Airborne traversing robot

Abstract

The application discloses an air crossing robot, which comprises a flying mechanism and a buffer mechanism, wherein the flying mechanism comprises a flying body and a support connected with the flying body, and the buffer mechanism comprises a ring-shaped protection component movably connected with the support, the ring-shaped protection component is arranged around the flying body, and the ring-shaped protection component can rotate around its axis. The buffer mechanism of the air crossing robot can effectively separate the yawing moment in the phase-cut direction, thereby reducing the amplitude of the change of the flight posture of the air crossing robot, and in combination with the specific structure of the ring-shaped protection component, the collision duration can be prolonged, and substantial impact buffering is provided. Experiments show that the trend of the inclination of the air crossing robot after being hit is greatly reduced by being equipped with the buffer mechanism.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an aerial traversing robot. Background Technology

[0002] The application of aerial crossing robots is gradually expanding into complex urban and natural environments. To reduce the risk of aerial crossing robots being damaged by collisions, most aerial crossing robots are equipped with buffer mechanisms.

[0003] In related technologies, some aerial navigation robots use crash barriers around them for collision protection. However, the protection provided by these barriers is not effective enough, and when they collide with obstacles, they can easily cause significant changes in the robot's posture. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an aerial crossing robot that can improve its protective capabilities and reduce the magnitude of attitude changes caused by impacts.

[0005] According to some embodiments of the present invention, an aerial crossing robot includes: a flight mechanism including a flight body and a support connected to the flight body; and a buffer mechanism including an annular protective component movably connected to the support, the annular protective component being disposed around the flight body and rotatable about its axis.

[0006] The annular protection component includes multiple annular elastic buffers, which are coaxially arranged and nested from the inside to the outside. Each pair of adjacent annular elastic buffers is angled, and the concave and convex structures of the annular protection component are alternately arranged along the radial direction of the annular protection component. The angle between each pair of adjacent annular elastic buffers can decrease under pressure or increase due to reset.

[0007] Each of the annular elastic buffers includes a plurality of sequentially connected folds. In each annular elastic buffer, each pair of adjacent folds is angled and the recessed and protruding structures on the annular elastic buffer are alternately arranged along the circumference of the annular elastic buffer. The angle between each pair of adjacent folds can be reduced by pressure or increased by reset.

[0008] The aerial crossing robot according to embodiments of the present invention has at least the following beneficial effects:

[0009] When the aerial crossing robot of the present invention collides with an obstacle, the annular protection component collides with the obstacle first, and the impact force borne by the annular protection component can drive the annular protection component to rotate around its axis. When the annular protection component rotates around its axis, it can effectively separate the yaw torque in the tangential direction, thereby reducing the extent to which the flight attitude of the aerial crossing robot changes due to the collision. When the annular protective assembly collides with an obstacle, the normal pressure it experiences compresses multiple annular elastic buffers, causing the angle between adjacent annular elastic buffers to decrease. This folds the annular protective assembly for cushioning, significantly improving energy absorption and impact resistance. After the impact, the annular elastic buffers return to their original position due to their elasticity, causing the angle between adjacent annular elastic buffers to increase, thus deploying the annular protective assembly. Furthermore, when the annular protective assembly collides with an obstacle, the tangential pressure it experiences causes it to rotate, dissipating some of the pressure. The remaining tangential pressure compresses multiple folding plates, causing the angle between adjacent folding plates to decrease. This folds the annular elastic buffers for cushioning, further enhancing energy absorption and impact resistance. After the impact, the annular elastic buffers return to their original position due to their elasticity, causing the angle between adjacent folding plates to increase, thus deploying the annular elastic buffer. In this way, the peak impact force can be reduced.

[0010] According to some embodiments of the present invention, in every two adjacent annular elastic buffers, the fold plate of one annular elastic buffer is aligned with the fold plate of the other annular elastic buffer and connected to each other at an angle.

[0011] According to some embodiments of the present invention, in every two adjacent annular elastic buffers, the fold plate of one annular elastic buffer is aligned with the fold plate of the other annular elastic buffer and connected to each other at an acute angle.

[0012] According to some embodiments of the present invention, in each of the annular elastic buffer members, every two adjacent folds are arranged at an acute angle.

[0013] According to some embodiments of the present invention, in the plurality of said annular elastic buffers, each fold of the outermost annular elastic buffer is not perpendicular to the axis of the annular protective assembly.

[0014] According to some embodiments of the present invention, the material of the annular elastic buffer is thermoplastic polyurethane elastomer rubber.

[0015] According to some embodiments of the present invention, all the folds of each of the annular elastic buffer members are integrally formed structures; all the annular elastic buffer members in the annular protection assembly are integrally formed structures.

[0016] According to some embodiments of the present invention, the buffer mechanism further includes a plurality of connecting feet, one end of each connecting foot being movably connected to the annular protection component, and the other end being fixedly connected to the bracket, and the plurality of connecting feet being spaced apart along the circumference of the annular protection component;

[0017] Each of the connecting feet is located inside the edge of the outer periphery of the annular protective assembly.

[0018] According to some embodiments of the present invention, the buffer mechanism further includes a plurality of connecting feet, one end of each connecting foot being fixedly connected to the annular protection component and the other end being movably connected to the bracket, and the plurality of connecting feet being spaced apart along the circumference of the annular protection component;

[0019] Each of the connecting feet is located inside the edge of the outer periphery of the annular protective assembly.

[0020] According to some embodiments of the present invention, the support includes a plurality of legs, one end of each of the plurality of legs is connected to the flight body, and the other end is movably connected to the annular protection component. The plurality of legs are arranged at intervals along the circumference of the annular protection component, and each of the legs is provided with a rotor.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0023] Figure 1 This is a schematic diagram of the structure of an aerial crossing robot according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of a buffer mechanism according to an embodiment of the present invention;

[0025] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0026] Figure 4 This is a cross-sectional view of a buffer mechanism according to an embodiment of the present invention;

[0027] Figure 5 for Figure 4 Enlarged view of point B in the middle;

[0028] Figure 6 for Figure 4 Enlarged view of point C in the middle;

[0029] Figure 7This is a top-view structural diagram of an aerial crossing robot according to an embodiment of the present invention.

[0030] Icon labels:

[0031] 100. Flight mechanism; 110. Flight body; 120. Support frame; 121. Outriggers; 130. Rotor;

[0032] 200. Buffer mechanism; 210. Annular protective assembly; 211. Annular elastic buffer; 212. Recessed structure of the annular protective assembly; 213. Protruding structure of the annular protective assembly; 2111. Folded plate; 2112. Recessed structure of the annular elastic buffer; 2113. Protruding structure of the annular elastic buffer; 220. Connecting foot. Detailed Implementation

[0033] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0034] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] like Figure 1 As shown, an embodiment of the present invention relates to an aerial crossing robot, which includes a flight mechanism 100 and a buffer mechanism 200.

[0037] The flight mechanism 100 includes a flight body 110 and a support 120 connected to the flight body 110.

[0038] The buffer mechanism 200 includes an annular protective assembly 210 movably connected to the support 120, the annular protective assembly 210 being disposed around the flight body 110 and capable of rotating about its axis.

[0039] Specifically, the annular protection component 210 is connected to the bracket 120 and is arranged around the flying body 110. When the aerial robot collides with an obstacle, the annular protection component 210 will collide with the obstacle first, thereby protecting the flying body 110.

[0040] Furthermore, the annular protection component 210 is movably connected to the support 120, allowing the annular protection component 210 to rotate around its axis. When the aerial robot collides with an obstacle, the annular protection component 210 collides with the obstacle first, and the impact force borne by the annular protection component 210 can cause it to rotate around its axis. When the annular protection component 210 rotates around its axis, it can effectively separate the yaw moment in the tangential direction, thereby reducing the risk of the aerial robot's flight attitude changing due to a collision.

[0041] like Figures 2 to 5 As shown, the annular protection assembly 210 includes multiple annular elastic buffers 211, which are coaxially arranged and nested from the inside to the outside.

[0042] Specifically, multiple annular elastic buffers 211 are fixedly connected together, and the multiple annular elastic buffers 211 are coaxially arranged and nested from the inside to the outside.

[0043] like Figure 5 As shown, further, each pair of adjacent annular elastic buffers 211 are angled so that the recessed structure 212 and the protruding structure 213 of the annular protection component 210 are alternately arranged along the radial direction of the annular protection component 210, and the angle between each pair of adjacent annular elastic buffers 211 can be reduced by pressure or increased by reset.

[0044] Specifically, each pair of adjacent annular elastic buffers 211 are arranged at an angle, and there is a crease between the two adjacent annular elastic buffers 211. The location of the crease is the location of the recessed structure 212 or the protruding structure 213 of the annular protective component 210. By arranging the recessed structure 212 and the protruding structure 213 of the annular protective component 210 alternately along the radial direction of the annular protective component 210, it is easy to fold or unfold the annular protective component 210.

[0045] Understandably, when the annular protective component 210 collides with an obstacle, the normal pressure on the annular protective component 210 will compress multiple annular elastic buffers 211, causing the angle between each pair of adjacent annular elastic buffers 211 to decrease. This causes the annular protective component 210 to fold and buffer, greatly improving its energy absorption and impact resistance. After the impact, the annular elastic buffers 211 can return to their original position due to their elasticity, causing the angle between each pair of adjacent annular elastic buffers 211 to increase, thereby causing the annular protective component 210 to unfold.

[0046] like Figure 6 As shown, each annular elastic buffer 211 further includes a plurality of sequentially connected folded plates 2111. In each annular elastic buffer 211, each pair of adjacent folded plates 2111 are arranged at an angle so that the recessed structure 2112 and the protruding structure 2113 of the annular elastic buffer 211 are alternately arranged along the circumference of the annular elastic buffer 211, and the angle between each pair of adjacent folded plates 2111 can be reduced by pressure or increased by reset.

[0047] Specifically, each pair of adjacent folding plates 2111 is set at an angle, and there is a crease between the two adjacent folding plates 2111. The location of the crease is the location of the recessed structure 2112 or the protruding structure 2113 of the annular elastic buffer 211. By arranging the recessed structure 2112 and the protruding structure 2113 of the annular elastic buffer 211 alternately along the circumference of the annular elastic buffer 211, it is easy to fold or unfold the annular elastic buffer 211.

[0048] Understandably, when the annular protective component 210 collides with an obstacle, the tangential pressure on the annular protective component 210 can cause it to rotate and be partially relieved. The remaining tangential pressure can compress multiple folded plates 2111, making the angle between each pair of adjacent folded plates 2111 smaller. This causes the annular elastic buffer 211 to fold and buffer, greatly improving energy absorption and impact resistance. After the impact, the annular elastic buffer 211 can return to its original position due to its own elasticity, causing the angle between the two adjacent folded plates 2111 to increase, thus allowing the annular elastic buffer 211 to unfold.

[0049] like Figure 3 As shown, in each pair of adjacent annular elastic buffers 211, the fold plate 2111 of one annular elastic buffer 211 is aligned with the fold plate 2111 of the other annular elastic buffer 211 and connected to each other at an angle.

[0050] Specifically, in each pair of adjacent annular elastic buffers 211, the outer side of the fold plate 2111 of the inner annular elastic buffer 211 is aligned and connected with the inner side of the fold plate 2111 of the outer annular elastic buffer 211. In this way, the two adjacent annular elastic buffers 211 can have an easy-folding effect, thereby ensuring the cushioning performance.

[0051] Furthermore, in each pair of adjacent annular elastic buffers 211, the fold plate 2111 of one annular elastic buffer 211 is aligned with the fold plate 2111 of the other annular elastic buffer 211 and connected to each other at an acute angle.

[0052] Specifically, in each pair of adjacent annular elastic buffers 211, the fold plate 2111 of one annular elastic buffer 211 is aligned with the fold plate 2111 of the other annular elastic buffer 211 and connected to each other at a 60° angle.

[0053] Furthermore, in each annular elastic buffer 211, every two adjacent folds 2111 are set at an acute angle.

[0054] Specifically, in each annular elastic buffer 211, every two adjacent folds 2111 are set at 60°.

[0055] It should be noted that finite element analysis shows that setting the angle between the folding plates 2111 according to the above-mentioned angle can achieve an ideal buffering effect. At the same time, setting the number of annular elastic buffers 211 in the annular protection component 210 to 4 can ensure the buffering effect while maintaining the lightweight design of the annular protection component 210.

[0056] like Figure 5 As shown, further, in the plurality of annular elastic buffers 211, each fold 2111 of the outermost annular elastic buffer 211 is not perpendicular to the axis of the annular protective assembly 210.

[0057] In other words, each fold 2111 of the outermost ring-shaped elastic buffer 211 of the aerial crossing machine is not horizontal, but at a certain angle to the horizontal plane. In this way, when the aerial crossing machine collides with an obstacle, it is not the outer edge of the fold 2111 that collides with the obstacle, but the outer surface of the fold 2111 that collides with the obstacle. This makes the ring-shaped protective component 210 easier to fold for cushioning, and also reduces the risk of the fold 2111 being damaged.

[0058] It should be noted that the material of the annular elastic buffer 211 is thermoplastic polyurethane elastomer rubber. Furthermore, all the folds 2111 of each annular elastic buffer 211 are integrally molded structures; all the annular elastic buffers 211 in the annular protection assembly 210 are integrally molded structures.

[0059] Specifically, the ring-shaped protective component 210 is manufactured as a single piece using 3D printing technology.

[0060] like Figure 1 As shown, in some embodiments, the buffer mechanism 200 further includes a plurality of connecting feet 220, one end of each connecting foot 220 being movably connected to the annular protection component 210, and the other end being fixedly connected to the bracket 120. The plurality of connecting feet 220 are arranged at intervals along the circumference of the annular protection component 210; wherein, each connecting foot 220 is located within the edge of the outer periphery of the annular protection component 210.

[0061] It is understood that the connecting foot 220 is used to connect the annular protection component 210 to the bracket 120, and the annular protection component 210 can move relative to the connecting foot 220, so that the annular protection component 210 can rotate around the axis of the annular protection component 210. The connecting foot 220 is located inside the edge of the outer periphery of the annular protection component 210, which can prevent the connecting foot 220 from colliding with the obstacle first.

[0062] Specifically, the buffer mechanism 200 also includes a bearing (not shown) coaxially arranged with the annular protection component 210. One of the inner ring or the outer ring of the bearing is fixedly connected to the annular protection component 210, and the other is fixedly connected to one end of the connecting foot 220. The outer ring of the bearing is located inside the edge of the outer periphery of the annular protection component 210.

[0063] It is understandable that the bearing, as an intermediate connection structure between the connecting foot 220 and the annular protection component 210, allows the annular protection component 210 to rotate around its axis.

[0064] Specifically, the outer ring of the bearing is fixedly connected to the innermost annular elastic buffer 211 of the annular protection assembly 210, and the inner ring of the bearing is fixedly connected to one end of the connecting foot 220.

[0065] In some other embodiments, the buffer mechanism 200 further includes a plurality of connecting feet 220, one end of each connecting foot 220 being fixedly connected to the annular protection component 210 and the other end being movably connected to the bracket 120, and the plurality of connecting feet 220 being spaced apart circumferentially along the annular protection component 210; wherein each connecting foot 220 is located within the edge of the outer periphery of the annular protection component 210.

[0066] It is understood that the connecting foot 220 is used to connect the annular protection component 210 to the bracket 120, and the connecting foot 220 is movable relative to the bracket 120, so that the annular protection component 210 can rotate around the axis of the annular protection component 210. The connecting foot 220 is located inside the edge of the outer periphery of the annular protection component 210, which can prevent the connecting foot 220 from colliding with the obstacle first.

[0067] Specifically, the buffer mechanism 200 also includes a bearing coaxially arranged with the annular protection component 210, the annular protection component 210 surrounding the bearing, one of the inner ring or the outer ring of the bearing being fixedly connected to the bracket 120, and the other being fixedly connected to the other end of the connecting foot 220.

[0068] It is understandable that the bearing, as an intermediate connection structure between the connecting foot 220 and the bracket 120, allows the connecting foot 220 to rotate relative to the bracket 120, thereby causing the annular protection component 210 to rotate around its axis.

[0069] Specifically, the outer ring of the bearing is fixedly connected to the other end of the connecting leg 220, and the inner ring support 120 of the bearing is fixedly connected.

[0070] Furthermore, the support 120 includes multiple legs 121, one end of each leg 121 is connected to the flight body 110, and the other end is movably connected to the annular protection component 210. The multiple legs 121 are spaced apart along the circumference of the annular protection component 210, and each leg 121 is provided with a rotor 130.

[0071] Specifically, multiple support feet 121 are connected to multiple connecting feet 220 in a one-to-one correspondence.

[0072] In the aerial crossing robot of the present invention, the structural design of the ring protection component 210 can introduce additional stiffness, expand the deformation mode, and has a lighter weight. It can separate the impact yaw moment, reduce the peak impact force experienced by the aerial crossing robot, and has a good energy absorption effect, which can effectively protect the safety of the aerial crossing robot.

[0073] like Figure 7 As shown, when an aerial robot is impacted, due to the coupling of its motion, the aerial robot will usually contact the obstacle at a certain angle. During this process, the force it experiences can be decomposed into two directions: tangential and normal. The effect of the normal force is to change the linear velocity of the aerial robot, while the effect of the tangential force is to change the flight attitude of the aerial robot. These two effects place high demands on the recovery control after the collision.

[0074] The buffer mechanism 200 of the aerial crossing robot of the present invention incorporates a freely rotatable annular protection component 210, which can effectively separate the yaw torque in the tangential direction, thereby reducing the magnitude of the change in the flight attitude of the aerial crossing robot. In addition, combined with the specific structure of the annular protection component 210, the collision duration can be extended, providing substantial impact buffering. Experiments show that by equipping the aerial crossing robot with this buffer mechanism 200, the tendency of the aerial crossing robot to tilt after being hit is greatly reduced.

[0075] The improved stability of the aerial crossing robot of the present invention is mainly due to the following three reasons: First, the specific structure of the annular protection component 210 greatly increases the mass moment of inertia of the aerial crossing robot relative to the pitch axis; second, the annular protection component 210 has a larger aerodynamic drag on pitch due to the increased contact area; finally, in the buffer mechanism 200, the peak impact force is smaller, resulting in a reduced tendency to tilt during impact.

[0076] When the aerial navigation robot of this invention collides with an obstacle, the annular protective component 210 collides with the obstacle first. The impact force on the annular protective component 210 causes it to rotate around its axis. This rotation effectively separates the yaw moment in the tangential direction, thereby reducing the change in the aerial navigation robot's flight attitude due to the collision. When the annular protective component 210 collides with the obstacle, the normal pressure on it compresses multiple annular elastic buffers 211, causing the angle between adjacent annular elastic buffers 211 to decrease. This allows the annular protective component 210 to fold and buffer, greatly improving its energy absorption and impact resistance. After the impact, the annular elastic buffers 211 return to their original position due to their elasticity, causing the angle between adjacent annular elastic buffers 211 to increase, thus allowing the annular protective component 210 to unfold. Furthermore, when the annular protective component 210 collides with the obstacle... When the impact occurs, the tangential pressure on the annular protective component 210 can cause it to rotate and be partially relieved. The remaining tangential pressure can compress multiple folded plates 2111, making the angle between each pair of adjacent folded plates 2111 smaller. This causes the annular elastic buffer 211 to fold and buffer, greatly improving energy absorption and impact resistance. After the impact, the annular elastic buffer 211 can return to its original position due to its elasticity, causing the angle between the adjacent folded plates 2111 to increase, thus allowing the annular elastic buffer 211 to unfold. In this way, the peak impact force can be reduced.

[0077] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An aerial traversing robot, characterized in that, include: A flight mechanism, comprising a flight body and a support connected to the flight body; as well as A buffer mechanism, the buffer mechanism including an annular protective assembly movably connected to the support, the annular protective assembly being disposed around the flight body and being rotatable about its axis; The annular protection component includes multiple annular elastic buffers, which are coaxially arranged and nested from the inside to the outside. Each pair of adjacent annular elastic buffers is angled, and the concave and convex structures of the annular protection component are alternately arranged along the radial direction of the annular protection component. The angle between each pair of adjacent annular elastic buffers can decrease under pressure or increase due to reset. Each of the annular elastic buffers includes a plurality of sequentially connected folds. In each annular elastic buffer, each pair of adjacent folds is angled and the recessed and protruding structures on the annular elastic buffer are alternately arranged along the circumference of the annular elastic buffer. The angle between each pair of adjacent folds can be reduced by pressure or increased by reset.

2. The aerial crossing robot according to claim 1, characterized in that, In each pair of adjacent annular elastic buffers, the flaps of one annular elastic buffer are aligned with the flaps of the other annular elastic buffer and connected to each other at an angle.

3. The aerial crossing robot according to claim 1, characterized in that, In each pair of adjacent annular elastic buffers, the fold plate of one annular elastic buffer is aligned with the fold plate of the other annular elastic buffer and connected to each other at an acute angle.

4. The aerial crossing robot according to claim 1, characterized in that, In each of the aforementioned annular elastic buffers, every two adjacent folds are arranged at an acute angle.

5. The aerial crossing robot according to claim 1, characterized in that, In the plurality of the annular elastic buffers, each fold of the outermost annular elastic buffer is not perpendicular to the axis of the annular protective assembly.

6. The aerial crossing robot according to claim 1, characterized in that, The material of the ring-shaped elastic buffer is thermoplastic polyurethane elastomer rubber.

7. The aerial crossing robot according to claim 1, characterized in that, All the folds of each of the aforementioned annular elastic buffers are integrally molded structures; all the annular elastic buffers in the annular protection assembly are integrally molded structures.

8. The aerial crossing robot according to claim 1, characterized in that, The buffer mechanism also includes multiple connecting feet, one end of each connecting foot is movably connected to the annular protection component, and the other end is fixedly connected to the bracket. The multiple connecting feet are spaced apart along the circumference of the annular protection component. Each of the connecting feet is located inside the edge of the outer periphery of the annular protective assembly.

9. The aerial crossing robot according to claim 1, characterized in that, The buffer mechanism also includes multiple connecting feet, one end of each connecting foot is fixedly connected to the annular protection component, and the other end is movably connected to the bracket. The multiple connecting feet are spaced apart along the circumference of the annular protection component. Each of the connecting feet is located inside the edge of the outer periphery of the annular protective assembly.

10. The aerial crossing robot according to claim 1, characterized in that, The support includes multiple legs, one end of each leg is connected to the flight body, and the other end is movably connected to the annular protection component. The multiple legs are spaced apart circumferentially along the annular protection component, and each leg is equipped with a rotor.

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