Bionic flying vehicle with flexible robotic arm

Abstract

This utility model relates to a biomimetic aircraft with a flexible robotic arm, comprising an aircraft body, a rotor assembly for generating wind power mounted on the aircraft body, a soft robotic arm and a drive assembly for controlling changes in the shape of the soft robotic arm; this utility model, through a soft robotic arm consisting of a drive assembly with line drive and articulated arms connected in series, and a suction cup on it, combined with an angle adjustment assembly, solves the problems of limited degrees of freedom and unreliable grasping of existing UAV robotic arms, thereby achieving adaptive, compliant and stable grasping operations in complex three-dimensional space, significantly expanding the application range of UAVs in complex environments.

Description

Technical Field

[0001] This utility model relates to the field of aircraft technology, specifically to a bionic aircraft with a flexible robotic arm. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are unmanned aerial vehicles that can be remotely controlled or autonomously programmed. With their advantages of small size, high maneuverability, and low cost, they are widely used in logistics transportation, agricultural plant protection, power line inspection, aerial photography, and emergency rescue. Among these, multi-rotor UAVs are particularly common in these mission scenarios due to their vertical takeoff and landing and hovering capabilities.

[0003] Adding robotic arms to drones to enhance their active operational capabilities has become an important research direction. However, traditional rigid robotic arms are heavy, lack flexibility, and are prone to rigid impacts upon contact with objects, posing safety hazards. Soft robotics technology offers a new approach to solving this problem. Its tendon-driven method achieves bending and extension of the robotic arm by pulling cables threaded within the flexible arm. However, in existing technologies, tendon-driven soft arms mostly use single or two cables for control, and lack other grasping aids. They can only achieve simple unidirectional bending, with limited degrees of freedom, making it difficult to perform complex three-dimensional spatial movements and high-precision grasping. In other words, existing drone-flexible robotic arm combinations generally suffer from limited workspace, single grasping modes, and insufficient adaptability. This severely restricts the safety, reliability, and success rate of drones performing tasks in unstructured environments, greatly limiting their application boundaries in complex operational scenarios. Summary of the Invention

[0004] This invention addresses the aforementioned problems in the structural design of unmanned aerial vehicles (UAVs) by proposing a biomimetic aircraft with a flexible robotic arm. This solves the problems of limited degrees of freedom and unreliable grasping in existing UAV robotic arms, thereby enabling adaptive, compliant, and stable grasping operations in complex three-dimensional spaces and significantly expanding the application range of UAVs in complex environments.

[0005] The purpose of this invention is achieved through the following technical solution: a bionic aircraft with a flexible robotic arm, comprising an aircraft body, a rotor assembly for generating wind power disposed on the aircraft body, and a soft robotic arm and a drive assembly for controlling the change of shape of the soft robotic arm disposed on the aircraft body.

[0006] Preferably, the aircraft body has several drive support members on one side, each drive support member has angle adjustment components on both sides, each angle adjustment component has a servo element at its end, the servo element's shaft end is connected to the top of the drive component, the top of the soft robotic arm is connected to the inside of the drive component, and the drive component pulls the soft robotic arm to change its shape via a line drive.

[0007] Preferably, each of the angle adjustment components includes a first motor, a drive shaft, and a servo support frame. One side of each first motor is connected to the side wall of the drive support, and the shaft of the first motor is connected to the drive shaft. The surface of the drive shaft is connected to the servo support frame by a clamp, and each servo element is installed inside the servo support frame.

[0008] Preferably, the drive assembly includes a drive support base plate, a wheel support member, a drive support upper shell, a rope wheel, and a second motor. The surface of the drive support base plate is equipped with a wheel support member. The center of the wheel support member is hollow and has a rope wheel that can rotate inside. A second motor that drives the rope wheel to rotate is installed on the side wall of each wheel support member. A rope is wound on each rope wheel and passes through a through hole on the surface of the drive support base plate to connect to the soft robotic arm. The wheel support member and the second motor are covered by a drive support upper shell.

[0009] Preferably, the soft robotic arm includes several articulated arms that are scaled proportionally from top to bottom. Each articulated arm has a polygonal cross-section. Each articulated arm has several inclined support surfaces on its bottom-facing side, and each inclined support surface also has a first wire mounting hole. The articulated arm has a second wire mounting hole in its center. A rope connected to a rope wheel is installed in both the first and second wire mounting holes.

[0010] Preferably, the sidewalls of the articulated arms from top to bottom are also provided with proportionally scaled adsorption elements, each of which is made of silicone and has a cross-sectional area smaller than the height of the connected articulated arms.

[0011] Preferably, the rotor assembly includes a flight support arm, a third motor, and a rotor. Several flight support arms extend outward from the interior of the aircraft body. Each flight support arm has a third motor at its end, and a rotor is mounted on the shaft end of the third motor. The aircraft body is also equipped with a camera.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The soft robotic arm itself has a variable length: its extension and retraction are controlled by a central rope. The drive support is installed on the UAV body as a basic support. The angle adjustment assembly includes a first motor, a drive shaft, and a servo support frame. The first motor controls the pitch swing (forward and backward rotation); the servo element is installed on the servo support frame and controls the drive assembly to perform yaw rotation (vertical rotation). The combination of the two movements allows the entire soft robotic arm drive assembly to perform pitch and yaw rotation, thereby further "pointing" the arm to the target area in addition to the extension, retraction, and bending of the soft robotic arm, greatly expanding the effective working space of the UAV.

[0014] 2. The three lateral ropes on the surface of the drive support plate are arranged in an equilateral triangle, providing omnidirectional bending capability. By coordinating the extension and retraction lengths of these three ropes (i.e., controlling the tension of each tendon), a tension difference can be generated in any direction. Simultaneously retracting the left and right rear ropes causes the soft robotic arm to bend forward; retracting only the front rope causes the soft robotic arm to bend backward. By combining any two sets of ropes, bending in any direction within 360 degrees can be achieved. Decoupled extension and bending: The central rope specifically controls extension, while the three lateral ropes coordinate to control bending. These two motion modes are completely independent and can be performed synchronously. This means that the soft robotic arm can extend while bending to the left, or shorten while making an "S" shaped bend, achieving truly complex and reconfigurable three-dimensional spatial motion; this design completely solves the problem of low degrees of freedom in simple line-driven soft arms, achieving complex three-dimensional motion comparable to octopus tentacles;

[0015] 3. By integrating silicone adsorption elements onto each joint arm, the soft robotic arm first uses its flexibility to wrap around the target object, achieving initial envelopment and fixation. Subsequently, multiple adsorption elements simultaneously generate adsorption force. "Wrapping" allows the soft robotic arm to adapt to various shapes, while "adsorption" provides strong holding force, especially effective for smooth surfaces (such as glass and metal cans). This composite grasping mode of "wrapping + adsorption" greatly improves the reliability, stability, and versatility of grasping, enabling breakthrough progress in the grasping and hovering of drones. Attached Figure Description

[0016] Figure 1 This is a perspective view of the present utility model;

[0017] Figure 2 This is a front view of the present invention;

[0018] Figure 3 This is a partial perspective view of the present invention;

[0019] Figure 4 This is a perspective view of the articulated arm of this utility model;

[0020] Figure 5 This is a partial perspective view of the present invention.

[0021] The diagram shows the following components: 1. Aircraft body; 11. Drive support component; 2. Rotor assembly; 21. Flight support arm; 22. Third motor; 23. Rotor; 3. Soft robotic arm; 31. Articulated arm; 32. Inclined support surface; 33. First liner mounting hole; 34. Second liner mounting hole; 35. Adsorption element; 4. Drive assembly; 41. Drive support base plate; 42. Drive support upper shell; 43. Wheel support component; 44. Rope pulley; 45. Second motor; 5. Angle adjustment assembly; 51. Servo component; 52. First motor; 53. Drive shaft; 54. Servo support frame; 6. Camera. Detailed Implementation

[0022] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0023] like Figure 1 and Figure 2 As shown, a biomimetic aircraft with a flexible robotic arm includes an aircraft body 1 and a rotor assembly 2 for generating wind power, which is mounted on the aircraft body 1. The rotor assembly 2 includes a flight support arm 21, a third motor 22 and a rotor 23. Several flight support arms 21 are provided extending outward from the interior of the aircraft body 1. Each flight support arm 21 is provided with a third motor 22 at its end. The rotor 23 is mounted on the shaft end of the third motor 22. A camera 6 is also provided on the aircraft body 1.

[0024] The aircraft body 1 can adopt a central frame structure made of carbon fiber composite material to ensure sufficient strength and lightweight. Four flight support arms 21 extend from the inside to the outside of the aircraft body 1, which are symmetrically distributed. Each support arm is equipped with a brushless third motor 22 and a rotor 23, which together constitute the rotor assembly 2 that provides lift.

[0025] During the rotation of the third motor 22, the rotor 23 is driven to rotate. As the rotor 23 rotates, the air below it is compressed to form a high-pressure zone, while the air above it is thinner to form a low-pressure zone. This pressure difference generates lift. The lift is changed by adjusting the rotational speed difference of the rotor 23. The main control board inside the aircraft body 1 controls the rotational speed of the drone rotor 22, while the power battery 24 installed on the surface of the aircraft body 1 mainly provides power to the entire drone. A high-definition camera 6 is installed on the center of the surface of the aircraft body 1 for real-time shooting and transmission of high-definition operational images.

[0026] Please continue to refer to the reference. Figure 3The aircraft body 1 is also provided with a soft robotic arm 3 and a drive assembly 4 for controlling the change of shape of the soft robotic arm 3; a number of drive support members 11 are provided on one side of the aircraft body 1, and angle adjustment components 5 are provided on both sides of each drive support member 11. A servo element 51 is provided at the end of each angle adjustment component 5. The rotating shaft end of the servo element 51 is connected to the top of the drive assembly 4. The top of the soft robotic arm 3 is connected to the inside of the drive assembly 4, and the drive assembly 4 pulls the soft robotic arm 3 to change shape through a line drive.

[0027] Each of the angle adjustment components 5 includes a first motor 52, a drive shaft 53, and a servo support frame 54. One side of each first motor 52 is connected to the side wall of the drive support 11, and the shaft of the first motor 52 is connected to the drive shaft 53. The surface of the drive shaft 53 is connected to the servo support frame 54 by a clamp. Each servo element 51 is installed inside the servo support frame 54.

[0028] During implementation, the drive support 11 supports the angle adjustment assembly 5. The first motor 52 receives control signals and rotates 0-180°, which can drive the entire servo support frame 54 and the servo element 51 on it to pitch and swing within a corresponding range around the axis of the transmission shaft 53. The rotation of the shaft of the first motor 52 controls the flipping of the servo support frame 54 and the servo element 51 on it relative to the aircraft body 1 in the forward and backward direction. The rotation of the shaft of the servo element 51 controls the rotation of the drive assembly 4 relative to the servo support frame 54 in the vertical direction. The two work together to provide the first degree of freedom for the attitude adjustment of the entire drive assembly 4, so that the subsequent soft robotic arm 3 can flip forward and backward relative to the aircraft body 1 and then rotate.

[0029] Please continue to refer to the reference. Figure 5 The drive assembly 4 includes a drive support base plate 41, a wheel support member 43, a drive support upper shell 42, a rope wheel 44, and a second motor 45. The wheel support member 43 is mounted on the surface of the drive support base plate 41. The wheel support member 43 has a hollow design in the middle and a rope wheel 44 is rotatable inside. A second motor 45 is mounted on the side wall of each wheel support member 43 to drive the rope wheel 44 to rotate. A rope is wound on each rope wheel 44 and the rope passes through a through hole on the surface of the drive support base plate 41 and is connected to the soft robotic arm 3. The drive support upper shell 42 covers the wheel support member 43 and the second motor 45.

[0030] During implementation, the side wall of the drive support upper shell 42 is provided with several through holes to avoid the second motor 45; the wheel support member 43 is used to support the second motor 45, and the shaft of the second motor 45 passes through the side wall of the wheel support member 43 and is connected to the side wall of the rope wheel 44. The rope wheel 44 rotates with the rotation of the shaft of the second motor 45; during the rotation of each rope wheel 44, the winding and unwinding of the rope installed on the rope wheel 44 can be controlled. The winding and unwinding of each rope is the decisive driving force for controlling the shape change of the soft robotic arm 3.

[0031] Please refer to the reference. Figure 4 and Figure 5 In this embodiment, the soft robotic arm 3 includes several articulated arms 31 connected by ropes. The articulated arms 31 are scaled proportionally from top to bottom. The cross-section of each articulated arm 31 is polygonal. Each articulated arm 31 has several inclined support surfaces 32 on the side facing the bottom, and each inclined support surface 32 is also provided with a first wire mounting hole 33. The articulated arm 31 is provided with a second wire mounting hole 34. A rope connected to the rope wheel 44 is installed in both the first wire mounting hole 33 and the second wire mounting hole 34.

[0032] The four pulleys 44 on the surface of the drive support base plate 41 are divided into two groups with clearly defined functions:

[0033] The first group is: the central telescopic drive assembly 4: a central rope (using high-strength, low-elongation polyethylene fiber braided thread with a diameter of 0.8mm) is wound on the rope wheel 44 (called the central rope wheel 44) that controls the rope inside the second rope mounting hole 34. The rope passes through the central through hole of the drive support base plate 41 and is connected to the inside of the second rope mounting hole 34 of each joint arm 31.

[0034] The second group consists of: peripheral bending drive assembly 4: three lateral ropes (made of the same material as the central rope, but distinguishable by different colors) are wound around the other three rope pulleys 44 (called lateral rope pulleys 44) on the surface of the drive support base plate 41. These three ropes pass through three through holes on the drive support base plate 41 that are distributed in an equilateral triangle around the central rope and connect to the inside of the first rope mounting hole 33 of each articulated arm 31.

[0035] The top of the soft robotic arm 3 is fixed to the bottom of the drive support base plate 41 by a threaded connection. The robotic arm is formed by connecting and stacking multiple articulated arms 31 in series via a rope ladder. The articulated arms 31 are integrally cast from polyurethane elastomer with a Shore hardness of A50 through a mold, and are scaled down proportionally from top to bottom (scaling factor of approximately 0.9).

[0036] Each articulated arm 31 has three inclined support surfaces 32 at its bottom, tilting from the edges towards the center at an angle of approximately 45°. These three surfaces press against each other as the entire soft robotic arm 31 bends, providing non-linear deformation resistance and better support to prevent excessive bending. Each inclined support surface 32 has a first cable mounting hole 33 at its center for a lateral cable to pass through. The articulated arm 31 has a second cable mounting hole 34 at its geometric center for a central cable to pass through.

[0037] The specific implementation of the arrangement and control logic of the four ropes:

[0038] Rope threading method: After the four ropes are led out from their respective rope pulleys 44, they pass through the clearance through holes reserved on the drive support base plate 41 in sequence; the second rope mounting hole 34 (center hole) of the first joint arm 31 corresponds to the center rope, and the first rope mounting holes 33 on the other three sides of the first joint arm 31 correspond to the ropes on the three sides, and continue downward through the corresponding holes of all stacked joint arms 31, and finally anchored to the last joint arm 31 with anti-retrograde knots or metal buckles.

[0039] The second motor 45, connected to the central rope, rotates forward to wind up the central rope, generating a uniform axial tension on the entire soft robotic arm 3. All joint arms 31 are compressed, the elastic material deforms, and the robotic arm shortens as a whole. The second motor 45 then rotates in reverse to release the rope, releasing the elastic potential energy of the joint arms 31 and pushing the entire stacked structure back to its original length. An encoder inside the aircraft body 1 records the number of rotations of the second motor 45's shaft, allowing for precise calculation of the robotic arm's real-time length.

[0040] The bending control logic is as follows: The three lateral ropes driving the support base plate 41 surface need to be coordinated and controlled by the rope pulley 44 to achieve a specific bending direction. The three lateral ropes can be labeled as front, left rear, and right rear based on their positions.

[0041] The pulley 44 winds up the cable inside the first cable mounting hole 33 located in front of the articulated arm 31, while simultaneously holding or releasing the lateral cables inside the left and right rear first cable mounting holes 33. Because the cable inside the first cable mounting hole 33 in front of the articulated arm 31 is shortened by the pulley 44, the cables in the left and right rear remain at their original length or become longer under the control of the pulley 44. This creates an unbalanced tension at the first joint. This tension forces the inclined support surface 32 of the joint to slide relative to each other, resulting in a deflection angle starting from the center of the second joint. This causes the cables inside each subsequent front first cable mounting hole 33 to tilt. The overall shape of the soft robotic arm 3 is a superposition of the deflection postures of each articulated arm 31.

[0042] Large curvature bending: If you want the soft robotic arm 3 to produce a large bend from the top, the top joint arm 31 needs to be deflected first, and the subsequent joint arms 31 need to be deflected in sequence. The algorithm assigns a different line length difference to each joint from the top to the end.

[0043] Implementation: Since all joints are connected in series on the same set of lines, winding up a lateral line (such as line A) will affect all joints simultaneously. To create a smooth bend, a larger line length difference is typically needed in joints near the drive end (top), decreasing towards the end. This can be achieved by optimizing the position of the wire holes in the mechanical design or through complex control algorithms.

[0044] The three lateral ropes act as independent control tendons. By precisely controlling the lengths of these three ropes, a differentiated length difference (ΔL) is generated sequentially from top to bottom along the kinematic chain formed by the discrete joint arms 31 connected in series. This length difference acts on the inclined support surface 32 of each joint, converting into a deflection angle θ for each joint. Ultimately, the cumulative effect of all joint deflection angles manifests macroscopically as a continuous bending motion of the soft robotic arm 3 in three-dimensional space. Its bending direction is determined by the shortest rope among the three lateral ropes, and the bending curvature is determined by the gradient of the length difference between the three ropes.

[0045] The aircraft body 1 integrates a flight control motherboard, such as one based on an STM32H7 series MCU, and a separate control board for the soft robotic arm 3, such as one based on an ESP32. The two communicate via a CAN bus. The control board of the soft robotic arm 3 receives commands from the remote controller or host computer (such as "extend forward 50mm and bend to the left 30°"). The built-in algorithm calculates the target positions of the four second motors 45 in real time based on a mathematical model, and precisely drives the motors to achieve the expected extension and bending movements through a PID controller.

[0046] The aforementioned extension and bending controls can be performed completely independently and synchronously. The control board of the soft robotic arm 3 can simultaneously calculate the control quantities of the four second motors 45, enabling the soft robotic arm 3 to perform complex "S"-shaped bending movements while contracting, highly simulating the predatory behavior of octopus tentacles.

[0047] It should be noted that the sidewalls of the articulated arm 31 from top to bottom are also provided with proportionally scaled adsorption elements 35. Each adsorption element 35 is made of silicone and the height of each adsorption element 35 is less than the height of the articulated arm 31 to which it is connected.

[0048] In addition, an adsorption element 35 is embedded on the outer surface of each articulated arm 31. The height of the adsorption element 35 is lower than the height of the articulated arm 31 to prevent wear when not gripping.

[0049] The adsorption element 35 can be a silicone suction cup. When the soft robotic arm 3 wraps around an object, the micro vacuum pump (not shown in the figure) built into the aircraft body 1 is used to draw air from the adsorption element. This air pump combined with the structure of the adsorption element is a conventional technical means in the field of adsorption, which will not be described in detail in this application. The air tube that runs through the tiny channel inside the soft robotic arm 3 draws air from the adsorption element 35 to generate negative pressure and provide additional adsorption force to ensure a firm and stable grip on irregular objects.

[0050] The adsorption element 35 can be a biomimetic adhesive pad with authorization publication number CN221436252U: This adsorption element 35 utilizes a large array of micron-sized, highly smooth-tipped (Ra<0.1μm) vertical pillars on its surface. These pillars are made of a high-temperature resistant, flexible rubber material (such as fluororubber). When the ends of the pillars come into close contact with a smooth surface (such as glass or a wafer), van der Waals forces are generated at the molecular level. Although the force of a single pillar is small, the combined force of millions of pillars is considerable enough to firmly "adhere" to an object.

[0051] Working principle and usage of this utility model:

[0052] The aircraft body 1 generates lift through its rotor assembly 2. The flight control mainboard controls the rotational speed of four brushless third motors 22, driving the rotors 23 to rotate. When the rotors 23 rotate, the air below them is compressed, forming a high-pressure zone, while the air above them is rarefied, forming a low-pressure zone; the resulting pressure difference is the lift. By precisely adjusting the rotational speed difference between the four rotors 23, the magnitude and distribution of lift can be changed, thereby achieving all flight attitudes of the aircraft, including takeoff and landing, forward and backward translation, left and right translation, and yaw and rotation. The power battery 24 on the surface of the aircraft body 1 provides power to the entire system, and the camera 6 located in the middle of the body can capture and transmit images in real time.

[0053] The movement of the soft robotic arm 3 is controlled collaboratively by the drive assembly 4 and the angle adjustment assembly 5.

[0054] Global orientation (first degree of freedom): The angle adjustment component 5 is responsible for adjusting the overall attitude of the soft robotic arm 3. The rotation of the first motor 52 drives the servo support frame 54 and the servo element 51 on it to pitch from 0 to 180 degrees around the axis of the drive shaft 53. The rotation of the servo element 51's own shaft drives the entire drive assembly 4 to yaw. The combination of these two movements enables the soft robotic arm 3 to flip and point forward, backward, left, and right relative to the aircraft body 1.

[0055] Extension and bending (second and third degrees of freedom): The four second motors 45 in the drive assembly 4 directly drive the soft robotic arm 3 to change shape by controlling the rope pulley 44 to extend and retract the rope.

[0056] Extension / Retraction: The second motor 45, connected to the central rope, rotates forward to wind up the central rope. This rope passes through the second wire mounting hole 34 of each articulated arm 31, generating axial tension on the entire series of articulated arms 31, causing them to compress each other, deforming the polyurethane elastomer, and shortening the overall robotic arm. Reversing the rotation releases the rope, and the elastic potential energy of the articulated arms 31 allows them to return to their original length.

[0057] Bending: The second motor 45, connected to three lateral ropes, differentially retracts and extends. The three lateral ropes pass through the first rope mounting holes 33 arranged in an equilateral triangle. Retracting a lateral rope in one direction (e.g., the "front" rope) while holding or releasing ropes in other directions creates an unbalanced tension on the top articulated arm 31. This tension forces relative sliding and compression of the inclined support surface 32 of the articulated arm 31, generating a deflection angle. This deflection is transmitted through the ropes to all subsequent articulated arms 31, ultimately accumulating macroscopically into a continuous, smooth bending motion. Bending in any direction (360°) can be achieved by coordinating the retraction and extension lengths of the three lateral ropes.

[0058] Once the soft robotic arm 3 wraps around or covers the target object through bending motion, the miniature vacuum pump built into the aircraft body 1 is activated. The vacuum pump pumps air through air tubes running through the inside of the soft robotic arm 3 to evacuate the adsorption elements 35 on each joint arm 31, creating negative pressure inside and thus forming a strong adsorption force on the object's surface. This "wrapping and covering + multi-point adsorption" mode greatly enhances the firmness and stability when grasping irregular and smooth objects.

[0059] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A biomimetic flying vehicle with a flexible robotic arm, comprising a vehicle body (1), a rotor assembly (2) for generating wind power arranged on the vehicle body (1), characterized in that, The aircraft body (1) is also equipped with a soft robotic arm (3) and a drive assembly (4) for controlling the change of shape of the soft robotic arm (3).

2. The biomimetic aircraft with a flexible robotic arm according to claim 1, characterized in that, The aircraft body (1) has several drive support members (11) on one side. Each drive support member (11) has an angle adjustment component (5) on both sides. Each angle adjustment component (5) has a servo element (51) at its end. The shaft end of the servo element (51) is connected to the top of the drive assembly (4). The top of the soft robotic arm (3) is connected to the inside of the drive assembly (4), and the drive assembly (4) pulls the soft robotic arm (3) to change its shape through a line drive.

3. The biomimetic aircraft with a flexible robotic arm according to claim 2, characterized in that, Each of the angle adjustment components (5) includes a first motor (52), a drive shaft (53), and a servo support frame (54). One side of each first motor (52) is connected to the side wall of the drive support (11), and the shaft of the first motor (52) is connected to the drive shaft (53). The surface of the drive shaft (53) is connected to the servo support frame (54) by a clamp. Each servo element (51) is installed inside the servo support frame (54).

4. The biomimetic aircraft with a flexible robotic arm according to claim 3, characterized in that, The drive assembly (4) includes a drive support base plate (41), a wheel support member (43), a drive support upper shell (42), a rope wheel (44), and a second motor (45). The surface of the drive support base plate (41) is equipped with a wheel support member (43). The middle part of the wheel support member (43) is hollow and has a rope wheel (44) that can rotate inside. The side wall of each wheel support member (43) is equipped with a second motor (45) that drives the rope wheel (44) to rotate. Each rope wheel (44) is wound with a rope and the rope passes through a through hole on the surface of the drive support base plate (41) and is connected to the soft robotic arm (3). The outer cover of the wheel support member (43) and the second motor (45) is provided with a drive support upper shell (42).

5. The biomimetic aircraft with a flexible robotic arm according to claim 4, characterized in that, The soft robotic arm (3) includes several articulated arms (31) connected by ropes. The articulated arms (31) are scaled proportionally from top to bottom. The cross-section of each articulated arm (31) is polygonal. Each articulated arm (31) has several inclined support surfaces (32) on the side facing the bottom. The surface of each inclined support surface (32) is also provided with a first wire mounting hole (33). The articulated arm (31) is provided with a second wire mounting hole (34). The first wire mounting hole (33) and the second wire mounting hole (34) are both equipped with ropes connected to the rope wheel (44).

6. The biomimetic aircraft with a flexible robotic arm according to claim 5, characterized in that, The sidewalls of the articulated arms (31) from top to bottom are also provided with proportionally scaled adsorption elements (35), each of which is made of silicone and the cross-sectional area of ​​each adsorption element (35) is smaller than the height of the connected articulated arms (31).

7. The biomimetic aircraft with a flexible robotic arm according to claim 1, characterized in that, The rotor assembly (2) includes a flight support arm (21), a third motor (22) and a rotor (23). Several flight support arms (21) are provided inside the aircraft body (1) and extend in all directions. Each flight support arm (21) is provided with a third motor (22) at its end. A rotor (23) is installed at the end of the shaft of the third motor (22). A camera (6) is also provided on the aircraft body (1).

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