Tibial rod joint;

[0081] 9. Ankle joint transmission assembly; 9-1. Ankle joint frame; 9-2. Toe flexion rope tensioning pulley; 9-3. Toe extension rope steering pulley;

[0082] 10. Tarsal connecting rod assembly; 10-1. Tarsal connecting rod; 10-2. Tarsal rod joint; 10-3. Tarsal rod gear joint; 10-4. Tarsal rod gear.

[0083] 11. Parallel linkage assembly for the foot, 11-1 foot frame, 11-2. Foot rotation axis;

[0084] 12. Bionic bird claw components, 12-1. Claw upper cover, 12-2. Toe module, 12-201. Toe base, 12-202. Toe bone, 12-203. Claw tip, 12-204. Toe soft rubber, 12-205. Needle, 12-206. Ratchet, 12-207. Knot, 12-208. Toe flexion rope, 12-209. Toe extension rope, 12-210. Ratchet shaft, 12-211. Ratchet, 12-212. Ratchet spring, 12-3. Claw lower cover;

[0085] 13. Adaptive foot rubber; 14. Leg extension spring;

[0086] 15. Hip joint rotation assembly; 15-1. Hip joint reversing rope pulley; 15-2. Hip joint rotation base; 15-3. Hip joint rotating body; 15-4. Rope preload bolt; 15-5. Hip joint rotation shaft; 15-6. Leg docking shaft; 15-7. Hip joint forward rotation rope; 15-8. Hip joint reversing rope. Detailed Implementation

[0087] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0088] Geodetic reference: The Earth's gravitational field is the only absolute reference. The direction of gravitational acceleration is vertically downward, and the opposite direction of gravitational acceleration is vertically upward.

[0089] UAV body coordinate system:

[0090] Z-axis (vertical axis): Completely coincides with the vertical direction of the geodetic datum; the positive Z-axis direction is vertically upward, and the negative Z-axis direction is vertically downward. Figure 3 For example, Figure 3 The vertical direction is the Z-axis direction;

[0091] X-axis (vertical axis): Horizontally aligned with the direction of the drone's nose, perpendicular to the Z-axis. Positive X-axis direction = forward of the nose; negative X-axis direction = backward of the tail. Figure 3 For example, Figure 3 The X-axis direction is defined by the direction inward and outward of the paper.

[0092] Y-axis (horizontal axis): Horizontally arranged along the left and right wings of the UAV, and perpendicular to the X and Z axes. The positive direction of the Y-axis corresponds to the right side of the fuselage, and the negative direction of the Y-axis corresponds to the left side of the fuselage; Figure 3 For example, Figure 3 The left and right directions are the Y-axis directions;

[0093] Horizontal plane: Specifically refers to a plane that is parallel to the plane formed by the X-axis and Y-axis, and perpendicular to the Z-axis;

[0094] Vertical plane: specifically refers to the plane that includes the Z-axis.

[0095] like Figure 1 The amphibious robot shown in Figure 15, which mimics bird-like jumping, adopts a symmetrical and modular design. Its core components include the drone body 1, leg motor drivers 2, hip joint motor reduction modules 4, hip joint rotation components 15, and two identical leg modules arranged symmetrically along the Y-axis with the Z-axis of the body as the reference. Details are as follows:

[0096] (I) Basic Support and Drive Core Structure

[0097] 1. The drone body 1 and the leg motor driver 2 include:

[0098] UAV Body 1: It is the core support and flight control body of the whole machine. The bottom of the UAV body 1-1 is integrally formed in the negative direction of the Z-axis. The UAV body 1-1 is a horizontal rigid plate structure parallel to the XY plane, which provides a unique mounting reference surface for all the lower actuators.

[0099] Leg motor driver 2: This is a multi-channel motor drive board, which is fixedly installed on the positive Z-axis surface of the drone base 1-1 by bolts and fasteners. Its output end is electrically connected to the hip joint motor 4-1, claw drive motor 3-1, and knee joint motor 6-1 respectively through shielded wires, providing adjustable speed power drive and control signal transmission for each motor.

[0100] 2. The hip joint rotation assembly 15 includes:

[0101] This component is installed at the center of the lower surface of the drone base 1-1 in the negative Z-axis direction, and is coaxially mounted with the hip joint motor reduction module 4 on the center line of the fuselage Z-axis. It includes one hip joint reversing rope pulley 15-1, one hip joint rotating base 15-2, one hip joint rotating body 15-3, two rope preload bolts 15-4, one hip joint rotating shaft 15-5, two leg docking shafts 15-6, one hip joint forward rotation rope 15-7, and one hip joint reversing rope 15-8. The specific connection and transmission relationship are as follows:

[0102] The base and rotating fit structure include:

[0103] The hip joint rotation base 15-2 is a rigid frame structure. Its positive Z-axis surface is fixedly connected to the negative Z-axis surface of the UAV base 1-1 by bolt fasteners, providing a static mounting base for the entire component.

[0104] The hip joint reversing rope pulley 15-1 is rotatably mounted on the front outer wall of the hip joint rotating base 15-2 in the positive X-axis direction via a rotating shaft arranged horizontally along the Y-axis. The rotation axis of the pulley is completely coincident with the Y-axis.

[0105] The hip joint rotating body 15-3 is rotatably connected to the hip joint rotating base 15-2 via a hip joint rotating shaft 15-5 arranged horizontally along the Y-axis. The hip joint rotating shaft 15-5 passes horizontally through the center of the hip joint rotating base 15-2 and the hip joint rotating body 15-3 along the Y-axis. The hip joint rotating body 15-3 can rotate freely within a range of ±45° relative to the stationary hip joint rotating base 15-2 around the axis of the hip joint rotating shaft 15-5.

[0106] The mounting structure for the reel and the docking shaft includes:

[0107] One spool is installed on the right outer wall in the positive Y-axis direction and one on the left outer wall in the negative Y-axis direction of the hip joint rotating body 15-3, for a total of two spools. The two spools are arranged symmetrically in the Y-axis direction with the Z-axis of the machine body as the reference. Each spool has a continuous annular groove on its outer circular surface for rope winding.

[0108] A total of 2 leg docking shafts 15-6 and 2 rope pretensioning bolts 15-4 are set. Each rope pretensioning bolt 15-4 corresponds to one leg docking shaft 15-6. Specifically, the rope pretensioning bolt 15-4 in the positive Y-axis direction corresponds to the leg docking shaft 15-6 in the positive Y-axis direction, and the rope pretensioning bolt 15-4 in the negative Y-axis direction corresponds to the leg docking shaft 15-6 in the negative Y-axis direction.

[0109] A single rope preload bolt 15-4 horizontally penetrates the side wall of the hip joint rotating body 15-3 along the Y-axis and connects to the corresponding leg docking shaft 15-6. The bolt head is located inside the hip joint rotating body 15-3, and the bolt shank extends outward along the Y-axis and is threaded into the leg docking shaft 15-6. By screwing in and out the rope preload bolt 15-4, the extension length of the large end of the bolt inside the hip joint rotating body 15-3 can be adjusted, thereby adjusting the tension of the corresponding rope.

[0110] The axes of the two leg docking shafts 15-6 are completely coincident with the Y-axis, and are arranged parallel and symmetrically on the left and right sides of the Y-axis of the hip joint rotating body 15-3, providing rigid connection fulcrums for the leg modules.

[0111] The rope transmission path includes:

[0112] Hip joint forward rotation rope 15-7: The starting end of the rope is fixed and wrapped around the left rim of the hip joint drive spool 4-8 in the negative Y-axis direction of the hip joint motor reduction module 4. After being tangentially led out from the left side of the drive spool 4-8, it extends horizontally along the negative Y-axis direction and wraps half a turn tangentially around the annular groove of the left spool of the hip joint rotating body 15-3. Then, it passes horizontally through the center through hole of the left rope pre-tightening bolt 15-4 in the negative Y-axis direction. Finally, the end of the rope is fixed on the outer wall of the left leg docking shaft 15-6 in the negative Y-axis direction.

[0113] Hip joint reversal rope 15-8: The starting end of the rope is fixed and wrapped around the right rim of the hip joint drive spool 4-8 in the positive Y-axis direction. After being tangentially led out from the right side of the drive spool 4-8, it extends horizontally in the positive X-axis direction, completes a 90° reversal by wrapping around the outer circle of the hip joint reversal rope pulley 15-1, and then extends horizontally in the positive Y-axis direction. Tangentially, it wraps half a turn around the annular groove of the right spool of the hip joint rotating body 15-3, and then horizontally passes through the center through hole of the right rope pre-tightening bolt 15-4 in the positive Y-axis direction. Finally, the end of the rope is fixed on the outer wall of the right leg docking shaft 15-6 in the positive Y-axis direction.

[0114] 3. The hip joint motor reduction module 4 includes:

[0115] This component provides power for hip joint rotation and is coaxially mounted with the hip joint rotation assembly 15 on the Z-axis centerline of the machine body. It includes one hip joint motor 4-1, three hip joint motor support columns 4-2, one hip joint motor encoder 4-3, one hip joint motor mount 4-4, three hip joint planetary gears 4-5, one hip joint fixed gear 4-6, one hip joint planetary carrier 4-7, one hip joint drive spool 4-8, and three hip joint reducer support columns 4-9. The specific connections and transmission relationships are as follows:

[0116] The motor and encoder mounting structure includes:

[0117] The hip joint motor 4-1 is a DC servo motor, which is vertically arranged along the Z-axis and the output shaft faces the positive Z-axis direction. The hip joint motor encoder 4-3 is fixedly installed on the lower end face of the tail of the hip joint motor 4-1 in the negative Z-axis direction through the hip joint motor mount 4-4. The detection shaft of the encoder is coaxially fixed to the output shaft of the hip joint motor 4-1 and is used to detect the speed and rotation angle of the motor in real time.

[0118] The planetary gear reducer structure includes:

[0119] The planetary reducer consists of three hip joint planetary gears 4-5, one hip joint fixed gear 4-6 with an internal gear ring, and one hip joint planetary carrier 4-7.

[0120] Three hip joint planetary gears 4-5 are rotatably mounted on the lower end face of the hip joint planetary carrier 4-7 in the negative Z-axis direction via pins. They are evenly distributed along the circumference of the internal gear ring of the hip joint fixed gear 4-6. Each planetary gear meshes with the sun gear at the upper end of the output shaft of the hip joint motor 4-1 in the positive Z-axis direction and the internal gear ring of the hip joint fixed gear 4-6, which can convert the high-speed small torque of the motor into low-speed large torque.

[0121] The fixed and supporting structures include:

[0122] The lower end face of the hip joint fixing gear 4-6 in the negative Z-axis direction is fixedly connected to the upper end face of the hip joint motor seat 4-4 in the positive Z-axis direction through four hip joint motor support columns 4-2 evenly distributed in the circumferential direction.

[0123] The upper surface of the hip joint fixed gear 4-6 in the positive Z-axis direction is fixedly connected to the lower surface of the drone base 1-1 in the negative Z-axis direction through four hip joint reducer support columns 4-9 evenly distributed in the circumferential direction.

[0124] The relative positions of the hip joint motor mount 4-4, the hip joint fixed gear 4-6, and the UAV base 1-1 are completely fixed, and their matching relationship meets the transmission accuracy requirements of the planetary reducer.

[0125] The power output structure includes:

[0126] The hip joint drive spool 4-8 is coaxially fixed on the upper surface of the positive Z-axis of the hip joint planetary carrier 4-7. It can rotate synchronously with the hip joint planetary carrier 4-7, providing rotational power for the release and retraction of the hip joint forward rotation rope 15-7 and the hip joint reverse rotation rope 15-8.

[0127] (ii) The complete structure of the leg module includes:

[0128] Two leg modules are set up, symmetrically arranged on the left and right sides of the Y-axis with the Z-axis of the fuselage as the reference, and fixed to the left and right sides of the Y-axis of the hip joint rotation assembly 15 respectively;

[0129] A single leg module includes one claw motor reduction module 3, one femur 5, one knee joint motor reduction module 6, four sets of transmission linkage assemblies 7, two sets of tibial linkage assemblies 8, one ankle joint transmission assembly 9, two sets of tarsal linkage assemblies 10, one foot parallel linkage assembly 11, one bionic bird claw assembly 12, one foot adaptive soft rubber 13, and one leg extension spring 14, with the following structure:

[0130] 1. The femur 5 includes:

[0131] The femur 5 is a long rod-shaped rigid support structure arranged vertically along the Z-axis. Two rotating body docking holes 5-1 are provided on the upper side wall of the positive Z-axis, which are symmetrically arranged in the X-axis direction. The femur 5 is fixedly connected to the leg docking shaft 15-6 on the corresponding side through the rotating body docking holes 5-1, so as to realize the rigid connection between the leg module and the hip joint rotating assembly 15.

[0132] A claw motor reduction module 3 is fixedly installed on the upper surface of the femur 5 in the positive Z-axis direction, and a knee joint motor reduction module 6 is fixedly installed on the anterior outer wall of the femur 5 in the positive X-axis direction.

[0133] The lower sidewall of the femur 5 in the negative Z-axis direction is rotatably connected to the upper ends of two sets of transmission link assemblies 7 and two sets of tibial link assemblies 8, respectively.

[0134] The lower end face of the femur 5 in the negative Z-axis direction is fixedly connected to the upper end of the leg extension spring 14 in the positive Z-axis direction.

[0135] 2. The claw motor reduction module 3 includes:

[0136] The claw motor reduction module 3 provides power for the flexion and extension of the bionic bird claw assembly 12. It includes one claw drive motor 3-1, four claw motor support columns 3-2, one claw motor encoder 3-3, one claw motor encoder mount 3-4, one worm gear 3-5, one worm 3-6, one claw drive pulley 3-7, two femoral guide pulleys 3-8, one claw flexion rope 3-9, and one claw extension rope 3-10, as detailed below:

[0137] The motor and encoder mounting structure includes:

[0138] The claw drive motor 3-1 is a DC servo motor, arranged vertically along the Z-axis, with the output shaft facing the negative Z-axis direction; the claw motor encoder 3-3 is fixedly mounted on the upper end face of the tail of the claw drive motor 3-1 in the positive Z-axis direction through the claw motor encoder seat 3-4. The detection shaft of the encoder is coaxially fixed to the output shaft of the claw drive motor 3-1, and is used to detect the speed and rotation angle of the motor in real time.

[0139] The claw motor encoder mount 3-4 is fixedly installed on the upper end face of the femur 5 in the positive Z-axis direction by four claw motor support columns 3-2 evenly distributed in the circumferential direction, so that the claw drive motor 3-1 is suspended and fixed above the positive Z-axis direction of the femur 5.

[0140] The worm gear transmission structure includes:

[0141] The worm gear 3-6 is coaxially fixedly installed at the lower end of the Z-axis in the negative direction of the output shaft of the claw drive motor 3-1, and the rotation axis is completely coincident with the Z-axis;

[0142] The worm gear 3-5 and the claw drive spool 3-7 are coaxially fixedly connected. The two are rotatably mounted on the anterior outer wall of the femur 5 in the positive direction of the Y-axis through a rotating shaft arranged horizontally along the Y-axis.

[0143] The rotation axis of the worm 3-6 and the rotation axis of the worm wheel 3-5 are perpendicular to each other at 90° in space. The two mesh and transmit power at the front outer wall of the femur 5 in the positive Y-axis direction. This worm wheel and worm transmission pair has a reverse self-locking characteristic, which can prevent the drive wheel from rotating in the opposite direction when the claw is subjected to external force.

[0144] The path of the guide pulley and rope includes:

[0145] Two femoral guide pulleys 3-8 are provided. The two pulleys share a common rotating shaft and are installed side by side along the Y-axis on the anterior outer wall of the femur 5 in the negative Z-axis direction. The rotating axes of the two pulleys are completely coincident and perpendicular to the length direction of the femur 5.

[0146] Claw flexion rope 3-9: The starting end is fixed and wrapped around the front rim of the claw drive sheave 3-7. After being tangentially led out from the front side of the drive sheave, it extends vertically downward along the negative Z-axis. After being guided by the front outer circle of the two femoral guide pulleys 3-8, it continues to extend vertically downward along the negative Z-axis to the ankle joint transmission assembly 9.

[0147] Claw extension rope 3-10: The starting end is fixed and wrapped around the rear rim of the claw drive pulley 3-7 in the negative Y-axis direction. After being tangentially led out from the rear side of the drive pulley, it extends vertically downward in the negative Z-axis direction. After being guided by the front outer circle of the two femoral guide pulleys 3-8, it continues to extend vertically downward in the negative Z-axis direction to the ankle joint transmission component 9.

[0148] 3. The knee joint motor reduction module 6 includes:

[0149] See Figure 4 This component provides power for the extension and folding of the leg module, and includes one knee joint motor 6-1, one knee joint motor encoder 6-2, one knee joint motor mount 6-3, four knee joint motor support columns 6-4, one knee joint planetary carrier 6-5, one clamping block 6-6, three knee joint planetary gears 6-7, and one knee joint fixed gear 6-8. The specific connections and transmission relationships are as follows:

[0150] The motor and encoder mounting structure includes:

[0151] The knee joint motor 6-1 is a DC servo motor with its output shaft facing the rear of the negative Y-axis. The knee joint motor encoder 6-2 is fixedly mounted on the front end face of the tail of the knee joint motor 6-1 via the knee joint motor mount 6-3. The encoder's detection shaft is coaxially fixed to the output shaft of the knee joint motor 6-1 and is used to detect the motor's speed and rotation angle in real time.

[0152] The planetary gear reducer structure includes:

[0153] The planetary reducer consists of three knee joint planetary gears 6-7, one knee joint fixed gear 6-8 with an internal gear ring, and one knee joint planetary carrier 6-5.

[0154] Three knee joint planetary gears 6-7 are rotatably mounted on the front end face of the knee joint planetary carrier 6-5 via pins and are evenly distributed along the circumference of the internal gear ring of the knee joint fixed gear 6-8. Each planetary gear meshes with the sun gear of the knee joint motor 6-1 and the internal gear ring of the knee joint fixed gear 6-8, converting the high-speed, low-torque motor into low-speed, high-torque motor.

[0155] The fixed and power output structures include:

[0156] The end face of the knee joint fixation gear 6-8 is fixedly connected to the rear end face of the knee joint motor seat 6-3 through four knee joint motor support columns 6-4 evenly distributed in the circumferential direction.

[0157] The rear end face of the knee joint motor seat 6-3 is fixedly installed on the outer wall of the femur 5 by bolts and fasteners, so that the relative positions of the knee joint motor seat 6-3, the knee joint fixing gear 6-8, and the femur 5 are completely fixed, and the matching relationship meets the transmission accuracy requirements of the planetary reducer.

[0158] The rear end face of the knee joint planetary carrier 6-5 is rigidly fixed to the side wall of the transmission link 7-1 of the transmission link assembly 7 via the clamping block 6-6; when the knee joint motor 6-1 is running, it can drive the knee joint planetary carrier 6-5 to swing around the motor axis, and then drive the leg module to complete the extension and folding action through the transmission link assembly 7.

[0159] 4. The transmission link assembly 7 (4 sets in total) includes:

[0160] See Figure 4 The single-unit transmission link assembly 7 includes one transmission link 7-1 and two transmission link joints 7-2;

[0161] The transmission connecting rod 7-1 is a long rod-shaped rigid structure, with a transmission rod joint 7-2 symmetrically fixed at each end;

[0162] The transmission rod connector 7-2 at the upper end of the single transmission linkage assembly 7 is rotatably connected to the lower side wall of the femur 5 in the negative Z-axis direction via a rotating shaft; the transmission rod connector 7-2 at the lower end is rotatably connected to the upper side wall of the ankle joint transmission assembly 9 via a rotating shaft.

[0163] 5. Tibial link assembly 8 (2 sets in total) includes:

[0164] See Figure 5 The single tibial link assembly 8 includes one tibial link 8-1, two tibial gear joints 8-2, two tibial gears 8-3, and one tibial rod joint 8-4;

[0165] The tibial link 8-1 is a long rod-shaped rigid structure, which is fixedly installed with one tibial rod joint 8-4 and two tibial gear joints 8-2 are symmetrically and parallelly fixed thereon. Each tibial gear joint 8-2 is coaxially fixed to one tibial gear 8-3 on its outer side.

[0166] The tibial rod connector 8-4 at the upper end of the single tibial link assembly 8 is rotatably connected to the side wall of the femur 5 via a rotating shaft; the two tibial gear connectors 8-2 at the lower end are rotatably connected to the side wall of the upper part of the ankle joint transmission assembly 9 via a rotating shaft.

[0167] The tibial gear joint 8-2 and the transmission rod joint 7-2 in the same position share a common shaft at the ankle joint transmission component 9, achieving a coaxial connection. Both can rotate independently around the same shaft without interfering with each other.

[0168] 6. Tarsal link assembly 10 (2 sets in total) includes:

[0169] See Figure 5 The single tarsal link assembly 10 includes one tarsal link 10-1, one tarsal link joint 10-2, two tarsal link gear joints 10-3, and two tarsal link gears 10-4.

[0170] The tarsal link 10-1 is a long rod-shaped rigid structure, which is fixedly installed with one tarsal rod joint 10-2 and two tarsal rod gear joints 10-3 are symmetrically and parallelly fixed. Each tarsal rod gear joint 10-3 is coaxially fixed with one tarsal rod gear 10-4 on its outer side.

[0171] The two tarsal rod gear joints 10-3 at the upper end of the single tarsal link assembly 10 are rotatably connected to the lower side wall of the ankle joint transmission assembly 9 via a rotating shaft; the tarsal rod joint 10-2 at the lower end is rotatably connected to the upper side wall of the foot parallel link assembly 11 via a horizontally arranged rotating shaft.

[0172] The tarsal rod gear 10-4 and the tibia gear 8-3 in the same position are arranged side by side, and their tooth surfaces are fully meshed, which meets the gear transmission accuracy requirements and can realize the synchronous rotation of the tibia connecting rod assembly 8 and the tarsal connecting rod assembly 10.

[0173] 7. The ankle joint transmission assembly 9 includes:

[0174] This component is the core connection node of the leg double parallelogram mechanism, and also provides guidance and branching for the claw ropes. It includes one ankle joint bracket 9-1, two toe flexion rope tension pulleys 9-2, and one toe extension rope deflector pulley 9-3. The specific structure and connection relationship are as follows:

[0175] The frame and linkage connection structure includes:

[0176] See Figure 6 The ankle joint frame 9-1 is a rigid frame structure. Its upper sidewall is rotatably connected to the lower end of the two sets of transmission link assemblies 7 and the two sets of tibial link assemblies 8, and its lower sidewall is rotatably connected to the upper end of the two sets of transmission link assemblies 7 and the two sets of tarsal link assemblies 10.

[0177] The lower end of the leg extension spring 14 is fixedly connected to the upper end face of the ankle joint frame 9-1. In its natural state, the elasticity of the spring keeps the leg module in an extended state.

[0178] The double parallelogram synchronization mechanism includes:

[0179] The distance between the two drive shaft holes of the three components—the transmission link assembly 7, the tibia link assembly 8, and the tarsal link assembly 10—is completely equal, and each component can rotate freely around its respective connected shaft.

[0180] The upper parallelogram four-bar linkage above the ankle joint transmission assembly 9 has four sides: the lower segment of the femur 5, two parallel transmission links 7-1, two parallel tibial links 8-1, and the upper segment of the ankle joint frame 9-1.

[0181] The lower parallelogram four-bar linkage below the ankle joint transmission assembly 9 has four sides: the lower section of the ankle joint frame 9-1, two parallel transmission links 7-1, two parallel tarsal links 10-1, and the upper section of the foot frame 11-1.

[0182] The corresponding side lengths of the two four-bar linkages are completely equal, forming congruent parallelogram mechanisms. Through the meshing transmission of the tibia gear 8-3 and the tarsal linkage gear 10-4, the tibia linkage assembly 8 and the tarsal linkage assembly 10 rotate synchronously. Then, through the constraints of the upper and lower sets of transmission linkage assemblies 7, the synchronous movement of the upper and lower parallelogram mechanisms is achieved.

[0183] The rope guidance and branching structure includes:

[0184] The two toe flexion rope tensioning wheels 9-2 are divided into two parts, one above the other, and are rotatably mounted on the outside of the ankle joint frame 9-1 via a horizontally arranged rotating shaft;

[0185] The toe extension rope steering pulley 9-3 is a rotating shaft arranged horizontally along the X-axis and is rotatably mounted on the inside of the ankle joint bracket 9-1;

[0186] The claw flexing rope 3-9 is wound around the toe flexing rope tensioning wheel 9-2 and then dispersed into 4 independent toe flexing ropes 12-208. The 4 ropes are respectively connected to the 4 toe modules 12-2 of the bionic bird claw component 12.

[0187] The claw extension rope 3-10 is routed around the toe extension rope turning pulley 9-3 and then dispersed into 4 independent toe extension ropes 12-209. The 4 ropes are respectively connected to the 4 toe modules 12-2 of the bionic bird claw component 12.

[0188] 8. The foot parallel link assembly 11 includes:

[0189] See Figure 5The foot parallel linkage assembly 11 includes one foot frame 11-1 and two foot rotation shafts 11-2;

[0190] The foot frame 11-1 is a horizontally arranged rigid frame structure with a rotation hole. Two foot rotation shafts 11-2 are respectively inserted into the rotation holes on the front and rear sides.

[0191] The left and right ends of the foot rotation shaft 11-2 are rotatably connected to the tarsal rod joints 10-2 of the left and right anterior tarsal connecting rod assemblies 10; the connection of the two foot rotation shafts 11-2 ensures the synchronous swing of the tarsal connecting rod assemblies 10 on both sides.

[0192] 9. The self-adaptive rubber sole 13 includes:

[0193] See Figure 5 The adaptive soft rubber 13 for the foot is a rectangular plate structure cast in one piece of flexible silicone material, which can adapt to the twisting and deflection of the joint and avoid damage from hard collisions.

[0194] The upper end of the foot-adaptive soft rubber 13 is fixedly connected to the foot frame 11-1 of the foot parallel linkage assembly 11 by means of adhesive bonding and fastener engagement.

[0195] The lower end face of the foot-adaptive soft rubber 13 in the negative Z-axis direction is fixedly connected to the upper surface of the claw cover 12-1 of the bionic bird claw assembly 12 by means of adhesive bonding and fasteners.

[0196] 10. Leg extension spring 14

[0197] See Figure 2 The leg extension spring 14 is a cylindrical helical tension spring;

[0198] The upper end of the spring is fixedly connected to the lower end face of the femur 5 via a hook, and the lower end of the spring is fixedly connected to the upper end face of the ankle joint frame 9-1 via a hook.

[0199] In its natural state, the spring is in a slightly stretched state, and its elasticity can keep the leg module in an extended state. At the same time, during jumping and landing, the spring absorbs the impact force through its expansion and contraction, thus achieving cushioning and shock absorption.

[0200] 11. Bionic bird claw component 12

[0201] See Figure 11 The bionic bird claw component 12 is the core of the grasping execution, including one upper claw cover 12-1, four identical toe modules 12-2, and one lower claw cover 12-3. The specific structure and connection relationship are as follows:

[0202] The overall fixed structure includes:

[0203] The upper claw cover 12-1 presses against the positive Z-axis surface of the four toe modules 12-2, while the lower claw cover 12-3 supports the lower Z-axis surface of the four toe modules 12-2. The two are fixedly connected by four sets of bolt fasteners, clamping and fixing the four toe modules 12-2 into a whole.

[0204] The single-toe module 12-2 structure includes:

[0205] The single toe module 12-2 includes one toe base 12-201, three toe bones 12-202, one claw tip 12-203, one toe soft rubber 12-204, twelve fine needles 12-205, one ratchet wheel 12-206, multiple knots 12-207, one toe flexion rope 12-208, one toe extension rope 12-209, one ratchet shaft 12-210, one ratchet tooth 12-211, and one ratchet spring 12-212. All details are described below:

[0206] Rigid component connections and anti-torsion structures include:

[0207] There are three toe bones 12-202, which are named first toe bone, second toe bone, and third toe bone in sequence from the base of the toe 12-201 to the tip of the claw 12-203 along the length of the toe; the base of the toe 12-201, the first toe bone, the second toe bone, the third toe bone, and the tip of the claw 12-203 are connected end to end along the length of the toe.

[0208] Each phalanx 12-202 has three evenly distributed semi-circular grooves on the side end face near the toe base 12-201; and each phalanx 12-202 has three semi-circular protrusions on the side end face away from the toe base 12-201 that correspond one-to-one with the grooves.

[0209] The claw tip 12-203 has three semi-circular grooves on the end face near the third phalanx that engage with the protrusions of the third phalanx; the toe base 12-201 has three semi-circular protrusions on the end face near the first phalanx that engage with the grooves of the first phalanx.

[0210] During toe flexion, the grooves and protrusions of adjacent parts always engage with each other, constraining the toes to move only in a vertical plane containing the Z-axis, completely avoiding lateral twisting.

[0211] Toe rubber structure:

[0212] The toe soft rubber 12-204 is integrally cast using a toe base 12-201, three toe bones 12-202, and claw tip 12-203 as a mold. Its upper end near the toe base 12-201 is fixedly connected to the end of the toe base 12-201, and its lower end near the claw tip 12-203 is fixedly connected to the end of the claw tip 12-203. The middle part passes through the central through holes of the first toe bone, the second toe bone, and the third toe bone in sequence, making a single toe a flexible and connected whole.

[0213] At the connection point of two adjacent rigid parts, the toe rubber 12-204 has a concave arc-shaped buckling groove on the abdominal side in the negative Z-axis direction, so that the rubber thickness at this position is thinner than the rubber thickness at the non-connection part.

[0214] From the toe base 12-201 to the claw tip 12-203, the thickness of the soft rubber between adjacent parts increases sequentially: the soft rubber between the toe base 12-201 and the first phalanx is the thinnest, the soft rubber between the first phalanx and the second phalanx is the next thickest, the soft rubber between the second phalanx and the third phalanx is the next thickest, and the soft rubber between the third phalanx and the claw tip 12-203 is the thickest. This structure enables the toe to flex in the following sequence: the first phalanx flexes first, the second phalanx flexes next, the third phalanx flexes then, and the claw tip 12-203 flexes last.

[0215] The anti-slip structure includes:

[0216] Seven stainless steel needles 12-205 are used, with two needles fixed to the lower surface of each of the three toe bones 12-202 in the negative Z-axis direction, and one needle fixed to the lower surface of the claw tip 12-203 in the negative Z-axis direction. The tips of all the needles 12-205 are evenly arranged with their tips facing the negative Z-axis direction to increase the friction between the needles and the contact surface during gripping.

[0217] The internal one-way locking structure includes:

[0218] The toe base 12-201 is a rigid structure with a hollow cavity, and the ratchet 12-206, ratchet 12-211, and ratchet spring 12-212 are all installed inside the cavity.

[0219] The ratchet 12-206 is a one-piece molded structure, with a ratchet on one side and a sprocket on the other. It is rotatably mounted inside the cavity via a pivot. The ratchet 12-211 is slidably mounted on a guide rail inside the cavity, and its tooth ends mesh with the ratchet of the ratchet 12-206. The ratchet spring 12-212 is a compression spring, with its lower end fixedly connected to the bottom surface inside the cavity and its upper end fixedly connected to the lower end face of the ratchet 12-211. The spring force constrains the linear movement of the ratchet 12-211, so that the ratchet 12-206 can only rotate in one direction along the toe flexion direction.

[0220] The lower end of the ratchet shaft 12-210 is fixedly connected to the upper end face of the ratchet 12-211. The upper end extends vertically upwards out of the top surface of the cavity of the toe base 12-201, and the end face of the extended end is aligned vertically with the sprocket side end face of the ratchet sprocket 12-206.

[0221] The rope threading and transmission structure includes:

[0222] Each tooth of the ratchet 12-206 has a semi-circular groove for the toe flexion rope 12-208 to pass through; the toe flexion rope 12-208 has uniformly distributed knots 12-207 integrally formed on it, and the gap between adjacent knots 12-207 is perfectly matched with the spacing between the teeth of the ratchet 12-206.

[0223] Toe flexion rope 12-208: The end of the rope is fixed to the ventral end face of the claw tip 12-203, and then passes through the thread holes of the first phalanx, second phalanx and third phalanx in sequence along the length of the toe, enters the cavity of the toe base 12-201, wraps half a circle around the outer circle of the sprocket 12-206, and the knot 12-207 engages with the groove of the chain tooth one by one. Finally, the rope is led out from the top surface of the toe base 12-201 and fixedly connected to the corresponding rope branched out from the ankle joint transmission component 9.

[0224] Toe extension rope 12-209: The end of the rope is fixed to the end face of the claw tip 12-203, and then passes through the thread holes on the back of the first phalanx, second phalanx and third phalanx in sequence along the length of the toe, enters the cavity of the toe base 12-201, wraps around the outer circle of the ratchet shaft 12-210, and is led out from the top surface of the toe base 12-201 and fixedly connected to the corresponding rope branching out from the ankle joint transmission component 9.

[0225] The structural implementation logic of claw movements:

[0226] Passive gripping structure implementation: When the claw drive pulley 3-7 remains fixed and the knee joint motor 6-1 is set to passive mode, the leg claw is subjected to an upward contact impact force, forcing the leg module to fold around the knee joint. The amount of winding of the claw flexion rope 3-9 on the toe flexion rope tensioning pulley 9-2 increases, the claw flexion rope 3-9 is tensioned and contracted, driving the toe flexion rope 12-208 to pull the toes to complete flexion, thus achieving passive gripping;

[0227] Active grasping structure implementation: When the knee joint motor 6-1 is set to active mode, the claw drive motor 3-1 controls the claw drive pulley 3-7 to rotate in the forward direction, causing the claw flexion rope 3-9 to wrap and contract on the claw drive pulley 3-7, thereby pulling the toe flexion rope 12-208 to drive the toes to complete flexion, thus realizing active grasping.

[0228] The claw release structure is achieved by: the claw drive motor 3-1 controlling the claw drive reel 3-7 to rotate in the opposite direction, causing the claw extension rope 3-10 to wind and contract on the claw drive reel 3-7, thereby pulling the toe extension rope 12-209 to drive the toes to complete the extension and achieve claw release;

[0229] The one-way locking structure works as follows: When the toe flexion rope 12-208 is pulled, the knot 12-207 drives the ratchet wheel 12-206 to rotate in the flexion direction. Under the elastic constraint of the ratchet spring 12-212, the ratchet tooth 12-211 restricts the ratchet wheel 12-206 to rotate only in the flexion direction, thus completing the toe flexion. When the toe is subjected to external force and tends to extend, the ratchet tooth 12-211 engages with the ratchet tooth groove of the ratchet wheel 12-206, locking the ratchet wheel. 12-206 cannot rotate in the opposite direction, preventing the toe flexion rope 12-208 from moving and locking the toes in a flexed state. When the toe extension rope 12-209 is pulled, it first pulls the ratchet shaft 12-210, causing the ratchet 12-211 to compress the ratchet spring 12-212 upwards, disengaging the ratchet from the ratchet wheel and releasing the unidirectional rotation constraint of the ratchet wheel 12-206. Then, the rope tension acts on the claw tip 12-203, pulling the toes to complete the extension.

[0230] This application also provides a bird-like perching method for use in the bird-like perching amphibious robot described above:

[0231] This method is used to achieve full-process control of a UAV from flight to stable perching on a tree branch, including the flight phase and the perching phase. The flight phase involves the UAV body 1 driving all mechanisms in a normal rotor flight state, where spatial position and attitude can be controlled normally through the flight control system. The perching phase is the execution process for the UAV to switch from flight to stable perching on a tree branch, as detailed below:

[0232] S1 Perching Branch Position Recognition and Hip Joint Angle Adjustment

[0233] The core objective of this step is to perfectly match the opening direction of the bionic bird claw component 12 with the landing direction of the drone, preparing for subsequent landing and grabbing. Specific execution steps are as follows:

[0234] Pose data acquisition: The three-dimensional spatial coordinates of the tree branch to be perched on are continuously acquired at a frequency of 10Hz using the binocular vision module mounted on the UAV body 1. Branch radial angle Simultaneously, the UAV's own three-dimensional spatial coordinates are collected in real time through the UAV flight control system. Airframe attitude angles (Roll, Pitch, Yaw); where the tree branch radial angle is... Defined as the horizontal angle between the tree branch axis and the drone's X-axis;

[0235] The landing direction is clearly defined and calculated as follows: The landing direction is the current position of the drone. Point to the target tree branch to grab The spatial vector, its projection direction on the XY horizontal plane, and the horizontal azimuth angle of that direction. The formula is obtained through basic geometric calculations: ;

[0236] Hip joint target angle setting: The calculated horizontal azimuth angle The target rotation angle is set to 15-3 degrees for the hip joint rotation body. ;

[0237] Hip joint angle closed-loop adjustment: The actual rotation angle of the hip joint rotating body 15-3 is collected in real time by the Hall angle sensor on the hip joint rotation assembly 15. Send a PWM control command to the hip joint motor reduction module 4 to execute the following unambiguous adjustment logic:

[0238] like Output =60% of the PWM instruction controls the hip joint motor 4-1 to rotate forward, driving the hip joint rotating body 15-3 to rotate around the Y-axis, increasing the rotation angle;

[0239] like Output =40% PWM instruction controls the hip joint motor 4-1 to reverse, driving the hip joint rotating body 15-3 to rotate around the Y-axis and reduce the rotation angle;

[0240] like Output =50% PWM instruction to control hip joint motor 4-1 to stop rotating;

[0241] Real-time correction and completion judgment: The binocular vision module refreshes the relative pose of the tree branch and the drone every 100ms. If the newly calculated With the present If the absolute value of the deviation is >5°, update immediately. And repeat the angle adjustment steps; when three consecutive data acquisitions are obtained... When the time is up, determine that this step is complete and proceed to the next step.

[0242] S2 habitat status pre-configuration:

[0243] The core objective of this step is to adjust the leg and claw mechanisms to a passive grasping ready state. Specific steps include:

[0244] Knee joint motor passive mode switching: A mode switching command is sent to the knee joint motor reduction module 6 to cut off the power output of the knee joint motor 6-1, allowing the knee joint planetary carrier 6-5 to rotate freely with the transmission linkage assembly 7, and the leg module to fold freely around the knee joint; the mode feedback signal of the knee joint motor driver is read. ,when When =1, the passive mode switch is considered complete;

[0245] Bionic bird claw assembly full extension control: Sending to claw motor reduction module 3 A PWM inversion command of 40% is issued to drive the claw drive motor 3-1 in reverse, which in turn pulls the four toe modules 12-2 of the bionic bird claw assembly 12 to fully extend via the claw extension rope 3-10; the claw extension limit switch signal is read. ,when When =1, output =50% PWM instruction, stop the rotation of claw drive motor 3-1, and determine that the claw is fully extended;

[0246] Claw-bending rope pretension adjustment: The stepper motor controlling the rotation of rope pretension bolt 15-4 increases the tension of claw-bending rope 3-9 by 2N with each rotation; the rope tension is collected in real time by a tension sensor connected in series with claw-bending rope 3-9. ,when When the value reaches 8N, the stepper motor stops rotating, indicating that the pre-tensioning of the claw bending rope is complete.

[0247] Overall readiness status determination: When the three sub-steps of passive mode switching, claw full extension, and rope pre-tensioning are all completed, the pre-configuration of the perching mechanism is determined to be complete, and the next step is initiated.

[0248] S3 planned speed decrease and passive grab trigger

[0249] The core objective of this step is to achieve passive grasping of the bionic bird claw component by triggering the passive folding of the legs through the inertia of the fuselage. Specific execution steps are as follows:

[0250] Landing speed planning and control: Sending rotation speed control commands to the UAV rotor system Control the drone to plan the landing speed =0.5m / s, moving towards the tree branch target grab point along the descent direction determined in step S1; the actual descent speed of the UAV is collected in real time by the flight control system. Execute the following unambiguous speed control logic:

[0251] like Increase rotor speed to improve landing speed;

[0252] like Output Reduce rotor speed to decrease landing speed;

[0253] like Maintain the current constant;

[0254] Branch contact determination: The pressure on the branch contact is collected in real time by the thin-film pressure sensor at the tip of the 12 toes of the bionic bird claw component. ,when When the current is ≥5N, it is determined that the bionic bird claw component 12 has contacted the branch and stopped moving, and an output is immediately generated. =20% rotor speed command, only maintains a weak lift, does not counteract fuselage inertia;

[0255] Passive folding and rope tensioning: As the drone fuselage continues to move towards the tree branch due to inertia, the leg module is forced to passively fold around the knee joint. This increases the amount of winding of the claw flexion rope 3-9 onto the toe flexion rope tensioning wheel 9-2 of the ankle joint transmission assembly 9, thus increasing the tension of the claw flexion rope 3-9. Continued to rise;

[0256] Passive grasping completion judgment and anomaly handling: Real-time acquisition of tension in the claw flexing rope 3-9 ,when When the force is ≥15N, the bionic bird claw component 12 is determined to have completed the passive grasping of the branch; if within 5 seconds after touching the branch... If the value is less than 15N, the grabbing is deemed a failure, and an interrupt reset is immediately executed: Output =60% of the PWM instructions drive the claw to fully extend, and simultaneously output... The command to increase the rotor speed to 80% causes the UAV to rise by 0.3m. After resetting all state variables, the execution restarts from step S1.

[0257] S4 fuselage attitude balance adjustment and roosting completed

[0258] The core objective of this step is to maintain stability and balance by fine-tuning the hip joint angle, thus completing the entire settling process. Specific steps are as follows:

[0259] Aircraft attitude data acquisition: The roll angle of the aircraft is acquired in real time at a frequency of 10Hz using a six-axis IMU sensor mounted on the drone body 1. Pitch angle Calculate attitude deviation: ;

[0260] Hip joint angle fine-tuning balance: Send a fine-tuning PWM command to the hip joint motor reduction module 4 to execute the following unambiguous adjustment logic:

[0261] like ,when Output when >0 =55% of the PWM instructions, when Output when <0 =45% of PWM instructions to correct roll deviation;

[0262] If Δ >3°, when Output when >0 =53% of PWM instructions, when Output when <0 =47% of PWM commands to correct pitch deviation;

[0263] If Δ ≤3° and Δ ≤3°, balanced count variable ,otherwise =0;

[0264] Stable equilibrium determination: when When the value is ≥3, that is, when the attitude deviation requirement is met for three consecutive data collections and the balance is maintained for a cumulative 0.3s, the fuselage is judged to have reached a stable balance state.

[0265] Perching completes locking: Send locking command to hip joint motor reduction module 4 =1, activate the motor brake to lock the hip joint rotating body at an angle of 15-3 degrees; send to the rotor system A stop command of 0 is issued, shutting down the rotor; a resting completion signal is output. =1, indicating that the entire habitat process is complete.

[0266] This application also provides a jumping method for an amphibious robot that mimics bird-like jumping:

[0267] This method is used to enable UAVs to take off and land stably from the ground / planar support surface, including the takeoff phase and the landing phase, as detailed below:

[0268] (a) Take-off phase

[0269] The core objective of this phase is to achieve takeoff by rapidly extending the legs. Specific execution steps are as follows:

[0270] Pre-launch mechanism configuration:

[0271] Claw full extension control: Send to claw motor reduction module 3 A PWM inversion command of 40% is issued to drive the claw drive motor 3-1 in reverse, causing the four toe modules 12-2 of the bionic bird claw assembly 12 to fully extend, and the claw extension limit switch signal is read. ,when When =1, stop the claw drive motor 3-1;

[0272] Leg folding control: Sends an active mode command to the knee joint motor reduction module 6 to activate the power output of the knee joint motor 6-1. =60% PWM forward rotation command drives the knee joint planetary carrier 6-5 to swing, which drives the transmission linkage assembly 7 to move, so that the leg module folds around the knee joint to a flexion angle of 90°; the rotation angle is collected by the knee joint motor encoder 6-2, and the knee joint motor 6-1 is stopped when the flexion angle reaches 90°;

[0273] Aircraft balance and stability: Activate the drone's rotor system, adjust the rotor differential speed through the flight control system to maintain the aircraft's horizontal attitude stability, and ensure that ΔRoll ≤ 3° and ΔPitch ≤ 3°, thus determining that the takeoff preparation is complete.

[0274] Rapid leg extension and takeoff: Sending signals to the knee joint motor reduction module 6 A 40% PWM high-speed reverse command controls the knee joint motor 6-1 to rapidly reverse at a speed of 2000 r / min, driving the leg module to complete full extension within 0.2 seconds. The reaction force of the leg extension propels the drone fuselage into the air. Simultaneously with the leg extension, a command is sent to the rotor system. =60% rotation speed command provides a small amount of lift to increase the jump height, while the rotor differential speed maintains the fuselage level attitude and avoids loss of attitude control.

[0275] Aerial attitude maintenance:

[0276] After the drone takes off, it sends a continuous forward lift command to the rotor system, enabling the drone to achieve a forward velocity of 0.3 m / s in the positive X-axis direction.

[0277] Send a fine-tuning command to the hip joint motor reduction module 4 to drive the hip joint rotating body 15-3 to swing forward slightly by 10° around the Y-axis and adjust the forward posture of the machine body.

[0278] A passive mode switching command is sent to the knee joint motor deceleration module 6 to cut off the power output of the knee joint motor 6-1. Relying on the elastic force of the leg extension spring 14, the leg module is kept in a fully extended state until the drone reaches the airspace above the landing point. Once the aerial attitude is determined to be maintained, the drone enters the landing phase.

[0279] (ii) Landing Phase

[0280] The core objective of this phase is to achieve a stable and buffered landing for the drone. Specific execution steps are as follows:

[0281] Landing speed and direction control: reducing the rotational speed of the UAV rotor system The lift of the fuselage is reduced, and the drone descends to the landing point at a speed of 0.4 m / s along the negative Z-axis. The attitude of the fuselage is adjusted by the differential speed of the rotor, and the landing direction of the drone is aligned with the center of the landing point, so that the foot plane of the bionic bird claw component 12 remains parallel to the landing surface.

[0282] Soft landing and fuselage righting:

[0283] When the bionic bird claw assembly 12 contacts the landing surface, the leg module is impacted and passively folds around the knee joint, and the leg extension spring 14 is compressed. The impact energy is absorbed through the elastic deformation of the spring, thus achieving buffering and shock absorption.

[0284] The IMU sensor collects the body posture in real time and sends adjustment commands to the hip joint motor reduction module 4 to drive the hip joint rotating body 15-3 to rotate, correct the body posture deviation, and make ΔRoll≤3°, ΔPitch≤3°, so that the body position returns to the correct position.

[0285] When the fuselage maintains stable balance for 0.3 seconds, the landing is considered complete, the rotor system is shut down, and the entire jump process ends.

[0286] This application also provides a method for inter-branch jumping transition of an amphibious robot that mimics bird-like perching:

[0287] This method is used to enable drones to transition from aerial jumps to stable resting between two tree branches, including the branch take-off phase and the branch gripping phase, as detailed below:

[0288] (a) The branch take-off stage

[0289] The core objective of this phase is to achieve stable detachment and takeoff of the drone from its original perch. Specific execution steps are as follows:

[0290] Before takeoff, the drone is in its original perching position on the tree branch. The rotor system is activated, and the rotor speed and differential speed are adjusted through the flight control system to stabilize the aircraft attitude, ensuring that ΔRoll ≤ 3° and ΔPitch ≤ 3°.

[0291] Take-off mechanism status configuration: Send an active mode command to the knee joint motor reduction module 6 to start the power output of the knee joint motor 6-1 and set it to active drive mode;

[0292] Voiding and disengagement control: Send to knee joint motor reduction module 6 =40% PWM high-speed reverse command controls the knee joint motor 6-1 to rapidly reverse at a speed of 2500r / min, driving the leg module to complete rapid extension within 0.15s; synchronously send to the claw motor reduction module 3 =40% PWM inversion command, drive claw drive motor 3-1 to quickly reverse, pull toe extension rope 12-209 to release the one-way lock of ratchet wheel 12-206, so that the bionic bird claw component 12 can quickly extend and release the grip on the original tree branch; relying on the reaction force of the rapid extension of the legs, the drone body is propelled into the air and detached from the original tree branch.

[0293] Aerial Motion Control: After the drone takes off, the rotor system provides a small lift to raise the fuselage to a height of 2m, while providing a forward speed of 0.4m / s in the positive X-axis direction, which propels the drone toward the target tree branch until it reaches a position 0.5m directly above the target tree branch, where it enters the branch grasping phase.

[0294] (ii) Branch grasping stage

[0295] The core objective of this phase is to enable the drone to stably perch on the target tree branch and complete the transition between branches. Specific execution steps are as follows:

[0296] Pre-configured gripping mechanism:

[0297] Send a passive mode switching command to the knee joint motor reduction module 6 to cut off the power output of the knee joint motor 6-1 and switch to passive free rotation state;

[0298] Send to claw motor reduction module 3 =40% PWM inversion instruction drives the bionic bird claw component 12 to remain in a fully extended state, and reads the claw extension limit switch signal. ,when When =1, stop the claw drive motor 3-1;

[0299] The stepper motor controlling the rope pretensioning bolt 15-4 rotates, and the tension of the claw-bending rope 3-9 is adjusted to a pretension state of 8N.

[0300] Target branch pose recognition and hip joint angle adjustment: The three-dimensional pose of the target branch is acquired through the binocular vision module, the landing direction and the target hip joint angle are calculated, and step S1 of the perching method in this manual is repeated to make the opening direction of the bionic bird claw component 12 consistent with the landing direction, thus completing the angle adjustment.

[0301] Planned speed descent and passive grasping: Send rotation speed control commands to the rotor system to control the UAV to descend toward the target tree branch at a planned speed of 0.5 m / s, repeat step S3 of the perching method in this manual, and complete the passive grasping of the target tree branch;

[0302] Body balance adjustment and transition completed: The body attitude is collected by the IMU sensor, and step S4 of the perching method in this manual is repeated to complete the body balance adjustment and locking. The signal of completion of jumping between branches is output, and the whole process ends.

[0303] This application has the following advantages:

[0304] (1) The dual-sided cable differential drive and pre-tightening bolt integrated hip joint structure achieves a balance between backlash-free high-precision adjustment and lightweight design.

[0305] The hip joint of this application adopts a design with a single drive pulley, differential transmission of forward and reverse ropes on both sides, and a through-type rope pre-tightening bolt. The forward and reverse ropes are led out from both sides of the drive pulley and directly fixed to the leg docking shaft through the pre-tightening bolt. The pre-tightening bolt has the dual function of adjusting the rope tension and fixing the leg module docking, without any additional transmission components.

[0306] It eliminates the inherent transmission backlash of existing gear-driven hip joints, and the angle adjustment accuracy can reach 0.5°, which is higher than the lower limit of 2-3° of conventional gear transmission accuracy. The perching posture can be finely adjusted without backlash or lag.

[0307] With simultaneous tensioning drive via dual-sided ropes and no angular difference between the left and right leg modules, the unbalanced load problem of the hip joint in conventional single-sided drive is avoided, and the response speed of body balance adjustment is improved by 60%.

[0308] The pre-tightening bolt integrates both fixing and tensioning functions, eliminating the need for additional tensioning wheels, adjustment brackets, or other structures. This reduces the overall volume of the hip joint by 40% and its weight by 35%. While achieving high-precision adjustment, it is fully compatible with the lightweight load requirements of drones, something that existing gear-driven and single-sided rope-driven hip joints cannot achieve simultaneously.

[0309] (2) The double parallelogram and gear-driven synchronous leg linkage structure enables seamless switching between absolute foot horizontality and active / passive motion throughout the entire stroke.

[0310] The leg in this application adopts two identical parallelogram four-bar linkages at the ankle joint. Through the forced meshing of the tibia gear and the tarsal gear, the two parallelograms rotate synchronously in a 1:1 ratio. The transmission shaft hole distances of the transmission link, tibia link, and tarsal link are completely equal. The tibia gear joint and the transmission rod joint adopt a coaxial independent rotation design.

[0311] Throughout the entire process of leg folding / extension, the foot plane and the drone base plane remain absolutely parallel, with a pitch angle deviation of ≤1°. In contrast, conventional single parallelogram mechanisms cannot achieve synchronous folding, and the pitch deviation generally exceeds 8°. This structure completely avoids the grasping failure caused by the contact angle deviation between the claw and the tree branch / ground during perching / landing.

[0312] Forced synchronization of gears eliminates the dead points of linkage mechanism, and the leg folding angle range can reach 0-120°, far exceeding the range of 0-90° of conventional parallelogram mechanism. The power stroke of jumping is increased by 33%, and the maximum jump height is increased by more than 50%.

[0313] The coaxial, independently rotating joint design allows the active leg folding (jump-driven) and passive folding (grab-triggered) to operate independently without interference, enabling seamless switching between active jumping and passive grabbing—something that existing linkage mechanisms cannot achieve.

[0314] (3) The biomimetic toe structure with gradually thickened soft rubber and concave-convex interlocking anti-lateral twisting enables adaptive envelopment and zero-lateral twisting gripping of tree branches of the full diameter.

[0315] The toe of this application adopts a unique design with a one-piece cast gradually thick soft rubber and the concave-convex interlocking of adjacent toe bones throughout the entire process. The thickness of the soft rubber increases sequentially from the toe base to the claw tip, and the connection between adjacent rigid parts is provided with an inwardly concave bending groove; the adjacent toe bones, toe base, and claw tip are always interlocked through the concave-convex structure throughout the bending process.

[0316] It achieves sequential flexion of the toes from the base to the claw tip, completely replicating the enveloping grasping action of bird claws. It can achieve full toe surface wrapping for branches with diameters of 5mm-50mm, and the grasping contact area is 2.3 times that of conventional soft rubber toes of equal thickness. The static grasping force is increased by 70%. Existing technology cannot achieve adaptive full wrapping of branches of different diameters.

[0317] The concave-convex interlocking structure restricts the toes to move only within the vertical flexion plane throughout the entire process, with a lateral torsion angle ≤0.5°. This completely solves the problems of lateral twisting, slippage, and grasping failure when using conventional flexible toe gripping. In windy outdoor environments, the grasping and locking success rate is increased from 65% to 100% compared to conventional technologies.

[0318] The one-piece cast soft rubber connects the toe bone and claw tip into a whole, with no hinge gaps and no risk of parts falling off. Its service life is more than 8 times that of conventional hinged toes.

[0319] (4) The claw structure with rope-chain engagement one-way locking and single rope unlocking extension enables slip-free precise gripping and single motor full-function control.

[0320] The claw of this application adopts a design that precisely engages the knot with the ratchet wheel teeth and integrates the ratchet shaft for unlocking. The knot spacing on the bending rope is perfectly matched with the ratchet wheel tooth spacing, and the knot is embedded in the tooth groove to achieve zero-slip transmission. The extension rope is wrapped around the ratchet shaft. When the extension rope is pulled, the ratchet is first pushed open to unlock, and then the toes are pulled to extend.

[0321] There is no slippage between the rope pulling and the sprocket rotation. For every 1mm pull of the rope, the toe flexion angle changes synchronously, and the gripping force control precision can reach 0.1N. In contrast, conventional ratchet and pawl structures need to overcome the gap between the ratchet teeth and cannot achieve precise linear control of the gripping force.

[0322] Purely mechanical one-way locking, without any electronic locking structure, it can maintain the lock with zero energy consumption after grabbing, and can withstand a maximum reverse pulling force of 50N without loosening; conventional technology requires a motor to continuously hold the brake to achieve the same locking force, and this structure increases the drone's dwell and resting endurance by more than 80%.

[0323] Unlocking and extension are completed in one step using a single rope, eliminating the need for an additional unlocking drive mechanism. The claw only requires one motor to achieve all functions of active bending, active extension, passive gripping, and locking / unlocking. Conventional technologies require at least two motors to drive gripping and unlocking separately. This structure reduces complexity by 60% and weight by 40%.

[0324] (5) The claw drive structure with single-drive pulley branched rope transmission realizes the synchronous movement of the four toes and the even distribution of passive gripping force.

[0325] The claw in this application adopts a single drive pulley and a single main rope branched into four branch ropes. The single claw bending rope is evenly divided into four branch ropes after passing through the ankle joint tension wheel, which are connected to four toe modules respectively. The four toes are driven to move synchronously by a single motor.

[0326] The flexion / extension movements of the four toes are completely synchronized, with a time difference of ≤0.01s, avoiding the asynchrony problem of multi-motor drive. When grasping branches, the force is evenly distributed, and there is no risk of one-sided slippage.

[0327] During passive grasping, the pulling force of the folded legs is evenly distributed to the four toes through a single main rope, with the grasping force deviation of each toe ≤5%. Conventional branch drive structures cannot achieve even force distribution during passive grasping, and are prone to problems such as overload on a single toe and grasping failure.

[0328] The single-motor drive significantly reduces the load on the legs and eliminates the need for three sets of motor drive circuits, greatly reducing the control complexity of the flight control system—something that conventional multi-motor claws cannot achieve.

[0329] (6) Inertial triggering passive grasping control method to achieve zero-electric control ultra-high speed response grasping and power failure safety protection.

[0330] This application completes the grasping process through a passive mode with knee joint cutting, rope pretensioning, body inertia triggering leg folding, and rope tensioning. The grasping action is achieved entirely through body inertia and mechanical structure, without the need for a claw motor.

[0331] The grasping response time is ≤0.05s, which is much faster than the 0.3s response time of conventional active grasping methods. Even if the drone's descent speed deviates by ±0.2m / s, it can still complete a reliable grasp, reducing the requirement for descent accuracy by 80%.

[0332] The grasping process does not require power supply to the claw motor. Even if the flight control system experiences a momentary power outage, it can still complete the grasping and locking, completely avoiding the risk of crash due to power outage in conventional active grasping methods, and greatly improving operational safety.

[0333] The gripping force is positively correlated with the fuselage inertia. The thicker the branch and the faster the descent speed, the greater the gripping force will be. It can adapt to branches of different diameters without the need for additional force control algorithms, which is something that conventional active gripping methods cannot achieve.

[0334] (7) A graded hip joint angle adjustment method to resolve the inherent conflict between grasping direction and posture balance.

[0335] This application adopts a graded adjustment process: coarse adjustment to match the landing direction before landing, and fine adjustment to balance the fuselage after grasping. In the coarse adjustment stage, the relative angle between the claw and the branch is matched to ensure the success rate of grasping. In the fine adjustment stage, the fuselage attitude deviation is corrected after the claw is locked to ensure the stability of the habitat.

[0336] It completely solves the inherent pain point of conflict between attitude adjustment and grasping direction in existing technologies. During the coarse adjustment stage, it ensures that the claw is always facing the tree branch, and the grasping success rate is increased to 100%. During the fine adjustment stage, it corrects the balance of the machine body after grasping and locking, without affecting the grasping state of the claw, and there will be no claw loosening caused by attitude adjustment.

[0337] The adjustment process does not require frequent attitude corrections, the power consumption of the rotor system is reduced by 40%, and the fuselage sway during landing is reduced by 70%, avoiding problems such as tree branch swaying and grasp failure caused by attitude corrections.

[0338] Coarse and fine adjustments use different angle thresholds and motor speeds. Coarse adjustment is quick and accurate, while fine adjustment is precise and stable. The angle control accuracy is 5 times that of conventional single-stage adjustment methods, and the body balance stability is improved by 90% when resting.

[0339] (8) The integrated control method for jumping between tree branches achieves synchronous and conflict-free execution of take-off and unlocking.

[0340] This application adopts an integrated take-off step with rapid knee extension and simultaneous claw unlocking and extension. While the leg extension provides the take-off reaction force, the claw motor simultaneously pulls the extension rope to unlock the ratchet and extend the toes, completing the tree branch detachment and take-off in one step.

[0341] The release and take-off actions are completed simultaneously, with a total time of ≤0.15s; conventional techniques require unlocking the claws first and then driving the legs to take off, with a two-step time of ≥0.5s. This method improves the take-off efficiency by 230% and greatly enhances the continuity of jumping between tree branches.

[0342] The reaction force of the leg extension is completely synchronized with the claw unlocking action, so there will be no problems such as the fuselage tipping over or the tree branches shaking violently when jumping before the claw is unlocked. The fuselage attitude deviation during the jump is ≤2°, while the attitude deviation of conventional technology generally exceeds 10°.

[0343] The entire takeoff process requires only two synchronous commands, eliminating the need for complex timing control. The control logic of the flight control system is greatly simplified, and the success rate of jumping between tree branches in the wild environment is increased from 72% to 100% with conventional technology.

[0344] (8) A posture balance control method with continuous and effective judgment to achieve stable resting with zero error and resistance to interference.

[0345] This application employs a balance control logic based on high-frequency acquisition and three consecutive valid judgments. Only when the attitude deviation threshold is met for three consecutive acquisitions is the balance considered stable, and the hip joint locking and rotor stopping actions are executed.

[0346] It completely filters out the errors in single-collection data caused by tree branch swaying and wind disturbance, and will not cause problems such as false locking or false shutdown; the false action rate of conventional single-shot judgment methods exceeds 30%, while the false action rate of this method is 0.

[0347] The balance determination time window is only 0.3s, which ensures strong anti-interference capability and does not cause adjustment lag. The response speed of the fuselage balance adjustment is 3 times that of the conventional long window determination method.

[0348] Once locked, the aircraft does not require continuous attitude correction, and the rotors can be completely shut down, achieving true zero-power dwell time. Conventional techniques require continuous attitude correction and cannot completely shut down the rotors. This method increases the drone's dwell time on tree branches by more than 10 times.

[0349] Compared to existing technologies that can only achieve either perching or jumping, this application achieves a full range of functions in a single mechanism through a unique structural and methodological design, including active / passive dual-mode grasping, long-stroke jumping, inter-branch transition, and stable perching with zero power consumption. Furthermore, all functions are achieved through a purely mechanical structure and extremely simple threshold control, without the need for complex algorithms or additional actuators.

[0350] The following is based on Figures 1 to 15 The present application will be further elaborated by taking the structure of the example in the example. It is understood that the example does not constitute any limitation on the present application.

[0351] See Figure 1 as well as Figure 2 This application provides a bird-like perching amphibious robot, the bird-like perching amphibious robot comprising:

[0352] The drone itself;

[0353] Leg motor drivers, the two leg motor drivers are mounted on the 1-1 drone base of the 1 drone body.

[0354] Hip joint rotation assembly, the 15 hip joint rotation assemblies are mounted in the center below the drone base.

[0355] See Figure 9 as well as Figure 10 The hip joint assembly includes: 15-1 hip joint reversing rope pulley, 15-2 hip joint rotating base, 15-3 hip joint rotating body, 15-4 rope pretension bolt, 15-5 hip joint rotating shaft, 15-6 leg docking shaft, 15-7 hip joint forward rotation rope, and 15-8 hip joint reversing rope.

[0356] The 15-2 hip joint rotating base is fixed to the 1-1 UAV base plate; the 15-1 hip joint reversing rope pulley is installed on the 15-2 hip joint rotating base; the 15-3 hip joint rotating body is connected to the 15-2 hip joint rotating base through the 15-5 hip joint rotating shaft, and the two can rotate relative to each other; two 15-4 rope pre-tightening bolts pass through the hip joint rotating body and the 15-6 leg docking shaft in sequence, and the extension length of the large end of the bolt is adjusted by screwing the bolt in and out; the 15-3 hip joint rotating body includes two symmetrically arranged reels for rope-driven rotation.

[0357] See Figure 9 as well as Figure 10 The 4-hip joint motor reduction module includes: 4-1 hip joint motor, 4-2 hip joint motor support column, 4-3 hip joint motor encoder, 4-4 hip joint motor base, 4-5 hip joint planetary gear, 4-6 hip joint fixed gear, 4-7 hip joint planetary carrier, 4-8 hip joint drive spool, and 4-9 hip joint reducer support column.

[0358] The 4-3 hip joint motor encoder is fixed to the tail of the 4-1 hip joint motor via the 4-4 hip joint motor mount. The 4-5 hip joint planetary gear, the 4-6 hip joint fixed gear, and the 4-7 hip joint planetary carrier form a hip joint planetary reducer, which meshes with the 4-1 hip joint motor rotating shaft via gears. The 4-6 hip joint fixed gear is fixed to the 4-4 hip joint motor mount via the 4-2 hip joint motor support column below, and fixed to the 1-1 UAV base via the 4-9 hip joint reducer support column above. The meshing relationship of the three meets the transmission requirements of the motor reducer. The 4-8 hip joint drive pulley is mounted on the 4-7 hip joint planetary carrier and rotates with the 4-7 hip joint planetary carrier.

[0359] The 4-hip joint motor reduction module and the 15-hip joint rotating assembly are mounted on the center line of the UAV base; the 15-7 hip joint forward rotation rope is led out from one side of the 4-8 hip joint drive reel, wound along one side of the 15-3 hip joint rotating body through a groove, and then finally fixed to the 15-6 leg docking shaft by a 15-4 rope pre-tightening bolt; the 15-8 hip joint reverse rotation rope is led out from the other side of the 4-8 hip joint drive reel, first reversed by the 15-1 hip joint reverse rotation rope pulley, then wound tangentially along the other side of the 15-3 hip joint rotating body through a groove, and finally fixed to another 15-6 leg docking shaft by another 15-4 rope pre-tightening bolt; the 15-4 pre-tightening bolt can be screwed in to adjust the rope tension.

[0360] See Figure 4 , Figure 5 , Figure 6 The leg module includes: 3 claw motor reduction module, 5 femur, 6 knee joint motor reduction module, 7 transmission linkage assembly, 8 tibia linkage assembly, 9 ankle joint transmission assembly, 10 tarsal linkage assembly, 11 foot parallel linkage assembly, 12 bionic bird claw assembly, 13 foot adaptive soft rubber; 14 leg extension spring.

[0361] The leg module is fixedly connected to the 15-6 leg docking shaft through two 5-1 rotating body docking holes on the 5 femur. The two symmetrical leg modules are symmetrically arranged on both sides of the 15 hip joint rotating assembly.

[0362] The 3-claw motor reduction module includes: 3-1 claw drive motor, 3-2 claw motor support column, 3-3 claw motor encoder, 3-4 claw motor encoder seat, 3-5 worm gear, 3-6 worm, 3-7 claw drive pulley, 3-8 femoral guide pulley, 3-9 claw bending rope, and 3-10 claw extension rope.

[0363] The 3-3 claw motor encoder is fixedly connected to the 3-1 claw drive motor via the 3-4 claw motor encoder seat. The 3-4 claw motor encoder seat is fixedly connected above the 5th femur via the 3-2 claw motor support column. The 3-6 worm gear is mounted on the rotating shaft of the 3-1 claw drive motor. The 3-5 worm wheel and the 3-7 claw drive pulley are coaxially fixedly connected to the 5th femur via the rotating shaft. The 3-6 worm gear and the 3-5 worm wheel are orthogonally arranged on the 5th femur. The two 3-8 femur guide pulleys are coaxially mounted side by side on the rotating shaft below the 5th femur.

[0364] See Figure 7 The 7-transmission link assembly includes: 7-1 transmission link and 7-2 transmission link connector; a 7-2 transmission link connector is symmetrically fixed to each end of the 7-1 transmission link.

[0365] The 8-tibial link assembly includes: 8-1 tibial link, 8-2 tibial gear connector, 8-3 tibial gear, and 8-4 tibial rod connector; 8-2 tibial gear connector and 8-3 tibial gear are coaxially fixedly connected; one end of 8-1 tibial link is fixed to 8-4 tibial rod connector, and the other end is symmetrically and parallelly fixed to 8-2 tibial gear connector.

[0366] The 10 tarsal link assembly includes: 10-1 tarsal link, 10-2 tarsal rod connector, 10-3 tarsal rod gear connector, and 10-4 tarsal rod gear; 10-3 tarsal gear connector and 10-4 tarsal gear are coaxially fixedly connected; one end of 10-1 tarsal link is fixed to 10-2 tarsal rod connector, and the other end is symmetrically and parallelly fixed to 10-3 tarsal gear connector.

[0367] The 11-foot parallel linkage assembly includes: 11-1 foot frame and 11-2 foot rotation shaft;

[0368] The two sets of 7-link transmission assemblies and the two sets of 8-link tibia linkage assemblies are arranged in parallel and symmetrically to connect the 5-femoral and 9-ankle joint transmission assemblies; the two sets of 7-link transmission assemblies and the two sets of 10-link tarsal linkage assemblies are arranged in parallel and symmetrically to connect the 9-ankle joint transmission assembly and the 11-foot parallel linkage assembly. The two transmission shaft holes of the 7-link assembly, 8-link tibia linkage assembly, and 10-link tarsal linkage assembly are equidistant and can all rotate around the axis of their respective connected components, so that the two four-bar linkages above and below the 9-ankle joint transmission assembly are two congruent parallelograms. The 8-2 tibia gear joint and the 7-2 transmission rod joint in the lower four-bar linkage are coaxially connected at the 9-ankle joint transmission assembly and can rotate independently. One side of the 10-3 tarsal gear joint in the 10-link assemblies is installed on the 9-ankle joint transmission assembly, and the 8-3 tibia gear and the 9-4 tarsal gear are arranged side by side to meet the gear meshing requirements. The tibial link assembly (8) and tarsal link assembly (10) can rotate synchronously via gear transmission at the ankle joint transmission assembly (9). Constrained by two sets of 7 transmission link assemblies (upper and lower), the two parallelogram mechanisms move synchronously. The two sets of 7 transmission link assemblies and the two sets of 10 tarsal link assemblies are connected by two 11-2 foot drive shafts.

[0369] The 14 leg extension springs connect the lower part of the 5 femurs and the upper part of the 9 ankle joint transmission assembly, keeping the leg module in an extended state.

[0370] The 6-knee joint motor reduction module includes: 6-1 knee joint motor, 6-2 knee joint motor encoder, 6-3 knee joint motor base, 6-4 knee joint motor support column, 6-5 knee joint planetary carrier, 6-6 clamping block, 6-7 knee joint planetary gear, and 6-8 knee joint fixed gear.

[0371] The 6-2 knee joint motor encoder is fixed to the tail of the 6-1 knee joint motor via the 6-3 knee joint motor mount. The 6-7 knee joint planetary gear, the 6-5 knee joint fixed gear, and the 6-5 knee joint planetary carrier form a knee joint planetary reducer, which meshes with the 6-1 knee joint motor rotating shaft via gears. The 6-8 knee joint fixed gear is fixed to the 6-3 knee joint motor mount via the 6-4 knee joint motor support column, and then fixed to the 5th femur side. The meshing relationship of the three meets the transmission requirements of the motor reducer. The 6-5 knee joint planetary carrier is fixed to the 7th transmission linkage assembly on one side via the 6-6 clamping block. When the 6-1 motor is running, the leg module will swing with the 6-5 knee joint planetary carrier.

[0372] The 13th foot self-adaptive soft rubber is cast from a flexible material, which can adapt to the twisting and deflection of the joint to avoid damage to the mechanism. The upper part of the 13th foot is fixed to the 11-1 foot frame in the parallel linkage assembly of the 11th foot, and the lower part is fixed to the 12-1 claw cover in the 12th bionic bird claw assembly.

[0373] See Figure 11, Figure 12 The 12 bionic bird claw components include: 12-1 claw upper cover, 12-2 toe module, and 12-3 claw lower cover;

[0374] The 12 bionic bird claw assembly consists of four identical 12-2 toe modules arranged side by side and staggered, and is clamped and fixed from above and below by the 12-1 claw upper cover and the 12-3 claw lower cover respectively.

[0375] The 12-2 toe module includes: 12-201 toe base, 12-202 toe bone, 12-203 claw tip, 12-204 toe soft rubber, 12-205 needle, 12-206 ratchet wheel, 12-207 knot, 12-208 toe flexion rope, 12-209 toe extension rope, 12-210 ratchet shaft, 12-211 ratchet tooth, and 12-212 ratchet spring.

[0376] The 12-202 toe base is sequentially connected to the three 12-202 phalanges, end to end, and finally to the 12-203 claw tip. The 12-204 toe soft rubber is fixed at both ends to the 12-202 toe base and the 12-203 claw tip, respectively, with the middle part sequentially passing through the three 12-203 phalanges. The 12-204 toe soft rubber is integrally cast using the 12-202 phalanges and the 12-203 claw tip as a mold, making each toe a single unit. A concave bending groove is provided on the soft rubber of toe 12-204, which connects two rigid parts. This makes the soft rubber thickness at the connection point thinner than that at the non-connection points. From toe base 12-201 to claw tip 12-203, the thickness of the soft rubber between adjacent parts increases sequentially. Specifically, the soft rubber thickness between toe base 12-201 and the first phalanx 12-202 is the thinnest, and the soft rubber thickness between the third phalanx 12-202 and claw tip 12-203 is greater than the thickness of the previous three gaps. This design allows toe flexion to occur when the phalanx 12-202, closer to toe base 12-201, flexes first, followed by the phalanx 12-202 further away from toe base flexing, with claw tip 12-203 flexing last.

[0377] The 12-202 toe bone has multiple grooves on one side of the 12-201 toe base, and a protrusion on the other side. During the connection of the 12-202 toe bones end-to-end, the grooves and protrusions can engage with each other. The 12-203 claw tip has multiple grooves on the side near the 12-202 toe bone that engage with it, and the 12-201 toe base has multiple protrusions on the side near the 12-202 toe bone that engage with it. This design ensures that the two connected parts remain engaged during toe flexion, restricting toe movement to a single plane and preventing lateral toe twisting.

[0378] Fine needles are arranged on the 12-202 toe bones and the 12-203 claw tips to increase friction during grasping.

[0379] The 12-201 toe base is internally equipped with a 12-206 ratchet, a 12-211 ratchet tooth, and a 12-212 ratchet spring. The ratchet of the 12-206 ratchet engages with the 12-211 ratchet tooth. The linear motion of the 12-211 ratchet tooth is constrained by the 12-212 ratchet spring, enabling the 12-206 ratchet to rotate in one direction. The 12-210 ratchet shaft is fixedly connected to the 12-211 ratchet tooth, and its extended end is aligned with the side end face of the sprocket of the 12-206 ratchet. The sprocket teeth of the 12-206 ratchet have grooves for the 12-208 toe flexion rope to pass through. The 12-208 toe flexion rope has evenly distributed 12-207 knots, and the knot spacing matches the spacing between the sprocket teeth of the 12-206 ratchet. The end of the 12-208 toe flexion rope is fixed to the belly of the 12-203 claw tip, then passes through the three 12-202 phalanx holes into the interior of the 12-201 toe base, wraps around the sprocket in the 12-206 ratchet chain, and the 12-207 knot engages with the chain teeth. Finally, the toe flexion rope is led out from above the 12-201 toe base. The 12-209 extension rope is fixed to the back of the 12-203 claw tip, passes through the three 12-202 phalanx holes into the interior of the 12-201 toe base, passes through the 12-210 ratchet axis, and is led out from above the 12-201 toe base.

[0380] In this embodiment, when the toe flexion rope 12-208 is pulled, the knot 12-207 drives the ratchet 12-206 to rotate. The ratchet tooth 12-211, constrained by the spring of the ratchet tooth 12-212, restricts the ratchet 12-206 to rotate only in one direction as the flexion rope is pulled, causing the toe to flex. When the toe is subjected to an external force and tends to extend, the ratchet tooth 12-211 locks the ratchet 12-206, preventing it from rotating. The knot 12-207 is constrained by the ratchet 12-206, and the toe flexion rope 12-208 cannot move, thus locking the toe in a flexed state. When the extension rope 12-209 is pulled, it first pulls the ratchet shaft 12-210, which drives the ratchet 12-211 to compress the ratchet spring 12-210 upwards. This releases the unidirectional rotation constraint of the ratchet chain wheel 12-206, and the pull of the extension rope 12-209 will act on the claw tip 12-203, pulling the toes to extend.

[0381] See Figure 6 The ankle joint transmission assembly includes: 9-1 ankle joint frame, 9-2 toe flexion rope tensioning pulley, and 9-3 toe extension rope steering pulley;

[0382] The 3-9 claw flexion rope and the 3-10 claw extension rope are respectively led out from both sides of the 3-7 claw drive pulley, and then led out from the same side through two coaxially arranged 3-8 femoral guide pulleys. The 3-9 claw flexion rope is distributed into four 12-208 toe flexion ropes after passing through the 9-2 toe flexion rope tensioning pulley, and is connected to the four 12-2 toe modules respectively; the 3-10 claw extension rope is distributed into four 12-209 toe extension ropes after passing through the 9-3 toe extension rope steering pulley, and is connected to the four 12-2 toe modules respectively.

[0383] In this embodiment, one example of passive gripping of the claw is as follows: the claw drive pulley is fixed, the knee joint motor is set to passive mode, and the leg claw is forced to fold after being subjected to an upward impact force. The claw flexion rope is wound around the 9-2 toe flexion rope tensioning wheel on the ankle joint transmission component, which increases the tension of the claw flexion rope and drives the toe flexion rope to pull the toes to flex and achieve gripping.

[0384] In this embodiment, one example of the active gripping of the claw is as follows: the knee joint motor is set to active mode, and the claw drive motor controls the claw drive spool to rotate in the forward direction, so that the claw flexion rope is wound on the claw drive spool, causing the claw flexion rope to contract, thereby pulling the toes to flex.

[0385] In this embodiment, one method of releasing the claw is as follows: the claw drive motor controls the claw drive spool to rotate in the opposite direction, causing the claw extension rope to wind around the claw drive spool, which in turn causes the claw extension rope to contract, thereby pulling the toes to extend.

[0386] See Figure 13 This application also provides a perching method for a bird-like perching robot, the perching method comprising a flight phase and a perching phase, wherein the perching phase includes:

[0387] The drone uses visual recognition to identify the position and posture of tree branches, adjusts the hip joint angle to make the claw's posture consistent with the drone's descent speed and direction, and monitors and adjusts in real time through visual means.

[0388] Adjust the knee joint motor to passive mode, adjust the claw to the extended state, and adjust the claw flexion rope tension to the pre-tension state.

[0389] The drone descends to the tree branch at its planned perching speed vector. The claw stops moving upon impact, and the inertia of the fuselage forces the legs to fold passively. The claw bends the rope at the ankle joint, which is then stretched to drive the claw to passively grasp the branch.

[0390] The drone's IMU calculates the body's attitude and adjusts the hip joint angle to maintain balance and complete the resting process.

[0391] See Figure 14This application also provides a jumping method for a bird-like perching robot, the jumping method of which includes a take-off phase and a landing phase, wherein the take-off phase includes:

[0392] The claw drive motor extends the claw, the knee joint motor drives the leg to fold, and the drone rotor opens to maintain the balance of the drone.

[0393] The knee joint motor rotates rapidly, causing the legs to extend quickly and the fuselage to leap into the air. The rotor provides a small amount of lift to increase the jump height and maintain balance. In the air, the rotor provides a small amount of forward speed, the hip joint swings forward slightly, the knee joint motor adjusts to a passive state, and the leg extension spring maintains the leg extension state.

[0394] The landing phase includes:

[0395] Reducing the drone's rotor speed allows the drone to land and controls the landing speed and direction. The legs fold upon impact, and leg springs provide cushioning to reduce the impact force. The hip joint adjusts the angle to return the drone to its upright position.

[0396] See Figure 15 This application also provides a method for branch-to-branch jumping transition of a bird-like perching robot, the method comprising a branch jumping phase and a branch grasping phase, wherein the branch take-off phase includes:

[0397] The rotor opens to stabilize the drone's body, the knee joint motor is set to active mode, the knee joint motor drives the leg to extend quickly, and at the same time the claw drive motor drives the claw to extend quickly, so that the robot can take off and get away from the tree branch.

[0398] During the aerial phase, the drone provides a small amount of lift and forward speed.

[0399] The branch grasping phase includes:

[0400] The knee joint motor switches to passive mode, providing appropriate tension to the claw flexion rope while ensuring the claw is extended. The hip joint angle is adjusted to be consistent with the direction of the descent speed. The drone descends to the tree branch at the planned perching speed vector. The claw stops moving upon impact, and the inertia of the fuselage forces the legs to fold. The claw flexion rope is tensioned at the ankle joint, driving the claw to passively grasp.

[0401] The drone's IMU calculates the body's attitude and adjusts the hip joint angle to maintain balance, enabling it to jump and perch between tree branches.

[0402] Inertial trigger passive grasping control method

[0403] The core design of this application is as follows: the knee joint is pre-switched to a passive free rotation mode, and the claw flexion rope is pre-tensioned. The inertia of the drone after landing and touching the branch is used as the only trigger source, which forces the leg module to passively fold and link the rope tension, driving the bionic bird claw to complete the passive grasping. The grasping action does not require active driving of the claw motor throughout the entire process, and is achieved entirely by the linkage between the mechanical structure and the inertia of the drone.

[0404] It breaks through the inherent technical path of existing habitat grasping technology that must rely on motor active drive and real-time control of electronic control system, eliminates the strong dependence of active grasping on electronic control system and real-time feedback of sensor, and solves the inherent defects of active grasping method such as lag in electronic control response and grasping failure after power failure in principle;

[0405] The mechanical linkage principle achieves a natural fit between the grab trigger and the landing process. The triggering of the grab action is completely synchronized with the fuselage contact with the branch, and there is no timing control deviation. Theoretically, this eliminates the grab failure problem caused by control timing mismatch.

[0406] The grasping force and the inertia of the fuselage form a natural positive correlation, eliminating the need for additional force control algorithms and force feedback loops. In principle, it can be adapted to habitats of different diameters, solving the technical problem that existing active grasping methods require individual adjustment of force control parameters for different habitats.

[0407] (2) Graded hip joint angle adjustment method:

[0408] The core design of this application is to divide the hip joint angle adjustment into two independent stages. The coarse adjustment stage before landing has the sole objective of matching the claw opening direction with the landing direction. The fine adjustment stage after the grab is completed aims to correct the fuselage attitude and maintain balance. The two stages use independent adjustment logic and control thresholds and do not interfere with each other.

[0409] This method resolves the inherent conflict between the two control objectives of grasping direction matching and fuselage attitude balance in existing perching technologies. Existing technologies tend to cause claw attitude deviation and grasping direction inaccuracy when adjusting the two objectives simultaneously. This method achieves decoupling of the two objectives from the control logic through a hierarchical adjustment design. The coarse adjustment stage fully ensures the accuracy of the grasping direction, and the fine adjustment stage does not interfere with the completed grasping state, thus eliminating the negative impact of attitude adjustment on grasping stability in principle.

[0410] It breaks through the control limitations of existing single-stage angle adjustment methods. Through differentiated stage control strategies, it theoretically achieves both rapid positioning in the coarse adjustment stage and precise control in the fine adjustment stage, thus resolving the inherent contradiction that single-stage adjustment cannot balance response speed and control accuracy.

[0411] The control logic reduces unnecessary attitude correction actions during landing, which theoretically reduces the ineffective power consumption of the rotor system. At the same time, it avoids the problems of fuselage swaying and tree branch shaking caused by frequent attitude corrections, further improving the stability of the grabbing process.

[0412] (3) Attitude balance control method with continuous effective determination:

[0413] The core design of this application is: a control logic that uses high-frequency attitude acquisition and multiple consecutive valid judgments. Only when the fuselage attitude data acquired multiple times consecutively meets the preset balance threshold is it determined that the fuselage has reached a stable balance state, and then the hip joint locking and rotor stopping actions are executed.

[0414] It overcomes the inherent defects of existing single-judgment balance control methods, and eliminates the problems of misjudgment, mislocking, and misstopping caused by external interference (such as wind disturbance and tree branch swaying) in single-collection data from the judgment logic, which greatly improves the anti-interference ability and reliability of balance control.

[0415] From the perspective of control principle, it takes into account both the anti-interference ability and response speed of balance determination. Through effective determination of continuous short cycles, it not only filters out interference data, but also avoids excessive determination lag, thus solving the inherent contradiction of existing long window determination methods having slow response and poor anti-interference ability of short window determination.

[0416] In theory, it achieves complete locking and rotor shutdown after the fuselage is stabilized, without the need for continuous electronic attitude correction. In principle, it achieves zero-power dwell in the resting state, breaking through the limitations of existing technologies that require continuous rotor operation and cannot be completely stopped, and greatly expanding the ability of UAVs to stay and operate for a long time.

[0417] (4) Active-passive coordinated jump control method:

[0418] The core design of this application is to divide the jumping process into an active take-off phase and a passive cushioning landing phase. During the take-off phase, the knee joint motor actively drives the leg to extend rapidly to provide jumping power, and the rotor assists in maintaining the posture. During the air phase, the knee joint switches to passive mode, and the leg posture is maintained by relying on elastic elements. During the landing phase, the leg is passively folded and cushioned by elastic elements, and the active drive and passive adaptation are coordinated throughout the process.

[0419] It breaks through the design limitations of the existing jumping mechanism and perching mechanism, and realizes the reuse of jumping drive and perching grasping functions on the same set of leg mechanisms, solving the technical problems of perching legs and claws having no jumping ability and jumping legs having no grasping perching ability in the existing technology.

[0420] Based on the principle of mechanism motion, relying on the synchronous motion characteristics of the double parallelogram linkage mechanism, the absolute parallelism between the foot plane and the fuselage reference plane is achieved throughout the entire leg extension process, theoretically eliminating the problems of unbalanced takeoff force and rollover during takeoff and landing caused by foot posture deviation.

[0421] During the descent phase, the passive folding and elastic cushioning design eliminates the need for additional electronically controlled buffering. It relies entirely on the mechanical structure to absorb impact energy, thus solving the rigid impact problem during jump descent in principle. At the same time, it eliminates the need for additional buffering mechanisms, achieving lightweight design and functional integration.

[0422] (5) Control method for detachment and habitat connection in the integrated jumping between branches:

[0423] The core design of this application is to integrate the process of jumping between branches into a single jump-off and target-landing process. During the jump phase, the legs extend rapidly to provide the power for the jump, and the claws extend and release the grip simultaneously, completing the branch detachment and take-off in one step. After the movement in the air is completed, it directly connects to the standardized passive gripping and landing process, realizing a smooth transition between jumping between branches and landing.

[0424] It breaks through the existing branch-intersquatting technology's step-by-step control logic of unlocking first and then jumping. Through the synchronous integrated design of jumping and unlocking, it eliminates the connection gap between step actions in terms of control timing, and solves the inherent problems of fuselage overturning and violent branch shaking that are prone to occur in step-by-step control.

[0425] The mechanism achieves timing matching between the take-off reaction force and the grab-unlocking action from the perspective of the action principle. The take-off action of leg extension and the claw unlocking extension action are completely synchronized, theoretically eliminating the risk of mechanism jamming and loss of control of the body attitude caused by take-off when the claw is not fully unlocked.

[0426] For the first time, a complete closed loop of perching, jumping, aerial movement, and re-perching has been achieved on the same mechanism, fully integrating the jumping and perching functions. This breaks through the limitations of existing technologies that can only achieve single perching or single jumping, truly realizing bird-like amphibious movement capabilities and greatly expanding the operational capabilities of drones in complex forest areas and other scenarios.

[0427] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A bird-inspired hopping and perching amphibious robot, characterized in that, The bird-like jumping amphibious robot includes: The drone body (1) has a drone base (1-1). Leg motor driver (2), the leg motor driver (2) is mounted on the drone base (1-1); A hip joint rotation assembly (15) is mounted below the drone base (1-1); Hip joint motor reduction module (4), the hip joint motor reduction module (4) and the hip joint rotation component (15) are both installed on the center line of the UAV base (1-1), and the hip joint motor reduction module (4) is connected to the hip joint rotation component (15) through a rope; The leg module consists of two components, which are symmetrically arranged on both sides of the hip joint rotation assembly (15) and fixedly connected to the hip joint rotation assembly (15). The leg module includes a claw motor reduction module (3), a femur (5), a knee joint motor reduction module (6), a transmission linkage assembly (7), a tibia linkage assembly (8), an ankle joint transmission assembly (9), a tarsal linkage assembly (10), a foot parallel linkage assembly (11), a bionic bird claw assembly (12), a foot adaptive soft rubber (13), and a leg extension spring (14). The femur (5) is fixedly connected to the hip joint rotation assembly (15), and the transmission linkage assembly (7) and the tibia linkage assembly (8) are arranged in parallel and symmetrically. One end of the transmission linkage assembly (7) and one end of the tibia linkage assembly (8) are both connected to the femur (5). The other end of the transmission link assembly (7) and the other end of the tibial link assembly (8) are both connected to the ankle joint transmission assembly (9); One end of the tarsal link assembly (10) is connected to the ankle joint transmission assembly (9), and the other end of the tarsal link assembly (10) is connected to the foot parallel link assembly (11). One end of the leg extension spring (14) is connected to the femur (5), and the other end of the leg extension spring (14) is connected to the ankle joint transmission assembly (9). The foot parallel linkage assembly (11) is fixedly connected to the bionic bird claw assembly (12) via the foot adaptive soft rubber (13); The claw motor deceleration module (3) and the knee joint motor deceleration module (6) are both installed on the femur (5); The claw motor reduction module (3) is connected to the bionic bird claw assembly (12) via a rope; The knee joint motor reduction module (6) is fixedly connected to the transmission linkage assembly (7); The bionic bird claw assembly (12) is equipped with a ratchet-tooth one-way locking structure.

2. The amphibious robot mimicking bird-like hopping as described in claim 1, characterized in that, The hip joint rotation assembly (15) includes a hip joint reversing rope pulley (15-1), a hip joint rotation base (15-2), a hip joint rotating body (15-3), a rope preload bolt (15-4), a hip joint rotation shaft (15-5), a leg docking shaft (15-6), a hip joint forward rotation rope (15-7), and a hip joint reversing rope (15-8). The hip joint rotating base (15-2) is fixed to the drone base (1-1), and the hip joint reversing rope pulley (15-1) is installed on the hip joint rotating base (15-2); the hip joint rotating body (15-3) is rotatably connected to the hip joint rotating base (15-2) through the hip joint rotating shaft (15-5), and the hip joint rotating body (15-3) is provided with two symmetrically arranged spools; The rope preload bolt (15-4) passes through the hip joint rotator (15-3) and the leg docking shaft (15-6) in sequence; the leg module is fixedly connected to the leg docking shaft (15-6) through the rotator docking hole (5-1) on the femur (5); The forward rotation rope (15-7) of the hip joint is led out from the hip joint motor reduction module (4), wound around one side of the groove of the hip joint rotating body (15-3), and then threaded through a rope pre-tightening bolt (15-4) and fixed on the leg docking shaft (15-6); the reverse rotation rope (15-8) of the hip joint is led out from the hip joint motor reduction module (4), and after being reversed by the reverse rotation rope pulley (15-1), it is wound along the other side of the groove of the hip joint rotating body (15-3), threaded through another rope pre-tightening bolt (15-4) and fixed on another leg docking shaft (15-6).

3. The amphibious robot mimicking bird-like hopping as described in claim 2, characterized in that, The hip joint motor reduction module (4) includes a hip joint motor (4-1), a hip joint motor support column (4-2), a hip joint motor encoder (4-3), a hip joint motor base (4-4), a hip joint planetary gear (4-5), a hip joint fixed gear (4-6), a hip joint planetary carrier (4-7), a hip joint drive spool (4-8), and a hip joint reducer support column (4-9). The hip joint motor encoder (4-3) is fixed to the tail of the hip joint motor (4-1) via the hip joint motor mount (4-4); the hip joint planetary gear (4-5), the hip joint fixed gear (4-6), and the hip joint planetary carrier (4-7) form a hip joint planetary reducer, and the hip joint planetary reducer engages with the rotating shaft gear of the hip joint motor (4-1); the hip joint fixed gear (4-6) is fixedly connected to the hip joint motor mount (4-4) below via the hip joint motor support column (4-2), and fixedly connected to the UAV base (1-1) above via the hip joint reducer support column (4-9); the hip joint drive pulley (4-8) is mounted on the hip joint planetary carrier (4-7) and rotates synchronously with it. The hip joint forward rotation rope (15-7) and hip joint reverse rotation rope (15-8) are both engaged with the hip joint drive spool (4-8).

4. The amphibious robot mimicking bird-like hopping as described in claim 3, characterized in that, The claw motor reduction module (3) includes a claw drive motor (3-1), a claw motor support column (3-2), a claw motor encoder (3-3), a claw motor encoder seat (3-4), a worm gear (3-5), a worm (3-6), a claw drive pulley (3-7), a femoral guide pulley (3-8), a claw flexion rope (3-9), and a claw extension rope (3-10). The claw motor encoder (3-3) is fixedly connected to the claw drive motor (3-1) via the claw motor encoder seat (3-4), and the claw motor encoder seat (3-4) is fixedly connected above the femur (5) via the claw motor support column (3-2); the worm (3-6) is mounted on the rotating shaft of the claw drive motor (3-1), the worm wheel (3-5) is coaxially fixedly connected to the claw drive spool (3-7) and rotatably connected to the femur (5), and the worm (3-6) and the worm wheel (3-5) are orthogonally arranged on the femur (5); the femur guide pulley (3-8) has two pulleys that are coaxially mounted side by side on the rotating shaft below the femur (5); The claw flexion rope (3-9) and claw extension rope (3-10) are respectively led out from both sides of the claw drive pulley (3-7), and after being led out from the same side of the two femoral guide pulleys (3-8), they cooperate with the ankle joint transmission assembly (9), and are dispersed by the ankle joint transmission assembly (9) and connected to the bionic bird claw assembly (12).

5. The amphibious robot mimicking bird-like hopping as described in claim 4, characterized in that, The ankle joint transmission assembly (9) includes an ankle joint frame (9-1), a toe flexion rope tensioning pulley (9-2), and a toe extension rope steering pulley (9-3). The claw flexion rope (3-9) is distributed into four toe flexion ropes (12-208) after passing through the toe flexion rope tensioning pulley (9-2), and is respectively connected to the four toe modules (12-2) of the bionic bird claw assembly (12); the claw extension rope (3-10) is distributed into four toe extension ropes (12-209) after passing through the toe extension rope deflector pulley (9-3), and is respectively connected to the four toe modules (12-2) of the bionic bird claw assembly (12).

6. The amphibious robot mimicking bird-like hopping as described in claim 5, characterized in that, The knee joint motor reduction module (6) includes a knee joint motor (6-1), a knee joint motor encoder (6-2), a knee joint motor mount (6-3), a knee joint motor support column (6-4), a knee joint planetary carrier (6-5), a clamping block (6-6), a knee joint planetary gear (6-7), and a knee joint fixed gear (6-8). The knee joint motor encoder (6-2) is fixed to the tail of the knee joint motor (6-1) via the knee joint motor mount (6-3); the knee joint planetary gear (6-7), the knee joint fixed gear (6-8), and the knee joint planetary carrier (6-5) form a knee joint planetary reducer, and the knee joint planetary reducer is geared to the rotating shaft of the knee joint motor (6-1); the knee joint fixed gear (6-8) is fixed to the side of the femur (5) via the knee joint motor support column (6-4) and the knee joint motor mount (6-3); the knee joint planetary carrier (6-5) is fixed to the transmission linkage assembly (7) on one side via the clamp (6-6).

7. The amphibious robot mimicking bird-like hopping as described in claim 6, characterized in that, The transmission link assembly (7) includes a transmission link (7-1) and a transmission link connector (7-2), with one transmission link connector (7-2) symmetrically fixed to each end of the transmission link (7-1). The tibial link assembly (8) includes a tibial link (8-1), a tibial gear connector (8-2), a tibial gear (8-3), and a tibial rod connector (8-4). The tibial gear connector (8-2) is coaxially fixed to the tibial gear (8-3). One end of the tibial link (8-1) is fixed to the tibial rod connector (8-4), and the other end is symmetrically and parallelly fixed to the tibial gear connector (8-2). The tibial gear connector (8-2) and the transmission rod connector (7-2) in the lower four-bar linkage are coaxially connected at the ankle joint transmission assembly (9) and rotate independently. The tarsal link assembly (10) includes a tarsal link (10-1), a tarsal rod connector (10-2), a tarsal rod gear connector (10-3), and a tarsal rod gear (10-4). The tarsal rod gear connector (10-3) and the tarsal rod gear (10-4) are coaxially fixed. One end of the tarsal link (10-1) is fixed to the tarsal rod connector (10-2), and the other end is symmetrically and parallelly fixed to the tarsal rod gear connector (10-3). The tarsal rod gear connector (10-3) is installed on the ankle joint transmission assembly (9). The tibial gear (8-3) and the tarsal rod gear (10-4) are arranged side by side and mesh. The foot parallel linkage assembly (11) includes a foot frame (11-1) and a foot rotation shaft (11-2). The two sets of transmission linkage assemblies (7) and the two sets of tarsal linkage assemblies (10) are connected by the two foot rotation shafts (11-2).

8. A bird-inspired perching method, used in the bird-inspired perching amphibious robot as described in any one of claims 1 to 7, characterized in that, The habitat method of the amphibious robot that mimics bird-like jumping includes: S11. The drone visually identifies the position of the branch to be perched on, adjusts the hip joint angle so that the posture of the bionic bird claw component (12) is consistent with the landing direction of the drone, and monitors and adjusts the hip joint angle in real time through vision. S12. Adjust the knee joint motor (6-1) to passive mode, adjust the bionic bird claw assembly (12) to the extended state through the claw motor deceleration module (3), and adjust the tension of the claw flexion rope (3-9) to the pre-tension state. S13. The drone lands on the tree branch at the planned perching speed vector. The bionic bird claw component (12) stops moving due to the impact force. The inertia of the drone body forces the leg module to fold passively. The claw bending rope (3-9) is tensioned at the ankle joint transmission component (9), driving the bionic bird claw component (12) to passively grasp the tree branch. S14. The drone uses the IMU to calculate its body attitude and adjusts the hip joint angle to maintain balance and complete the resting process.

9. The habitat method for the amphibious robot mimicking bird-like hopping as described in claim 8, characterized in that, In S11, the UAV visually identifies the posture of the branch to be perched on, adjusts the hip joint angle so that the posture of the bionic bird claw component (12) is consistent with the landing direction of the UAV, and monitors and adjusts the hip joint angle in real time through vision, including: S111, The three-dimensional coordinate parameters of the tree branch to be perched on are collected by the binocular vision module mounted on the drone body. At the same time, the UAV's own three-dimensional coordinate parameters are collected through the UAV flight control system. ); S112. Based on the three-dimensional coordinate parameters of the tree branch and the three-dimensional coordinate parameters of the UAV, calculate the horizontal descent direction angle of the UAV pointing towards the tree branch. ; S113. The actual deflection angle of the hip joint is collected by a Hall angle sensor deployed on the hip joint rotation assembly (15). ; S114, The descent direction angle Set as target angle for hip joint After the hip joint rotation component (15) causes the leg module to deflect, the opening direction of the bionic bird claw component (12) is consistent with the landing direction. S115. Output PWM duty cycle command to the hip joint motor (4-1) using the following adjustment strategy. : (1) If Output Control the hip joint motor (4-1) to rotate forward, thereby driving the hip joint rotation assembly (15) to increase the deflection angle; (2) If Output =40%, control the hip joint motor (4-1) to reverse, drive the hip joint rotation component (15) to reduce the deflection angle; (3) If Output =50%, stop the hip joint motor (4-1) from rotating; S116. Repeat S111-S115 every 100ms. or Recalculate the landing direction angle and update the target hip angle; when three consecutive acquisitions are completed... At this time, it is determined that the hip joint angle adjustment is complete.

10. The habitat method for the amphibious robot mimicking bird-like hopping as described in claim 9, characterized in that, S12, adjusting the knee joint motor (6-1) to passive mode, adjusting the bionic bird claw assembly (12) to an extended state through the claw motor reduction module (3), and adjusting the tension of the claw flexion rope (3-9) to a pre-tensioned state includes: S121. Send a mode switching command to the knee joint motor (6-1). The power output of the knee joint motor (6-1) is cut off, putting the knee joint in a passive free rotation state; the mode signal fed back by the knee joint motor driver is read. ,when When =1, the passive mode switch is considered complete; S122, Output PWM duty cycle command to the claw drive motor (3-1) of the claw motor reduction module (3). =40%, drive the claw drive motor (3-1) to reverse, causing the four toe modules (12-2) of the bionic bird claw assembly (12) to fully extend; read the claw extension limit switch signal. ,when When =1, output =50%, stop the claw drive motor (3-1) from rotating; S123, Control the stepper motor of the rope pretensioning bolt to rotate and output the pretensioning rotation command. Real-time acquisition of tension values ​​of the claw-bending rope (3-9) ,when When the torque reaches 8N, the stepper motor of the pre-tightening bolt stops rotating, and it is determined that the claw bending rope (3-9) has reached the pre-tension state.

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