Flyable and jumping robot

Abstract

This application discloses a flying and jumping robot, including a flying body and a jumping mechanism connected to the body. The jumping mechanism includes a swing motor and a jumping leg. The jumping leg is rotatably connected to the body. The swing motor is disposed on the body and connected to the jumping leg through a transmission mechanism to drive the jumping leg to rotate relative to the body. During the robot's take-off phase, the swing motor can independently drive the jumping leg to rotate and reorient itself. The jumping leg's direction adjustment can be completed without tilting the entire body, avoiding trajectory deviation and imbalance / falling problems, and improving the posture stability and reliability of the robot's combined flight and jumping motion.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot capable of flying and jumping. Background Technology

[0002] Jumping is a highly efficient mode of locomotion commonly found in living organisms in nature. Compared to traditional crawling, jumping has significant advantages such as a wide range of activity, high spatial mobility, strong instantaneous explosive power, and excellent terrain adaptability. It can quickly cross obstacles and complete short-distance high-speed displacements. Therefore, the jumping-driven mechanism is widely used in robots.

[0003] Currently, existing hybrid flying robots mainly consist of two core modules: a flight-capable fuselage and jumping legs. In existing structures, the jumping legs and the flight fuselage are mostly rigidly connected, and in this type of structure, the central axis of the jumping legs coincides with the lift axis of the fuselage.

[0004] In actual operation, if the force direction of the jumping outriggers needs to be adjusted, it must be achieved by tilting and deflecting the overall body posture. However, adjusting the outrigger direction can easily cause unnecessary body posture deflection, resulting in poor flight and take-off stability. Furthermore, the large torque output generated during the robot's second jump after landing can easily cause the robot to lose its posture, deviate from its course, or even tip over. Summary of the Invention

[0005] The main objective of this application is to propose a robot capable of flying and jumping, aiming to improve the reliability of the robot's combined flight and jumping motion.

[0006] To achieve the above objectives, this application proposes a flying and jumping robot, comprising a flying body and a jumping mechanism connected to the body. The jumping mechanism includes a swing motor and a jumping leg, the jumping leg being rotatably connected to the body. The swing motor is disposed on the body and is connected to the jumping leg through a transmission mechanism to drive the jumping leg to rotate relative to the body.

[0007] In some embodiments, the transmission mechanism includes: A bearing is located on one side of the jumping leg and connected to the machine body, and the swing motor is located on the side of the bearing facing away from the jumping leg. A rotating shaft, one end of which passes through the jumping leg and the bearing in sequence and is connected to the motor shaft of the swing motor, so as to drive the jumping leg to rotate relative to the machine body under the drive of the swing motor.

[0008] In some embodiments, the transmission mechanism further includes: A swing arm is disposed between the bearing and the swing motor. One end of the swing arm is provided with a flat end for connecting to the motor shaft of the swing motor, and the other end of the swing arm is provided with a connecting part protruding relative to the flat end facing the jumping leg. The connecting part is connected to the jumping leg.

[0009] In some embodiments, the transmission mechanism further includes: A connector, the two ends of which are respectively connected to the connecting part and the jumping leg.

[0010] In some embodiments, the jumping leg includes: The upper legs are configured in two, with one end of each upper leg rotatably connected to the body. The lower leg has one end retractably located at the other end of the two upper legs away from the body and connected to the two upper legs.

[0011] In some embodiments, the lower leg includes: A connecting frame is connected to the other end of the two upper legs away from the body; A telescopic leg is telescopically mounted at the end of the connecting frame away from the upper leg and connected to the connecting frame.

[0012] In some embodiments, the jumping mechanism further includes: An elastic element is connected to the connecting frame and the telescopic leg, and the elastic element is used to provide elastic force to the connecting frame and the telescopic leg.

[0013] In some embodiments, the connecting frame has a first mounting portion at the end away from the upper leg, and the telescopic leg has a second mounting portion at the end near the upper leg. The second mounting portion is located above the first mounting portion, and the two ends of the elastic member are respectively connected to the first mounting portion and the second mounting portion.

[0014] In some embodiments, the first mounting portion is provided with a first hook at both ends, the second mounting portion is provided with a second hook at both ends, and the elastic member is provided with the first hook and the second hook at both ends.

[0015] In some embodiments, the connecting frame is provided with a guide assembly, and the telescopic leg slides in cooperation with the guide assembly; and / or, A sensor is provided on the side of the connecting frame facing away from the telescopic leg, and a boss is provided on the other end of the telescopic leg away from the upper leg. The sensor is used to detect the distance between the sensor and the boss.

[0016] The flying and jumping robot of this application includes a flying body and a jumping mechanism connected to the body. The jumping mechanism is equipped with a swing motor and jumping legs. The jumping legs are rotatably connected to the body. The swing motor is fixed to the body and is connected to the jumping legs via a transmission mechanism. It can independently drive the jumping legs to deflect relative to the body to achieve attitude adjustment. During the robot's take-off phase, the swing motor can drive the jumping legs to rotate autonomously and reorient themselves. The direction adjustment of the jumping legs can be completed without tilting the entire body. This avoids the side effects of the large torque output thrust generated at the moment of re-jumping after the body lands, avoids the problem of trajectory deviation and imbalance and fall, and significantly improves the attitude stability and reliability of the robot's combined flight and jumping motion. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a flying and jumping robot according to an embodiment of this application; Figure 2 for Figure 1 Enlarged diagram of part A in the diagram; Figure 3 for Figure 1 Enlarged schematic diagram of part B in the diagram; Figure 4 This is a schematic diagram of the structure of a flying and jumping robot according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a guide component in one embodiment of this application. Detailed Implementation

[0018] The solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0019] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0020] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0021] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0022] This application provides an embodiment of a robot 100 capable of flight and jumping. Please refer to... Figure 1 The flying and jumping robot 100 includes a flying body 110 and a jumping mechanism 120 connected to the body 110. That is, the robot provided in this application embodiment has both flying and jumping functions. Specifically, the body 110 can be a rotary-wing drone; the jumping mechanism 120 is mainly used to drive the body 110 to jump and take off.

[0023] In this embodiment, the number of rotors can be varied, such as two, three, or four. In a preferred embodiment, the fuselage 110 is a quadcopter drone, with the four rotors on the same horizontal plane, respectively positioned at the four corners of the fuselage 110. The combined lift of the four rotors constitutes the flight lift and forward thrust of the fuselage 110. Of course, the above is merely an example; the specific number of rotors can be determined according to actual needs, and the rotation direction and spatial position can also be non-aligned. This application does not impose any limitations on this.

[0024] In related technologies, the bouncy legs are rigidly connected to the fuselage. When the lift of each rotor is equal, the central axis of the bouncy legs in this structure coincides with the axis of action of the resultant lift of the quadcopter. However, during actual flight, adjusting the direction of the bouncy legs' force requires tilting and deflecting the entire fuselage. This means the redirection of the bouncy legs is coupled with the fuselage's flight thrust, reducing the efficiency of thrust utilization.

[0025] In addition, the rigidly connected outriggers can easily cause unnecessary attitude deflection of the fuselage when adjusting the direction, resulting in poor flight and take-off stability. Furthermore, the large torque output generated when the robot takes off again after landing can easily cause the robot to lose its attitude, deviate from its course, or even roll over and fall.

[0026] Therefore, please refer to Figure 1 and Figure 2The jumping mechanism 120 provided in this application embodiment includes a swing motor 121 and a jumping leg 122. The jumping leg 122 is rotatably connected to the body 110. The swing motor 121 is disposed on the body 110. The swing motor 121 and the jumping leg 122 are connected through a transmission mechanism 130 to drive the jumping leg 122 to rotate relative to the body 110.

[0027] The aforementioned swing motor 121 is directly mounted on the body 110. Its main function is to drive the jumping leg 122 to swing relative to the body 110, such as swinging forward and backward or left and right. In other words, the jumping leg 122 has the freedom of independent rotation relative to the body 110. The type of swing motor 121 can be a servo motor. When the robot is airborne, adjusting the direction of the jumping leg 122 does not require tilting the entire body 110 or causing the large-inertia body 110 to deflect along with it. Only the small-inertia jumping leg 122 needs to be driven to swing individually, resulting in a small rotational load. The swing motor 121 directly performs angle servo control on the jumping leg 122 through the transmission mechanism 130. The jumping leg 122 can quickly change direction during the airborne interval, thus quickly completing the landing posture correction and resetting the landing second jump angle, forming a continuous, high-frequency reciprocating jumping motion mode. Furthermore, the direction change of the jumping leg 122 is decoupled from the lift and propulsion of the body 110, improving the utilization rate of propulsion.

[0028] In this embodiment, the jumping leg 122 can be designed to be lightweight, and the center of mass of the body 110 is located on the axis of the jumping leg 122. Specifically, the mass of the jumping leg 122 is less than 1 / 10 of the mass of the body 110. Reducing the self-weight of the jumping leg 122 can, on the one hand, reduce the eccentric gravitational load and overturning moment generated by the jumping leg 122 in the air state, reduce the burden on the flight attitude control of the body 110, and avoid the body tilting, deflection and additional power consumption caused by the excessive self-weight of the leg. On the other hand, the smaller self-weight can reduce the rotational inertia of the jumping leg 122, so that when the swing motor 121 drives the jumping leg 122 to rotate and adjust relative to the body 110, the load is smaller, the response is faster, and the start-stop switching is lag-free. The jumping leg 122 can be quickly redirected and angle pre-swinged in a very short time after takeoff, which is conducive to realizing high-frequency continuous jumping gait, high-speed take-off and quick and flexible turning, and improving the attitude stability, reliability and energy utilization efficiency of the robot in the process of flying and jumping compound motion.

[0029] In this application embodiment, the transmission mechanism 130 can be implemented in various ways, such as through a linkage drive or a coupling drive. Of course, the above are merely examples, and the specific type can be determined according to actual needs; this application does not impose any limitations here.

[0030] The flying and jumping robot 100 provided in this application includes a flying body 110 and a jumping mechanism 120 connected to the body 110. The jumping mechanism 120 is equipped with a swing motor 121 and a jumping leg 122. The jumping leg 122 and the body 110 are rotatably connected. The swing motor 121 is fixed to the body 110 and is connected to the jumping leg 122 via a transmission mechanism 130. It can independently drive the jumping leg 122 to deflect relative to the body 110 to achieve attitude adjustment. During the robot's take-off phase, the swing motor 121 can independently drive the jumping leg 122 to rotate and reorient itself. The direction adjustment of the jumping leg 122 can be completed without tilting the entire body 110. This makes the angle adjustment action of the jumping leg 122 independent and non-interfering with the flight propulsion motion of the robot body. It avoids the side effects of the large torque output thrust generated at the moment of re-jumping after the body 110 lands, avoids the problem of trajectory deviation and imbalance and fall, and significantly improves the attitude stability and reliability of the robot's combined flight and jumping motion.

[0031] In the embodiments of this application, please refer to Figure 2 The transmission mechanism 130 includes: a bearing 131, which is located on one side of the jumping leg 122 and connected to the body 110, and a swing motor 121 is provided on the side of the bearing 131 facing away from the jumping leg 122; and a rotating shaft 132, one end of which passes through the jumping leg 122 and the bearing 131 in sequence and is connected to the motor shaft of the swing motor 121 so as to drive the jumping leg 122 to rotate relative to the body 110 under the drive of the swing motor 121.

[0032] Specifically, the bearing 131 is installed on one side of the jumping leg 122 and fixedly assembled with the robot body 110; the swing motor 121 is correspondingly arranged on the side of the bearing 131 facing away from the jumping leg 122, realizing axial alignment; one end of the rotating shaft 132 passes through the inner ring of the jumping leg 122 and the bearing 131 in sequence, and is coaxially connected with the motor shaft of the swing motor 121, forming a coaxial series assembly, which is compact in structure, simple in assembly, and stable in connection.

[0033] Further, please refer to Figure 2 The transmission mechanism 130 further includes a swing arm 133, which is located between the bearing 131 and the swing motor 121. One end of the swing arm 133 is provided with a flat end for connecting to the motor shaft of the swing motor 121, and the other end of the swing arm 133 is provided with a connecting part 1331 protruding from the flat end towards the jumping leg 122. The connecting part 1331 is connected to the jumping leg 122.

[0034] Specifically, one end of the swing arm 133 is formed as a flat end, which is used to connect and fix with the motor shaft of the swing motor 121 to ensure reliable circumferential positioning and non-slip torque transmission. Since there is a gap between the swing arm 133 and the jumping leg 122, the other end of the swing arm 133 is provided with a connecting part 1331 that protrudes outward relative to the flat end, which can compensate for the distance between the two. The protruding connecting part 1331 is fixedly connected to the jumping leg 122, so that when the swing motor 121 drives the swing arm 133 to rotate, the jumping leg 122 can swing back and forth operably with the swing arm 133.

[0035] When the swing motor 121 is working, the rotational torque output by the motor shaft drives the swing arm 133 to rotate. Through the fixed connection between the swing arm 133 and the jumping leg 122, the rotational motion of the swing motor 121 is converted into the swinging motion of the jumping leg 122 relative to the body 110. This application allows for operable control of the forward and reverse rotation and the angle of the swing motor 121, driving the swing arm 133 to move the jumping leg 122 to achieve different angle reversals. During the robot's airborne window, the jumping leg 122 can be quickly redirected, independently achieving flexible adjustment of the take-off angle without tilting the entire body 110.

[0036] Further, please refer to Figure 2 The transmission mechanism 130 also includes a connector 134, the two ends of which are connected to the connector 1331 and the jumping leg 122, respectively.

[0037] Specifically, the connector 134 can be fixedly connected to the connector 1331 and the jumping leg 122, and is independently disposed between the swing arm 133 and the jumping leg 122, forming a step-by-step transmission structure of the swing motor 121, the swing arm 133, the connector 134, and the jumping leg 122. Among them, the connector 134 serves as an intermediate transition structure, which can appropriately compensate for the position and installation tolerances between the swing arm 133 and the jumping leg 122.

[0038] Optionally, the connector 134 can be a connecting shaft or a connecting rod, etc. Of course, the above is only an example, and the specific type can be determined according to actual needs, and this application does not impose any restrictions.

[0039] In this application embodiment, the configuration of the jumping leg 122 has several options. In a preferred embodiment, please refer to... Figure 1 The jumping leg 122 includes: an upper leg 1221, the number of which is configured as two, one end of which is rotatably connected to the body 110; and a lower leg, one end of which is telescopically disposed at the other end of the two upper legs 1221 away from the body 110 and connected to the two upper legs 1221.

[0040] Specifically, the upper legs 1221 are configured as two, arranged symmetrically on the left and right. One end of each upper leg 1221 is rotatably pivotally connected to the robot body 110, forming a double-sided support structure, which makes the force more balanced, and the lateral sway is less likely to occur during take-off and landing, thus improving the stability of movement. The number of lower legs is configured as one, which is connected to both upper legs 1221. It can store and release potential energy through extension and retraction, which can be used to drive the body 110 to jump and take off.

[0041] Correspondingly, there can be two swing motors 121 and two sets of transmission mechanisms 130. The two sets of swing motors 121 and transmission mechanisms 130 are arranged opposite to each other on both sides of the body 110. The two swing motors 121 are respectively connected to the two upper legs 1221 through the two transmission mechanisms 130.

[0042] In this application embodiment, there are several options for the lower leg configuration. In a preferred embodiment, please refer to... Figure 1 The lower leg includes: a connecting frame 1223, which is connected to the other end of the two upper legs 1221 away from the body 110; and a telescopic leg 1222, which is telescopically disposed at the end of the connecting frame 1223 away from the upper legs 1221 and connected to the connecting frame 1223.

[0043] The connecting frame 1223 can be composed of two oppositely arranged sub-connecting frames, which are respectively connected to the two upper legs 1221 to achieve rigid fixation between the lower leg and the two upper legs 1221; the telescopic leg 1222 and the connecting frame 1223 can be a nested sliding fit structure, and the telescopic leg 1222 can perform axial and reciprocating telescopic movements relative to the connecting frame 1223.

[0044] Furthermore, the lower end of the telescopic leg 1222 is provided with a spherical foot end, and the surface is provided with a rubber layer for anti-slip.

[0045] When in the air, the robot drives the two upper legs 1221 to swing relative to the body 110 through the swing motor 121 and the transmission mechanism 130. The two upper legs 1221 synchronously drive the connecting frame 1223 of the lower legs to swing as a whole, thereby driving the lower telescopic leg 1222 to complete the swing direction synchronously, realizing the rapid reorientation of the jumping leg 122 during the air-taking phase. When landing and taking off, the telescopic leg 1222 can slide and extend relative to the connecting frame 1223, driving the body 110 to jump.

[0046] In this embodiment, the telescopic leg 1222 can be made of various materials. In a preferred embodiment, the telescopic leg 1222 can be made of carbon fiber. Of course, the above is only an example, and the specific material can be determined according to actual needs. This application does not impose any restrictions here.

[0047] Further, please refer to Figure 1The jumping mechanism 120 also includes an elastic element 123, which is connected to the connecting frame 1223 and the telescopic leg 1222. The elastic element 123 is used to provide elastic force to the connecting frame 1223 and the telescopic leg 1222.

[0048] In this embodiment, the elastic element 123 can be selected from various options, such as a rubber band or a spring. In a preferred embodiment, the elastic element 123 is a rubber band. One end of the rubber band is fitted onto the connecting frame 1223, and the other end is fitted onto the telescopic leg 1222. During assembly, the rubber band is in a pre-stretched tensioned state fitted onto the jumping leg 122.

[0049] When the robot lands from the air, the ground reaction force causes the telescopic leg 1222 and the connecting frame 1223 to slide and extend, stretching the rubber band fitted between them. This stretches the rubber band, causing it to elastically deform and store elastic potential energy. At the moment of takeoff, the stretched rubber band retracts and releases its elastic potential energy, applying an elastic force to the connecting frame 1223 and the telescopic leg 1222, assisting the leg in outputting jumping power and achieving the jump. This application, by incorporating the elastic element 123, allows the robot to release its elastic potential energy through its own elastic force to drive the robot to jump, thus meeting the requirements for continuous jumping.

[0050] Please refer to the embodiments in this application. Figure 1 The connecting frame 1223 has a first mounting part 122b at the end away from the upper leg 1221, and the telescopic leg 1222 has a second mounting part 122a at the end near the upper leg 1221. The second mounting part 122a is located above the first mounting part 122b, and the two ends of the elastic member 123 are connected to the first mounting part 122b and the second mounting part 122a respectively.

[0051] Specifically, the first mounting part 122b is integrally provided at the end of the connecting frame 1223 away from the upper leg 1221, and the second mounting part 122a is correspondingly provided at the end of the telescopic leg 1222 near the upper leg 1221. The two ends of the second mounting part 122a protrude horizontally from the connecting frame 1223, and the structure of the first mounting part 122b can be consistent with that of the second mounting part 122a. In terms of assembly layout, the second mounting part 122a is vertically arranged directly above the first mounting part 122b. The two ends of the elastic member 123 are respectively hooked and fixed on the first mounting part 122b and the second mounting part 122a, so that the elastic member 123 is vertically straddled and tensioned between the first mounting part 122b and the second mounting part 122a.

[0052] Further, please refer to Figure 1 The first mounting part 122b is provided with a first hook 122d at both ends, the second mounting part 122a is provided with a second hook 122c at both ends, and the elastic member 123 is provided with the first hook 122d and the second hook 122c at both ends.

[0053] In this embodiment, the number of elastic elements 123 can be multiple. The multiple elastic elements 123 are divided into two groups and respectively hooked to the two ends of the first mounting part 122b and the second mounting part 122a. The first hook 122d and the second hook 122c at both ends form a limiting fixation, so that the elastic elements 123 are regularly tensioned between the first mounting part 122b and the second mounting part 122a, effectively preventing the elastic elements 123 from twisting or slipping during the stretching and retraction process, and making them less prone to loosening and failure.

[0054] In this embodiment, the connecting frame 1223 is provided with a guide component, and the telescopic leg 1222 slides in cooperation with the guide component.

[0055] There are several options for the configuration of the aforementioned guide components. In a preferred embodiment, please refer to... Figure 4 and Figure 5 The guiding assembly may include a mounting base 124 and guide wheels. Further, the mounting base 124 is tetrahedral, with mounting grooves 1241 on each of its four sides for mounting the guide wheels. A channel is formed in the center of the mounting base 124, connecting the four mounting grooves 1241. The rod of the telescopic leg 1222 can pass through this channel and contact the four guide wheels to achieve telescopic sliding. By providing the guiding assembly, this application ensures smooth telescopic extension and retraction of the telescopic leg 1222, thereby improving the smoothness of the jumping leg 122's bounce and preventing bounce jamming and potential tipping of the machine 110.

[0056] In the embodiments of this application, please refer to Figure 1 and Figure 3 A sensor 140 is provided on the side of the connecting frame 1223 facing away from the telescopic leg 1222, and a boss 122e is provided on the other end of the telescopic leg 1222 away from the upper leg 1221. The sensor 140 is used to detect the distance between the sensor and the boss 122e.

[0057] For the aforementioned sensor 140, a laser or infrared light-based ranging sensor 140 can be selected, such as a ToF sensor 140. A ToF (Time of Flight) sensor is a distance measurement sensor based on the time of flight of a signal. The detection beam of the ToF sensor 140 is released toward the boss 122e. The ranging principle of the ToF sensor 140 is prior art and will not be described in detail here.

[0058] The sensor 140 of this application continuously detects during the robot's working phase. By calculating the distance difference over a period of time, the compression amount of the jumping leg 122 during that period can be determined.

[0059] In this embodiment, the fuselage 110 is also equipped with a battery assembly and a controller. The main function of the battery assembly is to centrally supply power to the flight, jumping, and electronic control systems; the controller, as the core hub, can drive the swing motor 121 to drive the jumping leg 122 to swing independently relative to the fuselage 110 and quickly reorient itself via the transmission mechanism 130.

[0060] In this application embodiment, the controller type can be selected from various options, such as an STM32 microcontroller or an FPGA. Of course, the above are only examples, and the specific type can be determined according to actual needs, which is not limited here.

[0061] The above are only some or preferred embodiments of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A flying and jumping robot, comprising: A flyable aircraft and a jumping mechanism connected to the aircraft, characterized in that the jumping mechanism includes a swing motor and a jumping leg, the jumping leg is rotatably connected to the aircraft, the swing motor is disposed on the aircraft, and the swing motor is connected to the jumping leg through a transmission mechanism to drive the jumping leg to rotate relative to the aircraft.

2. The flying and jumping robot according to claim 1, characterized in that, The transmission mechanism includes: A bearing is located on one side of the jumping leg and connected to the machine body, and the swing motor is located on the side of the bearing facing away from the jumping leg. A rotating shaft, one end of which passes through the jumping leg and the bearing in sequence and is connected to the motor shaft of the swing motor, so as to drive the jumping leg to rotate relative to the machine body under the drive of the swing motor.

3. The flying and jumping robot according to claim 2, characterized in that, The transmission mechanism also includes: A swing arm is disposed between the bearing and the swing motor. One end of the swing arm is provided with a flat end for connecting to the motor shaft of the swing motor, and the other end of the swing arm is provided with a connecting part protruding relative to the flat end facing the jumping leg. The connecting part is connected to the jumping leg.

4. The flying and jumping robot according to claim 3, characterized in that, The transmission mechanism also includes: A connector, the two ends of which are respectively connected to the connecting part and the jumping leg.

5. The flying and jumping robot according to claim 1, characterized in that, The jumping leg includes: The upper legs are configured in two, with one end of each upper leg rotatably connected to the body. The lower leg has one end retractably located at the other end of the two upper legs away from the body and connected to the two upper legs.

6. The flying and jumping robot according to claim 5, characterized in that, The lower leg includes: A connecting frame is connected to the other end of the two upper legs away from the body; A telescopic leg is telescopically mounted at the end of the connecting frame away from the upper leg and connected to the connecting frame.

7. The flying and jumping robot according to claim 6, characterized in that, The jumping mechanism also includes: An elastic element is connected to the connecting frame and the telescopic leg, and the elastic element is used to provide elastic force to the connecting frame and the telescopic leg.

8. The flying and jumping robot according to claim 7, characterized in that, The connecting frame has a first mounting part at the end away from the upper leg, and the telescopic leg has a second mounting part at the end near the upper leg. The second mounting part is located above the first mounting part, and the two ends of the elastic member are respectively connected to the first mounting part and the second mounting part.

9. The flying and jumping robot according to claim 8, characterized in that, The first mounting part is provided with a first hook at each end, the second mounting part is provided with a second hook at each end, and the elastic member is provided with the first hook and the second hook at each end.

10. The flying and jumping robot according to claim 6, characterized in that, The connecting frame is provided with a guide assembly, and the telescopic leg slides in engagement with the guide assembly; and / or A sensor is provided on the side of the connecting frame facing away from the telescopic leg, and a boss is provided on the other end of the telescopic leg away from the upper leg. The sensor is used to detect the distance between the sensor and the boss.

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