A rotor flight and magnetic wheel crawling robot

Abstract

The application relates to a rotor flight and magnetic wheel crawling robot. The robot comprises a base, a folding and tilting rotor module, a front arm swing wheel set module, a rear arm swing wheel set module and a controller. The folding and tilting rotor module is arranged on the two sides of the base, and the inner side of the base is hinged to one end of the front / rear arm swing wheel set module. The other end of the front / rear arm swing wheel set module is provided with a wheel set. The folding and tilting rotor module cooperates with the front / rear arm swing wheel set module to change the pitch angle, so that the robot can smoothly cross the crawling, flight, landing and other cross-domain movements. Under the action of the rotating magnetic array module, the robot can be stably adsorbed on various wall surfaces. By changing the included angle between the front and rear arm swing wheel set modules, the object clamping function can be realized. In the flight mode, the pitch control based on the variable center of mass is realized through the swing of the front / rear arm swing wheel set module, the pitch angle can be adjusted in the hovering state, and the smooth cross-domain movement between the air and various wall surfaces can be realized.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a rotor-flying and magnetic wheel-crawling robot. Background Technology

[0002] With the continuous advancement of technology, inspection robots have been widely applied in the inspection of buildings, bridges, tunnels, and power facilities. Traditional inspection robots can typically only operate in a single environment, either in the air or on a wall, which limits their inspection capabilities in complex environments. Current drone-based bridge inspection technology has some drawbacks: weak maneuverability, and most importantly, it cannot get close to the bottom and sides of the bridge, resulting in low accuracy in defect identification. It also cannot access hidden parts of the bridge structure, such as supports. Climbing robots can better meet the requirements of contact and close-range inspection, and can also collect vibration data. They are characterized by low energy consumption, high inspection accuracy, and the ability to inspect in confined spaces. Currently, the adsorption methods of wall-climbing robots mainly include magnetic adsorption, negative pressure adsorption, and biomimetic adsorption. However, when the wall surface is not clean or uneven, these adsorption methods may fail, leading to problems such as falls.

[0003] A Chinese patent discloses a multi-modal robot capable of both flight and crawling. This robot can flexibly and quickly switch between crawling and flight modes, and possesses capabilities such as takeoff and landing on working planes at various angles, traversing complex obstacles, reaching a wider range of inspection locations, and performing low-energy, high-precision inspections. While the aforementioned solution possesses wall-crawling and flight capabilities, its configuration makes it prone to slippage or adhesion failure during surface-to-surface transitions. Furthermore, the bistable hinge connection method used in this solution is inefficient during empty-wall transitions. Additionally, the pitch angle adjustment can only be achieved through its vector rotor module, resulting in a limited adjustment mode and a small adjustable angle, making it difficult to adapt to the attitude adjustment requirements for takeoff and landing in various planes. Finally, regarding wall-crawling transitions, the control of the aforementioned solution requires manual operation step-by-step, which is difficult to implement smoothly in practical applications. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies in achieving smooth transitions between the air and various phase walls, and to provide a rotor-flying and magnetic wheel-crawling robot that can adjust its pitch angle while hovering to achieve smooth cross-domain movement between the air and various walls.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A rotor-flying and magnetic wheel-crawling robot is provided, including a base, a folding and tilting rotor module, a forearm swing wheel assembly module, a rear arm swing wheel assembly 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, and the inner side of the base is hinged to one end of the forearm swing wheel assembly module and one end of the rear arm swing wheel assembly module, respectively; the other end of the forearm swing wheel assembly module and the other end of the rear arm swing wheel assembly module are each provided with a wheel assembly;

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

[0008] Both the forearm sway wheel assembly module and the rear arm sway wheel assembly module include a second mounting base, a wheel arm sway servo motor, a wheel assembly drive module, a wheel assembly, and a rotating magnetic array module for achieving magnetic adsorption. One end of the second mounting base is hinged to the base, and the other end of the second mounting base is fitted with the wheel assembly. The wheel arm sway servo motor is mounted on the base, and its output end is connected to the second mounting base to drive the second mounting base to sway relative to the base. The wheel assembly drive module is mounted on the second mounting base, and its output end is connected to the wheel assembly to drive the wheel assembly to rotate. The rotating magnetic array module is mounted on the second mounting base. The controller is communicatively connected to the rotor mechanism, tilt mechanism, wheel arm sway servo motor, wheel assembly drive module, and rotating magnetic array module, respectively.

[0009] Based on the above technical means, the present invention provides a rotor-flying and magnetic wheel-crawling robot. In crawling mode, the rotor mechanism stops rotating and remains folded under the action of the folding assembly. The forearm swing wheel module and the rear arm swing wheel module form a four-wheel heterogeneous crawling chassis. Both the forearm swing wheel module and the rear arm swing wheel module can drive the second mounting base to swing relative to the base through the wheel arm swing servo motor, thereby adjusting the front and rear wheelbase and the swing angle of the crawling chassis relative to the flight structure. In flight mode, the rotor mechanism is activated, and the rotor thrust of the rotor mechanism drives the rotor mechanism to unfold relative to the base. The two sets of folding and tilting rotor modules are located on both sides of the base, forming a transverse dual-rotor flight configuration. The rotation angle of the rotor mechanism relative to the base can be changed through the tilting mechanism. In flight mode, pitch control based on the variable center of mass can be achieved through the swing of the forearm swing wheel module and the rear arm swing wheel module. The pitch angle can be adjusted in the hovering state to achieve smooth cross-domain movement between the air and each phase wall.

[0010] This invention provides a rotor-based flying and magnetic wheel crawling robot with flight, crawling, and wall-crossing capabilities. It features the ability to crawl on planar and curved surfaces, as well as the ability to transition between surfaces. The folding and tilting rotor module, in conjunction with the forearm and rear arm swing wheel modules, changes the pitch angle, enabling the robot to smoothly transition between wall crawling, takeoff, flight, landing, and re-attachment, traversing complex obstacles. Under the action of the rotating magnetic array module, the robot can stably adhere to inverted, vertical, horizontal, and inclined surfaces. By changing the angle between the forearm and rear arm swing wheel modules, it can achieve object clamping functionality.

[0011] Furthermore, the rotor mechanism includes a protective 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 mounted on the protective frame, and its output end is connected to the propeller, which is located inside the protective frame. One end of the connecting arm is fixedly connected to the protective frame, and the other end is hinged to the first mounting base. The first drive motor drives the propeller to rotate, providing vector thrust through the propeller's rotation. The rotor mechanism is hinged to the first mounting base via the connecting arm, and under the thrust of the folding assembly and the propeller, the rotor mechanism can be unfolded and folded. The output end of the tilting mechanism is connected to the first mounting base, driving the first mounting base to rotate, thereby realizing the rotation of the rotor mechanism. When the rotor mechanism is near the ground or wall, the downwash airflow generated by the ground effect is reduced by the hollowing out of the propeller protective frame, which decreases the obstruction area of ​​the downwash airflow above the module, reduces the downwash load of the airflow, improves the lift coefficient of the robot near the ground or wall, and enhances its flight performance in these areas.

[0012] Furthermore, the folding / 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 base. When the first drive motor starts, it drives the propeller to rotate. Under the lift of the propeller, the rotor mechanism remains in an unfolded state relative to the base. When the first drive motor stops, the rotor mechanism remains in a folded state relative to the base under the action of the tension spring. In the folded state, the tension spring is in its original state; in the unfolded state, the tension spring is in a stretched state. The propeller rotation generates 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, allowing the rotor mechanism to remain in the unfolded state. When the propeller stops rotating, the elastic restoring force of the tension spring pulls the rotor mechanism to fold.

[0013] Furthermore, the tilting mechanism includes a tilting servo motor and a third mounting base; the third mounting base is mounted on the base, and the tilting servo motor is mounted on the third mounting base. The output end of the tilting servo motor is connected to the first mounting base, driving the first mounting base to rotate; the tilting servo motor is communicatively connected to the controller. The output shaft of the tilting servo motor is connected to the third mounting base. When the tilting servo motor is activated, it drives the third mounting base to rotate, thereby changing 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 base. The output gear is connected to the output shaft of the second drive motor and meshes with the input end of the reduction gear set. The output shaft 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 an offset output reducer scheme. A single module can use dual-wheel differential control to achieve precise steering and positioning by adjusting the speed difference between the two wheels.

[0015] Furthermore, the wheel drive module is provided in two sets, and the wheel set includes at least two wheels. The two wheels are rotatably mounted on both sides of the second mounting base. The two sets of wheel drive modules are located on both sides of the second mounting base and are connected to one wheel in each direction.

[0016] Furthermore, the rotating magnetic array module includes a magnetic array servo motor, an arc-shaped magnetic array assembly, a side sealing plate, and an extension shaft. The magnetic array servo motor is mounted on a second mounting base, and both sides of the magnetic array assembly are 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 via a rotating shaft. Multiple magnets are installed inside the magnetic array assembly, and the magnets are installed in the magnetization direction according to the Helbeck array rule. The magnetization installation direction of the magnetic array assembly of the forearm swing wheel assembly module is opposite to that of the magnetic array assembly of the rear arm swing wheel assembly module. The magnetic array servo motor is communicatively connected to the controller. Each end of the rotating shaft is connected to an extension shaft, and the other ends of both extension shafts are coaxially and rotatably mounted with the wheel. The radius of the magnetic array assembly is smaller than the radius of the wheel, so that a gap is left between the magnetic array assembly and the surface to be attracted. The magnetic array assembly is based on the principle of rotating magnets changing magnetic force. It uses a row of three magnet units in each direction. A magnetic array servo motor drives the relative angle between the entire Hellbeck array and the wall structure, thereby controlling the magnitude or direction of the adsorption force. The magnetic array servo motor directly drives the magnetic array assembly to rotate, thus changing the magnitude of the magnetic force. This direct drive method provides higher control precision and faster magnetic response, making it easier for the robot to control detachment and adsorption onto the wall when traversing an empty space, improving the control efficiency of wall adsorption.

[0017] Furthermore, the rotating magnetic array module also includes a sensing base and multiple infrared laser sensors. The sensing base is mounted on both sides of the magnetic array assembly and connected to the rotating shaft, rotating coaxially with the magnetic array assembly. The multiple infrared laser sensors are arranged at circumferential intervals along the rotation direction of the sensing base. The infrared laser sensors are communicatively connected to the controller. The sensing base has a cylindrical structure, with one sensing base on each side of the magnetic array assembly, and is coaxially mounted and rotates with the magnetic array. It is located between the wheel and the magnetic array module, and identifies the interaction state between the wheel and the wall by sensing the distance information from the outside, providing a control decision basis 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 to achieve trigger-based autonomous transition without manual operation, making the transition process continuous and stable.

[0018] Furthermore, the arm swing servo motors of the forearm swing wheel assembly module and the rear arm swing wheel assembly module are located on opposite sides of the base, and the output ends of the two arm swing motors are coaxially arranged. The second mounting bases of the forearm swing wheel assembly module and the rear arm swing wheel assembly module are coaxially mounted, and an anti-bending and torsion counter-rotation module is provided between the output ends of the two arm swing motors. The wheel assembly of the rear arm swing wheel assembly module is an omnidirectional wheel. The forearm swing wheel assembly module and the rear arm swing wheel assembly module are divided by the configuration of rubber wheels or omnidirectional wheels. The forearm swing wheel assembly module with rubber wheels bears the main steering power. The rear arm swing wheel assembly module mainly serves as a power complementarity during straight-line travel and transitions to special structures.

[0019] Furthermore, the base is also provided with an LED status display and expansion interface for robot status indication and external expansion connection; the LED status display and expansion interface includes a housing, a spring seat, an inner ring sleeve, an LED lamp holder, and a ball bearing; a spring is radially installed in the inner groove of the spring seat and connected to the outer ring of the inner ring sleeve; one end of the inner ring sleeve is connected to the base; the housing is sleeved outside the inner ring sleeve, and the ball bearing is embedded between the outer ring of the inner ring sleeve and the inner ring of the housing; the LED lamp holder is installed at the other end of the inner ring sleeve, and an LED light is installed on the LED lamp holder.

[0020] The LED status display and expansion interface are fixed below the lower base plate. The upper base plate is connected to the lower base plate by four aluminum pillars. The space between the upper and lower base plates is used to place the robot's main control unit and the PCB circuit boards of each module. The groove in the middle of the horizontal main support base fits with the upper base plate from below, and the two ends are fixed to the vertical support base. The vertical support base is fixed to the aluminum pillar sleeve support base and the wheel arm servo motor. The anti-bending and torsion top-aligning module is embedded in the four protruding nuts through the grooves on both sides to prevent the structure on both sides of the robot from bending and deforming when the rotor is deployed.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] The rotor-driven flying and magnetic wheel crawling robot of this invention has the functions of flight, crawling, and wall-crossing. It has the ability to crawl on planes and curved surfaces, as well as the ability to transition between surfaces. The folding and tilting rotor module, together with the forearm and rear arm swing wheel modules, changes the pitch angle, enabling the robot to smoothly transition between wall crawling, take-off, flight, landing and re-attachment, and wall crawling, thus traversing complex obstacles. Under the action of the rotating magnetic array module, the robot can stably adhere to inverted, vertical, horizontal, and inclined surfaces. By changing the angle between the forearm and rear arm swing wheel modules, the robot can grasp objects. In flight mode, pitch control based on a variable center of mass can be achieved by the swinging of the forearm and rear arm swing wheel modules, allowing the adjustment of the pitch angle while hovering, thus achieving smooth cross-domain movement between air and various wall surfaces. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the robot in hovering mode during flight mode according to the present invention.

[0024] Figure 2 This is a schematic diagram of the robot's crawling mode in a planar state according to the present invention.

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

[0026] Figure 4 This is a first-view structural diagram of the robot LED status display and extended interface of the present invention.

[0027] Figure 5 This is a schematic diagram of the second-view structure of the robot LED status display and extended interface of the present invention.

[0028] Figure 6 This is a schematic diagram of the folding and tilting rotor module of the robot of the present invention.

[0029] Figure 7 This is a schematic diagram of the robot tilting mechanism, 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] Figure 9 This is a schematic diagram of the robot wheel drive module of the present invention.

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

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

[0034] Figure 12 This is a schematic diagram of the structure of the robot infrared laser sensor mounting base of the present invention.

[0035] Figure 13 The diagram shows the front and rear magnetic array components and magnetic pole configuration of the robot of the present invention, where a is a schematic diagram of the magnetic array components and magnetic pole configuration of the forearm swing wheel assembly module, and b is a schematic diagram of the magnetic array components and magnetic pole configuration of the rear arm swing wheel assembly module.

[0036] Figure 14 This is a schematic diagram of the robot's rear arm swing wheel assembly module structure according to the present invention.

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

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

[0039] Figure 17 This is a schematic diagram of the robot's planar crawling and surface-to-surface transition process according to the present invention.

[0040] Figure 18 This is a schematic diagram of the aerial-wall cross-domain transformation process of the robot of the present invention.

[0041] Figure 19 This is a schematic diagram of the robot of the present invention, showing how the front and rear arms swing wheel assembly module clamps and transports objects.

[0042] In the attached diagram: 1. Base; 101. Aluminum column sleeve support; 102. Upper plate of base; 103. Lower plate of base; 104. Horizontal main support; 105. Vertical main support; 106. Anti-bending and torsion top-mounted module; 2. Folding and tilting rotor module; 201. First mounting base; 202. Protective frame; 203. Propeller; 204. First drive motor; 205. Connecting arm; 206. Tension spring; 207. Tilting servo motor; 208. Third mounting base; 209. Tilting extension plate; 210. Tilting servo motor support; 211. First rudder disk; 3. Forearm swing wheel assembly module; 301. Second mounting base; 302. Wheel arm swing servo motor; 303. Wheel assembly drive module; 304. Rubber wheel; 305. Rotating magnetic array module; 306. Second drive motor; 307. Output gear; 308. Reduction gear. 309. Gear set; 310. Magnetic array servo motor; 311. Magnetic array assembly; 312. Side sealing plate; 313. Extension shaft; 314. Sensor mounting base; 315. Infrared laser sensor; 316. Swing drive connecting plate; 317. Top cover; 318. Motor mounting base; 319. Wheel assembly connecting base; 320. Inner clamping plate; 321. Outer clamping plate; 322. Second rudder disc; 323. Rubber tire; 324. Carbon fiber side plate; 325. Rubber wheel fixing; 326. Swing support side plate; 4. Rear arm swing wheel assembly module; 401. Omnidirectional wheel; 402. Roller; 403. Riveting block; 404. Hub plate; 405. Hub connecting block; 5. LED status display and expansion interface; 501. Expansion port housing; 502. Spring seat; 503. Inner ring sleeve; 504. LED lamp holder; 505. Ball bearing. Detailed Implementation

[0043] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0044] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0045] Example 1

[0046] This embodiment is a first embodiment of a rotor-flying and magnetic wheel crawling robot, including a base 1, a folding and tilting rotor module 2, a forearm swing wheel assembly module 3, a rear arm swing wheel assembly module 4, and a controller. With the base 1 as the center, the folding and tilting rotor modules 2 are respectively installed on both sides of the base 1. The inner side of the base 1 is hinged to one end of the forearm swing wheel assembly module 3 and one end of the rear arm swing wheel assembly module 4, respectively. Wheel assemblies are provided at the other ends of both the forearm swing wheel assembly module 3 and the rear arm swing wheel assembly module 4. The base 1 serves as the central structure, on which the controller and power module are installed, providing control commands and power to the entire robot. The folding and tilting rotor modules 2 are located at both outer ends of the base 1 and are connected to the base 1 via plate-type single-axis connectors, enabling rapid folding and tilting of the rotors.

[0047] The folding and tilting rotor module 2 includes a rotor mechanism, a tilting mechanism for driving the rotor mechanism to tilt, and a folding and unfolding component 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 through a first mounting base 201, one end of the rotor mechanism is hinged to the first mounting base 201, and the folding and unfolding component is connected to the first mounting base 201 and the rotor mechanism respectively;

[0048] Both the forearm swing wheel assembly module 3 and the rear arm swing wheel assembly module 4 include a second mounting base 301, a wheel arm swing servo motor 302, a wheel assembly drive module 303, a wheel assembly, and a rotating magnetic array module 305 for achieving magnetic adsorption; one end of the second mounting base 301 is hinged to the base 1, and the other end of the second mounting base 301 is fitted with the wheel assembly; the wheel arm swing servo motor 302 is mounted on the base 1, and the output end of the wheel arm swing servo motor 302 is connected to the second mounting base 301. A connection is provided for driving the second mounting base 301 to swing relative to the base 1; the wheel group drive module 303 is mounted on the second mounting base 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 mounted on the second mounting base 301; the controller is communicatively connected to the rotor mechanism, tilting mechanism, wheel arm swing servo motor 302, wheel group drive module 303, and rotating magnetic array module 305 respectively.

[0049] like Figure 1As shown, in flight mode, the robot uses the thrust generated by the folding and tilting rotor module 2 to hover in the air. The rotor mechanism activates, generating sufficient lift to overcome gravity and keep the robot stable in the air. The tilting mechanism controls the tilt angle of the rotor mechanism, enabling the robot to adjust its attitude and direction in the air. At this time, the forearm swing wheel module 3 and the rear arm swing wheel module 4 are in an upward folded state to reduce air resistance and improve flight efficiency.

[0050] like Figure 18 As shown, the rotor-flying and magnetic wheel-crawling robot of the present invention demonstrates the complex process of its transition between air and wall, showcasing the robot's unique pitch control capabilities. This pitch control is achieved through the coordinated action of the folding and tilting rotor module 2, the forearm swing wheel assembly module 3, and the rear arm swing wheel assembly module 4, which together provide the stability and control force required by the robot at different flight stages. In preparing to land from the air onto the wall, the robot first activates the rotor mechanism in the folding and tilting rotor module 2, adjusts the thrust of the propeller 203, and controls the tilt angle of the rotor mechanism through the tilting mechanism, achieving precise control of the robot's pitch attitude. This control allows the robot to hover in the air and smoothly approach the wall, preparing for landing. Simultaneously, the robot's forearm swing wheel assembly module 3 and rear arm swing wheel assembly module 4 begin corresponding adjustments. The forearm swing wheel assembly module 3 and rear arm swing wheel assembly module 4 adjust their angle and position via the second mounting base 301 and the wheel arm swing servo motor 302 to adapt to the contact requirements of the wall. Upon contact with the wall, the magnets in the rotating magnetic array module 305, through the action of the magnetic array servo motor 309, change the direction and magnitude of the magnetic force, achieving rapid adsorption. At this time, the robot's pitch control continues to ensure that the robot's attitude remains stable during adsorption. When the robot needs to take off again from the wall, the folding tilt rotor module 2 comes into play again, increasing thrust and adjusting the tilt angle to help the robot detach from the wall and gradually transition into flight. Pitch control ensures the smoothness and stability of the robot during the transition. Furthermore, the robot's swing arm design, by changing the center of gravity and wheelbase, enhances the robot's pitch control performance, improves its obstacle-crossing ability, and provides additional stability during the transition from air to wall.

[0051] like Figure 2As shown, in crawling mode, the robot's folding and tilting rotor module 2 folds to reduce space occupation and avoid affecting crawling operations. The forearm swing wheel module 3 and the rear arm swing wheel module 4 unfold to form a stable crawling chassis with the base 1. The forearm swing wheel module 3 uses rubber wheels 304 to provide the necessary friction when in contact with the wall surface, while the rear arm swing wheel module 4 is equipped with omnidirectional wheels 401, allowing the robot to flexibly turn and move on the wall surface. In crawling mode, the robot uses the forearm swing wheel module 3 and the rear arm swing wheel module 4 to crawl on the wall surface. The wheel drive module 303 drives the rubber wheels 304 to rotate, realizing climbing and movement on the wall surface. The rotating magnetic array module 305 uses the principle of magnetic adsorption to provide a stable adsorption force for the robot, ensuring safety during the crawling process.

[0052] like Figure 16 As shown, the rotor-flying and magnetic wheel crawling robot of the present invention possesses the ability to adapt to curved surfaces. This capability is mainly attributed to its forearm swing wheel assembly module 3 and rear arm swing wheel assembly module 4. These modules are equipped with wheels that can closely conform to curved surfaces, enabling the robot to crawl stably on surfaces with varying curvatures. During curved surface crawling, the robot's swing wheel assembly module performs precise angle adjustments through its second mounting base 301 and wheel arm swing servo motor 302, coordinating with the output torque of the wheel drive module 303 to adapt to complex curved surfaces. Furthermore, the magnetic control of the rotating magnetic array module 305 provides a stable adsorption force for the robot on curved surfaces, ensuring safety and reliability during crawling.

[0053] like Figure 17 As shown, the robot exhibits remarkable flexibility during surface-to-surface transitions. In the process of transitioning from one plane to another, the robot utilizes the swing motion of the forearm swing wheel module 3 and the rear arm swing wheel module 4 to adjust the wheelbase and the swing angle of the crawling chassis relative to the flight architecture, achieving 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 operation of the folding tilt rotor module 2, 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, giving it broad application potential in complex environments. Whether it is detection in narrow spaces or monitoring of large structures, it can provide efficient solutions, fully demonstrating its efficiency, stability, and intelligence in cross-domain movements.

[0055] Example 2

[0056] The other structures in this embodiment are the same as in Embodiment 1. In this embodiment, a base 1 structure applied to the robot in Embodiment 1 is provided, such as... Figure 3 As shown, base 1 is the central structure of the rotor-flying and magnetic wheel-crawling robot of this invention, providing a mounting foundation and stability for all robot components. Base 1 consists of an upper base plate and a lower base plate, which are firmly connected by four aluminum pillars to form a robust frame structure. The space between the upper and lower base plates 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. This interface includes an expansion port housing 501, a spring seat 502, an inner ring sleeve 503, an LED lamp holder 504, and a ball bearing 505. A spring is radially mounted in the inner groove of the spring seat 502 and cooperates with the outer ring of the inner ring sleeve 503 to ensure interface stability. The ball bearing 505 is embedded between the outer ring of the inner ring sleeve 503 and the inner ring of the expansion port housing 501, providing additional stability and flexibility. The groove above the LED lamp holder 504 is used to house the LED status display strip, which displays the robot's current status, such as power supply, battery level, system malfunction, etc., through different flashing modes and colors.

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

[0059] Example 3

[0060] like Figure 6 As shown, the other structures in this embodiment are the same as in Embodiment 1. In this embodiment, a folding and tilting rotor module 2 is provided, which allows the robot to freely switch between wall-crawling and aerial 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 and unfolding component 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 through a first mounting base 201, one end of the rotor mechanism is hinged to the first mounting base 201, and the folding and unfolding component is connected to the first mounting base 201 and the rotor mechanism respectively.

[0061] The rotor mechanism includes a protective 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 mounting base 317. The first drive motor 204 is mounted on the protective frame 202 via the motor mounting base 317, and its output end is connected to the propeller 203, which is located inside the protective frame 202. One end of the connecting arm 205 is fixedly connected to the protective frame 202, and the other end is hinged to the first mounting base 201. The protective frame 202 includes an inner protective plate and an outer protective plate, which are connected and fixed by aluminum pillars. The outer protective plate is fixed to the first drive motor 204, the motor mounting base 317, and the connecting arm 205 by screws. The protrusion at the end of the connecting arm 205 mates with a hole in the motor mounting base 317. The first mounting base 201 is hinged to 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 to each side of the first mounting base 201, and a tension spring 206 is connected to each tilting extension plate 209. The other end of each tension spring 206 is connected to one end of a 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 a round hole at the chamfer of the connecting arm 205. When the first drive motor 204 stops, the tension of the tension spring 206 keeps the folding and unfolding tilting rotor module 2 folded. When the first drive motor 204 is working, it is lifted by the propeller 203, keeping the folding and unfolding tilting rotor module 2 unfolded.

[0063] The tilt mechanism includes a tilt servo motor 207, a third mounting base 208, a tilt servo motor support base 210, and a first servo disk 211. The tilt servo motor support base 210 is fixed to the third mounting base 208, and the first servo disk 211 is fixed to the first mounting base 201. The tilt servo motor 207 drives the first mounting base 201 and the components connected behind it to rotate. The first mounting base 201 and the tilt servo motor support base 210 rotate relative to each other. A bearing is installed at the hinge.

[0064] The folding and tilting rotor module 2, with its folding and tilting components and mechanism, is the core of the module. Through interaction with the rotor mechanism, it achieves precise folding and tilting of the rotor. The monostable design of the tension spring 206 allows the rotor to fold quickly and automatically when the first motor stops, and to unfold stably when the motor is running, significantly improving the robot's efficiency in switching between different modes. The third mounting base 208 securely connects the rotor mechanism to the base 1, ensuring the stability and reliability of the rotor during high-speed rotation. The combination of the first drive motor 204 and the three-bladed propeller 203 provides the robot with powerful lift and propulsion, enabling it to hover, fly, and even move rapidly in the air. The protective inner and outer frame not only provide additional protection for the propeller 203, preventing damage in complex environments, but also enhance the structural strength of the entire rotor module by fixing it to the motor mounting base 317 and the connecting arm 205 via aluminum pillars. Furthermore, the design of the folding and tilting rotor module 2 also considers the robot's attitude control when hovering in the air. The tilt servo motor 207 can precisely adjust the tilt angle of the rotor, and together with the thrust generated by the first drive motor 204, it enables the robot to hover stably in the air and adjust its direction.

[0065] Example 4

[0066] This embodiment provides a forearm swing wheel assembly module 3 and a rear arm swing wheel assembly module 4 for a rotor-flying and magnetic wheel crawling robot. The forearm swing wheel assembly module 3 and the rear arm swing wheel assembly module 4 are key structures for enabling the robot to crawl on walls. The module includes a rotating magnetic array module 305, a second mounting base 301, wheel sets, a swing support side plate 325, a top cover 316, a swing drive connection plate 315, and a wheel drive module 303. One end of the swing support side plate 325 and the swing drive connection plate 315 are both connected to the second mounting base 301, and the other end of the swing drive connection plate 315 is connected to the output end of the wheel arm swing servo motor 302. The other end of the swing support side plate 325 is coaxially mounted with the swing drive connection plate, providing support and making the entire forearm swing wheel assembly module 3 more stable during swinging.

[0067] The wheel set drive module 303 includes a wheel set connecting seat 318, a motor mounting seat 317, a second drive 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 by an aluminum column. 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 wheel. The reduction gear set 308 consists of two double gears and two spur gears, with a module of 0.7 and a gear reduction ratio of 48, which is used to increase the output torque of the motor.

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

[0069] like Figure 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, ensuring strong grip and precise speed control for the robot when climbing the wall. The configuration of the reduction gear set 308 not only increases 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 adhesion and crawling ability on the wall, but also significantly improves the robot's mobility and adaptability, enabling it to perform tasks under various wall conditions.

[0071] The rear arm swing wheel assembly module 4 is a crucial component corresponding to the forearm swing wheel assembly module 3, together forming the robot's crawling chassis. The rear arm swing wheel assembly module 4 is mirror-symmetrical to the forearm swing wheel assembly module 3 in structure and installation, ensuring the robot's balance and stability when crawling on walls. Furthermore, the wheels of the rear arm swing wheel assembly module 4 are omnidirectional wheels 401, providing greater flexibility and adaptability, enabling the robot to move freely in different directions.

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

[0073] like Figure 19As shown, the rotor-flying and magnetic wheel crawling robot of the present invention has the ability to grip and transport objects using its wheel arms. The robot's forearm swing wheel assembly module 3 and rear arm swing wheel assembly module 4 can not only crawl on walls but also grip objects by swinging the wheel arms to open and close. The robot's forearm swing wheel assembly module 3 and rear arm swing wheel assembly module 4 are configured in a mirror-symmetrical manner. When the robot needs to grip an object, it first assesses the object's position and size through its control system. Then, the robot moves above the object and uses the swinging motion of its swing wheel assembly modules to adjust the wheel arms to both sides of the object. By controlling the second drive motor 306 in the wheel drive module 303, the forearm swing wheel assembly module 3 and rear arm swing wheel assembly module 4 slowly close and clamp the object. During 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 force of the wheel arms to ensure that the object is firmly gripped without causing damage. During aerial transport, the robot utilizes the lift and control force provided by the folding tilt rotor module 2 to maintain stable flight. When it needs to release an object, the robot moves back above the designated location and then slowly opens its control arms to smoothly place the object at the target location. This embodiment expands the robot's application scope and improves its ability to operate in complex environments, making it valuable for applications in search and rescue, equipment maintenance, and material transportation.

[0074] Example 5

[0075] like Figure 10As shown, this embodiment provides a rotating magnetic array module 305 for a rotor-flying and magnetic wheel-crawling robot. This module is one of the key technologies for achieving stable adsorption and precise control of the robot between different walls. The rotating magnetic array module 305 includes a magnetic array assembly 310, a side sealing plate 311, a sensor mounting base 313, a second rudder disk 321, a magnetic array servo motor 309, and an extension shaft 312, forming a highly integrated magnetic adsorption and control system. The magnetic array assembly 310 is responsible for fixing the elongated N52 neodymium iron boron magnets and is magnetized according to the Hellbeck array rule to optimize the magnetic field distribution and enhance the adsorption force. The magnetic array assembly 310 has three square through holes on its side, which not only facilitates the installation of magnets but also uses four slots on the top to place injection-molded nuts to connect to 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 1 mm, which helps to form a stable adsorption effect between the robot and the wall. The second servo disk 321 works in conjunction with the magnetic array servo motor 309, enabling the rotating magnetic array module 305 to rotate. It adjusts the magnitude or direction of the adsorption force based on sensor information from the sensor mounting base 313 to adapt to different wall structures. The extension shaft 312 is mounted on both sides of the rotating magnetic array module 305, forming a clearance fit with the center hole of the wheel, bearing the radial force of the wheel and ensuring the robot's stability during crawling.

[0076] like Figure 12 As shown, the design of the rotating magnetic array module 305 enables the robot to intelligently identify and adapt to transitions in various special structures, such as transitions between inner and outer corners and plate edges. Through the precise control of the magnetic array servo motor 309, the robot can achieve triggered autonomous transitions without manual operation. The transition process is continuous and smooth, greatly improving operational efficiency and safety.

[0077] like Figure 13 As shown, the magnets of the magnetic array component 310 in the rotating magnetic array module 305 are installed according to the Hellbeck array rule, forming a highly efficient magnetic adsorption capability. The infrared laser sensor 314 module installed on the sensing mounting base 313 can detect the distance between the robot and the wall in real time, providing precise control signals for the robot's autonomous crawling and transition.

[0078] The beneficial effects of this embodiment are as follows: The design of the rotating magnetic array module 305 not only improves the robot's adsorption capacity and adaptability, but also enables the robot to make autonomous decisions and make precise controls in complex environments through integrated sensors and servo control systems, which significantly enhances the robot's intelligence level and application range.

[0079] In summary, the robot chassis of this invention adopts a four-wheel drive configuration. The forearm swing wheel module 3 uses rubber wheels 304, and the rear arm swing wheel module 4 uses omnidirectional wheels 401, combining the characteristics of two wheel types. The rubber wheels 304 provide the friction required for wall crawling, while the omnidirectional wheels 401, through rollers 402, convert sliding friction into rolling friction when the robot turns, reducing the differential amount required for robot turning. In addition, the four-wheel drive forms a "push-pull" configuration when the robot transitions to the wall, improving the mobility 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 assembly module 4 of the present invention increases the reduction ratio of the wheel assembly module, and the second output motor adopts a motor with greater output torque, making the overall power of the wheel assembly stronger. When climbing on inclined or vertical walls, it can more effectively prevent slippage, improve the safety factor of the robot, and at the same time increase the load capacity of the robot when climbing, thus improving both safety and load capacity.

[0081] The monostable tension spring 206 of the present invention enables the three-bladed propeller 203 to fold without reversing its rotation when the folding tilt rotor module 2 is folded, relying solely on the tension of the tension spring 206 to achieve folding. This results in faster folding speed and improved efficiency in cross-domain movement of the robot. Furthermore, the first drive motor 204 does not need to frequently switch directions, thus extending its service life.

[0082] The folding tilting rotor module 2 of the present invention generates a partial downwash airflow due to the ground effect when near the ground / wall. The propeller 203 protective frame 202 is hollowed out and has a three-bladed frame shape, which reduces the obstruction 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 / wall.

[0083] The rotating magnetic array module 305 of this invention employs a magnetic array servo motor 309 for direct drive, resulting in higher control precision and faster magnetic response. This makes it easier to control the robot's detachment / adhesion to the wall surface during air-to-wall transitions, improving the control efficiency of wall adsorption. Furthermore, the front and rear magnetic adsorption module layout prevents the robot from tipping over when crawling on inclined walls, increasing safety. Under the influence of magnetic force, the rotating magnetic array module 305 can self-adhere to different types of transitional walls, including transitions between internal and external angles and continuous curved surfaces, making transitional movements 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 it approaches the wall surface that needs to be transitioned. The robot autonomously uses the corresponding transition strategy to transition the wall surface. The transition process is continuous and does not require manual operation, realizing autonomous transition triggered by sensors.

[0085] The forearm swing wheel assembly module 3 and the rear arm swing wheel assembly module 4 of the present invention are arranged in a front-to-back mirror configuration, enabling the robot to change its center of gravity, wheelbase, and height, thereby traversing low and narrow wall structures and exhibiting strong adaptability to crawling and obstacle crossing.

[0086] The present invention relates to a combined configuration of the folding tilting rotor module 2, the forearm swing wheel assembly module 3, and the rear arm swing wheel assembly module 4. First, it enables the robot to maintain the rotor's lift vector direction opposite to the direction of gravity in any wall orientation. The forearm swing wheel assembly module 3 and the rear arm swing wheel assembly module 4 allow the robot to change the wall orientation of the magnetic adsorption module in mid-air, improving the success rate of wall landing. This combination makes cross-domain movement across air walls more adaptable. Second, the robot's center of gravity is changed using the swing arm mechanism. Relying on the centrifugal force and inertia of the swing joint, the robot's pitch angle is controlled. This combination increases the robot's pitch control freedom, allowing for greater pitch angle control of the robot body. Third, the forearm swing wheel assembly module 3 and the rear arm swing wheel assembly module 4 form an angle. Changing this angle can be used to grip objects. The robot then takes off and lands using a tandem tilting dual-rotor configuration. Once the robot reaches the target location, the gripping angle is increased to release the object, thus achieving the function of dropping the object to the target location.

[0087] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it 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 implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A rotor flight and magnetic wheel crawling robot, characterized in that, The application relates to a foldable and tiltable rotor wing module, which comprises a base (1), a foldable and tiltable rotor wing module (2), a front arm swing wheel set module (3), a rear arm swing wheel set module (4) and a controller; the base (1) is arranged at the center, the foldable and tiltable rotor wing module (2) is arranged on the two sides of the base (1), the inner side of the base (1) is hingedly connected with one end of the front arm swing wheel set module (3) and one end of the rear arm swing wheel set module (4), and the other end of the front arm swing wheel set module (3) and the other end of the rear arm swing wheel set module (4) are provided with wheel sets. The foldable and tiltable rotor wing module (2) comprises a rotor wing mechanism, a tilting mechanism for driving the rotor wing mechanism to tilt, and a folding assembly for realizing folding and unfolding of the rotor wing mechanism; the tilting mechanism is arranged on the base (1), the rotor wing mechanism is connected with the output end of the tilting mechanism through a first mounting seat (201), one end of the rotor wing mechanism is hingedly connected with the first mounting seat (201), and the folding assembly is connected with the first mounting seat (201) and the rotor wing mechanism. The front arm swing wheel set module (3) and the rear arm swing wheel set module (4) each comprise a second mounting seat (301), a wheel arm swing servo steering engine (302), a wheel set driving module (303), a wheel set and a rotating magnetic array module (305) for realizing magnetic adsorption; one end of the second mounting seat (301) is hingedly connected with the base (1), and the other end of the second mounting seat (301) is arranged with the wheel set; the wheel arm swing servo steering engine (302) is arranged on the base (1), the output end of the wheel arm swing servo steering engine (302) is connected with the second mounting seat (301) and used for driving the second mounting seat (301) to swing relative to the base (1); the wheel set driving module (303) is arranged on the second mounting seat (301), the output end of the wheel set driving module (303) is connected with the wheel set and used for driving the wheel set to rotate; the rotating magnetic array module (305) is arranged on the second mounting seat (301); and the controller is in communication connection with the rotor wing mechanism, the tilting mechanism, the wheel arm swing servo steering engine (302), the wheel set driving module (303) and the rotating magnetic array module (305). The wheel arm swing servo steering engine (302) of the front arm swing wheel set module (3) and the wheel arm swing servo steering engine (302) of the rear arm swing wheel set module (4) are arranged on the two sides of the base (1) respectively, the output ends of the two wheel arm swing servo steering engines (302) are coaxially arranged, the second mounting seat (301) of the front arm swing wheel set module (3) and the second mounting seat (301) of the rear arm swing wheel set module (4) are coaxially arranged, and a bending and torsion resisting counter module (106) is arranged between the output ends of the two wheel arm swing servo steering engines (302); and the wheel set of the rear arm swing wheel set module (4) is an omnidirectional wheel (401). The rotor flight and magnetic wheel crawling robot has the functions of flight, crawling, and wall crossing, has the abilities of planar crawling and curved surface crawling, and surface-to-surface transition; the folding and tilting 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 between wall surface crawling, take-off, flight, landing, and wall surface crawling, and can realize crossing complex obstacles; under the action of the rotating magnetic array module, the robot can stably adsorb to an inverted surface, a vertical surface, a horizontal surface, and an inclined surface; by changing the included angle between the forearm swing wheel group module and the rear arm swing wheel group module, the object clamping function can be realized; in the flight mode, the pitch control based on the variable center of mass can be realized by the swing of the forearm swing wheel group module and the rear arm swing wheel group module, the pitch angle can be adjusted in the hovering state, and smooth cross-domain motion between the air and each wall surface can be realized.

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

3. The rotor flight and magnetic wheel crawl robot according to claim 2, wherein, The folding assembly includes a tension spring (206), one end of the tension spring (206) is connected with the connecting arm (205), and the other end is connected with 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 of the propeller (203), the rotor mechanism remains in an unfolded state relative to the base (1); when the first driving motor (204) is stopped, the rotor mechanism remains in a folded state relative to the base (1) under the action of the tension spring (206).

4. The rotor flight and magnetic wheel crawling robot according to claim 1, characterized in that, The tilting mechanism includes a tilting servo steering machine (207) and a third mounting seat (208); the third mounting seat (208) is installed on the base (1), the tilting servo steering machine (207) is installed on the third mounting seat (208), the output end of the tilting servo steering machine (207) is connected with the first mounting seat (201) to drive the first mounting seat (201) to rotate; the tilting servo steering machine (207) is in communication connection with the controller.

5. The rotor flight and magnetic wheel crawl robot of claim 1, wherein, 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 installed on the second mounting base (301), the output gear (307) is connected with an output shaft of the second driving motor (306), the output gear (307) is engaged with an input end of the reduction gear set (308), and a rotating shaft at an output end of the reduction gear set (308) is connected with the wheel set; and the second driving motor (306) is in communication connection with the controller.

6. The rotor flight and magnetic wheel crawl robot of claim 5, wherein, The wheel set driving module (303) is provided with two groups, the wheel set comprises at least two rotating wheels, the two rotating wheels are rotatably installed on two sides of the second mounting base (301) respectively, the two groups of wheel set driving modules (303) are located on the two sides of the second mounting base (301) respectively, and one rotating wheel is connected in one-to-one correspondence.

7. The rotor flight and magnetic wheel crawl robot of claim 6, wherein, The rotating magnetic array module (305) comprises a magnetic array servo steering engine (309), a magnetic array assembly (310) of a circular arc structure, a side sealing plate (311) and an extension shaft (312); the magnetic array servo steering engine (309) is installed on the second mounting base (301), two sides of the magnetic array assembly (310) are connected with one end of one side sealing plate (311) respectively; the other end of the side sealing plate (311) is connected with an output end of the magnetic array servo steering engine (309) through a rotating shaft; a plurality of magnets are installed in the magnetic array assembly (310), the plurality of magnets are installed according to the magnetization direction of the Halbach array rule, the magnetization installation direction of the magnetic array assembly (310) of the front arm rotating wheel set module (3) is opposite to that of the rear arm rotating wheel set module (4), the rotating shaft is connected with one extension shaft (312) at two ends respectively, the other ends of the two extension shafts (312) are rotatably installed coaxially with the rotating wheel respectively, and the radius of the magnetic array assembly (310) is smaller than that of the rotating wheel, so that a gap is left between the magnetic array assembly (310) and the plane to be adsorbed.

8. The rotor flight and magnetic wheel crawl robot of claim 7, wherein, The rotating magnetic array module (305) further comprises a sensing fixing base (313) and a plurality of infrared laser sensors (314), the sensing fixing base (313) is installed on two sides of the magnetic array assembly (310) and connected with the rotating shaft and rotates coaxially with the magnetic array assembly (310); the plurality of infrared laser sensors (314) are arranged in a circumferential direction along a rotating direction of the sensing fixing base (313); and the infrared laser sensor (314) is in communication connection with the controller.

9. The rotor flight and magnetic wheel crawl robot according to any one of claims 1 to 8, characterized in that, There is also LED state display and extension interface (5) for robot state prompt and external extension connection on the base (1); the LED state display and extension interface (5) comprises a shell, spring seat (502), inner ring sleeve (503), LED lamp holder (504) and ball (505); the inner ring groove of the spring seat (502) is radially provided with spring and connected with the outer ring of the inner ring sleeve (503); one end of the inner ring sleeve (503) is connected with the base (1); the shell is sleeved outside the inner ring sleeve (503), the ball (505) is embedded between the outer ring of the inner ring sleeve (503) and the inner ring of the shell; the LED lamp holder (504) is installed at the other end of the inner ring sleeve (503), and LED lamp is installed on the LED lamp holder (504).

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