A wheeled rotor robot adaptable to complex terrain environments

Abstract

This invention discloses a wheeled rotor robot adaptable to complex terrain environments, comprising a rotor system, a vehicle body, a double scissor lift mechanism, and an obstacle-crossing wheel system. The obstacle-crossing wheel system is distributed on both sides of the vehicle body via the double scissor lift mechanism. The main connecting rod in the obstacle-crossing wheel system is generally V-shaped, with the rear halves of the main and secondary connecting rods connected in a V-shape, forming a stable triangular structure. The rotor system is fixedly mounted at the top of the vehicle body, while the double scissor lift mechanism is not fixedly mounted on either side of the vehicle body in the middle. The obstacle-crossing wheel system is not fixedly mounted on either side of the double scissor lift mechanism. This invention features novel structure, high automation, strong stability, convenient operation, and strong adaptability.

Description

Technical Field

[0001] This invention relates to the field of vehicle robot technology, specifically a wheeled rotor robot that can adapt to complex terrain environments. Background Technology

[0002] With the continuous development of the economy, all sectors of my country have made rapid progress. Currently, all-terrain mobile vehicle robots are mainly divided into several structural forms, including tracked mobile structures, walking mobile structures, and wheeled mobile structures. Walking mobile structures are superior to wheeled structures in terms of mobility and have strong obstacle-crossing capabilities; however, their structure and control system are complex, their walking speed is too slow, and their energy consumption is too high. Tracked mobile devices have strong obstacle-crossing capabilities on uneven terrain and are suitable for traveling on rugged roads. They have a wide range of applications and high motion efficiency, but their friction loss and energy loss during turning are huge, their mobility is poor, and their tracks are prone to wear. Compared with the above structures, although wheeled mobile mechanisms have slightly inferior off-road capabilities compared to the other two structures, they have advantages such as high speed and low resistance on flat terrain, and their control is relatively simple. Currently, most ground-based mobile robots employ a six-wheeled structure. Six wheels offer better obstacle-crossing capabilities than four wheels and increase robustness against motor failures. Eight wheels, however, increase vehicle weight, drive mass, and the complexity of wheel distribution, leading to wasted economic costs. While this structure offers significant advantages on paved surfaces, it still encounters obstacles in extreme ground environments. Therefore, developing a wheeled rotorcraft robot capable of adapting to various complex environments, thus alleviating the inconvenience of existing small vehicles on paved surfaces, is the direction that researchers in this field wish to explore. Summary of the Invention

[0003] In view of the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a wheeled rotor robot that can adapt to complex terrain environments.

[0004] The technical solution of the present invention is: a wheeled rotor robot that can adapt to complex terrain environments, including a rotor system, a vehicle body, a double scissor lift connection mechanism, and an obstacle-crossing wheel system;

[0005] The rotor system includes multiple blades distributed on the upper part of the vehicle body. Both the left and right ends of the vehicle body are connected to a double scissor lift mechanism, and the obstacle-crossing wheel assembly system is connected to the double scissor lift mechanism.

[0006] Furthermore, the rotor system also includes a rotor rod and a flight motor. One end of the rotor rod is rotatably connected to the upper part of the vehicle body, and the flight motor is installed at the end of the rotor rod away from the vehicle body. The output shaft at the upper end of the flight motor is connected to the propeller blades.

[0007] Furthermore, there are four rotor rods that are rotatably connected to the four corners of the upper part of the vehicle body. Each rotor rod has a blade installed at the end away from the vehicle body. The end of the rotor rod away from the vehicle body is a hollow cylinder, and the flight motor is installed inside the hollow cylinder.

[0008] Furthermore, the vehicle body includes a shell, a scissor lift angle adjustment mechanism, and a scissor lift telescopic mechanism. The shell is connected to one end of the rotor rod of the rotor system via a revolute joint. The scissor lift angle adjustment mechanism includes a gear drive motor, a gear set, a first connecting shaft, two bearings, two first rotating sleeves, and a second connecting shaft. The gear set includes a small gear and two large gears of the same module. The large and small gears mesh with each other and move in opposite directions. The gear drive motor is located at the front end of the shell, and its output end is connected to the small gear in the gear set. The first end of the first connecting shaft is connected to the large gear in the gear set, and it passes through the bearing and is fixed to the tail end of the first rotating sleeve. On the outside of the vehicle body, the bearing serves as a supporting rotating component to reduce friction. It is installed inside the first rotating sleeve, which is cylindrical in shape. A round shaft is fixedly connected to its outer side. The bearing is placed inside the first rotating sleeve, and the round shaft is connected to the double scissor fork connecting mechanism. The second connecting shaft is placed vertically below the first connecting shaft. Unlike the first connecting shaft, the second connecting shaft is not connected to the gear set. It only serves to connect the bearing and the first rotating sleeve. By rotating the upper and lower first rotating sleeves simultaneously and cooperating with each other, the double scissor fork swing angle mechanism is controlled to swing up and down, thereby increasing or decreasing the height of the vehicle chassis. There are two sets of scissor lift mechanisms, arranged vertically. Each set includes a lead screw drive motor, a coupling, a lead screw, a bearing, and a first rotating sleeve. The lead screw drive motor is located at the rear of the vehicle body, and its output end is connected to the coupling. The coupling is a mechanical component that securely connects the output end of the lead screw drive motor to the lead screw, allowing them to rotate together and transmit motion and torque. The first end of the coupling is connected to the output end of the lead screw drive motor, and the second end is connected to one end of the lead screw. The lead screw converts rotation into linear motion by rotating relative to the first rotating sleeve, thereby achieving the linear motion of the first rotating sleeve. The bearing is mounted on the top of the lead screw and fixed to the outside of the vehicle body. The first rotating sleeve in the double scissor lift mechanism is connected to the double scissor lift connecting mechanism, which not only controls the extension and retraction of the double scissor lift connecting mechanism, but also connects the obstacle-crossing wheel assembly system to the vehicle body through the double scissor lift connecting mechanism. The vehicle body can be divided into upper and lower parts. The upper part is hollow and is constructed from horizontal and vertical plates. The middle of the vertical plate is hollow. There are two cylinders connecting the top of the horizontal plate to the lower part of the vehicle body. The lower part of the vehicle body is rectangular in shape. There is a hole at the front end for the gear drive motor. There are grooves on both sides of the vehicle body for placing the first rotating sleeve and the lead screw. There is a hole on each of the upper and lower sides of the rear of the vehicle body for placing the lead screw drive motor.

[0009] Furthermore, the double scissor lift connection mechanism consists of two forks, each with through holes at both ends and in the middle. The two forks are connected in an X-shape by a rotating joint, and the forks connect the first rotating sleeve and the obstacle-crossing wheel assembly system.

[0010] Two double scissor lift mechanisms are connected to both the left and right ends of the vehicle body. Each fork is connected to the first rotating sleeve, so each double scissor lift mechanism can perform independent telescopic movements. The double scissor lift mechanism connects the vehicle body to the obstacle crossing system to achieve the purpose of increasing or decreasing the width of the vehicle body and raising or lowering the chassis height.

[0011] Furthermore, the obstacle-crossing wheel assembly system consists of a split chassis and a wheel assembly system. The split chassis includes two connecting shafts, four second rotating sleeves, two drive shafts, and a split body shell. The second rotating sleeves contain bearings and are mounted on the connecting shafts. The connecting shafts pass through the bearings and are fixed to the inner side of the split body shell by the second rotating sleeves. The external structure of the second rotating sleeves is consistent with the rotating sleeves of the scissor lift angle adjustment mechanism, and their exterior is connected to the fork of the double scissor lift mechanism. Therefore, it works in conjunction with the scissor lift angle mechanism to achieve the purpose of raising and lowering the chassis height. The drive shafts are passed through by the second rotating sleeves and bearings. The outer side of the second rotating sleeves is connected to the fork of the double scissor lift mechanism, thus working with the scissor lift telescopic mechanism to increase or decrease the width of the chassis. The wheel assembly system includes a main and auxiliary linkage mechanism, a main boom drive motor, wheel sets, and wheel set drive motors. The main and auxiliary linkage mechanism is connected to the outside of the split vehicle body. This mechanism consists of a main link and an auxiliary link. The main link is generally V-shaped, and the rear halves of the main link and auxiliary link are connected in a V-shape. The main boom drive motor is connected to the main and auxiliary linkage mechanism. The wheel set has three wheels: the front and rear wheels are connected to the main link, and the middle wheel is connected to the auxiliary link. Each wheel is a drive wheel and also a steering wheel, and each wheel is equipped with a wheel set drive motor. This design allows the vehicle to have better obstacle-crossing ability. During obstacle crossing, the auxiliary link provides good support, aiding in obstacle crossing, while the middle wheel provides some shock absorption, making the vehicle more stable during travel.

[0012] Furthermore, the gear drive motor is interference-fitted with the pinion.

[0013] Furthermore, the lead screw drive motor transitions into a coupling.

[0014] Furthermore, the coupling transitions into a lead screw fit.

[0015] The beneficial effects of this invention are: small size, high stability, large load capacity, and strong adaptability. The vehicle body can withstand large loads, and the main and auxiliary linkage mechanism of the obstacle-crossing wheel system can form a stable triangular structure, giving the vehicle superior obstacle-crossing ability. The double scissor lift connection mechanism can connect the vehicle body to the split body, and the rotor system provides flight capability. The foldable structure of the rotating wing rod and propeller blades allows the robot to have a smaller spatial size. Therefore, the invention has a reasonable structural design, can adapt to various complex environments, and greatly improves functional versatility. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the rotor system of the present invention;

[0018] Figure 3 This is a schematic diagram of the external structure of the vehicle body of the present invention;

[0019] Figure 4 This is a schematic diagram of the transmission structure inside the vehicle body of the present invention;

[0020] Figure 5 This is a schematic diagram of the structure of the double scissor lift connection mechanism of the present invention;

[0021] Figure 6 This is a schematic diagram of the inner structure of the obstacle-crossing wheel assembly system of the present invention;

[0022] Figure 7 This is a schematic diagram of the outer structure of the obstacle-crossing wheel assembly system of the present invention.

[0023] As shown in the diagram: 1-rotor system, 11-blade, 12-rotor rod, 2-vehicle body; 21-vehicle shell, 22-scissor lift angle adjustment mechanism, 221-gear drive motor, 222-gear set, 2221-pinion, 2222-large gear, 223-first connecting shaft, 224-bearing, 225-first rotating sleeve, 226-second connecting shaft, 23-scissor lift telescopic mechanism, 231-screw drive motor, 232 - Coupling, 233- Lead screw, 3- Double scissor fork connection mechanism, 31- Fork rod, 4- Obstacle crossing wheel set system, 41- Split body, 411- Connecting shaft, 412- Second rotating sleeve, 413- Drive shaft, 414- Split body shell, 42- Wheel set system, 421- Main and auxiliary linkage mechanism, 4211- Main linkage, 4212- Auxiliary linkage, 422- Main boom drive motor, 423- Wheel set, 424- Wheel set drive motor. Detailed Implementation

[0024] To provide a more intuitive and complete understanding of the technical solution of this invention, the following non-limiting features are described in conjunction with the accompanying drawings:

[0025] like Figure 1 — Figure 7 As shown, a wheeled rotor robot adaptable to complex terrain environments includes a rotor system 1, a vehicle body 2, a double scissor lift connection mechanism 3, and an obstacle-crossing wheel system 4.

[0026] The rotor system 1 includes multiple blades 11 distributed on the upper part of the vehicle body 2. Both ends of the vehicle body 2 are connected to the double scissor lift connection mechanism 3. The obstacle crossing wheel assembly system 4 is connected to the double scissor lift connection mechanism 3.

[0027] like Figure 2 As shown, the rotor system 1 also includes rotor rods 12 and flight motors. One end of the rotor rod 12 is rotatably connected to the upper end of the vehicle body 2, and the flight motor is installed at the end of the rotor rod 12 away from the vehicle body 2. The output shaft at the upper end of the flight motor is connected to the propeller blades 11. There are four rotor rods 12, which are rotatably connected to the four corners of the upper end of the vehicle body. Each rotor rod 12 has a propeller blade 11 installed at the end away from the vehicle body 2. The end of the rotor rod 12 away from the vehicle body 2 is a hollow cylinder, and the flight motor is installed inside the hollow cylinder.

[0028] like Figure 3 , Figure 4As shown, the vehicle body 2 includes a shell 21, a scissor lift angle adjustment mechanism 22, and a scissor lift telescopic mechanism 23. The shell 21 is connected to one end of the rotor rod 12 of the rotor system 1 via a revolute joint. The scissor lift angle adjustment mechanism 22 includes a gear drive motor 221, a gear set 222, a first connecting shaft 223, two bearings 224, two first rotating sleeves 225, and a second connecting shaft 226. The gear set 222 includes a small gear 2221 and two large gears 2222 with the same module. The large gears 2222 and the small gears 2221 mesh with each other and move in opposite directions. The gear drive motor 221 is placed at the front end of the shell 21, and its output end is connected to the small gear 2221 in the gear set 222. The first connecting shaft 223 is connected to the large gear 2222 in the gear set 222 and passes through the bearings 224 and 225. The bearing 224 is fixed to the outer side of the car body 21 at the tail end of the first rotating sleeve 225. The bearing 224 serves as a support for the rotating component and reduces friction. It is installed inside the first rotating sleeve 225. The first rotating sleeve 225 is cylindrical, and a round shaft is fixedly connected to its outer side. The bearing 224 is placed inside the first rotating sleeve 225. The round shaft is connected to the double scissor fork connecting mechanism 3. The second connecting shaft 226 is placed vertically below the first connecting shaft 223. Unlike the first connecting shaft 223, the second connecting shaft 226 is not connected to the gear set 222. It only serves to connect the bearing 224 and the first rotating sleeve 225. By rotating the upper and lower first rotating sleeves 225 simultaneously and cooperating with each other, the double scissor fork swing angle mechanism 3 is controlled to swing up and down, thereby increasing or decreasing the height of the car body chassis.There are two sets of scissor lift mechanisms 23, arranged vertically. Each set includes a lead screw drive motor 231, a coupling 232, a lead screw 233, a bearing 224, and a first rotating sleeve 225. The lead screw drive motor 231 is located at the rear of the vehicle body 21, and its output end is connected to the coupling 232. The coupling 232 serves as a mechanical component that firmly connects the output end of the lead screw drive motor 231 and the lead screw 233, allowing them to rotate together and transmit motion and torque. The first end of the coupling 232 is connected to the output end of the lead screw drive motor 231, and the second end is connected to one end of the lead screw 233. The lead screw 233 converts rotation into linear motion by rotating relative to the first rotating sleeve 225, thereby realizing the linear motion of the first rotating sleeve 225. The bearing 224 is mounted on the lead screw drive motor 231. The top of the lever 233 is fixed to the outside of the car body 21. It is connected to the double scissor fork connecting mechanism 3 through the first rotating sleeve 225 in the double scissor fork telescopic mechanism 23. This not only controls the telescopic extension of the double scissor fork connecting mechanism 3, but also connects the obstacle-crossing wheel assembly system 4 to the car body 2 through the double scissor fork connecting mechanism 3. The car body 21 can be divided into upper and lower parts. The upper part is hollow and is constructed from horizontal and vertical plates. The middle of the vertical plate is hollow. There are two cylinders connecting the top of the horizontal plate to the lower part of the car body 21. The lower part of the car body 21 is rectangular in shape. There is a hole at the front end for the gear drive motor 221. There are grooves on both sides of the car body 21 for placing the first rotating sleeve 225 and the lead screw 233. There is a hole on each of the upper and lower sides of the rear of the car body 21 for placing the lead screw drive motor 231.

[0029] like Figure 5 As shown, the double scissor lift connection mechanism 3 consists of two fork rods 31. Both ends and the middle of the two fork rods 31 have through holes. The two fork rods 31 are connected in the middle in the form of a rotating joint in an X shape. The fork rods 31 are connected to the first rotating sleeve 225 and the obstacle crossing wheel assembly system 4.

[0030] Two double scissor lift mechanisms 3 are connected to both the left and right ends of the vehicle body 2. Each fork 31 is connected to the first rotating sleeve 225. Therefore, each double scissor lift mechanism 3 can perform independent telescopic movements. The double scissor lift mechanism 3 connects the vehicle body 2 to the obstacle crossing system 4 to achieve the purpose of increasing or decreasing the width of the vehicle body and raising or lowering the chassis height.

[0031] like Figure 6 , Figure 7As shown, the obstacle-crossing wheel assembly system 4 consists of a split body 41 and a wheel assembly system 42. The split body 41 includes two connecting shafts 411, four second rotating sleeves 412, two drive shafts 413, and a split body shell 414. The second rotating sleeves 412 have bearings built into them and are mounted on the connecting shafts 411. The connecting shafts 411 pass through the bearings and are fixed to the inside of the split body shell 414 with the second rotating sleeves 412. The external structure of the second rotating sleeves 412 is consistent with the rotating sleeves 225 of the scissor lift angle adjustment mechanism 22, and the outside is connected to the fork 31 of the double scissor lift connection mechanism 3. Therefore, it works with the scissor lift angle mechanism 22 to achieve the purpose of raising and lowering the height of the vehicle chassis. The drive shafts 413 are passed through by the second rotating sleeves 412 and the bearings. The outside of the second rotating sleeves 412 is connected to the fork 31 of the double scissor lift mechanism 3, so it works with the scissor lift telescopic mechanism 23 to increase or decrease the width of the vehicle body. The wheel assembly system 42 includes a main and auxiliary linkage mechanism 421, a main boom drive motor 422, a wheel assembly 423, and a wheel assembly drive motor 424. The main and auxiliary linkage mechanism 421 is connected to the outside of the split body shell 414. The main and auxiliary linkage mechanism 421 includes a main link 4211 and an auxiliary link 4212. The main link 4211 is generally in the shape of a V-shape. The rear half of the main link 4211 and the auxiliary link 4212 are connected to each other in a V-shape structure. The main boom drive motor 422 is connected to the main and auxiliary linkage mechanism 421. The wheel assembly 423 has three wheels. The front and rear wheels are connected to the main link 4211, and the middle wheel is connected to the auxiliary link 4212. Each wheel is a drive wheel and also a steering wheel. A wheel assembly drive motor 424 is installed on each wheel. This design structure enables the vehicle to have better obstacle-crossing ability. When crossing obstacles, the secondary linkage can provide good support and help overcome obstacles, while the middle wheel can play a certain role in shock absorption, making the vehicle more stable during driving.

[0032] The gear drive motor 221 is interference-fitted with the pinion 2221. The lead screw drive motor 231 is transition-fitted with the coupling 232. The coupling 232 is transition-fitted with the lead screw 233.

[0033] The workflow of this invention is as follows:

[0034] When traveling on the ground, the main boom drive motor 422 serves as the power source, driving the auxiliary link 4212, which in turn drives the main link 4211 to move forward. The operator only needs to control it to travel to the desired location.

[0035] When increasing or decreasing the width of the vehicle body, the lead screw drives the motor 231, which is connected to the lead screw 233 via the coupling 232, so that the first rotating sleeve 225 makes linear and rotational movements. The fork 31 extends along with the first rotating sleeve 225, and the second rotating sleeve 412 connected to the fork 31 also makes rotational and linear movements, thereby increasing or decreasing the width of the vehicle body.

[0036] When increasing or decreasing the chassis height, the gear drive motor 221 drives the small gear 2221 to rotate, which in turn drives the large gear 2222 to rotate. The large gear 2222 further drives the first rotating sleeve 225 to rotate. The first rotating sleeve 225 is connected to the fork 31, and the fork 31 is connected to the second rotating sleeve 412, which in turn rotates. This causes the fork 31 to tilt upwards or downwards, thereby increasing or decreasing the chassis height.

[0037] Of course, the above are only preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any simple modifications and equivalent structural changes made based on the contents of the present invention specification and drawings should also be included within the patent protection scope of the present invention.

Claims

1. A wheeled rotor robot adaptable to complex terrain environments, characterized in that: Includes rotor system (1), vehicle body (2), double scissor lift connection mechanism (3), obstacle crossing wheel system (4); The rotor system (1) includes multiple blades (11) distributed on the upper part of the vehicle body (2). The left and right ends of the vehicle body (2) are connected to the double scissor connection mechanism (3). The obstacle crossing wheel system (4) is connected to the double scissor connection mechanism (3). The rotor system (1) also includes a rotor rod (12) and a flight motor. One end of the rotor rod (12) is rotatably connected to the upper end of the vehicle body (2). The flight motor is installed at the end of the rotor rod (12) away from the vehicle body (2). The output shaft at the upper end of the flight motor is connected to the propeller blade (11). There are four rotor rods (12) that are rotatably connected to the four corners of the upper part of the vehicle body. Each rotor rod (12) has a blade (11) installed at the end away from the vehicle body (2). The end of the rotor rod (12) away from the vehicle body (2) is a hollow cylinder, and the flight motor is installed inside the hollow cylinder. The vehicle body (2) includes a car shell (21), a scissor lift angle adjustment mechanism (22), and a scissor lift telescopic mechanism (23). The car shell (21) is connected to one end of the rotor rod (12) of the rotor system (1) in the form of a revolute joint. The scissor lift angle adjustment mechanism (22) includes a gear drive motor (221), a gear set (222), a first connecting shaft (223), two bearings (224), two first rotating sleeves (225), and a second connecting shaft (226). The gear set (222) includes a pinion (2221) and two large gears (2222) with the same module. The large gears (2222) are connected to the pinion motor (2221) and the small gear (2222). Gears (2221) mesh with each other and move in opposite directions. The gear drive motor (221) is placed at the front end of the car body (21), and its output end is connected to the small gear (2221) in the gear set (222). The first connecting shaft (223) is connected to the large gear (2222) in the gear set (222) at its head end. It passes through the bearing (224) and is fixed to the outer side of the car body (21) at the tail end of the first rotating sleeve (225). The bearing (224) is installed inside the first rotating sleeve (225). The first rotating sleeve (225) is cylindrical, and a round shaft is fixedly connected to its outer side. The first rotating sleeve (225) is placed inside, and the round shaft is connected to the double scissor fork connecting mechanism (3). The second connecting shaft (226) is placed vertically below the first connecting shaft (223). There are two sets of scissor fork telescopic mechanisms (23), which are distributed vertically. Each set of scissor fork telescopic mechanism (23) includes a lead screw drive motor (231), a coupling (232), a lead screw (233), a bearing (224), and a first rotating sleeve (225). The lead screw drive motor (231) is placed at the rear of the car body (21). The output end is connected to the coupling (232). The first end of the coupling (232) is connected to the output end of the lead screw drive motor (231), and the tail end is connected to one end of the lead screw (233). The bearing (224) is installed on the top of the lead screw (233) and fixed on the outside of the car body (21). The front end of the car body (21) has a hole for the gear drive motor (221). The sides of the car body (21) have grooves for placing the first rotating sleeve (225) and the lead screw (233). The upper and lower sides of the tail of the car body (21) each have a hole for placing the lead screw drive motor (231).

2. The wheeled rotor robot adaptable to complex terrain environments according to claim 1, characterized in that: The double scissor lift connection mechanism (3) consists of two forks (31). Both ends and the middle of the two forks (31) have through holes. The two forks (31) are connected in the middle in the form of a rotating joint in an X shape. The forks (31) connect the first rotating sleeve (225) and the obstacle crossing wheel system (4).

3. A wheeled rotor robot adaptable to complex terrain environments according to claim 2, characterized in that: The obstacle-crossing wheel assembly system (4) consists of a split body (41) and a wheel assembly system (42). The split body (41) includes two connecting shafts (411), four second rotating sleeves (412), two drive shafts (413), and a split body shell (414). The second rotating sleeves (412) have bearings built into them and are mounted on the connecting shafts (411). The connecting shafts (411) pass through the bearings and are fixed to the inside of the split body shell (414) with the second rotating sleeves (412). The outside of the second rotating sleeves (412) is connected to the fork (31) of the double scissor fork connection mechanism (3). The outside of the drive shafts (413) is passed through by the second rotating sleeves (412) and the bearings. The wheel assembly system (42) includes a main and auxiliary linkage mechanism (42... 1) Main boom drive motor (422), wheel set (423), wheel set drive motor (424), main and auxiliary linkage mechanism (421) are connected to the outside of the split car body (414). The main and auxiliary linkage mechanism (421) includes main linkage (4211) and auxiliary linkage (4212). The main linkage (4211) is in the shape of a V-shape. The main linkage (4211) and the auxiliary linkage (4212) are connected to each other in the rear half to form a V-shape structure. The main boom drive motor (422) is connected to the main and auxiliary linkage mechanism (421). The wheel set (423) has three wheels. Its front wheel and rear wheel are connected to the main linkage (4211), and the middle wheel is connected to the auxiliary linkage (4212). Each wheel is equipped with a wheel set drive motor (424).

4. A wheeled rotorcraft adaptable to complex terrain environments according to claim 1, characterized in that: The gear drive motor (221) is interference-fitted with the pinion (2221).

5. A wheeled rotor robot adaptable to complex terrain environments according to claim 1, characterized in that: The lead screw drive motor (231) is transitionally fitted with the coupling (232).

6. A wheeled rotor robot adaptable to complex terrain environments according to claim 1, characterized in that: The coupling (232) is transitionally fitted with the lead screw (233).

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