A bionic flapping-jumping robot based on a flapping-jumping composite structure

Abstract

The application discloses a kind of based on jump-flapping composite structure's bionic jumping robot, it is related to bionic robot technical field, including leg-foot type jumping module, flapping flight module, drive main body and tail module, leg-foot type jumping module connects drive main body, and leg-foot type jumping module is used to complete jumping function, flapping flight module connects drive main body, and flapping flight module is used to provide flight lift and thrust, tail module connects drive main body, and the installation angle of tail module can be adjusted.The application can realize high drive ratio and high coupling degree.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, and in particular to a biomimetic leaping robot based on a jump-flapping wing composite structure. Background Technology

[0002] Miniature amphibious robots inspired by insects possess advantages such as flexibility, small size, and strong stealth, achieving excellent adaptability to complex environments and showing promising application prospects in fields such as unmanned reconnaissance, disaster relief, and inspection of confined spaces. However, at present, biomimetic amphibious robots have poor structural adaptability. Their simple structural combinations make it difficult to achieve high-energy-density, high-integration, and high-burst efficient actuation at a microscale. At the same time, their motion coupling is low, and the complementary advantages of multimodal motion have not been explored, making it impossible to form an efficient composite motion system. Summary of the Invention

[0003] The purpose of this invention is to provide a biomimetic leaping robot based on a jump-flapping wing composite structure to solve the problems existing in the prior art and achieve a high drive ratio and high coupling degree.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides a biomimetic leaping robot based on a jump-flapping wing composite structure, comprising a legged jumping module, a flapping flight module, a drive body, and a tail wing module. The legged jumping module is connected to the drive body and is used to perform the jumping function. The flapping flight module is connected to the drive body and is used to provide lift and thrust for flight. The tail wing module is connected to the drive body, and the installation angle of the tail wing module is adjustable.

[0006] Preferably, the leg-type jumping module includes multiple supporting legs and two sets of jumping units. The two sets of jumping units are symmetrically arranged on both sides of the driving body, and both sets of jumping units are connected to the driving body. The driving body can drive the two sets of jumping units to jump synchronously. The multiple supporting legs are installed on the driving body and are used to support the ground.

[0007] Preferably, the two sets of jumping units have the same structure, and the jumping unit includes a leg side plate, a femur link, a tibia link, a tarsal joint, and an action element. One end of the leg side plate is connected to the drive body, and the other end of the leg side plate is hinged to one end of the femur link. The other end of the femur link is hinged to the upper end of the tibia link. The action element is connected to the first output end of the drive body, and the drive body can drive the action element to move, and the action element drives the tibia link to rotate to achieve a jump. The lower end of the tibia link is hinged to the tarsal joint, and the side of the tarsal joint used for gripping the ground is provided with burrs.

[0008] Preferably, in each jumping unit, there are two femoral links and one tibialis link, and the femoral links are located on both sides of the tibialis link, with the tibialis link hinged to both femoral links.

[0009] Preferably, the actuating element includes a reel, a D-shaped shaft, a trigger slide, and an elastic energy storage element. The trigger slide passes through an elongated hole on each of the shin joint links, and both ends of the trigger slide are limited to the shin joint links on both sides. The D-shaped shaft passes through two leg side plates, and one end of the D-shaped shaft is connected to the first output end of the drive body. The reel is connected to the D-shaped shaft. There are two reels, and each of the two reels corresponds to one of the two shin joint links. Each reel has two sets of rope wound on it, and the ends of the two sets of rope are respectively connected to the threading hole on the corresponding shin joint link and the trigger slide. The upper ends of the two shin joint links are provided with the same limiting connecting rod. There are two elastic energy storage elements, and each of the two elastic energy storage elements corresponds to one of the two sets of shin joint links. Correspondingly, one end of the elastic energy storage element is connected to the upper middle part of the shank link, and the other end of the elastic energy storage element is connected to the limiting connecting rod. When the driving body drives the D-shaped shaft to rotate the winding wheel forward, the rope pulls the shank link to rotate and fold towards the shank link until the barb on the upper part of the shank link engages with the upper end of the trigger slide rod. At the same time, the elastic energy storage element is in a stretched state. When the driving body drives the D-shaped shaft to rotate the winding wheel in reverse, the rope pulls the trigger slide rod to move along the elongated hole towards the leg side plate, and causes the trigger slide rod to disengage from the barb on the upper part of the shank link. At the same time, the elastic energy storage element resets and drives the shank link to rotate away from the shank link until it resets.

[0010] Preferably, the shooting flight module includes a flight frame, a reduction gear set, two swing arms, two swing arm bases, and two flapping wing units. The flight frame is connected to the drive body. The two flapping wing units are symmetrically mounted on the flight frame. The reduction gear set is mounted on the flight frame, and the input end of the reduction gear set is connected to the second output end of the drive body. The swing arm bases are mounted on the flight frame via shafts. The two swing arms, the two flapping wing units, and the two swing arm bases correspond one-to-one. One end of each swing arm is hinged to the swing arm base, and the swing arm base is connected to the flapping wing unit. The other ends of the two swing arms are respectively hinged to the two output ends of the reduction gear set.

[0011] Preferably, the reduction gear set includes a primary reduction double-layer gear and two secondary reduction gears. The primary reduction double-layer gear includes a primary large gear and a primary small gear. The outer circumference of the primary large gear meshes with the output small gear of the drive body. One side of the primary large gear is coaxially connected to the primary small gear. The outer circumference of the primary small gear meshes with the two secondary reduction gears respectively. The two secondary reduction gears correspond one-to-one with the two swing arms, and one end of the swing arm is eccentrically hinged to one side of the secondary reduction gear.

[0012] Preferably, the flapping wing unit includes a flapping wing frame and a flapping wing diaphragm, the root of the flapping wing frame is inserted into the swing arm base, and the front end of the flapping wing diaphragm is attached to the flapping wing frame.

[0013] Preferably, the drive body includes a flight drive motor, a rear limit frame, a fuselage side plate, a jump drive motor, a front limit frame, a worm gear, and a worm wheel. The front limit frame has a groove, and the flight frame of the shooting flight module is installed in the groove. The fuselage side plate is connected to the leg side plate of the leg-type jump module. The rear limit frame is located between the two fuselage side plates and is inserted into the mounting holes of the fuselage side plates. The flight drive motor is installed on the flight frame and is connected to an output pinion. The output pinion is used to connect to the input end of the shooting flight module. The jump drive motor is installed between the front limit frame and the rear limit frame. The jump drive motor is connected to the worm gear, and the worm gear is connected to the worm wheel. The worm wheel is connected to the D-shaped shaft of the leg-type jump module.

[0014] Preferably, the tail fin module includes a tail fin base, a tail fin frame, and a tail fin diaphragm. The tail fin base is mounted on the fuselage side plate of the drive body, the root of the tail fin frame is inserted into the tail fin base, and the tail fin diaphragm is attached to the tail fin frame.

[0015] The present invention achieves the following technical effects compared to the prior art:

[0016] The present invention provides a biomimetic leaping robot based on a jump-flapping wing composite structure. The legged jumping module is connected to the drive body and is used to perform the jumping function. The flapping flight module is connected to the drive body and is used to provide lift and thrust for flight. The drive body drives the legged jumping module and the flapping flight module respectively, thereby realizing the combination of jumping and flight. It also has the characteristics of high drive ratio and high coupling. The tail wing module is connected to the drive body, and the installation angle of the tail wing module can be adjusted, thereby adjusting the pitch moment and controlling the flight attitude to improve adaptability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the biomimetic leaping robot based on the jump-flapping wing composite structure in this invention;

[0019] Figure 2 This is a schematic diagram of the leg-based jumping module in this invention;

[0020] Figure 3 This is a schematic diagram of the structure of the flight module for shooting in this invention;

[0021] Figure 4 This is a schematic diagram of the structure of the driving body in this invention;

[0022] Figure 5 This is a schematic diagram of the tail fin module in this invention;

[0023] In the diagram: 1-Leg-based jumping module, 101-Leg side plate, 102-Tibial joint link, 103-Tibia joint link, 104-Thigh joint, 105-Roller reel, 106-Trigger slide bar, 107-Elastic energy storage element, 108-Supporting leg, 109-Hook; 2-Flying module, 201-Flying frame, 202-First stage gear, 203-Second stage reduction gear, 204-Swing arm, 205-Swing arm base 206-Flapping wing frame, 207-Flapping wing diaphragm, 208-First stage pinion; 3-Drive main body, 301-Flight drive motor, 302-Rear end limiter, 303-Fuselage side plate, 304-Jump drive motor, 305-Front end limiter, 306-Worm, 307-Worm wheel, 308-D-type shaft; 4-Tail wing module, 401-Tail wing base, 402-Tail wing frame, 403-Tail wing diaphragm. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] The purpose of this invention is to provide a biomimetic leaping robot based on a jump-flapping wing composite structure to solve the problems existing in the prior art and achieve a high drive ratio and high coupling degree.

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] like Figures 1-5 As shown, this embodiment provides a biomimetic leaping robot based on a jump-flapping wing composite structure, including a legged jumping module 1, a flapping flight module 2, a drive body 3, and a tail wing module 4. The legged jumping module 1 is connected to the drive body 3 and is used to perform the jumping function. The flapping flight module 2 is connected to the drive body 3 and is used to provide lift and thrust for flight. The drive body 3 drives the legged jumping module 1 and the flapping flight module 2 respectively, thereby realizing the composite of jumping and flight. It also has the characteristics of high drive ratio and high coupling. The tail wing module 4 is connected to the drive body 3, and the installation angle of the tail wing module 4 can be adjusted, thereby adjusting the pitch moment and controlling the flight attitude to improve adaptability.

[0028] Specifically, such as Figure 2 As shown, the legged jumping module 1 includes multiple supporting legs 108 and two sets of jumping units. The two sets of jumping units are symmetrically arranged on both sides of the driving body 3, and both sets of jumping units are connected to the driving body 3. The driving body 3 can drive the two sets of jumping units to jump synchronously, thereby achieving a jump simultaneously through the two sets of jumping units, improving motion stability. The multiple supporting legs 108 are installed on the driving body 3 and used to support the ground. Preferably, there are four supporting legs 108, which are installed in pairs at the front and middle of the entire bionic leaping robot based on the jump-flapping wing composite structure. The two sets of jumping units are installed at the rear of the entire bionic leaping robot based on the jump-flapping wing composite structure.

[0029] The two sets of jumping units have the same structure, and the jumping unit includes a leg side plate 101, a femur link 102, a tibia link 103, a tarsal link 104, and a motion element. One end of the leg side plate 101 is connected to the drive body 3, and the other end of the leg side plate 101 is hinged to one end of the femur link 102. The other end of the femur link 102 is hinged to the upper end of the tibia link 103. The motion element is connected to the first output end of the drive body 3, and the drive body 3 can drive the motion element to move, and make the motion element drive the tibia link 103 to rotate to achieve a jump. The lower end of the tibia link 103 is hinged to the tarsal link 104. The side of the tarsal link 104 used for gripping the ground is provided with burrs. During the push-off process of the tibia link 103, the tarsal link 104 is always in contact with the ground, and the burrs improve the gripping force.

[0030] In each jumping unit, there are two femoral links 102 and one tibia link 103. The femoral links 102 are located on both sides of the tibia link 103. The tibia link 103 is hinged to both femoral links 102, which facilitates the push-off action of the tibia link 103.

[0031] The actuating elements include a reel 105, a D-shaped shaft 308, a trigger slide 106, and an elastic energy storage element 107. The trigger slide 106 passes through elongated holes in each link 102, extending along the length of the link 102. Both ends of the trigger slide 106 are confined to the link 102 on either side. As a preferred embodiment, two limiting circular plates are provided on the trigger slide 106, respectively close to the inner sides of the two sets of link 102, thereby preventing the trigger slide 106 from moving along its length. The D-shaped shaft 308 passes through two leg side plates 101, and one end of the D-shaped shaft 308 is connected to the drive... The first output end of the moving body 3 can rotate with the drive body 3. The winding wheel 105 is connected to the D-shaped shaft 308. There are two winding wheels 105, and the two winding wheels 105 correspond one-to-one with the two tibia joint connecting rods 103. The two winding wheels 105 are respectively located on the outer end face of the two leg side plates 101. Two sets of ropes are wound on each winding wheel 105. The ends of the two sets of ropes are respectively connected to the threading hole and trigger slide 106 on the corresponding tibia joint connecting rod 103. Thus, the two winding wheels 105 can drive the two tibia joint connecting rods 103 to move respectively. At the same time, since the two winding wheels 105 are connected to the same The D-shaped shaft 308 enables synchronized movement of the two tibia linkages 103. Since the trigger slide 106 is also connected to a rope, its movement can be controlled via the reel 105. In one specific embodiment, the ends of two sets of ropes on the same reel 105 are fixed to the reel 105, respectively performing leg charging and leg triggering operations. The rope responsible for leg charging connects to the other reel 105 via a threaded hole at the rear end of the tibia linkage 103 from one reel 105. The rope responsible for leg triggering connects to the trigger slide 106. Different strokes of the rope can be controlled by different half-strokes of the reel 105. The two tibia joints 103 are coupled together to achieve power storage and triggering respectively. The upper ends of the two tibia joints 103 are connected by the same limiting connecting rod. There are two elastic energy storage elements 107, and the two elastic energy storage elements 107 correspond one-to-one with the two sets of spur joints 102. The elastic energy storage element 107 is an elastic rope. One end of the elastic energy storage element 107 is connected to the upper middle part of the spur joint 102, and the other end of the elastic energy storage element 107 is connected to the limiting connecting rod. As the two tibia joints 103 rotate, they drive the two elastic energy storage elements 107 to move. At the same time, due to the setting of the limiting connecting rod, the two elastic energy storage elements 107 also move synchronously.When the drive body 3 drives the D-shaped shaft 308 to rotate the winding reel 105 clockwise, the winding reel 105 drives the rope to pull the tibia link 103 towards the shank link 102, until the barb 109 on the upper part of the tibia link 103 engages with the upper end of the trigger slide 106, achieving mutual limiting between the barb 109 and the trigger slide 106. At this time, the tibia link 103 is in a locked state. During this process, the upper end of the tibia link 103 drives the elastic energy storage element 107 to extend. At this time, the elastic energy storage element 107 is in an extended state, realizing energy storage. When it is necessary to extend, the drive body 3 drives the D-shaped shaft 308 to... The reel 105 reverses direction, causing the rope to pull the trigger slide 106 along the elongated hole towards the side plate 101 near the leg. Specifically, the trigger slide 106 moves towards the opening of the barb 109 until it disengages from the barb 109. At this point, the limiting position between the trigger slide 106 and the barb 109 disappears. Under the elastic restoring force of the elastic energy storage element 107, the elastic energy storage element 107 resets and drives the tibia link 103 to rotate away from the femur link 102 until it resets. In other words, the tibia link 103 rapidly rotates away from the femur link 102, achieving the push-off action and completing the jump.

[0032] like Figure 3 As shown, the shooting flight module 2 includes a flight frame 201, a reduction gear set, two swing arms 204, two swing arm bases 205, and two flapping wing units. The flight frame 201 is connected to the flight drive motor 301 in the drive body 3. The two flapping wing units are symmetrically mounted on the flight frame 201. The reduction gear set is mounted on the flight frame 201, and the input end of the reduction gear set is connected to the second output end of the drive body 3. The swing arm bases 205 are mounted on the flight frame 201 via shafts. The two swing arms 204, the two flapping wing units, and the two swing arm bases 205 correspond one-to-one. One end of the swing arm 204 is hinged to the swing arm base 205, and the swing arm base 205 is connected to the flapping wing unit. The other ends of the two swing arms 204 are respectively hinged to the two output ends of the reduction gear set, thereby facilitating the control of the two swing arms 204.

[0033] The reduction gear set includes a primary reduction double-layer gear and two secondary reduction gears 203. The primary reduction double-layer gear includes a primary large gear 202 and a primary small gear 208. The outer circumference of the primary large gear 202 meshes with the output small gear of the drive body 3. One side of the primary large gear 202 is coaxially connected to the primary small gear 208. The outer circumference of the primary small gear 208 meshes with the two secondary reduction gears 203 respectively. When the drive body 3 drives the output small gear to rotate, the output small gear drives the primary large gear 202 to rotate, which in turn drives the coaxially connected primary small gear 208 to rotate. The primary small gear 208 drives the two secondary reduction gears 203 to rotate synchronously. The two secondary reduction gears 203 correspond one-to-one with the two swing arms 204, and one end of the swing arm 204 is eccentrically hinged to one side of the secondary reduction gear 203, forming a crank-rocker mechanism, thereby realizing the flapping of the flapping wing unit. At the same time, the vibration frequency of the flapping wing unit can be adjusted through the cooperation of the primary reduction double-layer gear and the secondary reduction gears 203.

[0034] The flapping wing unit includes a flapping wing frame 206 and a flapping wing diaphragm 207. The root of the flapping wing frame 206 is inserted into the swing arm base 205, and the front end of the flapping wing diaphragm 207 is attached to the flapping wing frame 206. The flapping wing diaphragm 207 achieves torsional deformation under the swing of the flapping wing frame 206, thereby providing lift and thrust for the biomimetic leaping robot based on the jump-flapping wing composite structure.

[0035] like Figure 4 As shown, the drive body 3 includes a flight drive motor 301, a rear limit frame 302, a fuselage side plate 303, a jump drive motor 304, a front limit frame 305, a worm gear 306, and a worm wheel 307. The front limit frame 305 has a groove in which the flight frame 201 of the shooting flight module 2 is installed. The fuselage side plate 303 is connected to the leg side plate 101 of the leg-type jump module 1. The rear limit frame 302 is located between the two fuselage side plates 303 and is inserted into the mounting holes of the fuselage side plates 303. The flight drive motor 301 is installed on the flight frame 201 and is connected to an output pinion gear. The output pinion gear is used to connect the shooting flight module. The input terminal of block 2 outputs power to the flapping flight module 2. The jump drive motor 304 is installed between the front limit frame 305 and the rear limit frame 302. The jump drive motor 304 is connected to the worm 306, which is connected to the worm wheel 307. The worm wheel 307 is connected to the D-shaped shaft 308 of the legged jumping module 1. As the jump drive motor 304 moves, it drives the worm 306 to rotate. The worm 306 drives the worm wheel 307 to rotate, and the worm wheel 307 drives the D-shaped shaft 308 to rotate. Finally, the driving force is output to the legged jumping module 1. Through the above design, the motion coupling of the biomimetic leaping robot based on the jump-flapping wing composite structure can be improved.

[0036] like Figure 5 As shown, the tail wing module 4 includes a tail wing base 401, a tail wing frame 402, and a tail wing diaphragm 403. The tail wing base 401 is mounted on the fuselage side plate 303 of the drive body 3. The root of the tail wing frame 402 is inserted into the tail wing base 401. By offsetting the angle of the tail wing base 401, the installation angle of the tail wing frame 402 can be adjusted, thereby adjusting the pitch moment and improving the adaptability of the biomimetic leaping robot based on the jump-flapping wing composite structure. The tail wing diaphragm 403 is attached to the tail wing frame 402. The pitch moment is generated by the interaction between the tail wing diaphragm 403 and the air, thereby ensuring the balance during flight.

[0037] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A biomimetic leaping robot based on a jump-flapping wing composite structure, characterized in that: It includes a legged jumping module, a photo-op flight module, a drive body, and a tail fin module. The legged jumping module is connected to the drive body and is used to perform the jumping function. The photo-op flight module is connected to the drive body and is used to provide lift and thrust for flight. The tail fin module is connected to the drive body and its installation angle is adjustable. The drive unit includes a flight drive motor, a rear limit frame, a fuselage side plate, a jump drive motor, a front limit frame, a worm gear, and a worm wheel. The front limit frame has a groove, and the flight frame of the shooting flight module is installed in the groove. The fuselage side plate is connected to the leg side plate of the leg-type jump module. The rear limit frame is located between the two fuselage side plates and is inserted into the mounting holes of the fuselage side plates. The flight drive motor is installed on the flight frame and is connected to an output pinion. The output pinion is used to connect to the input end of the shooting flight module. The jump drive motor is installed between the front limit frame and the rear limit frame. The jump drive motor is connected to the worm gear, and the worm gear is connected to the worm wheel. The worm wheel is connected to the D-axis of the leg-type jump module.

2. The biomimetic leaping robot based on a jump-flapping wing composite structure according to claim 1, characterized in that: The leg-type jumping module includes multiple supporting legs and two sets of jumping units. The two sets of jumping units are symmetrically arranged on both sides of the driving body, and both sets of jumping units are connected to the driving body. The driving body can drive the two sets of jumping units to jump synchronously. The multiple supporting legs are installed on the driving body and are used to support the ground.

3. The biomimetic leaping robot based on a jump-flapping wing composite structure according to claim 2, characterized in that: The two sets of jumping units have the same structure, and each jumping unit includes a leg side plate, a femur link, a tibia link, a tarsal joint, and an actuating element. One end of the leg side plate is connected to the driving body, and the other end of the leg side plate is hinged to one end of the femur link. The other end of the femur link is hinged to the upper end of the tibia link. The actuating element is connected to the first output end of the driving body, and the driving body can drive the actuating element to move, and the actuating element drives the tibia link to rotate to achieve a jump. The lower end of the tibia link is hinged to the tarsal joint, and the side of the tarsal joint used for gripping the ground is provided with burrs.

4. The biomimetic leaping robot based on a jump-flapping wing composite structure according to claim 3, characterized in that: In each of the jumping units, there are two femoral links and one tibialis link, with the femoral links located on both sides of the tibialis link, and the tibialis link being hinged to both femoral links.

5. The biomimetic leaping robot based on a jump-flapping wing composite structure according to claim 3, characterized in that: The actuating element includes a reel, a D-shaped shaft, a trigger slide, and an elastic energy storage element. The trigger slide passes through elongated holes on each of the shin joint links, and both ends of the trigger slide are limited to the shin joint links on both sides. The D-shaped shaft passes through two leg side plates, and one end of the D-shaped shaft is connected to the first output end of the drive body. The reel is connected to the D-shaped shaft. There are two reels, and each of the two reels corresponds to one of the two shin joint links. Each reel has two sets of rope wound on it, and the ends of the two sets of rope are respectively connected to the threading holes on the corresponding shin joint link and the trigger slide. The upper ends of the two shin joint links are provided with the same limiting connecting rod. There are two elastic energy storage elements, and each of the two elastic energy storage elements corresponds to one of the two sets of shin joint links. One end of the elastic energy storage element is connected to the upper middle part of the shank link, and the other end of the elastic energy storage element is connected to the limiting connecting rod. When the driving body drives the D-shaped shaft to rotate the winding wheel forward, the rope pulls the shank link to rotate and fold towards the shank link until the barb on the upper part of the shank link engages with the upper end of the trigger slide rod. At the same time, the elastic energy storage element is in a stretched state. When the driving body drives the D-shaped shaft to rotate the winding wheel in reverse, the rope pulls the trigger slide rod to move along the elongated hole towards the leg side plate and disengages the trigger slide rod from the barb on the upper part of the shank link. At the same time, the elastic energy storage element resets and drives the shank link to rotate away from the shank link until it resets.

6. The biomimetic leaping robot based on a jump-flapping wing composite structure according to claim 1, characterized in that: The shooting flight module includes a flight frame, a reduction gear set, two swing arms, two swing arm bases, and two flapping wing units. The flight frame is connected to the drive body. The two flapping wing units are symmetrically mounted on the flight frame. The reduction gear set is mounted on the flight frame, and the input end of the reduction gear set is connected to the second output end of the drive body. The swing arm bases are mounted on the flight frame via shafts. The two swing arms, the two flapping wing units, and the two swing arm bases correspond one-to-one. One end of each swing arm is hinged to the swing arm base, and the swing arm base is connected to the flapping wing unit. The other ends of the two swing arms are respectively hinged to the two output ends of the reduction gear set.

7. The biomimetic leaping robot based on a jump-flapping wing composite structure according to claim 6, characterized in that: The reduction gear set includes a first-stage double-layer reduction gear and two second-stage reduction gears. The first-stage double-layer reduction gear includes a first-stage large gear and a first-stage small gear. The outer circumference of the first-stage large gear meshes with the output small gear of the drive body. One side of the first-stage large gear is coaxially connected to the first-stage small gear. The outer circumference of the first-stage small gear meshes with the two second-stage reduction gears respectively. The two second-stage reduction gears correspond one-to-one with the two swing arms, and one end of the swing arm is eccentrically hinged to one side of the second-stage reduction gear.

8. The biomimetic leaping robot based on a jump-flapping wing composite structure according to claim 6, characterized in that: The flapping wing unit includes a flapping wing frame and a flapping wing diaphragm. The root of the flapping wing frame is inserted into the swing arm base, and the front end of the flapping wing diaphragm is attached to the flapping wing frame.

9. The biomimetic leaping robot based on a jump-flapping wing composite structure according to claim 1, characterized in that: The tail fin module includes a tail fin base, a tail fin frame, and a tail fin diaphragm. The tail fin base is mounted on the fuselage side plate of the drive body, the root of the tail fin frame is inserted into the tail fin base, and the tail fin diaphragm is attached to the tail fin frame.

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