Rotor wing flying and magnetic wheel crawling robot

Abstract

The invention relates to a rotor flying and magnetic wheel crawling robot. Comprising a base, a folding and unfolding tilting rotor module, a front arm swinging wheel set module, a rear arm swinging wheel set module and a controller. The folding, unfolding and tilting rotor modules are installed on the two sides of the base respectively, the inner side of the base is hinged to one end of the front / rear arm swinging and rotating wheel set module, and the other end of the front / rear arm swinging and rotating wheel set module is provided with a wheel set. The folding and unfolding tilting rotor modules are matched with the front / rear arm swinging wheel group modules to change the pitching angle, so that the robot can smoothly and excessively crawl, fly, land and other cross-domain motions; under the action of the rotary magnetic array module, the robot can be stably adsorbed on various wall surfaces; an object clamping function can be realized by changing an included angle between the front and rear arm swinging wheel group modules; in the flight mode, pitching control based on the variable centroid is achieved through swinging of the front / rear arm swinging wheel set module, the pitching angle can be adjusted in the hovering state, and smooth cross-domain movement between the air and the wall faces of all phases is achieved.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and more specifically, to a rotary-wing flying and magnetic-wheel crawling robot. Background Art

[0002] With the continuous advancement of science and technology, inspection robots have been widely used in the inspection fields of buildings, bridges, tunnels, power facilities, etc. Traditional inspection robots can usually only work in a single environment in the air or on the wall, which limits their inspection capabilities in complex environments. At present, there are some defects in the bridge inspection technology based on drones. The maneuverability is weak. The most critical thing is that it cannot get close to the bottom and side of the bridge, resulting in low accuracy in disease identification, and it cannot get close to the hidden parts of the bridge structure, such as bearings. Climbing robots can better meet the working requirements of contact detection and close-range detection, and can also collect vibration data. They have the characteristics of low energy consumption, high detection accuracy, and the ability to detect in narrow spaces. At present, the adsorption methods of wall-climbing robots mainly include magnetic adsorption, negative pressure adsorption, bionic adsorption, etc., but when the wall surface is not clean and uneven, the above adsorption methods may cause adsorption failure, which in turn leads to problems such as falling.

[0003] The Chinese patent discloses a flying and crawling cross-domain multi-mode robot, which can flexibly and quickly switch between crawling mode and flying mode, and has the ability to take off and land on working planes of various angles, fly over complex obstacles, reach a wider range of detection locations, and perform low-energy and high-precision detection. Although the above scheme has the ability to crawl and fly on the wall, due to the configuration, it is easy to slip or adsorption failure when transitioning between surfaces; on the other hand, the connection method of the bistable hinge adopted in the above scheme is inefficient in the empty-wall conversion process. In addition, the pitch angle adjustment of the scheme can only be completed through its vector rotor module, which has the disadvantages of a single adjustment mode and a small adjustable angle, and it is difficult to adapt to the posture adjustment requirements for takeoff and landing in various direction planes; finally, in terms of the wall crawling transition method, the control of the above scheme needs to be manually controlled in steps, which is difficult to operate and difficult to achieve smooth transition in practical applications. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiency of the prior art that it is difficult to achieve a smooth transition between the air and the walls of each phase, and to provide a rotor flight and magnetic wheel crawling robot that can adjust the pitch angle in a hovering state to achieve smooth cross-domain movement between the air and the walls.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] Provided is a rotor flight and magnetic wheel crawling robot, comprising a base, a folding and tilting rotor module, a forearm swinging wheel module, a rear arm swinging wheel module and a controller; with the base as the center, the folding and tilting rotor modules are respectively installed on both sides of the base, the inner side of the base is respectively hinged to one end of the forearm swinging wheel module and one end of the rear arm swinging wheel module, and the other end of the forearm swinging wheel module and the other end of the rear arm swinging wheel module are both provided with a wheel group;

[0007] The folding and unfolding tilt-rotor module comprises a rotor mechanism, a tilt mechanism for driving the rotor mechanism to tilt, and a folding and unfolding assembly for realizing the folding and unfolding of the rotor mechanism; the tilt mechanism is installed on the base, the rotor mechanism is connected to the output end of the tilt mechanism through a first mounting seat, one end of the rotor mechanism is hinged to the first mounting seat, and the folding and unfolding assembly is respectively connected to the first mounting seat and the rotor mechanism;

[0008] The forearm swing wheel group module and the rear arm swing wheel group module both include a second mounting seat, a wheel arm swing servo steering gear, a wheel group driving module, a wheel group and a rotating magnetic array module for realizing magnetic adsorption; one end of the second mounting seat is hinged to the base, and the other end of the second mounting seat is mounted with the wheel group; the wheel arm swing servo steering gear is mounted on the base, and the output end of the wheel arm swing servo steering gear is connected to the second mounting seat for driving the second mounting seat to swing relative to the base; the wheel group driving module is mounted on the second mounting seat, and the output end of the wheel group driving module is connected to the wheel group for driving the wheel group to rotate; the rotating magnetic array module is mounted on the second mounting seat; the controller is respectively communicated with the rotor mechanism, the tilt mechanism, the wheel arm swing servo steering gear, the wheel group driving module and the rotating magnetic array module.

[0009] According to the above technical means, the present invention provides a rotor flight and magnetic wheel crawling robot, in the crawling mode, the rotor mechanism stops rotating, under the action of the folding and unfolding assembly, the rotor mechanism remains in a folded state, the forearm swing wheel group module and the rear arm swing wheel group module form a four-wheel heterogeneous crawling chassis; the forearm swing wheel group module and the rear arm swing wheel group module can both drive the second mounting seat to swing relative to the base through the wheel arm swing servo steering gear, thereby adjusting the front and rear wheelbase and the swing angle of the crawling chassis relative to the flight structure; in the flight mode of the robot, the rotor mechanism is started, and the rotor thrust of the rotor mechanism is used to drive the rotor mechanism to unfold relative to the base, two sets of folding and unfolding tilt-rotor modules are located on both sides of the base, forming a horizontal double-rotor flight configuration, and the rotation angle of the rotor mechanism relative to the base can be changed by the tilt mechanism; in the flight mode, the pitch control based on the variable center of mass can be realized by the swinging of the forearm swing wheel group module and the rear arm swing wheel group module, and the pitch angle can be adjusted in the hovering state to achieve smooth cross-domain movement in the air and between the walls of each phase.

[0010] The present invention provides a rotor flight and magnetic wheel crawling robot, which has the functions of flying, crawling, and wall crossing, and has the ability to crawl on a plane and a curved surface and the ability to transition between surfaces; the folding and unfolding tilt-rotor module cooperates with the forearm swing wheel group module and the rear arm swing wheel group module to change the pitch angle, so that the robot can smoothly transition to the cross-domain movement of wall crawling-absorption and detachment takeoff-flight-landing reabsorption-wall crawling, and can achieve the crossing of complex obstacles; under the action of the rotating magnetic array module, the robot can stably adsorb on an inverted surface, a vertical surface, a horizontal surface, and an inclined surface; by changing the angle between the forearm swing wheel group module and the rear arm swing wheel group module, the function of clamping an object can be achieved.

[0011] Furthermore, the rotor mechanism includes a protection frame, a propeller, a first drive motor for driving the propeller to rotate and generate lift, and a connecting arm; the first drive motor is installed on the protection frame, the output end of the first drive motor is connected to the propeller, and the propeller is located in the protection frame; one end of the connecting arm is fixedly connected to the protection frame, and the other end is hinged to the first mounting seat. The first drive motor drives the propeller to rotate, and provides vector thrust through the rotation of the propeller. The rotor mechanism is hinged to the first mounting seat through the connecting arm, and the rotor mechanism is unfolded and folded under the thrust of the folding assembly and the propeller; the output end of the tilt mechanism is connected to the first mounting seat, driving the first mounting seat to rotate, thereby realizing the rotation of the rotor mechanism. When the rotor mechanism is close to the ground or wall, the downwash airflow generated by the ground effect is hollowed out by the propeller protection frame to reduce the blocking area of ​​the downwash airflow on the upper part of the module, reduce the downwash load of the airflow, improve the lift coefficient of the robot near the ground or near the wall, and enhance its flight performance in these areas.

[0012] Furthermore, the folding and unfolding assembly includes a tension spring, one end of which is connected to the connecting arm, and the other end is connected to the first mounting seat; when the first driving motor is started, the propeller is driven to rotate, and under the action of the propeller lift, the rotor mechanism remains in an unfolded state relative to the base; when the first driving motor stops, the rotor mechanism remains in a folded state relative to the base under the action of the tension spring. When the rotating mechanism is in a folded state, the tension spring is in an original state, and in an unfolded state, the tension spring is in a stretched state; the propeller rotates to generate thrust, thereby driving the rotor mechanism to unfold, and the tension spring is stretched. At this time, the thrust of the propeller is greater than the elastic restoring force of the tension spring, so that the rotor mechanism can remain in an unfolded state; when the propeller stops rotating, the elastic restoring force of the tension spring pulls the rotor mechanism to fold.

[0013] Furthermore, the tilt mechanism includes a tilt servo actuator and a third mounting seat; the third mounting seat is mounted on the base, the tilt servo actuator is mounted on the third mounting seat, the output end of the tilt servo actuator is connected to the first mounting seat to drive the first mounting seat to rotate; the tilt servo actuator is connected to the controller for communication. The output shaft of the tilt servo actuator is connected to the third mounting seat, the tilt servo actuator is started, and the third mounting seat is driven to rotate, so as to change the tilt angle of the rotor mechanism relative to the base.

[0014] Furthermore, the wheel drive module includes a second drive motor, an output gear and a reduction gear set, the second drive motor is mounted on the second mounting seat, the output gear is connected to the output shaft of the second drive motor, the output gear is meshed with the input end of the reduction gear set, and the rotating shaft of the output end of the reduction gear set is connected to the wheel set; the second drive motor is communicatively connected to the controller. The wheel power system adopts a reducer solution with offset output. A single module can use dual-wheel differential control to achieve precise steering and positioning by adjusting the speed difference of the wheels on both sides.

[0015] Furthermore, the wheel drive module is provided with two groups, the wheel group includes at least two rotating wheels, the two rotating wheels are rotatably mounted on both sides of the second mounting seat, and the two groups of wheel drive modules are respectively located on both sides of the second mounting seat, and are connected to one rotating wheel in a one-to-one correspondence.

[0016] Furthermore, the rotating magnetic array module includes a magnetic array servo motor, a magnetic array component with an arc-shaped structure, a side sealing plate and an extension shaft; the magnetic array servo motor is installed on a second mounting seat, and the two sides of the magnetic array component are respectively connected to one end of a side sealing plate; the other end of the side sealing plate is connected to the output end of the magnetic array servo motor through a rotating shaft; a plurality of magnets are installed in the magnetic array component, and the plurality of magnets are installed according to the magnetizing direction of the Halbach array rule, and the magnetizing installation direction of the magnetic array component of the forearm swing wheel group module is opposite to the magnetizing installation direction of the magnetic array component of the rear arm swing wheel group module; the magnetic array servo motor is communicatively connected to the controller; the two ends of the rotating shaft are respectively connected to one of the extension shafts, and the other ends of the two extension shafts are respectively installed to rotate coaxially with the rotating wheel; the radius of the magnetic array component is smaller than the radius of the rotating wheel, so that a gap is left between the magnetic array component and the plane to be adsorbed. The magnetic array assembly is based on the principle of variable magnetic force of rotating magnets. A row of three magnet units is used in each direction. The relative angle between the entire Halbach array and the wall structure is changed by the magnetic array servo drive to control the size or direction of the adsorption force. The magnetic array servo directly drives the magnetic array assembly to rotate, thereby changing the size of the magnetic attraction. The direct drive method can provide higher control accuracy and faster variable magnetic response speed, making it easier for the robot to control the detachment and adsorption of the wall when crossing the air-wall domain, thereby improving the control efficiency of wall adsorption.

[0017] Furthermore, the rotating magnetic array module also includes a sensor fixing seat and a plurality of infrared laser sensors, wherein the sensor fixing seat is installed on both sides of the magnetic array assembly, connected to the rotating shaft, and rotates coaxially with the magnetic array assembly; the plurality of infrared laser sensors are arranged along the rotation direction and circumferential intervals of the sensor fixing seat; and the infrared laser sensor is communicatively connected with the controller. The sensor fixing seat is a cylindrical structure, and a sensor fixing seat is respectively arranged on both sides of the magnetic array assembly, and is coaxially installed and rotated with the magnetic array, and is located between the rotating wheel and the magnetic array module. By sensing the distance information on the outside, the interaction state between the wheel and the wall is identified, and a control decision basis is provided for the robot to cope with different special structural transitions. The infrared laser sensor array determines the transition type based on the feedback distance information and autonomously uses the corresponding transition strategy, realizing a triggered autonomous transition without manual control, so that the transition process is continuous and stable.

[0018] Furthermore, the wheel arm swing servo steering engine of the forearm swing wheel assembly module and the wheel arm swing servo steering engine of the rear arm swing wheel assembly module are respectively located on both sides of the base, and the output ends of the two wheel arm swing motors are coaxially arranged, the second mounting seat of the forearm swing wheel assembly module is coaxially installed with the second mounting seat of the rear arm swing wheel assembly module, and an anti-bending and torsion top module is provided between the output ends of the two wheel arm swing motors; the wheel assembly of the rear arm swing wheel assembly module is an omnidirectional wheel. It is divided into a forearm swing wheel assembly module and a rear arm swing wheel assembly module through the configuration of rubber wheels or omnidirectional wheels, and the forearm swing wheel assembly module configured with rubber wheels bears the main steering power. The rear arm swing wheel assembly module mainly plays a role in power complementation during straight travel and special structure transition.

[0019] Furthermore, an LED status display and an expansion interface for robot status prompts and external expansion connections of the robot are also provided on the base; the LED status display and expansion interface include an outer shell, a spring seat, an inner ring sleeve, an LED lamp holder and a ball; a spring is radially installed in the inner ring groove of the spring seat and is connected to the outer ring of the inner ring sleeve; one end of the inner ring sleeve is connected to the base; the outer shell is arranged outside the inner ring sleeve, and the ball is embedded between the outer ring of the inner ring sleeve and the inner ring of the outer shell; the LED lamp holder is installed at the other end of the inner ring sleeve, and an LED lamp is installed on the LED lamp holder.

[0020] The LED status display and expansion interface are fixed below the lower plate of the base. The upper plate of the base is connected to the upper plate of the base through four aluminum columns. The space between the upper plate of the base and the lower plate of the base is used to place the robot main control and the PCB circuit boards of each module; the middle groove of the horizontal main support seat cooperates with the upper plate of the base from the bottom, and the two ends are respectively fixed to the vertical support seats, and the vertical support seats are respectively fixed to the aluminum column sleeve support seat and the wheel arm servo steering gear; the anti-bending and torsion top module is embedded in the four protruding nut positions through the grooves on both sides to prevent the structures on both sides of the robot from bending and deforming when the rotor is deployed.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The rotor flight and magnetic wheel crawling robot of the present invention has the functions of flying, crawling, and crossing empty walls, and has the ability to crawl on planes and curved surfaces and the ability to transition between surfaces; the folding and unfolding tilt-rotor module cooperates with the forearm swing wheel group module and the rear arm swing wheel group module to change the pitch angle, so that the robot can smoothly transition to the cross-domain movement of wall crawling-absorption and detachment takeoff-flight-landing reabsorption-wall crawling, and can achieve crossing complex obstacles; under the action of the rotating magnetic array module, the robot can stably adsorb on an inverted surface, a vertical surface, a horizontal surface, and an inclined surface; by changing the angle between the forearm swing wheel group module and the rear arm swing wheel group module, the function of clamping an object can be achieved; in the flight mode, the pitch control based on the variable center of mass can be achieved by the swinging of the forearm swing wheel group module and the rear arm swing wheel group module, and the pitch angle can be adjusted in a hovering state to achieve smooth cross-domain movement in the air and between the walls of each phase. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the robot of the present invention in the hovering state in the flight mode.

[0024] Figure 2 It is a schematic diagram of the robot of the present invention in a planar state in crawling mode.

[0025] Figure 3 It is a schematic structural diagram of the robot base of the present invention.

[0026] Figure 4 This is a schematic diagram of the first-person perspective structure of the robot LED status display and expansion interface of the present invention.

[0027] Figure 5 This is a schematic diagram of the LED status display and expansion interface structure of the robot from the second perspective of the present invention.

[0028] Figure 6 It is a schematic diagram of folding the tilt-rotor module of the robot of the present invention.

[0029] Figure 7 It is a schematic structural diagram of the robot tilting mechanism, folding and unfolding assembly and connecting arm of the present invention.

[0030] Figure 8 This is a schematic diagram of the robot forearm swing wheel assembly module of the present invention.

[0031] Fig. 9 This is a schematic diagram of the robot wheel drive module of the present invention.

[0032] Fig.10 This is a schematic diagram of the structure of the robot rotating magnetic array module of the present invention.

[0033] Fig.11 This is a schematic diagram of assembling a single rubber wheel of the robot of the present invention.

[0034] Fig.12 This is a schematic diagram of the structure of the robot infrared laser sensor fixing seat of the present invention.

[0035] Fig.13 It is a schematic diagram of the front and rear magnetic array components and magnetic pole configuration of the robot of the present invention, wherein a is a schematic diagram of the magnetic array components and magnetic pole configuration of the forearm swing wheel group module, and b is a schematic diagram of the magnetic array components and magnetic pole configuration of the rear arm swing wheel group module.

[0036] Fig.14 This is a schematic diagram of the structure of the robot rear arm swing wheel group module of the present invention.

[0037] Fig.15 This is a schematic diagram of the structure of the omnidirectional wheel of the robot of the present invention.

[0038] Fig.16 This is a schematic diagram of the robot crawling on a curved surface according to the present invention.

[0039] Fig.17 It is a schematic diagram of the plane crawling and surface-to-surface transition process of the robot of the present invention.

[0040] Fig.18 It is a schematic diagram of the aerial-to-wall cross-domain conversion process of the robot of the present invention.

[0041] Fig.19 This is a schematic diagram of the robot of the present invention using the front and rear arms to swing the wheel module to clamp and carry objects.

[0042] In the attached drawings: 1. base; 101. aluminum column sleeve support seat; 102. base upper plate; 103. base lower plate; 104. horizontal main support seat; 105. vertical main support seat; 106. anti-bending and torsion top module; 2. folding and unfolding tilt-rotor module; 201. first mounting seat; 202. protection frame; 203. propeller; 204. first drive motor; 205. connecting arm; 206. tension spring; 207. tilt servo steering gear; 208. third mounting seat; 209. tilt expansion plate; 210. tilt servo steering gear support seat; 211. first steering disc; 3. forearm swing wheel group module; 301. second mounting seat; 302. wheel arm swing servo steering gear; 303. wheel group drive module; 304. rubber wheel; 305. rotating magnetic array module; 306. second drive motor; 307. output gear; 308. reduction gear Gear set; 309, magnetic array servo; 310, magnetic array assembly; 311, side sealing plate; 312, expansion shaft; 313, sensor fixing seat; 314, infrared laser sensor; 315, swing drive connecting plate; 316, top cover; 317, motor fixing seat; 318, wheel set connecting seat; 319, inner splint; 320, outer splint; 321, second steering plate; 322, rubber tire; 323, carbon fiber side plate; 324, rubber wheel fixing; 325, swing support side plate; 4, rear arm swing wheel set module; 401, omnidirectional wheel; 402, roller; 403, rivet block; 404, hub plate; 405, hub connecting block; 5, LED status display and expansion interface; 501, expansion port shell; 502, spring seat; 503, inner ring sleeve; 504, LED lamp holder; 505, ball bearing. DETAILED DESCRIPTION

[0043] The present invention is further described below in conjunction with specific implementation methods. The accompanying drawings are only used for exemplary descriptions and are only schematic diagrams, not actual drawings, and cannot be understood as limiting this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0044] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0045] Embodiment 1

[0046] This embodiment is the first embodiment of a rotor flight and magnetic wheel crawling robot, comprising a base 1, a folding and tilting rotor module 2, a forearm swinging wheel module 3, a rear arm swinging wheel module 4 and a controller; with the base 1 as the center, the folding and tilting rotor module 2 is respectively installed on both sides of the base 1, the inner side of the base 1 is respectively hinged with one end of the forearm swinging wheel module 3 and one end of the rear arm swinging wheel module 4, and the other end of the forearm swinging wheel module 3 and the other end of the rear arm swinging wheel module 4 are both provided with a wheel group; the base 1 is used as a central structure, on which a controller and a power supply module are installed to provide control instructions and power for the entire robot. The folding and tilting rotor module 2 is located at both ends of the outer side of the base 1, and is connected to the base 1 through a plate-type single-axis connector to realize the rapid folding and tilting function of the rotor.

[0047] The folding and unfolding tilt-rotor module 2 comprises a rotor mechanism, a tilt mechanism for driving the rotor mechanism to tilt, and a folding and unfolding assembly for realizing the folding and unfolding of the rotor mechanism; the tilt mechanism is installed on the base 1, the rotor mechanism is connected to the output end of the tilt mechanism through a first mounting seat 201, one end of the rotor mechanism is hinged to the first mounting seat 201, and the folding and unfolding assembly is respectively connected to the first mounting seat 201 and the rotor mechanism;

[0048] The forearm swing wheel assembly module 3 and the rear arm swing wheel assembly module 4 both include a second mounting seat 301, a wheel arm swing servo steering engine 302, a wheel assembly driving module 303, a wheel assembly, and a rotating magnetic array module 305 for realizing magnetic adsorption; one end of the second mounting seat 301 is hinged to the base 1, and the other end of the second mounting seat 301 is mounted with the wheel assembly; the wheel arm swing servo steering engine 302 is mounted on the base 1, and the output end of the wheel arm swing servo steering engine 302 is connected to the second mounting seat 30 1 is connected to drive the second mounting seat 301 to swing relative to the base 1; the wheel group driving module 303 is installed on the second mounting seat 301, and the output forearm output end of the wheel group driving module 303 is connected to the wheel group to drive the wheel group to rotate; the rotating magnetic array module 305 is installed on the second mounting seat 301; the controller is respectively communicated with the rotor mechanism, the tilt mechanism, the wheel arm swing servo steering engine 302, the wheel group driving module 303, and the rotating magnetic array module 305.

[0049] like Figure 1As shown, in the flight mode, the robot uses the thrust generated by the folding tilt-rotor module 2 to achieve air hovering. The rotor mechanism is started to generate sufficient lift to overcome gravity and keep the robot stable in the air. The tilt mechanism controls the tilt angle of the rotor mechanism to achieve attitude adjustment and direction control of the robot in the air. At this time, the front arm swing wheel assembly module 3 and the rear arm swing wheel assembly module 4 are in an upward folded state to reduce air resistance and improve flight efficiency.

[0050] like Fig.18 As shown, the rotor flight and magnetic wheel crawling robot of the present invention demonstrates the complex process of its conversion between the air and the wall, and embodies the unique pitch control ability of the robot. This pitch control is achieved by the coordinated action of the folding tilt rotor module 2, the forearm swing wheel group module 3 and the rear arm swing wheel group module 4, which together provide the stability and control force required by the robot in different flight stages. In the process of preparing to land from the air to the wall, the robot first starts the rotor mechanism in the folding tilt rotor module 2, adjusts the thrust of the propeller 203, controls the tilt angle of the rotor mechanism through the tilt mechanism, and realizes precise control of the pitch attitude of the robot. This control enables the robot to hover in the air and approach the wall smoothly, ready for landing. At the same time, the forearm swing wheel group module 3 and the rear arm swing wheel group module 4 of the robot begin to make corresponding adjustments. The forearm swing wheel group module 3 and the rear arm swing wheel group module 4 adjust the angle and position through the second mounting seat 301 and the wheel arm swing servo steering engine 302 to adapt to the contact requirements of the wall. At the moment of contact with the wall, the magnet in the rotating magnetic array module 305 changes the direction and magnitude of the magnetic force through the action of the magnetic array servo steering gear 309 to achieve rapid adsorption. At this time, the pitch control of the robot is still in progress to ensure that the robot's posture remains stable during the adsorption process. When the robot needs to take off from the wall again, the folding tilt-rotor module 2 comes into play again, helping the robot to desorb and gradually transition to the air flight state by increasing the thrust and adjusting the tilt angle. Pitch control ensures the smoothness and stability of the robot during the conversion process. In addition, the robot's swinging wheel arm design enhances the robot's performance in pitch control by changing the center of gravity and wheelbase, improves the robot's obstacle crossing ability, and provides additional stability during the air-wall cross-domain conversion process.

[0051] like Figure 2As shown, in the crawling mode, the robot's folding tilt-rotor module 2 is folded to reduce the occupied space and avoid affecting the crawling operation. The forearm swing wheel group module 3 and the rear arm swing wheel group module 4 are unfolded to form a stable crawling chassis with the base 1. The forearm swing wheel group module 3 uses a rubber wheel 304 to provide the friction required when contacting the wall, while the rear arm swing wheel group module 4 is equipped with an omnidirectional wheel 401, allowing the robot to flexibly turn and move on the wall. In the crawling mode, the robot uses the forearm swing wheel group module 3 and the rear arm swing wheel group module 4 to crawl on the wall. The rubber wheel 304 is driven to rotate by the wheel group drive module 303 to achieve wall climbing and movement. The rotating magnetic array module 305 uses the principle of magnetic adsorption to provide the robot with a stable adsorption force to ensure safety during the crawling process.

[0052] like Fig.16 As shown, the rotor flight and magnetic wheel crawling robot of the present invention has the ability to adapt to crawling on curved surfaces. This ability of the robot is mainly due to its forearm swing wheel group module 3 and the rear arm swing wheel group module 4. The modules are equipped with wheel groups that can fit the curved surface tightly, so that the robot can crawl stably on surfaces with different curvatures. During the curved surface crawling process, the robot's swing wheel group module adjusts the angle and position through its second mounting seat 301 and the wheel arm swing servo steering engine 302 to perform precise angle adjustment, and cooperates with the output torque of the wheel group drive module 303 to achieve adaptation to complex curved surfaces. In addition, the magnetic force control of the rotating magnetic array module 305 provides the robot with a stable adsorption force on the curved surface, ensuring the safety and reliability during the crawling process.

[0053] like Fig.17 As shown in the figure, the robot shows excellent flexibility when transitioning between planes. In the process of transitioning from one plane to another, the robot uses the swinging motion of the front arm swing wheel module 3 and the rear arm swing wheel module 4 to adjust the front and rear wheel wheelbases and the swinging angle of the crawling chassis relative to the flight structure to achieve a smooth transition. This design enables the robot to not only achieve precise crawling control within the same plane, but also seamlessly switch between different planes.

[0054] The beneficial effects of this embodiment are as follows: through the coordinated work of the folding tilt-rotor module 2 and the swinging motion of the forearm swing wheel assembly module 3 and the rear arm swing wheel assembly module 4, the robot achieves efficient and precise pitch control; the robot has the ability to crawl on curved surfaces and transition between surfaces, which gives it a wide range of application potential in complex environments, and can provide efficient solutions whether it is detection in narrow spaces or monitoring of large structures, fully demonstrating its efficiency, stability and intelligence in cross-domain movement.

[0055] Embodiment 2

[0056] The other structures of this embodiment are the same as those of the first embodiment. In this embodiment, a base 1 structure applied to the robot of the first embodiment is provided, such as Figure 3 As shown, the base 1 is the central structure of the rotary-wing flying and magnetic wheel crawling robot of the present invention, which provides the installation foundation and stability for all components of the robot. The base 1 is composed of a base 1 upper plate and a base 1 lower plate, which are firmly connected by four aluminum columns to form a solid frame structure. The space between the base 1 upper plate and the base 1 lower plate is designed to accommodate the robot's main control unit and the PCB circuit boards of each module, ensuring the integration and protection of the robot's control center and electronic components.

[0057] like Figure 4 and Figure 5 As shown, the LED status display and expansion interface 5 is fixed below the lower plate of the base 1, providing the robot with status indication and external device connection functions. The interface includes an expansion port housing 501, a spring seat 502, an inner ring sleeve 503, an LED lamp holder 504 and a ball 505. The inner ring groove of the spring seat 502 radially installs the spring and cooperates with the outer ring of the inner ring sleeve 503 to ensure the stability of the interface. The ball 505 is embedded between the outer ring of the inner ring sleeve 503 and the inner ring of the expansion port housing 501 to provide additional stability and flexibility. The groove above the LED lamp holder 504 is used to place the LED status display light bar, which displays the current status of the robot, such as power supply, battery power, system failure, etc., through different flashing modes and colors.

[0058] Beneficial effects of this embodiment: the base 1 not only ensures the structural stability of the robot, but also provides sufficient space for internal components, which is convenient for maintenance and upgrading. The addition of LED status display and expansion interface 5 enhances the interactivity of the robot, allowing the operator to intuitively understand the working status of the robot and connect with other devices through the expansion interface, such as data transmission, remote control, etc., greatly improving the applicability and flexibility of the robot.

[0059] Embodiment 3

[0060] like Figure 6 As shown, the other structures of this embodiment are the same as those of the first embodiment. In this embodiment, a folding and tilting rotor module 2 is provided, which allows the robot to switch freely between the wall crawling and air flight modes. The folding and tilting rotor module 2 mainly includes a rotor mechanism, a tilting mechanism for driving the rotor mechanism to tilt, and a folding assembly for realizing the folding and unfolding of the rotor mechanism; the tilting mechanism is installed on the base 1, the rotor mechanism is connected to the output end of the tilting mechanism through the first mounting seat 201, one end of the rotor mechanism is hinged to the first mounting seat 201, and the folding assembly is respectively connected to the first mounting seat 201 and the rotor mechanism.

[0061] The rotor mechanism includes a protection frame 202, a propeller 203, a first drive motor 204 for driving the propeller 203 to rotate and generate lift, a connecting arm 205, and a motor fixing seat 317; the first drive motor 204 is installed on the protection frame 202 through the motor fixing seat 317, and the output end of the first drive motor 204 is connected to the propeller 203, and the propeller 203 is located in the protection frame 202; one end of the connecting arm 205 is fixedly connected to the protection frame 202, and the other end is hinged to the first mounting seat 201. The protection frame 202 includes a protection inner plate frame and a protection outer plate frame, and the protection inner plate frame and the protection outer plate frame are connected and fixed by aluminum columns. The protection outer plate frame is fixed to the first drive motor 204, the motor fixing seat 317, and the connecting arm 205 by screws, and the protrusion at the end of the connecting arm 205 is matched with the hole of the motor fixing seat 317. The first mounting seat 201 is hingedly installed with the L-shaped end of the connecting arm 205.

[0062] The folding and unfolding assembly includes a tension spring 206 and a tilting extension plate 209; a tilting extension plate 209 is fixed on both sides of the first mounting seat 201, and each tilting extension plate 209 is connected to a tension spring 206, and the other end of the tension spring 206 is respectively connected to one end of the connecting arm 205. One end of the tension spring 206 is hinged to the tilting extension plate 209, and the other end is hinged to the circular hole at the chamfer of the connecting arm 205. When the first driving motor 204 stops rotating, the tension of the tension spring 206 will keep the folding and unfolding tilt-rotor module 2 in a folded state. When the first driving motor 204 is working, it is subjected to the lift force of the propeller 203, and the folding and unfolding tilt-rotor module 2 is kept in an unfolded state.

[0063] The tilt mechanism includes a tilt servo actuator 207, a third mounting seat 208, a tilt servo actuator support seat 210, and a first steering wheel 211; the tilt servo actuator support seat 210 is fixed to the third mounting seat 208, and the first steering wheel 211 is fixed to the first mounting seat 201. The first mounting seat 201 and the components connected to the rear are driven to rotate by the tilt servo actuator 207, and the first mounting seat 201 and the tilt servo actuator support seat 210 rotate relative to each other, and bearings are installed at the hinges.

[0064] The folding and unfolding assembly and the tilting and turning mechanism are the core of the folding and unfolding tilt-rotor module 2. Through the interaction with the rotor mechanism, the precise folding and tilting of the rotor are realized. The monostable design of the tension spring 206 enables the rotor to be quickly and automatically folded when the first motor stops, and can be stably unfolded when the motor is working, which significantly improves the conversion efficiency of the robot between different modes. The third mounting seat 208 is responsible for firmly connecting the rotor mechanism to the base 1 to ensure the stability and reliability of the rotor when rotating at high speed. The combination of the first drive motor 204 and the three-blade propeller 203 provides the robot with powerful lift and propulsion, enabling it to hover, fly or even move quickly in the air. The protection inner plate frame and the protection outer plate frame not only provide additional protection for the propeller 203 to avoid damage in a complex environment, but also fix it with the motor fixing seat 317 and the connecting arm 205 through the aluminum column, thereby enhancing the structural strength of the entire rotor module. In addition, the design of the folding and unfolding tilt-rotor module 2 also takes into account the attitude control of the robot when it is hovering in the air. The tilt servo 207 can accurately adjust the tilt angle of the rotor, and cooperate with the thrust generated by the first drive motor 204 to achieve stable hovering and direction adjustment of the robot in the air.

[0065] Embodiment 4

[0066] This embodiment provides a forearm swing wheel module 3 and a rear arm swing wheel module 4 of a rotor flight and magnetic wheel crawling robot; the forearm swing wheel module 3 and the rear arm swing wheel module 4 are key structures for realizing the robot crawling on the wall. The module includes a rotating magnetic array module 305, a second mounting seat 301, a wheel group, a swing support side plate 325, a top cover 316, a swing drive connecting plate 315 and a wheel group drive module 303; one end of the swing support side plate 325 and the swing drive connecting plate 315 are both connected to the second mounting seat 301, and the other end of the swing drive connecting plate 315 is connected to the output end of the wheel arm swing servo servo 302, and the other end of the swing support side plate 325 is coaxially installed with the swing drive connection to provide support, so that the entire forearm swing wheel module 3 is more stable during the swinging process.

[0067] The wheel set driving module 303 includes a wheel set connecting seat 318, a motor fixing seat 317, a second driving motor 306, an inner clamping plate 319, an outer clamping plate 320, a reduction gear set 308, and an output gear 307; the wheel set connecting seat 318 is fixed to the inner clamping plate 319, and the inner clamping plate 319 is fixed to the outer clamping plate 320 through an aluminum column, and a three-stage reduction gear set 308 is installed between the two plates, and the output shaft at the end of the gear set is fixed to the rotating wheel; the reduction gear set 308 is composed of two double gears and two spur gears, with a module of 0.7 and a gear set reduction ratio of 48, which is used to increase the motor output torque.

[0068] The wheel of the front arm swing wheel module 3 is a rubber wheel 304, including a carbon fiber side plate 323, a rubber wheel 304 tire with transverse lines, and a rubber wheel 304 fixing block; the wheel of the rear arm swing wheel module 4 is an omnidirectional wheel 401, including a roller 402, a riveted block 403, a hub plate 404, and a hub connecting block 405. These components work together to enable the omnidirectional wheel 401 to provide smooth movement in both horizontal and vertical directions. The roller 402 allows the wheel to roll in multiple directions, while the riveted block 403 and the hub connecting block 405 ensure the structural stability and durability of the wheel.

[0069] like Fig. 9 As shown, the second drive motor 306 in the wheel drive module 303 is connected to the rotating wheel through a three-stage reduction gear set 308, which ensures the robot's strong grip and precise speed control when crawling on the wall. The configuration of the reduction gear set 308 not only improves the torque of the wheel set, but also enables the robot to maintain stable movement under different wall conditions.

[0070] The forearm swing wheel module 3 not only provides the robot with stable adsorption and crawling capabilities on the wall, but also significantly improves the robot's maneuverability and adaptability, enabling it to perform tasks under a variety of wall conditions.

[0071] The rear arm swing wheel module 4 is an important component corresponding to the front arm swing wheel module 3, and they together constitute the robot's crawling chassis. The rear arm swing wheel module 4 is mirror-symmetrical with the front arm swing wheel module 3 in structure and installation and fixing mode, ensuring the balance and stability of the robot when crawling on the wall. In addition, the wheels of the rear arm swing wheel module 4 adopt omnidirectional wheels 401, which provide greater flexibility and adaptability, allowing the robot to move freely in different directions.

[0072] The rear arm swing wheel module 4 enables the robot to more flexibly adjust its movement direction and posture when crawling on a wall or transitioning between surfaces. The use of the omnidirectional wheel 401 provides additional maneuverability and adaptability, especially when the robot needs to move on a complex or irregular wall structure.

[0073] like Fig.19As shown, the rotor flight and magnetic wheel crawling robot of the present invention has the ability to use its wheel arm to clamp and carry objects. The robot's forearm swing wheel group module 3 and rear arm swing wheel group module 4 can not only crawl on the wall, but also can clamp objects by swinging the wheel arm. The forearm swing wheel group module 3 and rear arm swing wheel group module 4 of the robot are configured to be mirror-symmetrical. When the robot needs to clamp an object, the position and size of the object are first evaluated by its control system. Then, the robot moves above the object and uses the swinging motion of its swing wheel group module to adjust the wheel arm to both sides of the object. By controlling the second drive motor 306 in the wheel group drive module 303, the forearm swing wheel group module 3 and the rear arm swing wheel group module 4 are slowly closed and clamped. In this process, the distance information feedback provided by the robot's infrared laser sensor 314 array is crucial for accurately controlling the opening and closing strength of the wheel arm to ensure that the object can be firmly clamped without causing damage to it. When flying and carrying in the air, the robot uses the lift and control force provided by the folding and unfolding tilt-rotor module 2 to maintain stable flight; when it is necessary to release the object, the robot moves again to the top of the specified position, and then slowly opens the control wheel arm to place the object steadily at the target location. This embodiment expands the application scope of the robot, improves the robot's ability to operate in complex environments, and makes it have important application value in multiple fields such as search and rescue, equipment maintenance, and material transportation.

[0074] Embodiment 5

[0075] like Fig.10As shown, this embodiment provides a rotating magnetic array module 305 for a rotor flight and magnetic wheel crawling robot, which is one of the key technologies for achieving stable adsorption and precise control of the robot between different wall surfaces. The rotating magnetic array module 305 includes a magnetic array assembly 310, a side sealing plate 311, a sensor fixing seat 313, a second steering plate 321, a magnetic array servo steering engine 309 and an expansion shaft 312, forming a highly integrated magnetic adsorption and control system. The magnetic array assembly 310 is responsible for fixing the long strip N52 neodymium iron boron magnet, and magnetizing it according to the Halbach array rule to optimize the magnetic field distribution and enhance the adsorption force. The side of the magnetic array assembly 310 is designed with three square through holes, which is not only convenient for the installation of the magnet, but also through the four grooves on the top for placing the injection nut to connect the side sealing plate 311, ensuring the structural stability of the module. The side sealing plate 311 cooperates with the magnetic array assembly 310 to form a radial air gap of 1mm, which helps to form a stable adsorption effect between the robot and the wall. The second steering wheel 321 cooperates with the magnetic array servo steering engine 309 to enable the rotating magnetic array module 305 to realize the rotating motion, and adjust the size or direction of the adsorption force according to the sensor information on the sensor fixing seat 313 to adapt to different wall structures. The expansion shaft 312 is installed on both sides of the rotating magnetic array module 305, forming a clearance fit with the center hole of the rotating wheel, bearing the radial force of the rotating wheel, and ensuring the stability of the robot during the crawling process.

[0076] like Fig.12 As shown, the design of the rotating magnetic array module 305 enables the robot to intelligently identify and adapt to the transition of various special structures, such as the transition of inner and outer corners, the transition of the edge of the board, etc. Through the precise control of the magnetic array servo steering engine 309, the robot can achieve triggered autonomous transition without manual control, and the transition process is continuous and smooth, which greatly improves the efficiency and safety of the operation.

[0077] like Fig.13 As shown, the magnets of the magnetic array assembly 310 in the rotating magnetic array module 305 are installed according to the Halbach array rule, forming a highly efficient magnetic adsorption capability. The infrared laser sensor 314 module installed on the sensor fixing seat 313 can detect the distance between the robot and the wall in real time, and provide accurate control signals for the robot's autonomous crawling and transition.

[0078] Beneficial effects of this embodiment: The design of the rotating magnetic array module 305 not only improves the robot's adsorption ability and adaptability, but also realizes the robot's autonomous decision-making and precise control in complex environments through integrated sensors and servo control systems, significantly enhancing the robot's intelligence level and application scope.

[0079] In summary, the robot chassis of the present invention adopts a four-wheel drive configuration, the front arm swing wheel module 3 uses a rubber wheel 304, and the rear arm swing wheel module 4 uses an omnidirectional wheel 401, which respectively combines the characteristics of the two wheel types. The rubber wheel 304 provides the friction required for wall crawling, and the omnidirectional wheel 401 converts the sliding friction into rolling friction through the roller 402 when the robot turns, so that the differential amount required for the robot to turn is smaller; in addition, the four-wheel drive forms a "push forward and pull back" configuration when the robot transitions to the wall, which improves the maneuverability and stability of the robot's wall crawling transition.

[0080] The offset three-stage reduction gear set 308 configuration in the front and rear arm swing wheel set module 4 described in the present invention increases the reduction ratio of the wheel set module. The second output motor adopts a motor with a larger output torque, and the overall power of the wheel set is stronger. When crawling on an inclined or vertical wall, it can more effectively prevent slipping, thereby improving the safety factor of the robot and increasing the load capacity of the robot when climbing, thereby improving safety and load capacity.

[0081] The monostable tension spring 206 of the present invention ensures that when the folding tilt-rotor module 2 is folded, the three-blade propeller 203 does not need to rotate in the opposite direction again, and folding is achieved only by the tension of the tension spring 206. During the robot's cross-domain movement, the folding speed is faster and the empty-wall cross-domain efficiency is improved. In addition, the first drive motor 204 does not need to switch directions frequently, and has a longer service life.

[0082] The foldable tilt-rotor module 2 of the present invention will generate partial downwash airflow due to the ground effect when the rotor is close to the ground / wall, and the propeller 203 protection frame 202 is hollowed out and has a three-leaf skeleton shape as a whole, which reduces the blockage area of ​​the downwash airflow on the upper part of the module, reduces the downwash load of the airflow, and improves the lift coefficient of the robot near the ground / near the wall.

[0083] The rotating magnetic array module 305 of the present invention is directly driven by the magnetic array servo steering engine 309, with higher control accuracy and faster magnetic response speed. It is easier to control the robot to fall off / adsorb on the wall when crossing the empty-wall domain, thereby improving the control efficiency of wall adsorption. In addition, the front and rear magnetic adsorption module layout can prevent the robot from tipping over when crawling on an inclined wall, thereby improving the safety factor. The rotating magnetic array module 305 is subjected to the action of magnetic force, and can tend to adsorb different types of transitional walls, including transitions between inner and outer corners and continuous curved surfaces, and the transitional motion is more adaptable.

[0084] The infrared laser ranging sensor array of the present invention enables the robot to determine the transition type (such as inner and outer corner transition, plate edge transition) based on the wall distance information fed back by the sensor array when the robot approaches a wall that needs to be transitioned. The robot autonomously uses the corresponding transition strategy to transition the wall. The transition process is continuous and does not require manual control, thereby realizing autonomous transition triggered by sensors.

[0085] The front arm swing wheel module 3 and the rear arm swing wheel module 4 of the present invention are configured in front and back mirror images, so that the robot can change its own center of gravity, wheelbase, and height, thereby crossing a low and narrow wall structure environment, and has strong adaptability to crawling and crossing obstacles.

[0086] The present invention comprises a combination configuration of the folding tilt-rotor module 2, the forearm swing wheel module 3 and the rear arm swing wheel module 4. First, the lift vector direction of the rotor of the robot can always remain opposite to the gravity direction in any posture on the wall. The forearm swing wheel module 3 and the rear arm swing wheel module 4 enable the robot to change the wall orientation of the magnetic adsorption module in the air, thereby improving the success rate of wall landing. The combination of the two makes the empty-wall cross-domain movement more adaptable. Second, the robot's center of gravity is changed by using the swing arm method, and the effect of controlling the robot's pitch angle is achieved by relying on the centrifugal force and inertia of the swing joint. The above combination increases the freedom of the robot's pitch control, and the pitch angle controlled by the swing arm can achieve a larger pitch angle control of the body. Third, the forearm swing wheel module 3 and the rear arm swing wheel module 4 form an angle, and the change of the angle can be used to clamp objects, and then the robot takes off and lands through the horizontal tilt-rotor double-rotor take-off and landing flight. When the robot flies to the target position, the clamping angle is increased to release the object, thereby realizing the function of dropping the object to the target position.

[0087] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0088] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A rotary-wing flying and magnetic-wheel crawling robot, characterized in that: The invention comprises a base (1), a folding and tilting rotor module (2), a forearm swing wheel module (3), a rear arm swing wheel module (4) and a controller; with the base (1) as the center, the folding and tilting rotor module (2) is respectively installed on both sides of the base (1); the inner side of the base (1) is respectively hinged to one end of the forearm swing wheel module (3) and one end of the rear arm swing wheel module (4); and the other end of the forearm swing wheel module (3) and the other end of the rear arm swing wheel module (4) are both provided with a wheel group; The folding and tilting rotor module (2) comprises a rotor mechanism, a tilting mechanism for driving the rotor mechanism to tilt, and a folding and unfolding assembly for realizing the folding and unfolding of the rotor mechanism; the tilting mechanism is mounted on the base (1), the rotor mechanism is connected to the output end of the tilting mechanism via a first mounting seat (201), one end of the rotor mechanism is hinged to the first mounting seat (201), and the folding and unfolding assembly is respectively connected to the first mounting seat (201) and the rotor mechanism; The front arm swing wheel assembly module (3) and the rear arm swing wheel assembly module (4) both comprise a second mounting seat (301), a wheel arm swing servo steering engine (302), a wheel assembly driving module (303), a wheel assembly, and a rotating magnetic array module (305) for realizing magnetic adsorption; one end of the second mounting seat (301) is hinged to the base (1), and the other end of the second mounting seat (301) is mounted with the wheel assembly; the wheel arm swing servo steering engine (302) is mounted on the base (1), and the output end of the wheel arm swing servo steering engine (302) is hinged to the second mounting seat. (301) is connected to drive the second mounting seat (301) to swing relative to the base (1); the wheel group drive module (303) is installed on the second mounting seat (301), and the output end of the wheel group drive module (303) is connected to the wheel group to drive the wheel group to rotate; the rotating magnetic array module (305) is installed on the second mounting seat (301); the controller is respectively connected to the rotor mechanism, the tilt mechanism, the wheel arm swing servo steering engine (302), the wheel group drive module (303), and the rotating magnetic array module (305) for communication.

2. The rotary-wing flying and magnetic-wheel crawling robot according to claim 1, characterized in that: The rotor mechanism comprises a protection frame (202), a propeller (203), a first drive motor (204) for driving the propeller (203) to rotate and generate lift, and a connecting arm (205); the first drive motor (204) is installed on the protection frame (202), the output end of the first drive motor (204) is connected to the propeller (203), and the propeller (203) is located in the protection frame (202); one end of the connecting arm (205) is fixedly connected to the protection frame (202), and the other end is hinged to the first mounting seat (201).

3. The rotary-wing flying and magnetic-wheel crawling robot according to claim 2, characterized in that: The folding and unfolding assembly comprises a tension spring (206), one end of the tension spring (206) being connected to the connecting arm (205), and the other end being connected to the first mounting seat (201); when the first driving motor (204) is started, the propeller (203) is driven to rotate, and under the action of the lift force of the propeller (203), the rotor mechanism remains in an unfolded state relative to the base (1); when the first driving motor (204) stops rotating, the rotor mechanism remains in a folded state relative to the base (1) under the action of the tension spring (206).

4. The rotary-wing flying and magnetic-wheel crawling robot according to claim 1, characterized in that: The tilt mechanism comprises a tilt servo actuator (207) and a third mounting seat (208); the third mounting seat (208) is mounted on the base (1), the tilt servo actuator (207) is mounted on the third mounting seat (208), an output end of the tilt servo actuator (207) is connected to the first mounting seat (201) to drive the first mounting seat (201) to rotate; and the tilt servo actuator (207) is communicatively connected to the controller.

5. The rotary-wing flying and magnetic-wheel crawling robot according to claim 1, characterized in that: The wheel set driving module (303) comprises a second driving motor (306), an output gear (307) and a reduction gear set (308); the second driving motor (306) is mounted on the second mounting seat (301); the output gear (307) is connected to the output shaft of the second driving motor (306); the output gear (307) is meshed with the input end of the reduction gear set (308); the rotating shaft of the output end of the reduction gear set (308) is connected to the wheel set; the second driving motor (306) is communicatively connected to the controller.

6. The rotary-wing flying and magnetic-wheel crawling robot according to claim 5, characterized in that: The wheel set driving module (303) is provided with two groups, and the wheel set includes at least two rotating wheels, and the two rotating wheels are rotatably mounted on the two sides of the second mounting seat (301), respectively. The two groups of the wheel set driving modules (303) are respectively located on the two sides of the second mounting seat (301), and are connected to one of the rotating wheels in a one-to-one correspondence.

7. The rotary-wing flying and magnetic-wheel crawling robot according to claim 6, characterized in that: The rotating magnetic array module (305) comprises a magnetic array servo steering engine (309), a magnetic array assembly (310) with an arc-shaped structure, a side sealing plate (311) and an expansion shaft (312); the magnetic array servo steering engine (309) is installed on a second mounting seat (301), and the two sides of the magnetic array assembly (310) are respectively connected to one end of a side sealing plate (311); the other end of the side sealing plate (311) is connected to the output end of the magnetic array servo steering engine (309) via a rotating shaft; a plurality of magnets are installed in the magnetic array assembly (310), and the plurality of magnets are arranged according to the Halbach array rule. The magnetizing direction of the magnetic array assembly (310) of the front arm swing wheel assembly module (3) is opposite to the magnetizing direction of the magnetic array assembly (310) of the rear arm swing wheel assembly module (4); the magnetic array servo steering engine (309) is communicatively connected to the controller; the two ends of the rotating shaft are respectively connected to an extension shaft (312), and the other ends of the two extension shafts (312) are respectively coaxially rotatably mounted with the rotating wheel; the radius of the magnetic array assembly (310) is smaller than the radius of the rotating wheel, so that a gap is left between the magnetic array assembly (310) and the plane to be adsorbed.

8. The rotary-wing flying and magnetic-wheel crawling robot according to claim 7, characterized in that: The rotating magnetic array module (305) further comprises a sensor fixing seat (313) and a plurality of infrared laser sensors (314); the sensor fixing seat (313) is mounted on both sides of the magnetic array assembly (310), connected to the rotating shaft, and rotates coaxially with the magnetic array assembly (310); the plurality of infrared laser sensors (314) are arranged at intervals along the rotation direction and circumferential direction of the sensor fixing seat (313); and the infrared laser sensors (314) are communicatively connected to the controller.

9. The rotary-wing flying and magnetic-wheel crawling robot according to any one of claims 1 to 8, characterized in that: The wheel arm swing servo steering engine (302) of the front arm swing wheel assembly module (3) and the wheel arm swing servo steering engine (302) of the rear arm swing wheel assembly module (4) are respectively located on both sides of the base (1), and the output ends of the two wheel arm swing motors are coaxially arranged, the second mounting seat (301) of the front arm swing wheel assembly module (3) and the second mounting seat (301) of the rear arm swing wheel assembly module (4) are coaxially installed, and an anti-bending and torsion-resistant top module (106) is provided between the output ends of the two wheel arm swing motors; the wheel assembly of the rear arm swing wheel assembly module (4) is an omnidirectional wheel (401).

10. The rotary-wing flying and magnetic-wheel crawling robot according to any one of claims 1 to 8, characterized in that: The base (1) is also provided with an LED status display and expansion interface (5) for indicating the status of the robot and connecting to the external expansion of the robot; the LED status display and expansion interface (5) comprises an outer shell, a spring seat (502), an inner ring sleeve (503), an LED lamp holder (504) and a ball (505); a spring is radially installed in the inner ring groove of the spring seat (502) and is connected to the outer ring of the inner ring sleeve (503); one end of the inner ring sleeve (503) is connected to the base (1); the outer shell is arranged outside the inner ring sleeve (503), and the ball (505) is embedded between the outer ring of the inner ring sleeve (503) and the inner ring of the outer shell; the LED lamp holder (504) is installed at the other end of the inner ring sleeve (503), and an LED lamp is installed on the LED lamp holder (504).

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