CN220391556U - Leg structure of bionic mechanical bird - Google Patents

Abstract

The utility model relates to the technical field of bionic mechanical arms, in particular to a leg structure of a bionic mechanical bird, which comprises an installation base, a thigh member, a shank member and a claw member which are assembled in a rotating way from top to bottom, wherein the claw member comprises a claw palm part assembled on the shank member in a rotating way, clamping fingers respectively arranged on two sides of the claw palm part and a driving piece arranged on the claw palm part; according to the utility model, the clamping fingers and the claw palm parts form a lever structure, and the driving piece directly drives the clamping fingers at two sides to enable the claw structure to apply strong gripping to an object, so that the parking stability of the unmanned aerial vehicle is enhanced, and the technical problems that the gripping force is insufficient and the object cannot be stably gripped in the prior art are effectively solved.

Description

Leg structure of bionic mechanical bird

Technical Field

The utility model relates to the technical field of bionic mechanical arms, in particular to a leg structure of a bionic mechanical bird.

Background

Unmanned aerial vehicles are unmanned aerial vehicles operated by using radio remote control equipment and a self-contained program control device, so far, unmanned aerial vehicle technology has become mature for civilian use, and more users take pictures or photographs through unmanned aerial vehicles with image acquisition devices. When the unmanned aerial vehicle lands, the unmanned aerial vehicle generally supports and lands through four supporting points at the bottom of the unmanned aerial vehicle, and the unmanned aerial vehicle cannot be parked in complex terrains due to the structure, so that the application range of the unmanned aerial vehicle is severely limited.

The prior art discloses an all-terrain landing device of an auxiliary unmanned aerial vehicle with bird-like legs, which comprises a fixed plate, a thigh moving part, a shank moving part, a claw-like member, a first driving device, a second driving device and a third driving device, wherein the fixed plate, the thigh moving part, the shank moving part, the claw-like member, the first driving device, the second driving device and the third driving device are fixed on the unmanned aerial vehicle; the thigh moving piece is hinged with the fixed plate, one end of the shank moving piece is hinged with the thigh moving piece, and the other end of the shank moving piece is hinged with the claw-like member. According to the scheme, the characteristics of bird foot lifting and placing and bird claw grasping during flying and landing of an avian animal are combined, leg moving parts of the simulated bird leg moving design are adopted to be matched with a convergent claw simulating component, the simulated bird leg moving component can adapt to a complex and various landing environment and adjust landing postures, support is provided for an unmanned aerial vehicle through ground lamination, and the problem that the prior art has limitation on the landing application range of complex terrains is solved.

However, in the prior art, the gripping state of the bird claw is controlled in a line-driven mode, the claw-like member is of an underactuated structure, and the number of driving in the underactuated structure is less than the number of degrees of freedom of the mechanism to cause instability of movement, so that the claw-like member cannot apply enough gripping force to a supporting object, the stability of the unmanned aerial vehicle for parking is affected, and the technical problems that the gripping force is insufficient and the object cannot be gripped stably exist.

Disclosure of Invention

The utility model aims to overcome the defects that the gripping force is insufficient and an object cannot be stably gripped in the prior art, and provides a leg structure of a bionic mechanical bird.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the leg structure of the bionic mechanical bird comprises an installation base, a thigh member, a shank member and a claw member which are assembled in a rotating mode sequentially from top to bottom, and further comprises a driving assembly for driving the thigh member, the shank member and the claw member to rotate; the claw component comprises a claw palm part rotationally assembled on the shank component, clamping fingers respectively arranged at two sides of the claw palm part, and a driving piece arranged at the claw palm part and used for driving the clamping fingers at two sides to open and close; the middle part of the clamping finger is rotationally connected to the palm part, one ends of the clamping fingers close to the shank component on two sides are respectively connected with the output end of the driving piece, and the driving piece drives or pulls the two sides of the clamping finger to rotate relative to the palm part so as to realize opening and closing of one ends of the clamping fingers far away from the shank component on two sides.

According to the leg structure of the bionic mechanical bird, under the drive of the driving assembly, the thigh member, the shank member and the claw member can rotate relative to the mounting base, the thigh member and the shank member respectively, so that the bending and standing postures of the leg structure are realized; because the middle part of the clamping finger is rotationally connected with the palm part, and one ends of the clamping fingers at two sides, which are close to the shank component, are respectively connected with the output end of the driving piece, when the driving piece pushes or pulls the clamping fingers at two sides to rotate relative to the palm part, one ends of the clamping fingers at two sides, which are close to the shank component, are close to or far away from each other, so that one ends of the clamping fingers at two sides, which are far from the shank component, are clamped or opened and closed, a powerful gripping action is applied to an object, and the stable stopping of the leg structure is helped; according to the utility model, the clamping fingers and the claw palm parts form a lever structure, and the driving piece directly drives the clamping fingers at two sides to enable the claw structure to apply strong gripping to an object, so that the parking stability of the unmanned aerial vehicle is enhanced, and the technical problems that the gripping force is insufficient and the object cannot be stably gripped in the prior art are effectively solved.

Further, the driving piece is provided with a linear push rod, and one ends of the clamping fingers close to the lower leg members at two sides are respectively connected with the driving piece and the linear push rod in a rotating way; the claw palm portion slides and is equipped with the locating part, the locating part is worn to locate by sharp push rod, the slip direction of locating part relative claw palm portion is perpendicular with the axle center of sharp push rod. One end of each clamping finger close to the lower leg component is rotatably connected with the driving piece and the linear push rod, and when the driving piece and the linear push rod are telescopic relatively, the clamping fingers at the two sides can rotate simultaneously relative to the palm parts; because the two sides clamp the finger and take place when rotating relative palm portion simultaneously, can drive the relative palm portion motion of driving piece, consequently set up the straight line push rod and wear to establish in the locating part of sliding connection in palm portion to set up the slip direction of locating part relative palm portion and the axle center of straight line push rod perpendicular, help realizing the motion spacing between driving piece and the palm portion, make overall structure more stable coordination.

Further, one end of the clamping finger far away from the shank component is symmetrically provided with clamps on one side for contacting an object, and the opposite sides of the clamps on two sides are used for contacting the object and respectively clamping two sides of the object. The clamp is symmetrically arranged at one end of the clamp finger far away from the shank component and is used for contacting one side of an object, so that the grasping and supporting force on two sides of the object can be improved, and the grasping stability is improved.

Further, an adjusting piece is arranged between the clamp and the clamp finger, the adjusting piece is rotatably fixed on the clamp finger, and the clamp on two sides is respectively rotatably fixed on two sides of the adjusting piece. The adjusting piece is arranged and can be rotationally fixed on the clamping finger, so that the fixed angle of the adjusting piece relative to the clamping finger can be conveniently adjusted when needed, and the grasping range can be changed; the clamp is arranged to be rotatably fixed on the adjusting piece, so that the fixed angle of the clamp relative to the adjusting piece can be conveniently adjusted when needed, and the adjustable gripping range is further enlarged.

Further, one side of the clamp, which is used for contacting an object, is provided with a plurality of anti-skid grooves. A plurality of anti-skid grooves are formed in one side of the clamp, which is used for contacting an object, so that sliding caused by contact with the object is avoided, and the friction force between the clamp and the object is improved.

Further, the driving piece is a miniature hydraulic cylinder, the installation base is provided with a hydraulic pump, a hydraulic pipe is communicated between the hydraulic cylinder and the hydraulic pump, and the hydraulic pipe is arranged in the thigh member and the shank member. The miniature hydraulic cylinder has the advantages of small structure and large output force, and can ensure the output of the gripping force on the premise of not influencing the load of the leg structure; the hydraulic pump is arranged on the mounting base, and the hydraulic pipe between the hydraulic cylinder and the hydraulic pump is arranged in the thigh member and the shank member, so that the interference influence of the hydraulic pipe on the movement of the leg structure is avoided.

Further, the driving assembly comprises a first driving device assembled on the mounting base and used for driving the thigh member to rotate, a second driving device assembled on the thigh member and used for driving the shank member to rotate, and a third driving device assembled on the shank member and used for driving the claw member to rotate. The first driving device, the second driving device and the third driving device respectively drive the thigh member, the shank member and the claw member to independently move, and flexibly control the claw member to grasp an object, so that the grasping gesture of the leg structure is richer, and the device is more suitable for the topography environment of the drilling.

Further, the first driving device is a steering engine fixed on the mounting base, an output shaft of the steering engine is connected with a first gear, a rotating shaft of the thigh member is fixed with a second gear, and the first gear is meshed with the second gear. The rotation angle of the steering engine can be kept in the driving process, so that the stability is good; the gear is utilized for transmission, and the transmission efficiency and the transmission precision are high.

Further, the second driving device is a first linear motor fixed on the thigh member, and the first linear motor is provided with a first telescopic rod; a first connecting plate is arranged between the thigh member and the shank member, one end of the first connecting plate is rotationally connected with the shank member, the other end of the first connecting plate is rotationally provided with a first sliding rod, and the first sliding rod is connected with the end part of the first telescopic rod; the thigh component is provided with a first chute, the first slide bar is connected with the first chute in a sliding way, and the first slide bar can slide in the first chute along with the expansion of the first telescopic rod. When the first linear motor pushes out the first telescopic rod, the first telescopic rod pushes the first sliding rod to slide in the first sliding groove and far away from the first linear motor, and as one end of the first connecting plate is rotationally connected with the first sliding rod and the other end of the first connecting plate is rotationally connected with the lower leg component, the first connecting plate can push the lower leg component to rotate far away from the thigh component to realize a standing posture; when the first linear motor contracts the first telescopic rod, the first telescopic rod pulls the first sliding rod to slide in the first sliding groove to be close to the first linear motor, and the first connecting plate can pull the lower leg component to rotate to be close to the thigh component to achieve a bending posture.

Further, the third driving device is a second linear motor fixed on the lower leg member, and the second linear motor is provided with a second telescopic rod; a second connecting plate is arranged between the shank component and the palm part, one end of the second connecting plate is rotationally connected with the palm part, the other end of the second connecting plate is rotationally provided with a second sliding rod, and the second sliding rod is connected with the end part of the second telescopic rod; the shank component is provided with a second chute, the second slide bar is connected to the second chute in a sliding way, and the second slide bar can slide in the second chute along with the expansion of the second telescopic rod. When the second linear motor pushes out the second telescopic rod, the second telescopic rod pushes the second sliding rod to slide in the second sliding groove and far away from the second linear motor, and as one end of the second connecting plate is rotationally connected with the second sliding rod and the other end of the second connecting plate is rotationally connected with the palm part, the second connecting plate can push the palm part to rotate far away from the shank component to realize a standing posture; when the second linear motor contracts the second telescopic rod, the second telescopic rod pulls the second sliding rod to slide in the second sliding groove to be close to the second linear motor, and the second connecting plate pulls the claw palm portion to rotate to be close to the shank component to achieve a bending posture.

Compared with the prior art, the utility model has the beneficial effects that:

according to the utility model, the clamping fingers and the claw palm parts form a lever structure, and the driving piece directly drives the clamping fingers at two sides to enable the claw structure to apply strong gripping to an object, so that the parking stability of the unmanned aerial vehicle is enhanced, and the technical problems that the gripping force is insufficient and the object cannot be stably gripped in the prior art are effectively solved.

Drawings

FIG. 1 is a schematic view of a leg structure of a bionic mechanical bird from a first perspective;

FIG. 2 is a schematic structural view of a jaw member;

FIG. 3 is an enlarged view of a portion of FIG. 1A;

FIG. 4 is a schematic view of a second view of a leg structure of a bionic mechanical bird;

fig. 5 is a schematic structural view of a third view of a leg structure of a bionic mechanical bird.

In the accompanying drawings: 1. a mounting base; 2. a thigh member; 21. a second gear; 22. a first chute; 3. a lower leg member; 31. a second chute; 4. a claw member; 41. a paw part; 411. a limiting piece; 42. a clamping finger; 43. a driving member; 431. a straight push rod; 44. a clamp; 441. an anti-skid groove; 45. an adjusting member; 5. a first driving device; 51. a first gear; 6. a second driving device; 61. a first telescopic rod; 62. a first connection plate; 63. a first slide bar; 7. a third driving device; 71. a second telescopic rod; 72. a second connecting plate; 73. and a second slide bar.

Detailed Description

The utility model is further described below in connection with the following detailed description. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the utility model, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numbers in the drawings of embodiments of the utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present utility model and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.

Example 1

A first embodiment of a leg structure of a biomimetic robotic bird according to the present utility model is shown in fig. 1.

The leg structure of the bionic mechanical bird comprises an installation base 1, a thigh member 2, a shank member 3 and a claw member 4 which are assembled in a rotating manner from top to bottom, and further comprises a driving assembly for driving the thigh member 2, the shank member 3 and the claw member 4 to rotate; the claw member 4 includes a palm portion 41 rotatably fitted to the shank member 3, grip fingers 42 provided on both sides of the palm portion 41, respectively, and a driver 43 provided on the palm portion 41 for driving the grip fingers 42 on both sides to open and close; the middle part of the clamping finger 42 is rotationally connected with the palm part 41, one ends of the two sides of the clamping finger 42, which are close to the lower leg component 3, are respectively connected with the output end of the driving piece 43, and the driving piece 43 drives or pulls the two sides of the clamping finger 42 to rotate relative to the palm part 41 so as to realize the opening and closing of one ends of the two sides of the clamping finger 42, which are far away from the lower leg component 3. Wherein the driving piece 43 is a miniature hydraulic cylinder, the installation base 1 is provided with a hydraulic pump, a hydraulic pipe is communicated between the hydraulic cylinder and the hydraulic pump, and the hydraulic pipe is arranged in the thigh member 2 and the shank member 3.

In this embodiment, as shown in fig. 1, under the driving of the driving component, the leg structure of the bionic mechanical bird of the present utility model, under the driving of the driving component, the thigh member 2, the shank member 3 and the claw member 4 can rotate relative to the mounting base 1, the thigh member 2 and the shank member 3, respectively, so as to achieve the bending and standing postures of the leg structure; because the middle part of the clamping finger 42 is rotationally connected with the palm part 41, and one ends of the two sides of the clamping finger 42, which are close to the shank component 3, are respectively connected with the output end of the driving piece 43, when the driving piece 43 pushes or pulls the two sides of the clamping finger 42 to rotate relative to the palm part 41, one ends of the two sides of the clamping finger 42, which are close to the shank component 3, are mutually close or far away, so that one ends of the two sides of the clamping finger 42, which are far away from the shank component 3, are clamped or opened and closed, the object is subjected to strong gripping action, and the stable stopping of the leg structure is realized; the clamping fingers 42 and the claw palm parts 41 form a lever structure, and the direct driving of the driving piece 43 to the clamping fingers 42 at two sides enables the claw structure to exert strong gripping on an object, so that the parking stability of the unmanned aerial vehicle is enhanced, and the technical problems that the gripping force is insufficient and the object cannot be stably gripped in the prior art are effectively solved.

In the embodiment, the miniature hydraulic cylinder has the advantages of small structure and large output force, and can ensure the output of the gripping force on the premise of not influencing the load of the leg structure; the hydraulic pump is arranged on the mounting base 1, and the hydraulic pipe between the hydraulic cylinder and the hydraulic pump is arranged in the thigh member 2 and the shank member 3, so that the interference influence of the hydraulic pipe on the movement of the leg structure is avoided.

Example two

Fig. 1 to 3 show a second embodiment of a leg structure of a bionic mechanical bird according to the present utility model.

This embodiment is similar to the embodiment in that: the driving piece 43 is provided with a linear push rod 431, and one end of each of the two side clamping fingers 42, which is close to the lower leg member 3, is respectively and rotatably connected with the driving piece 43 and the linear push rod 431; the palm portion 41 is slidably provided with a limiting member 411, the linear push rod 431 is penetrated through the limiting member 411, and the sliding direction of the limiting member 411 relative to the palm portion 41 is perpendicular to the axis of the linear push rod 431. Wherein, the clamping fingers 42 are arranged symmetrically at one end far away from the shank member 3 and used for contacting objects, and the opposite sides of the two clamping fingers 44 are used for contacting objects and respectively clamping two sides of the objects. Wherein, an adjusting member 45 is arranged between the clamp 44 and the clamp finger 42, the adjusting member 45 is rotatably fixed on the clamp finger 42, and the clamp 44 on both sides is rotatably fixed on both sides of the adjusting member 45. Wherein, an adjusting member 45 is arranged between the clamp 44 and the clamp finger 42, the adjusting member 45 is rotatably fixed on the clamp finger 42, and the clamp 44 on both sides is rotatably fixed on both sides of the adjusting member 45.

In this embodiment, as shown in fig. 2, one end of the two side clamping fingers 42 near the lower leg member 3 is rotatably connected to the driving element 43 and the linear push rod 431, respectively, and when the driving element 43 and the linear push rod 431 relatively expand and contract, the two side clamping fingers 42 simultaneously rotate relative to the palm portion 41; when the two side clamping fingers 42 rotate relative to the palm portion 41, the driving member 43 is driven to move relative to the palm portion 41, so that the linear push rod 431 is arranged in the limiting member 411 slidably connected to the palm portion 41, and the sliding direction of the limiting member 411 relative to the palm portion 41 is perpendicular to the axis of the linear push rod 431, thereby helping to realize movement limitation between the driving member 43 and the palm portion 41 and enabling the overall structure to be more stable and coordinated.

In the present embodiment, as shown in fig. 1, the grip 44 is symmetrically provided at one end of the grip finger 42 away from the shank member 3 for contacting the object, so that the gripping support force on both sides of the object can be improved and the gripping stability can be improved.

In this embodiment, as shown in fig. 1, an adjusting member 45 is rotatably fixed to the clamping finger 42, so as to adjust the fixed angle of the adjusting member 45 relative to the clamping finger 42 when needed, and change the gripping range; the clamp 44 is rotatably fixed to the adjusting member 45, so that the fixed angle of the clamp 44 relative to the adjusting member 45 can be adjusted when needed, and the adjustable gripping range can be further increased.

In addition, in the present embodiment, the screw is used to pass through the clip finger 42 and the adjusting member 45 and fixedly connected with the nut on the other side so as to fix the adjusting member 45 with the clip finger 42; the clamp 44 is fixed to the regulating member 45 by passing a screw through the regulating member 45 and the clamp 44 and fixedly connecting with a nut on the other side. The rotatable and fixed connection of the clamping finger 42 and the adjusting piece 45, and the rotatable and fixed connection of the adjusting piece 45 and the clamp 44 are realized by utilizing the fixation of the screw and the nut, and the adjustable clamp has the advantages of simple structure and convenient adjustment.

In this embodiment, as shown in fig. 3, a plurality of anti-slip grooves 441 are formed on the side of the clamp 44 for contacting an object, so that sliding caused by contact with the object is avoided, and friction force between the clamp 44 and the object is increased.

Example III

Fig. 4 to 5 show a third embodiment of a leg structure of a bionic mechanical bird according to the present utility model.

This embodiment is similar to the first or second embodiment, except that: the drive assembly comprises a first drive device 5 mounted to the mounting base 1 for driving the thigh member 2 to rotate, a second drive device 6 mounted to the thigh member 2 for driving the shank member 3 to rotate, and a third drive device 7 mounted to the shank member 3 for driving the jaw member 4 to rotate. Further, the first driving device 5 is a steering engine fixed on the mounting base 1, an output shaft of the steering engine is connected with a first gear 51, a rotating shaft of the thigh member 2 is fixed with a second gear 21, and the first gear 51 is meshed with the second gear 21. Further, the second driving device 6 is a first linear motor fixed to the thigh member 2, the first linear motor being provided with a first telescopic rod 61; a first connecting plate 62 is arranged between the thigh member 2 and the shank member 3, one end of the first connecting plate 62 is rotationally connected with the shank member 3, the other end is rotationally provided with a first sliding rod 63, and the first sliding rod 63 is connected with the end part of the first telescopic rod 61; the thigh member 2 is provided with a first slide groove 22, and a first slide bar 63 is slidably connected to the first slide groove 22, and the first slide bar 63 is slidable in the first slide groove 22 along with the expansion and contraction of the first expansion and contraction rod 61. Further, the third driving device 7 is a second linear motor fixed to the lower leg member 3, and the second linear motor is provided with a second telescopic rod 71; a second connecting plate 72 is arranged between the shank member 3 and the palm part 41, one end of the second connecting plate 72 is rotationally connected with the palm part 41, the other end is rotationally provided with a second sliding rod 73, and the second sliding rod 73 is connected with the end part of the second telescopic rod 71; the shank member 3 is provided with a second slide groove 31, the second slide bar 73 is slidably connected to the second slide groove 31, and the second slide bar 73 is slidable in the second slide groove 31 along with the extension and retraction of the second extension and retraction rod 71.

In this embodiment, as shown in fig. 4 and 5, the first driving device 5, the second driving device 6 and the third driving device 7 respectively drive the thigh member 2, the shank member 3 and the claw member 4 to independently move, so as to flexibly control the claw member 4 to grasp an object, and make the grasping gesture of the leg structure richer, and more adapt to the topography environment of the drill.

In this embodiment, as shown in fig. 4, the rotation angle of the steering engine can be kept in the middle of driving, so that the stability is good; the first gear 51 is meshed with the second gear 21 for transmission, so that the transmission efficiency and the transmission precision are high.

In this embodiment, as shown in fig. 4, when the first linear motor pushes out the first telescopic rod 61, the first telescopic rod 61 pushes the first sliding rod 63 to slide in the first sliding groove 22 away from the first linear motor, and since one end of the first connecting plate 62 is rotatably connected to the first sliding rod 63 and the other end is rotatably connected to the lower leg member 3, the first connecting plate 62 pushes the lower leg member 3 to rotate away from the thigh member 2 to achieve a standing posture; when the first linear motor contracts the first telescopic rod 61, the first telescopic rod 61 pulls the first sliding rod 63 to slide in the first sliding groove 22 to be close to the first linear motor, and the first connecting plate 62 pulls the lower leg member 3 to rotate to be close to the thigh member 2 to achieve a bending posture.

In this embodiment, as shown in fig. 5, when the second linear motor pushes out the second telescopic rod 71, the second telescopic rod 71 pushes the second sliding rod 73 to slide in the second sliding slot 31 away from the second linear motor, and since one end of the second connecting plate 72 is rotatably connected to the second sliding rod 73 and the other end is rotatably connected to the paw part 41, the second connecting plate 72 pushes the paw part 41 to rotate away from the lower leg component 3 to achieve a standing posture; when the second linear motor contracts the second telescopic rod 71, the second telescopic rod 71 pulls the second sliding rod 73 to slide in the second sliding groove 31 to approach the second linear motor, and the second connecting plate 72 pulls the claw palm portion 41 to rotate to approach the lower leg member 3 to achieve a bending posture.

In the specific content of the above embodiment, any combination of the technical features may be performed without contradiction, and for brevity of description, all possible combinations of the technical features are not described, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

It is to be understood that the above examples of the present utility model are provided by way of illustration only and not by way of limitation of the embodiments of the present utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. A leg structure of a bionic mechanical bird, characterized in that: the device comprises a mounting base (1), a thigh member (2), a shank member (3) and a claw member (4) which are assembled in a rotating manner from top to bottom, and further comprises a driving assembly for driving the thigh member (2), the shank member (3) and the claw member (4) to rotate;

the claw component (4) comprises a claw palm part (41) rotatably assembled on the shank component (3), clamping fingers (42) respectively arranged at two sides of the claw palm part (41), and a driving piece (43) arranged at the claw palm part (41) and used for driving the clamping fingers (42) at two sides to open and close; the middle part of the clamping finger (42) is rotationally connected with the palm part (41), one ends, close to the lower leg components (3), of the clamping fingers (42) at two sides are respectively connected with the output end of the driving piece (43), and the driving piece (43) rotates relative to the palm part (41) by pushing or pulling the two sides of the clamping fingers (42) so as to realize opening and closing of one ends, far away from the lower leg components (3), of the two sides of the clamping fingers (42).

2. The leg structure of a biomimetic mechanical bird according to claim 1, wherein: the driving piece (43) is provided with a linear push rod (431), and one end, close to the lower leg component (3), of the clamping finger (42) at two sides is respectively connected with the driving piece (43) and the linear push rod (431) in a rotating way; the claw palm portion (41) is slidably provided with a limiting piece (411), the linear push rod (431) penetrates through the limiting piece (411), and the sliding direction of the limiting piece (411) relative to the claw palm portion (41) is perpendicular to the axis of the linear push rod (431).

3. The leg structure of a biomimetic mechanical bird according to claim 1, wherein: the clamping fingers (42) are far away from one end of the shank component (3), one side of the clamping fingers, which is used for contacting an object, is symmetrically provided with clamps (44), and the opposite sides of the clamps (44) are used for contacting the object and respectively clamping the two sides of the object.

4. A leg structure of a biomimetic mechanical bird according to claim 3, wherein: an adjusting piece (45) is arranged between the clamp (44) and the clamp finger (42), the adjusting piece (45) is rotatably fixed on the clamp finger (42), and the clamp (44) at two sides is rotatably fixed on two sides of the adjusting piece (45) respectively.

5. A leg structure of a biomimetic mechanical bird according to claim 3, wherein: one side of the clamp (44) for contacting an object is provided with a plurality of anti-skid grooves (441).

6. The leg structure of a biomimetic mechanical bird according to claim 1, wherein: the driving piece (43) is a miniature hydraulic cylinder, the mounting base (1) is provided with a hydraulic pump, a hydraulic pipe is communicated between the hydraulic cylinder and the hydraulic pump, and the hydraulic pipe is arranged in the thigh member (2) and the shank member (3).

7. A leg structure of a biomimetic mechanical bird according to any one of claims 1-6, wherein: the driving assembly comprises a first driving device (5) assembled on the mounting base (1) and used for driving the thigh member (2) to rotate, a second driving device (6) assembled on the thigh member (2) and used for driving the shank member (3) to rotate, and a third driving device (7) assembled on the shank member (3) and used for driving the claw member (4) to rotate.

8. The leg structure of a biomimetic mechanical bird according to claim 7, wherein: the first driving device (5) is a steering engine fixed on the mounting base (1), a first gear (51) is connected to an output shaft of the steering engine, a second gear (21) is fixed to a rotating shaft of the thigh member (2), and the first gear (51) is meshed with the second gear (21).

9. The leg structure of a biomimetic mechanical bird according to claim 7, wherein: the second driving device (6) is a first linear motor fixed on the thigh member (2), and the first linear motor is provided with a first telescopic rod (61); a first connecting plate (62) is arranged between the thigh member (2) and the shank member (3), one end of the first connecting plate (62) is rotationally connected with the shank member (3), the other end of the first connecting plate is rotationally provided with a first sliding rod (63), and the first sliding rod (63) is connected with the end part of the first telescopic rod (61); the thigh member (2) is provided with a first chute (22), the first slide bar (63) is slidably connected to the first chute (22), and the first slide bar (63) can slide in the first chute (22) along with the expansion and contraction of the first expansion and contraction rod (61).

10. The leg structure of a biomimetic mechanical bird according to claim 7, wherein: the third driving device (7) is a second linear motor fixed on the lower leg component (3), and the second linear motor is provided with a second telescopic rod (71); a second connecting plate (72) is arranged between the shank component (3) and the palm part (41), one end of the second connecting plate (72) is rotationally connected with the palm part (41), the other end of the second connecting plate is rotationally provided with a second sliding rod (73), and the second sliding rod (73) is connected with the end part of the second telescopic rod (71); the shank component (3) is provided with a second sliding groove (31), the second sliding rod (73) is connected to the second sliding groove (31) in a sliding mode, and the second sliding rod (73) can slide in the second sliding groove (31) along with the expansion and contraction of the second expansion and contraction rod (71).