Microminiature bionic flying and climbing reconnaissance robot

Abstract

The utility model discloses a microminiature bionic flying and climbing reconnaissance robot which comprises a microminiature unmanned aerial vehicle, a modularized battery and a bionic barbed mechanism. The bionic barbed mechanism comprises a mounting frame, the top of the mounting frame is fixedly connected with the modular battery, bionic barbed rotating shafts are arranged at the front end and the rear end of the mounting frame respectively, rotating shaft gears are arranged at the left ends and the right ends of the two bionic barbed rotating shafts respectively, and the two rotating shaft gears located on the same side are meshed with each other; a bionic barbed driving motor is arranged on the mounting frame, a motor gear is arranged on an output shaft of the bionic barbed driving motor, and the motor gear is meshed with any rotating shaft gear; multi-joint hook feet are arranged at the left ends and the right ends of the two bionic barbed rotating shafts respectively, the four multi-joint hook feet jointly form a hook claw, and a plurality of fine barbs are arranged on the four multi-joint hook feet. The unmanned aerial vehicle has the advantages of real-time deployment and hidden preposition, and can be parked at a place where a conventional unmanned aerial vehicle cannot be parked according to a real-time picture.

Description

Technical Field

[0001] The utility model belongs to the field of bionic robots, and in particular relates to a micro-sized bionic flying and climbing reconnaissance robot. Background Art

[0002] Nowadays, drones have been widely used in military, disaster relief, plant protection, photography and other fields. For example, in conventional operations, urban operations or special operations, drones can not only conduct aerial reconnaissance on the battlefield to perceive the battlefield situation, but also serve as an optional means of aerial strike to achieve unmanned reconnaissance and attack. For another example, in disaster search and rescue work, drones can often replace search and rescue personnel or search and rescue dogs to go to more dangerous or unclear areas to conduct disaster surveys, thereby reducing safety risks during search and rescue.

[0003] However, the existing types of drones still cannot meet the use requirements of certain specific scenarios in military reconnaissance and disaster search and rescue. For example, the Chinese invention patent application with publication number CN108082487A, "A drone for disaster rescue", although this application can realize real-time monitoring of the disaster situation at the disaster site, does not have a bionic gripper that can dock on branches or railings, resulting in the inability to stay at the disaster site for a long time due to limited power. Another example is the Chinese invention patent application with publication number CN113400872A, "A six-legged robot for land and air use", although this application has a six-legged gripper that can realize crawling and grasping, but its overall size is large, which is not only inconvenient for tactical teams to carry, but also too obvious on the battlefield. The target is poorly concealed and easily detected by the enemy or terrorists.

[0004] Therefore, it is necessary to develop a special micro-bionic flying and climbing reconnaissance robot specifically for certain specific usage scenarios in military reconnaissance and disaster search and rescue. Utility Model Content

[0005] In view of the defects of the above-mentioned prior art, the utility model provides a miniature bionic flying and climbing reconnaissance robot with the characteristics of timely deployment, concealed front placement, temporary docking, etc., providing physical structural support for robots specially used in certain specific usage scenarios in military reconnaissance and disaster search and rescue.

[0006] In order to solve the above technical problems and achieve the above technical effects, the present invention is implemented through the following technical solutions:

[0007] A micro-sized bionic flying and climbing reconnaissance robot comprises a micro-sized unmanned aerial vehicle, a modular battery and a bionic hook-and-thorn mechanism; the modular battery is detachably arranged on the bottom surface of the micro-sized unmanned aerial vehicle, and the bionic hook-and-thorn mechanism is fixedly arranged on the lower surface of the modular battery;

[0008] The bionic hook mechanism comprises a mounting frame, the top of which is fixedly connected to the modular battery, a bionic hook rotating shaft is respectively arranged at the front and rear ends of the mounting frame so as to penetrate horizontally therethrough, a rotating shaft gear is respectively fixedly sleeved on the left and right ends of the two bionic hook rotating shafts, and the rotating shaft gears on the two bionic hook rotating shafts on the same side are meshed with each other; a bionic hook driving motor is arranged on the mounting frame, a motor gear is fixedly sleeved on the output shaft of the bionic hook driving motor, and the motor gear is meshed with any one of the rotating shaft gears; a multi-joint hook foot is respectively fixedly arranged at the left and right ends of the two bionic hook rotating shafts, four of the multi-joint hook feet together constitute a hook claw, and a plurality of tiny barbs are integrally formed on the four multi-joint hook feet.

[0009] Furthermore, each of the multi-joint hook feet includes a first rocker arm, a second rocker arm, a third rocker arm and a fourth rocker arm, one end of the first rocker arm is fixedly connected to a corresponding end on the bionic hook barb rotating shaft, the other end of the first rocker arm is hinged to the upper end of the second rocker arm, the lower end of the second rocker arm is in a hook shape, the lower end of the third rocker arm is fixedly connected to the upper end of the second rocker arm, the upper end of the third rocker arm is hinged to one end of the fourth rocker arm, and an auxiliary rotating shaft is respectively arranged at the front and rear ends of the mounting frame to penetrate horizontally left and right, and the left and right ends of the two auxiliary rotating shafts are respectively fixedly connected to the other end of the corresponding fourth rocker arm; the barbs are arranged on the surfaces of the first rocker arm and the second rocker arm.

[0010] Furthermore, the first rocker arm and the fourth rocker arm are equal in length and curvature, and the fourth rocker arm is parallel to the first rocker arm in vertical direction, the second rocker arm and the third rocker arm are an integrally formed two-section rocker arm, and the angle between the second rocker arm and the first rocker arm is the same as the angle between the fourth rocker arm and the third rocker arm.

[0011] Further, the mounting frame is composed of a fixed top plate, a shaft mounting side plate, a fixed bottom plate and a motor mounting seat, the two shaft mounting side plates are symmetrically arranged on the left and right sides of the fixed top plate, the fixed bottom plate is located below the fixed top plate, and is respectively fixedly connected to the bottom ends of the left and right shaft mounting side plates, and the motor mounting seat is integrally formed and arranged at the front end of the fixed bottom plate;

[0012] The fixed top plate is fixedly connected to the bottom surface of the modular battery, one of the bionic hook barb rotating shafts is arranged at the lower front end of the left and right two rotating shaft mounting side plates through the corresponding bearing, and the other of the bionic hook barb rotating shaft is arranged at the lower rear end of the left and right two rotating shaft mounting side plates through the corresponding bearing; correspondingly, one of the auxiliary rotating shafts is arranged at the upper front end of the left and right two rotating shaft mounting side plates through the corresponding bearing, and the other of the auxiliary rotating shaft is arranged at the upper rear end of the left and right two rotating shaft mounting side plates through the corresponding bearing; the bionic hook barb driving motor is fixedly installed in the motor mounting seat.

[0013] Furthermore, the bionic hook drive motor is a micro planetary reduction hollow cup DC motor.

[0014] Furthermore, the modular battery is slidingly connected to the lower surface of the micro-unmanned aerial vehicle through a dovetail groove structure, and is fixedly connected to the lower surface of the micro-unmanned aerial vehicle through a tenon structure. Electrode contacts are provided on the lower surface of the micro-unmanned aerial vehicle, and positive and negative electrodes are provided on the upper surface of the modular battery. When the modular battery is correctly installed on the lower surface of the micro-unmanned aerial vehicle through the dovetail groove structure and the tenon structure, the positive and negative electrodes are respectively fitted with the corresponding electrode contacts.

[0015] Furthermore, the micro-unmanned aerial vehicle is a micro-unmanned helicopter.

[0016] Furthermore, the micro unmanned helicopter comprises a micro helicopter body, a micro main rotor is arranged on the top of the micro helicopter body, a micro tail rotor is arranged at the rear end of the micro helicopter body through a tail rod, a micro main camera is arranged at the front end of the micro helicopter body, and a main control board, a micro brushless motor for providing lift, a micro servo for controlling the flight direction, a micro image transmission module for transmitting images, an optical flow camera and an air pressure module for assisting hovering are arranged inside the micro helicopter body;

[0017] The output shaft of the micro brushless motor is transmission-connected to the rotating shaft of the micro main rotor, the rotating shaft of the micro main rotor is transmission-connected to the micro tail rotor through a linkage mechanism located in the tail rod, the swing arm of the micro servo is fixedly connected to the micro main rotor, and the main control board is electrically connected to the micro brushless motor, the micro servo, the micro image transmission module, the optical flow camera, the air pressure module, the micro main camera, the bionic hook drive motor and the modular battery respectively;

[0018] The modular batteries respectively power the main control board, the micro brushless motor, the micro servo, the micro image transmission module, the optical flow camera, the air pressure module, the micro main camera, and the bionic hook drive motor.

[0019] Furthermore, the micro main camera adopts a micro photoelectric camera with thermal imaging and night vision functions to meet nighttime reconnaissance needs.

[0020] Furthermore, a tail rotor anti-collision bar is provided at the end of the tail boom, and the micro tail rotor anti-collision bar extends from the end of the tail boom in an oblique rearward direction to below the micro tail rotor.

[0021] The beneficial effects of the utility model are:

[0022] The utility model integrates the key technology of a micro-unmanned reconnaissance platform and the cutting-edge technology of micro-bionic flying and climbing. It is small in size and has a micro-bionic claw with barbs. Therefore, it is not only easy to carry, but also has the advantages of extremely small targets, instant deployment, and concealed front placement. It can even fly to small spaces that cannot be entered by some search and rescue personnel or search and rescue dogs. Moreover, during the process of covert reconnaissance, it can also dock at places where conventional drones cannot dock, such as tree branches or eaves, according to real-time images, thereby further improving concealment and avoiding the problem of excessive power consumption caused by long-term flight or hovering.

[0023] Therefore, the utility model is expected to be widely used in certain specific usage scenarios in military reconnaissance and disaster search and rescue, and provide physical structure support for special robots required in military reconnaissance and disaster search and rescue.

[0024] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiment of the utility model with the accompanying drawings. The specific implementation method of the utility model is given in detail by the following embodiments and their drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0026] Figure 1 It is a front structural stereogram of the utility model;

[0027] Figure 2 This is a three-dimensional diagram of the back structure of the utility model;

[0028] Figure 3This is an enlarged view of the right side structure of the bionic hook and barb mechanism of the utility model;

[0029] Figure 4 This is an enlarged view of the left side structure of the bionic hook and barb mechanism of the utility model;

[0030] Figure 5 This is an enlarged structural diagram of the multi-jointed hook foot of the utility model;

[0031] Figure 6 This is the electrical connection block diagram of the utility model. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings so that the purpose, features and advantages of the present invention can be more clearly understood. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0033] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0034] Unless the context requires otherwise, throughout the specification and claims, the word "comprise" and variations such as "include" and "have" should be construed in an open, inclusive sense, ie, should be interpreted as "including, but not limited to."

[0035] References throughout the specification to "one embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0036] As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and / or" unless the context clearly dictates otherwise.

[0037] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0038] See also Figure 1-6As shown, a micro-sized bionic flying and climbing reconnaissance robot comprises a micro-sized unmanned aerial vehicle 1, a modular battery 2 and a bionic hook and thorn mechanism 3. The modular battery 2 is detachably arranged on the bottom surface of the micro-sized unmanned aerial vehicle 1, and the bionic hook and thorn mechanism 3 is fixedly arranged on the lower surface of the modular battery 2.

[0039] As an embodiment of the present invention, the micro-unmanned aerial vehicle 1 is a micro-unmanned helicopter, comprising a micro-helicopter body 101, the top of the micro-helicopter body 101 is provided with a micro-main rotor 102, the rear end of the micro-helicopter body 101 is provided with a micro-tail rotor 104 through a tail rod 103, the end of the tail rod 103 is provided with a tail rotor anti-collision rod 111, and the micro-tail rotor anti-collision rod 111 extends from the end of the tail rod 103 to the rear oblique direction of the micro-tail rotor 1 04, the micro tail rotor anti-collision rod 111 also plays a certain role of counterweight balance. A micro main camera 105 is arranged at the front end of the micro helicopter body 101. The micro main camera 105 preferably adopts a micro photoelectric camera with thermal imaging and night vision functions to meet the needs of night reconnaissance. The interior of the micro helicopter body 101 is provided with a main control board 112, a micro brushless motor 106, a micro servo 107, a micro image transmission module 108, an optical flow camera 109 and an air pressure module 110.

[0040] The output shaft of the micro brushless motor 106 is connected to the rotating shaft of the micro main rotor 102 to provide lift. The rotating shaft of the micro main rotor 102 is connected to the micro tail rotor 104 through a linkage mechanism located in the tail rod 103 to achieve the overall up and down and left and right movement requirements. The swing arm of the micro servo 107 is fixedly connected to the micro main rotor 102 to control the flight direction.

[0041] Inside the micro helicopter body 101, the main control board 112 is respectively connected to the micro brushless motor 106, the micro servo 107, the micro image transmission module 108, the optical flow camera 109, the air pressure module 110, and the micro main camera 105. In addition to controlling the micro brushless motor 106 and the micro servo 107, the main control board 112 is also responsible for transmitting the image captured by the micro main camera 105 to the rear operator or control room through the micro image transmission module 108, and is also responsible for using the image of the optical flow camera 109 and the detection data of the air pressure module 110 to achieve auxiliary hovering.

[0042] As an embodiment of the utility model, the modular battery 2 is slidably connected to the lower surface of the micro helicopter body 101 through a dovetail groove structure, and is fixedly connected to the lower surface of the micro helicopter body 101 through a tenon structure, so as to realize a quick replacement function when the power is exhausted. The lower surface of the micro helicopter body 101 is provided with electrode contacts, and the upper surface of the modular battery 2 is provided with positive and negative electrodes. When the modular battery 2 is correctly installed on the lower surface of the micro helicopter body 101 through the dovetail groove structure and the tenon structure, the positive and negative electrodes are respectively fitted with the corresponding electrode contacts, so that the modular battery 2 can simultaneously power the main control board 112, the micro brushless motor 106, the micro servo 107, the micro image transmission module 108, the optical flow camera 109, the air pressure module 110 and the micro main camera 105.

[0043] As an embodiment of the utility model, the bionic hook mechanism 3 mainly includes a mounting frame, a bionic hook rotation axis 301, an auxiliary rotation axis 310, a bionic hook drive motor 303 and a multi-joint hook foot.

[0044] The mounting frame is composed of a fixed top plate 311, a shaft mounting side plate 312, a fixed bottom plate 313 and a motor mounting seat 314. The fixed top plate 311 is fixedly connected to the bottom surface of the modular battery 2. The two shaft mounting side plates 312 are symmetrically arranged on the left and right sides of the fixed top plate 311. The fixed bottom plate 313 is located below the fixed top plate 311 and is fixedly connected to the bottom ends of the left and right shaft mounting side plates 312 respectively. The shapes of the left and right shaft mounting side plates 312 are both inverted trapezoidal. The motor mounting seat 314 is integrally formed at the front end of the fixed bottom plate 313 and protrudes from the front end surface of the lower part of the shaft mounting side plate 312. The bionic hook drive motor 303 is fixedly installed in the motor mounting seat 314.

[0045] One of the bionic hook barb rotating shafts 301 is disposed at the lower front end of the left and right rotating shaft mounting side plates 312 through corresponding bearings, and the other bionic hook barb rotating shaft 301 is disposed at the lower rear end of the left and right rotating shaft mounting side plates 312 through corresponding bearings. Correspondingly, one of the auxiliary rotating shafts 310 is disposed at the upper front end of the left and right rotating shaft mounting side plates 312 through corresponding bearings, and the other auxiliary rotating shaft 310 is disposed at the upper rear end of the left and right rotating shaft mounting side plates 312 through corresponding bearings.

[0046] A rotating shaft gear 302 is fixedly sleeved on the left and right ends of the two bionic hook barb rotating shafts 301, and the rotating shaft gears 302 on the two bionic hook barb rotating shafts 301 on the same side are meshed with each other. A motor gear 304 is fixedly sleeved on the output shaft of the bionic hook barb driving motor 303, and the motor gear 304 is meshed with any one of the rotating shaft gears 302.

[0047] The left and right ends of the two bionic hook barb rotating shafts 301 are respectively fixedly provided with a multi-joint hook foot. Each of the multi-joint hook feet includes a first rocker arm 306, a second rocker arm 307, a third rocker arm 308 and a fourth rocker arm 309, one end of the first rocker arm 306 is fixedly connected to a corresponding end of the bionic hook barb rotating shaft 301, the other end of the first rocker arm 306 is hinged to the upper end of the second rocker arm 307, the lower end of the second rocker arm 307 is hook-shaped, the surfaces of the first rocker arm 306 and the second rocker arm 307 are both integrally provided with a plurality of fine barbs 305, and the first rocker arm 306 is used to drive the second rocker arm 307 to swing. The lower end of the third rocker arm 308 is fixedly connected to the upper end of the second rocker arm 307, and the upper end of the third rocker arm 308 is hinged to one end of the fourth rocker arm 309. The front and rear ends of the mounting frame are respectively provided with an auxiliary shaft 310 that passes through horizontally on the left and right sides. The left and right ends of the two auxiliary shafts 310 are respectively fixedly connected to the other end of the corresponding fourth rocker arm 309. The third rocker arm 308 assists the swing of the second rocker arm 307 through the fourth rocker arm 309 to improve stability.

[0048] The first rocker arm 306 and the fourth rocker arm 309 are equal in length and curvature, and the fourth rocker arm 309 is parallel to the first rocker arm 306 in upper and lower directions. The first rocker arm 306, the third rocker arm 308 and the fourth rocker arm 309 form a linked quadrilateral connecting rod. The second rocker arm 307 and the third rocker arm 308 are an integrally formed two-section rocker arm. The angle between the second rocker arm 307 and the first rocker arm 306 is the same as the angle between the fourth rocker arm 309 and the third rocker arm 308.

[0049] The four multi-joint hook feet together form a bionic claw with barbs. By opening and closing the bionic claw, the micro-bionic flying and climbing reconnaissance robot can not only land on high places or objects with rough surfaces, but also land on uneven surfaces. At the same time, it also has a certain crawling function, thereby realizing take-off and landing in scenes such as treetops and eaves where conventional drones cannot be used.

[0050] The bionic hook barb drive motor 303 is electrically connected to the main control board 112, controlled by the main control board 112, and powered by the modular battery 2. The bionic hook barb drive motor 303 is preferably a micro planetary reduction hollow cup DC motor, and the main control board 112 can sense the current of the DC motor, thereby feeding back the clamping degree of the four multi-joint hook feet, and immediately cutting off the power to prevent long-term overcurrent heating.

[0051] Due to its small size, the utility model is not only convenient for tactical teams or search and rescue personnel to carry around and can be deployed immediately, but also has a very small target, and can be placed in a hidden position, or even fly to a narrow space that search and rescue personnel or search and rescue dogs cannot enter. In addition, since the utility model has a miniature bionic hook with barbs, it can also find branches or eaves for landing according to the real-time picture during the process of covert reconnaissance, which not only further improves the concealment, but also avoids the problem of excessive power consumption caused by long-term flight or hovering.

[0052] It should be noted that the technical solution of the utility model only seeks to protect the physical structure of the robot, and does not involve new programs and software improvements. The flight control, navigation, image transmission, communication and other methods used to implement the work of the utility model can all adopt currently known or public existing technologies.

[0053] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A miniature bionic flying and climbing reconnaissance robot, characterized in that: It comprises a micro-sized unmanned aerial vehicle (1), a modular battery (2) and a bionic hook-and-thorn mechanism (3); the modular battery (2) is detachably arranged on the bottom surface of the micro-sized unmanned aerial vehicle (1), and the bionic hook-and-thorn mechanism (3) is fixedly arranged on the lower surface of the modular battery (2); The bionic hook mechanism (3) comprises a mounting frame, the top of which is fixedly connected to the modular battery (2), a bionic hook rotating shaft (301) is respectively provided at the front and rear ends of the mounting frame so as to be laterally penetrated therethrough, a rotating shaft gear (302) is respectively fixedly sleeved on the left and right ends of the two bionic hook rotating shafts (301), and the rotating shaft gears (302) on the two bionic hook rotating shafts (301) located on the same side are meshed with each other; a bionic hook driving motor (303) is provided on the mounting frame, a motor gear (304) is fixedly sleeved on the output shaft of the bionic hook driving motor (303), and the motor gear (304) is meshed with any one of the rotating shaft gears (302); a multi-joint hook foot is respectively fixedly provided at the left and right ends of the two bionic hook rotating shafts (301), four multi-joint hook feet together constitute a hook claw, and a plurality of fine barbs (305) are integrally formed on the four multi-joint hook feet.

2. The miniature bionic flying and climbing reconnaissance robot according to claim 1 is characterized in that: Each of the multi-jointed hook feet comprises a first rocker arm (306), a second rocker arm (307), a third rocker arm (308) and a fourth rocker arm (309); one end of the first rocker arm (306) is fixedly connected to a corresponding end of the bionic hook barb rotating shaft (301); the other end of the first rocker arm (306) is hinged to the upper end of the second rocker arm (307); the lower end of the second rocker arm (307) is in a hook shape; the lower end of the third rocker arm (308) is fixedly connected to the upper end of the second rocker arm (307); the upper end of the third rocker arm (308) is hinged to one end of the fourth rocker arm (309); an auxiliary rotating shaft (310) is respectively arranged to penetrate the front and rear ends of the mounting frame in a transverse manner in the left and right directions; the left and right ends of the two auxiliary rotating shafts (310) are respectively fixedly connected to the other end of the corresponding fourth rocker arm (309); and the barbs (305) are arranged on the surfaces of the first rocker arm (306) and the second rocker arm (307).

3. The miniature bionic flying and climbing reconnaissance robot according to claim 2 is characterized in that: The first rocker arm (306) and the fourth rocker arm (309) are equal in length and arc, and the fourth rocker arm (309) is vertically parallel to the first rocker arm (306); the second rocker arm (307) and the third rocker arm (308) are an integrally formed two-section rocker arm; and the angle between the second rocker arm (307) and the first rocker arm (306) is the same as the angle between the fourth rocker arm (309) and the third rocker arm (308).

4. The miniature bionic flying and climbing reconnaissance robot according to claim 3 is characterized in that: The mounting frame is composed of a fixed top plate (311), a rotating shaft mounting side plate (312), a fixed bottom plate (313) and a motor mounting seat (314); the two rotating shaft mounting side plates (312) are symmetrically arranged on the left and right sides of the fixed top plate (311); the fixed bottom plate (313) is located below the fixed top plate (311) and is fixedly connected to the bottom ends of the left and right rotating shaft mounting side plates (312) respectively; and the motor mounting seat (314) is integrally formed and arranged at the front end of the fixed bottom plate (313); The fixed top plate (311) is fixedly connected to the bottom surface of the modular battery (2); one of the bionic hook barb rotating shafts (301) is arranged at the lower front end of the left and right rotating shaft mounting side plates (312) through a corresponding bearing, and another of the bionic hook barb rotating shafts (301) is arranged at the lower rear end of the left and right rotating shaft mounting side plates (312) through a corresponding bearing; correspondingly, one of the auxiliary rotating shafts (310) is arranged at the upper front end of the left and right rotating shaft mounting side plates (312) through a corresponding bearing, and another of the auxiliary rotating shafts (310) is arranged at the upper rear end of the left and right rotating shaft mounting side plates (312) through a corresponding bearing; the bionic hook barb driving motor (303) is fixedly mounted in the motor mounting seat (314).

5. The miniature bionic flying and climbing reconnaissance robot according to claim 1 is characterized in that: The bionic hook barb drive motor (303) is a micro planetary reduction hollow cup DC motor.

6. The miniature bionic flying and climbing reconnaissance robot according to claim 1 is characterized in that: The modular battery (2) is slidably connected to the lower surface of the micro-sized unmanned aerial vehicle (1) via a dovetail groove structure, and is fixedly connected to the lower surface of the micro-sized unmanned aerial vehicle (1) via a tenon structure; the lower surface of the micro-sized unmanned aerial vehicle (1) is provided with electrode contacts, and the upper surface of the modular battery (2) is provided with positive and negative electrodes; when the modular battery (2) is correctly installed on the lower surface of the micro-sized unmanned aerial vehicle (1) via the dovetail groove structure and the tenon structure, the positive and negative electrodes are respectively in contact with the corresponding electrode contacts.

7. The miniature bionic flying and climbing reconnaissance robot according to claim 1 is characterized in that: The micro-unmanned aerial vehicle (1) is a micro-unmanned helicopter.

8. The miniature bionic flying and climbing reconnaissance robot according to claim 7 is characterized in that: The micro unmanned helicopter comprises a micro helicopter body (101), a micro main rotor (102) is arranged on the top of the micro helicopter body (101), a micro tail rotor (104) is arranged at the rear end of the micro helicopter body (101) via a tail rod (103), a micro main camera (105) is arranged at the front end of the micro helicopter body (101), and a main control board (112), a micro brushless motor (106) for providing lift, a micro servo (107) for controlling the flight direction, a micro image transmission module (108) for transmitting images, an optical flow camera (109) for assisting hovering, and an air pressure module (110) are arranged inside the micro helicopter body (101); The output shaft of the micro brushless motor (106) is transmission-connected to the rotating shaft of the micro main rotor (102); the rotating shaft of the micro main rotor (102) is transmission-connected to the micro tail rotor (104) via a linkage mechanism located in the tail rod (103); the swing arm of the micro servo (107) is fixedly connected to the micro main rotor (102); and the main control board (112) is electrically connected to the micro brushless motor (106), the micro servo (107), the micro image transmission module (108), the optical flow camera (109), the air pressure module (110), the micro main camera (105), the bionic hook drive motor (303) and the modular battery (2) respectively; The modular battery (2) respectively supplies power to the main control board (112), the micro brushless motor (106), the micro servo (107), the micro image transmission module (108), the optical flow camera (109), the air pressure module (110), the micro main camera (105), and the bionic hook drive motor (303).

9. The miniature bionic flying and climbing reconnaissance robot according to claim 8 is characterized in that: The miniature main camera (105) adopts a miniature photoelectric camera with thermal imaging and night vision functions to meet the needs of nighttime reconnaissance.

10. The miniature bionic flying and climbing reconnaissance robot according to claim 8, characterized in that: A tail rotor anti-collision rod (111) is provided at the end of the tail rod (103), and the micro tail rotor anti-collision rod (111) extends from the end of the tail rod (103) in an oblique rearward direction to below the micro tail rotor (104).

Images