A multifunctional robot chassis supporting rotor flight and wheeled movement

Abstract

This invention discloses a multifunctional robot chassis supporting rotor flight and wheeled movement, comprising a first power unit, a chassis frame, a second power unit, a central shaft, a propeller assembly, and landing gear. The propeller assembly includes a propeller, a propeller arm, and a push-pull mechanism. The landing gear includes a rear wheel, a front wheel, a first transmission mechanism, and a second transmission mechanism. The second power unit, mounted on the chassis frame, outputs power to the central shaft. The first transmission mechanism, the second transmission mechanism, and the push-pull mechanism are mounted on the central shaft. The rear wheel is mounted at the end of the first transmission mechanism, and the front wheel is mounted at the end of the second transmission mechanism. The push-pull mechanism is driven by the central shaft to perform push-pull movements, causing the rear wheel to follow the first transmission mechanism and the front wheel to follow the second transmission mechanism for synchronous take-off and landing. The push-pull movements of the push-pull mechanism drive the propeller arm, which cooperates with the push-pull mechanism, to rotate around the chassis frame. The propeller, powered by the first power unit, is mounted at the end of the propeller arm. This invention ingeniously achieves the goal of integrating flight and wheeled movement.

Description

Technical Field

[0001] This invention relates to a multifunctional robot chassis that supports rotor flight and wheeled movement, belonging to the field of robotics technology. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots possess fundamental characteristics such as perception, decision-making, and execution, and can assist or even replace humans in performing dangerous, arduous, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities.

[0003] Currently, common single-function robot chassis include wheeled, tracked, legged, and rotorcraft. The application scenarios for single-function robots are easily limited. Wheeled robots have advantages such as high speed and flexible control, but they struggle in poor road conditions. Tracked robots are slower than wheeled robots, but can handle most poor road conditions; however, they are still limited by deep ditches, deep water, corrosion, and sticky environments. Legged robots, while flexible and relatively fast, have relatively complex control and structure. Rotary robots, also known as rotorcraft drones, are not limited by road conditions due to their aerial flight capabilities, but they suffer from insufficient endurance and lack of stealth in some scenarios. Therefore, many multi-functional robot chassis supporting rotorcraft flight and wheeled movement have emerged.

[0004] Currently common multi-functional chassis include: hybrid chassis of tracks and wheels, hybrid chassis of rotors and wheels, and hybrid chassis of rotors and tracks. While these common dual-purpose (flying and walking) multi-functional chassis can achieve their design objectives, most of them use separate power units for rotor flight and ground movement. This increases the size of the robot and makes it inconvenient to carry. Therefore, it is necessary to provide new multi-functional robot chassis that can support rotor flight and wheeled movement. Summary of the Invention

[0005] This invention provides a multifunctional robot chassis that supports rotor flight and wheeled movement. By cleverly cooperating the central axis with the propeller assembly and landing gear, the robot chassis can have both flight and wheeled movement modes.

[0006] The technical solution of the present invention is: a multi-functional robot chassis supporting rotor flight and wheeled movement, comprising a first power unit 1, a chassis frame 4, a second power unit 11, a central shaft 5, a propeller assembly, and a landing gear; the propeller assembly includes a propeller 2, a propeller arm 3, and a push-pull mechanism; the landing gear includes a rear wheel 18, a front wheel 21, a first transmission mechanism, and a second transmission mechanism; wherein, the second power unit 11, mounted on the chassis frame 4, outputs power to the central shaft 5; the first transmission mechanism, the second transmission mechanism, and the push-pull mechanism are mounted on the central shaft 5, the rear wheel 18 is mounted at the end of the first transmission mechanism, and the front wheel 21 is mounted at the end of the second transmission mechanism; the push-pull mechanism is driven by the central shaft 5 to perform push-pull movements, causing the rear wheel 18 to follow the first transmission mechanism and the front wheel 21 to follow the second transmission mechanism to rise and fall synchronously, and the push-pull movements of the push-pull mechanism cause the propeller arm 3, which cooperates with the push-pull mechanism, to rotate around the chassis frame 4; the propeller 2, powered by the first power unit 1, is mounted at the end of the propeller arm 3.

[0007] The push-pull mechanism includes a crank disc 9, two sets of propeller arm push-pull connecting rods 19, pulleys 22, pulley shafts 24, pulley connecting rods 27, a first positioning sleeve 17, and a second positioning sleeve 30. The crank disc 9 is fixed to the central shaft 5. The crank disc 9 has two centrally symmetrically distributed protrusions about the center of a circle. Each protrusion of the crank disc 9 is rotatably connected to one end of a pulley connecting rod 27. The other end of the pulley connecting rod 27 and one end of the propeller arm push-pull connecting rod 19 are rotatably connected to the pulley shaft 24. The other end of the pulley connecting rod 27 and the propeller arm push-pull connecting rod 19 are connected to the pulley shaft 24 via the two second positioning sleeves 30. One end of the push-pull linkage 19 is positioned in the middle of the pulley shaft 24. Both ends of the pulley shaft 24 are movably connected to a pulley 22. The pulley 22 can move within the sliding groove of the chassis frame 4. The other end of the propeller arm push-pull linkage 19 is rotatably connected to the pivot in the middle of the propeller arm 3. The other end of the propeller arm push-pull linkage 19 is positioned in the middle of the pivot through two first positioning sleeves 17. One end of the propeller arm 3 is rotatably connected to the left and right edges of the chassis frame 4. The propeller arm 3 is fixedly connected to the first power unit 1. The output shaft of the first power unit 1 is fixedly connected to the propeller 2.

[0008] Both the first and second transmission mechanisms include a driven bevel gear 7, a driving bevel gear 8, a bracket 12, a second shaft 29, a first cylindrical gear 15, a first shaft 14, a second cylindrical gear 25, and a wheel frame. The driving bevel gear 8 of both the first and second transmission mechanisms is fixed to the front and rear of the central shaft 5. The driven bevel gear 7, fixed to the second shaft 29, meshes with the driving bevel gear 8. The first cylindrical gear 15 is fixed to the second shaft 29 and located outside the driven bevel gear 7. The first shaft 14 is rotatably connected to the bracket 12 parallel to the second shaft 29. The second cylindrical gear 25 is fixedly connected to the first shaft 14; the driving bevel gear 8 and the driven bevel gear 7 cooperate to transmit power, and the driven bevel gear 7 and the first cylindrical gear 15 are fixedly connected to the second shaft 29 to form a rigid body and move together. The first cylindrical gear 15 and the second cylindrical gear 25 cooperate to transmit power, and the power of the second power device 11 is transmitted to the first shaft 14 in the transmission sequence of driving bevel gear 8, driven bevel gear 7, first cylindrical gear 15, second cylindrical gear 25 and first shaft 14; a wheel frame is installed on the first shaft 14, and wheels are installed through the wheel frame.

[0009] The first transmission mechanism has two sets of wheel frames, symmetrically mounted on the first shaft 14 of the first transmission mechanism. The wheel frames of the first transmission mechanism include a landing gear crank 6, a connecting rod 20, a shock absorber 26, a rear wheel rod 16, and a rear wheel rod 21. One end of the landing gear crank 6 is rotatably connected to one side of the first shaft 14 and located directly above the rear wheel rod 16. The other end of the landing gear crank 6 is rotatably connected to one end of the connecting rod 20. The other end of the connecting rod 20 is rotatably connected to the middle position of the rear wheel rod 16. One end of the rear wheel rod 16 is rotatably connected to one side of the bracket 12. The other end of the rear wheel rod 16 is rotatably connected to one end of the rear wheel rod 21. One end of the shock absorber 26 is rotatably connected to the rear wheel rod 16. The other end of the shock absorber 26 is rotatably connected to the middle of the rear wheel rod 21. The other end of the rear wheel rod 21 is connected to the rear wheel 18.

[0010] The wheel frame of the second transmission mechanism is a set and is installed on the first shaft 14 in the second transmission mechanism. The wheel frame of the second transmission mechanism includes a landing gear crank 6, a connecting rod 20, and a front wheel rod 28. One end of the landing gear crank 6 is rotatably connected to the middle of the first shaft 14 and located directly above the front wheel rod 28. The other end of the landing gear crank 6 is rotatably connected to one end of the connecting rod 20. The other end of the connecting rod 20 is rotatably connected to the middle position of the front wheel rod 28. The other end of the front wheel rod 28 is connected to the front wheel 21.

[0011] The beneficial effects of this invention are as follows: A servo reducer is installed at the center line of the multi-functional chassis of this invention. It drives the central shaft through a coupling and transmits power to the central bevel gear and crank disk, and then to the landing gear and propeller arm. This enables synchronous control of the landing gear's take-off and landing and the propeller assembly's lifting and lowering around the axis, thereby completing the transformation between the robot's rotor flight and wheeled movement. It cleverly achieves the goal of integrating flight and wheeled movement, and saves the robot's storage space to a certain extent. Attached Figure Description

[0012] Figure 1 This is a top view of the invention device.

[0013] Figure 2 A bottom-view structural diagram of the invention device;

[0014] Figure 3 A top view of the invention device, concealing the propeller arm, propeller, and first power unit.

[0015] Figure 4 A bottom view of the invention device, showing the hidden propeller arm, propeller, and first power unit.

[0016] Figure 5 For the present invention Figure 4 Enlarged structural diagram at point A in the middle;

[0017] Figure 6 This is a side view of the inventive device.

[0018] Figure 7 A top view of the concealed chassis frame of the invention device;

[0019] Figure 8 A partial schematic diagram of the concealed frame of the invention device;

[0020] Figure 9 This is a schematic diagram of the moving state of the inventive device;

[0021] Figure 10 This is a schematic diagram of the inventive device in flight mode;

[0022] The following are the labels in the diagram: 1. First power unit; 2. Propeller; 3. Propeller arm; 4. Chassis frame; 5. Central shaft; 6. Landing gear crank; 7. Driven bevel gear; 8. Driving bevel gear; 9. Crank disc; 10. Coupling; 11. Second power unit; 12. Support; 13. Servo reducer housing; 14. First shaft; 15. First cylindrical gear; 16. Rear wheel rod one; 17. First positioning sleeve; 18. Rear wheel; 19. Propeller arm push-pull linkage; 20. Connecting rod; 21. Front wheel; 22. Pulley; 23. Bearing; 24. Pulley shaft; 25. Second cylindrical gear; 26. Shock absorber; 27. Pulley linkage; 28. Front wheel rod; 29. ​​Second shaft; 30. Second positioning sleeve; 31. Rear wheel rod two. Detailed Implementation

[0023] The invention will be further described below with reference to the accompanying drawings and embodiments, but the scope of the invention is not limited to the description.

[0024] Example 1: As Figure 1-10 As shown, a multi-functional robot chassis supporting rotor flight and wheeled movement includes a first power unit 1, a chassis frame 4, a second power unit 11, a central shaft 5, a propeller assembly, and landing gear. The propeller assembly includes a propeller 2, a propeller arm 3, and two sets of push-pull mechanisms. The landing gear includes a rear wheel 18, a front wheel 21, a first transmission mechanism, and a second transmission mechanism. The second power unit 11, mounted on the chassis frame 4, outputs power to the central shaft 5 connected to the coupling 10 via a coupling 10. The central shaft 5 is equipped with the first transmission mechanism, the second transmission mechanism, and two sets of push-pull mechanisms. The rear wheel 18 is mounted at the end of the first transmission mechanism, and the front wheel 21 is mounted at the end of the second transmission mechanism. The central shaft 5 drives the two sets of push-pull mechanisms to perform push-pull movements, causing the rear wheel 18 to follow the first transmission mechanism and the front wheel 21 to follow the second transmission mechanism for synchronous take-off and landing. The push-pull movements of the push-pull mechanisms drive the propeller arm 3, which cooperates with the push-pull mechanism, to rotate around the chassis frame 4. The propeller 2, powered by the first power unit 1, is mounted at the end of the propeller arm 3.

[0025] Furthermore, such as Figure 3 , Figure 4 , Figure 5 , Figure 7 , Figure 8As shown, the two sets of push-pull mechanisms have the same structure, each including a crank disc 9, two sets of propeller arm push-pull connecting rods 19, pulleys 22, pulley shafts 24, pulley connecting rods 27, and second positioning sleeves 30. The crank disc 9 is fixed to the central shaft 5. The crank disc 9 has two centrally symmetrically distributed protrusions about the center. Each protrusion is rotatably connected to one end of a pulley connecting rod 27. The other end of the pulley connecting rod 27 and one end of the propeller arm push-pull connecting rod 19 are rotatably connected to the pulley shaft 24. The two second positioning sleeves 30 connect the other end of the pulley connecting rod 27 and one end of the propeller arm push-pull connecting rod 19. The entire end is placed in the middle position of the pulley shaft 24. Both ends of the pulley shaft 24 are movably connected to a pulley 22 via bearings 23. The pulley 22 can move in the sliding groove of the chassis plate frame 4. The other end of the propeller arm push-pull linkage 19 is rotatably connected to the rotating shaft in the middle position of the propeller arm 3, and the other end of the propeller arm push-pull linkage 19 is placed in the middle position of the rotating shaft through two first positioning sleeves 17. One end of the propeller arm 3 is rotatably connected to the left and right edges of the chassis plate frame 4. The other end of the propeller arm 3 is provided with a brushless motor slot for fixed connection with the first power device 1. The output shaft of the first power device 1 is fixedly connected to the propeller 2.

[0026] Furthermore, such as Figure 3 , Figure 4 , Figure 6 , Figure 7 , Figure 8 As shown, both the first and second transmission mechanisms include a driven bevel gear 7, a driving bevel gear 8, a bracket 12, a second shaft 29, a first cylindrical gear 15, a first shaft 14, a second cylindrical gear 25, and a wheel frame. The driving bevel gear 8 of both the first and second transmission mechanisms is fixed to the front and rear of the central shaft 5. The driven bevel gear 7, fixed to the second shaft 29, meshes with the driving bevel gear 8. The second shaft 29 is mounted on the chassis frame 4 via bearings. The first cylindrical gear 15 is fixed to the second shaft 29 and located outside the driven bevel gear 7. The first shaft 14 is rotatably connected to the bracket 12 parallel to the second shaft 29. The second cylindrical gear 25 is fixed to the first shaft 29. On shaft 14, the driving bevel gear 8 and the driven bevel gear 7 cooperate to transmit power. The driven bevel gear 7 and the first cylindrical gear 15 are rigidly connected to the second shaft 29 to form a joint motion. The first cylindrical gear 15 and the second cylindrical gear 25 cooperate to transmit power. According to the transmission sequence of driving bevel gear 8, driven bevel gear 7, first cylindrical gear 15, second cylindrical gear 25 and first shaft 14, the power of the second power device 11 is transmitted to the first shaft 14. By controlling the transmission ratio of the gears, the landing gear can be lowered at a speed slightly faster than the propeller 2 when the robot lands, which plays a role in buffering and stabilizing. A wheel frame is installed on the first shaft 14, and wheels are installed through the wheel frame.

[0027] Furthermore, such as Figure 6 , 7As shown, the wheel frame of the first transmission mechanism includes two sets, symmetrically mounted on the first shaft 14 of the first transmission mechanism. The wheel frame of the first transmission mechanism includes a landing gear crank 6, a connecting rod 20, a shock absorber 26, a rear wheel rod 16, and a rear wheel rod 21. One end of the landing gear crank 6 is rotatably connected to one side of the first shaft 14 and located directly above the rear wheel rod 16. The other end of the landing gear crank 6 is rotatably connected to one end of the connecting rod 20. The other end of the connecting rod 20 is rotatably connected to the middle position of the rear wheel rod 16. One end of the rear wheel rod 16 is rotatably connected to one side of the bracket 12. The other end of the rear wheel rod 16 is rotatably connected to one end of the rear wheel rod 21. One end of the shock absorber 26 is rotatably connected to the rear wheel rod 16. The other end of the shock absorber 26 is rotatably connected to the middle of the rear wheel rod 21. The other end of the rear wheel rod 21 is connected to the rear wheel 18 via a shaft and bearing.

[0028] Furthermore, such as Figure 6 , 7 As shown, the wheel frame of the second transmission mechanism is a set, which is installed on the first shaft 14 in the second transmission mechanism. The wheel frame of the second transmission mechanism includes a landing gear crank 6, a connecting rod 20, and a front wheel rod 28. One end of the landing gear crank 6 is rotatably connected to the middle of the first shaft 14 and located directly above the front wheel rod 28. The other end of the landing gear crank 6 is rotatably connected to one end of the connecting rod 20. The other end of the connecting rod 20 is rotatably connected to the middle position of the front wheel rod 28. The other end of the front wheel rod 28 is connected to the front wheel 21 through a shaft and bearing.

[0029] Furthermore, the rear wheel rod 16 has a V-shaped design, and the tip of the V-shaped rear wheel rod is connected to the shock absorber 26. The front wheel rod 28 is a straight rod, one end of which is rotatably connected to the bracket 12, and the other end of which is connected to the front wheel via a shaft and bearing.

[0030] Furthermore, the propeller 2 is designed with six blades fixed to the outer ring hub, and the outer circumference of the outer ring is made of soft material, so that when the propeller 2 rotates around the axis to the wheel-like movement mode, the load-bearing capacity is stronger and the driving is more stable.

[0031] Furthermore, the first power unit can be a brushless motor, and the second power unit 11 can be a servo reducer. The other end of the propeller arm 3 is provided with a brushless motor slot for fixed connection with the brushless motor. The servo reducer is fixed to the chassis frame 4 through the servo reducer slot 13. The power output of the servo reducer is transmitted to the crank plate 9 in the push-pull mechanism and the driving bevel gear 8 in the first and second transmission mechanisms through the central shaft 5.

[0032] The following describes a multi-functional robot chassis supporting rotor flight and wheeled movement, constructed from four sets of rotatable propeller assemblies arranged in a rectangular pattern. Each propeller assembly includes a propeller 2, a propeller arm 3, and two sets of push-pull mechanisms. The three wheels of the landing gear are arranged in a triangle below the chassis. The two rear wheels have the same structure and serve as shock absorbers, while the front wheels do not have shock absorbers and serve as auxiliary supports. The first transmission mechanism of the three wheels is basically the same. The rotational power is transmitted from the servo reducer to the central shaft 5, and then through the gear set to the second shaft 29. The second shaft 29 drives the landing gear crank 6 to rotate, thereby achieving synchronous retraction and extension of the landing gear. The specific working principle of the invention, optionally, is described below:

[0033] The user controls the servo reducer at the centerline position of the chassis frame 4. The servo reducer drives the central shaft 5 to rotate via the coupling 10, thereby driving the two crank discs 9 and the driving bevel gear 8 fixed on the central shaft 5 to rotate synchronously. The double-acting crank disc 9 causes the pulley 22 to slide outward and inward in the groove provided on the chassis frame 4. Then, through the propeller arm push-pull linkage 19, which is coaxially connected to the pulley 22 at one end and movably connected to the propeller arm 3 at the other end, the horizontal motion of the pulley 22 is converted into the rotational motion of the propeller arm 3 around the edge of the chassis frame 4, thereby realizing the upward and downward rotation of the propeller 2. The four propeller components are identical, and the propellers on the left and right sides are symmetrically distributed. The same control strategy is adopted to achieve the synchronous motion of the four propeller components. At the same time, the power is transmitted from the central shaft 5 to the first shaft 14 via the gear set. The landing gear crank 6 installed on the first shaft 14 drives the wheel frame to coordinate with the propeller arm 3 to synchronously change the position of the landing gear. By setting the gear ratio, the landing gear can be lowered faster than the propeller arm 3 during the transition from flight to movement, ensuring the safe and stable movement of the chassis of this multi-functional robot that supports rotor flight and wheeled movement, and enabling it to adapt to various application scenarios. When the rotor is horizontal and the landing gear is retracted, it is in flight mode, powered by the lift of propeller 2; when the rotor is vertical and the landing gear is lowered, it is in movement mode, powered by the rotation of propeller 2.

[0034] like Figure 10 As shown, when the robot is in flight mode, the servo reducer and central axis remain stationary. The push-pull mechanism, fixed to the central axis, remains stationary at its outward limit, thus supporting the four propeller arms in a horizontal position via the push-pull linkages. Simultaneously, the first and second transmission mechanisms, fixed to the central axis, remain stationary, keeping the landing gear in a retracted position. The robot's flight power comes from the brushless motors of the four propellers. Since flight mode consumes more energy than movement mode, it can be prioritized to switch to flight mode when ground conditions are good or when encountering weather conditions unfavorable to flight, such as strong winds or heavy rain.

[0035] During the transition from flight mode to moving mode, the servo reducer rotates clockwise and drives the central shaft, causing the push-pull mechanism fixed to the central shaft to be pulled inward to its inner limit position. This causes the push-pull linkages of the four propeller arms connected to it to pull the corresponding four propeller arms from the horizontal position to the drooping position. At the same time, the active bevel gear fixed to the central shaft drives the first and second transmission mechanisms, causing the landing gear to begin to descend. The descent speed of the landing gear is faster than the downward rotation speed of the propellers, and it contacts the ground before the propellers.

[0036] like Figure 9 As shown, when the robot is in motion, the servo reducer and central axis remain stationary. The push-pull mechanism, fixed to the central axis, is stationary at its maximum inward pull position, thus fixing the four propeller arm push-pull linkages to maintain their downward position. Simultaneously, the first and second transmission mechanisms, also fixed to the central axis, remain stationary, keeping the landing gear in a lowered posture. The rotation of the propellers, acting like wheels, enables the robot chassis to move rapidly.

[0037] When the robot encounters ditches, harsh ground conditions, or obstacles, it can switch from a moving state to a flying state. The servo reducer rotates counterclockwise and drives the central shaft, causing the push-pull mechanism fixed to the central shaft to push outward to the outer limit position. This causes the push-pull linkage of the four propeller arms connected to it to push the corresponding four propeller arms to rotate from the drooping position to the horizontal position. At the same time, the active bevel gear fixed to the central shaft drives the first and second transmission mechanisms, causing the landing gear to begin to retract.

[0038] As can be seen from the above technical solution, the present invention has the following features:

[0039] 1. Versatility: Using propellers as wheels enables both flight and mobility. Whether in the air or on the ground, the propellers can be used directly for power without switching or replacing other equipment. This versatility makes the equipment more adaptable and efficient in different environments.

[0040] 2. Aerial Maneuverability: The propeller's design, acting as a wheel for wheel-like motion, provides significant maneuverability. During flight, the propeller can rotate rapidly, generating lift and control force, enabling the aircraft to maneuver flexibly in three-dimensional space.

[0041] 3. Ground adaptability: The lowered propeller design, combined with the landing gear, makes the equipment more stable and smooth when traveling on the ground, increasing the equipment's stability on the ground, reducing friction resistance with the ground, and improving travel efficiency.

[0042] 4. Space saving: In traditional designs, propellers and wheels used for flight and walking typically require a significant amount of space. Using propellers as wheels saves space, reduces the size of the equipment, and improves portability and carrying capacity.

[0043] In summary, the design of lowering the propeller and using it as a wheel for wheeled motion gives the equipment greater adaptability, mobility, and space-saving advantages, improving the design's versatility and overall performance.

[0044] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A multi-functional robot chassis supporting rotor flight and wheeled movement, characterized in that, The system includes a first power unit (1), a chassis frame (4), a second power unit (11), a central shaft (5), a propeller assembly, and landing gear. The propeller assembly includes a propeller (2), a propeller arm (3), and a push-pull mechanism. The landing gear includes a rear wheel (18), a front wheel (21), a first transmission mechanism, and a second transmission mechanism. The second power unit (11), mounted on the chassis frame (4), outputs power to the central shaft (5). The central shaft (5) is equipped with the first transmission mechanism, the second transmission mechanism, and the push-pull mechanism. The rear wheel (18) is mounted at the end of the first transmission mechanism, and the front wheel (21) is mounted at the end of the second transmission mechanism. The push-pull mechanism is driven by the central shaft (5) to perform push-pull movements, causing the rear wheel (18) to follow the first transmission mechanism and the front wheel (21) to follow the second transmission mechanism to rise and fall synchronously. The push-pull movement of the push-pull mechanism drives the propeller arm (3), which cooperates with the push-pull mechanism, to rotate around the chassis frame (4). The propeller arm (3) is equipped with a propeller (2) powered by the first power unit (1).

2. The multi-functional robot chassis supporting rotor flight and wheeled movement according to claim 1, characterized in that, The push-pull mechanism includes a crank disc (9), two sets of propeller arm push-pull connecting rods (19), a pulley (22), a pulley shaft (24), a pulley connecting rod (27), a first positioning sleeve (17), and a second positioning sleeve (30). The crank disc (9) is fixed to a central shaft (5). The crank disc (9) has two centrally symmetrically distributed protrusions about the center. The protrusions of the crank disc (9) are rotatably connected to one end of a pulley connecting rod (27), and the other end of the pulley connecting rod (27) and one end of the propeller arm push-pull connecting rod (19) are rotatably connected to the pulley shaft (24). The other end of the pulley connecting rod (27) and the propeller arm push-pull connecting rod (19) are connected to the pulley shaft (24) via the two second positioning sleeves (30). One end of the push-pull linkage (19) is placed in the middle of the pulley shaft (24). The two ends of the pulley shaft (24) are movably connected to a pulley (22). The pulley (22) can move in the sliding groove of the chassis frame (4). The other end of the propeller arm push-pull linkage (19) is rotatably connected to the shaft in the middle of the propeller arm (3). The other end of the propeller arm push-pull linkage (19) is placed in the middle of the shaft through two first positioning sleeves (17). One end of the propeller arm (3) is rotatably connected to the left and right edges of the chassis frame (4). The propeller arm (3) is fixedly connected to the first power unit (1). The output shaft of the first power unit (1) is fixedly connected to the propeller (2).

3. The multi-functional robot chassis supporting rotor flight and wheeled movement according to claim 1, characterized in that, Both the first and second transmission mechanisms include a driven bevel gear (7), a driving bevel gear (8), a bracket (12), a second shaft (29), a first cylindrical gear (15), a first shaft (14), a second cylindrical gear (25), and a wheel frame. The driving bevel gear (8) of the second transmission mechanism is fixed to the front of the central shaft (5), and the driving bevel gear (8) of the first transmission mechanism is fixed to the rear of the central shaft (5). The driven bevel gear (7) fixed to the second shaft (29) meshes with the driving bevel gear (8). The first cylindrical gear (15) is fixed to the second shaft (29) and located outside the driven bevel gear (7). The first shaft (14) rotates parallel to the second shaft (29). The second cylindrical gear (25) is fixed to the first shaft (14) and connected to the bracket (12). The driving bevel gear (8) and the driven bevel gear (7) cooperate to drive each other. The driven bevel gear (7) and the first cylindrical gear (15) are fixed to the second shaft (29) to form a rigid body and move together. The first cylindrical gear (15) and the second cylindrical gear (25) cooperate to drive each other. According to the transmission sequence of the driving bevel gear (8), the driven bevel gear (7) and the first cylindrical gear (15), the second cylindrical gear (25) and the first shaft (14), the power of the second power device (11) is transmitted to the first shaft (14). A wheel frame is installed on the first shaft (14) and a wheel is installed through the wheel frame.

4. The multi-functional robot chassis supporting rotor flight and wheeled movement according to claim 3, characterized in that, The first transmission mechanism has two sets of wheel frames, which are symmetrically mounted on the first shaft (14) of the first transmission mechanism. The wheel frames of the first transmission mechanism include a landing gear crank (6), a connecting rod (20), a shock absorber (26), a rear wheel rod one (16), and a rear wheel rod two (31). One end of the landing gear crank (6) is rotatably connected to one side of the first shaft (14) and located directly above the rear wheel rod one (16). The other end of the landing gear crank (6) is connected to one end of the connecting rod (20). Rotary connection, the other end of the connecting rod (20) is rotatably connected to the middle position of the rear wheel rod (16), one end of the rear wheel rod (16) is rotatably connected to one side of the bracket (12), the other end of the rear wheel rod (16) is rotatably connected to one end of the rear wheel rod (31), one end of the shock absorber (26) is rotatably connected to the rear wheel rod (16), the other end of the shock absorber (26) is rotatably connected to the middle of the rear wheel rod (31), and the other end of the rear wheel rod (31) is connected to the rear wheel (18).

5. The multi-functional robot chassis supporting rotor flight and wheeled movement according to claim 3, characterized in that, The wheel frame of the second transmission mechanism is a set and is installed on the first shaft (14) in the second transmission mechanism. The wheel frame of the second transmission mechanism includes a landing gear crank (6), a connecting rod (20), and a front wheel rod (28). One end of the landing gear crank (6) is rotatably connected to the middle of the first shaft (14) and located directly above the front wheel rod (28). The other end of the landing gear crank (6) is rotatably connected to one end of the connecting rod (20). The other end of the connecting rod (20) is rotatably connected to the middle position of the front wheel rod (28). The other end of the front wheel rod (28) is connected to the front wheel (21).

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