Flight transformation robot supporting long-distance cluster deployment

Abstract

The flying transformation robot supporting long-distance cluster deployment comprises a robot body, a supporting base is fixedly installed at the bottom end of the robot body, a portable power source for providing a power source for the robot body is arranged in the supporting base, and transformation mechanisms for transformation are symmetrically arranged at the two ends of the robot body; the deformation mechanism comprises a first connecting arm fixedly installed on the machine body, a second connecting arm rotationally connected with the first connecting arm and a third connecting arm rotationally connected with the second connecting arm, a rotating shaft fixedly installed on the third connecting arm is arranged at one end of the second connecting arm, and a rotating main shaft is rotationally connected to the top end of the third connecting arm; a wing wheel is fixedly mounted on the periphery of the rotating main shaft, and the rotating main shaft penetrates through the third connecting arm and is rotationally connected with a rotating motor; the working mode of the machine body can be changed at any time through the deformation mechanism, the function that the machine body works on land is increased, and the detection view angle of the machine body to land data is increased.

Description

Technical Field

[0001] The invention relates to the technical field of flying robots, and in particular to a flying transformable robot supporting long-distance cluster deployment. Background Art

[0002] A flying robot for environmental management is an automated machine that can fly in the air and is equipped with various sensors, tools or delivery devices. It combines multiple technical means such as aviation technology, automatic control technology, sensor technology and communication technology. It is used to monitor, improve or repair the environment. There are mainly different flight modes such as fixed-wing, rotor (multi-rotor) and flapping wing. Rotor UAVs have functions such as vertical take-off and landing, hovering, strong maneuverability, and can be flexibly deployed in complex environments. Clusters of multi-rotor UAVs can collaborate to complete complex tasks and are relatively easy to control and operate.

[0003] Rotary-wing UAVs can fly freely in small spaces and complex terrain environments, and can easily reach areas that are difficult for humans to enter or reach, such as mountainous areas, rivers, wetlands, and construction sites, to achieve all-round, no-dead-angle environmental monitoring and data collection, and provide more comprehensive and accurate information for environmental governance. However, since the connecting rod connecting the propeller to the body of the rotary-wing UAV is directly connected when in use, it is impossible to deform and adjust the working mode according to different working environments, resulting in a limited monitoring perspective of the rotary-wing UAV when it is working. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that a rotorcraft UAV can fly freely in a small space and complex terrain environment, easily reach mountainous areas, rivers, wetlands, construction sites and other areas that are difficult for humans to enter or reach, realize all-round and no-dead-angle environmental monitoring and data collection, and provide more comprehensive and accurate information for environmental management. However, since the connecting rod connecting the propeller and the body of the rotorcraft is directly connected when the rotorcraft UAV is in use, it is impossible to deform and adjust the working mode according to different working environments, resulting in a limited monitoring angle of view of the rotorcraft UAV when it is working. A flying deformable robot that supports long-distance cluster deployment is provided.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a flying deformable robot supporting long-distance cluster deployment, comprising a body, a support base is fixedly installed at the bottom of the body, and a portable power supply for providing power to the body is arranged inside the support base, and deformation mechanisms for deformation are symmetrically arranged at both ends of the body;

[0006] The deformation mechanism includes a first connecting arm fixedly mounted on the body, a second connecting arm rotatably connected to the first connecting arm, and a third connecting arm rotatably connected to the second connecting arm, one end of the second connecting arm is provided with a rotating shaft fixedly mounted on the third connecting arm, the top of the third connecting arm is rotatably connected to a rotating main shaft, and a wing wheel is fixedly mounted on the outer periphery of the rotating main shaft, the rotating main shaft passes through the third connecting arm and is rotatably connected to a rotating motor, the rotating main shaft passes through the wing wheel and is evenly and fixedly mounted with a wing paddle, the outer periphery of the wing wheel is fixedly mounted with a wear-resistant outer ring for facilitating movement on land, one end of the second connecting arm is fixedly mounted with an adjusting shell, the rotating shaft passes through the second connecting arm, the third connecting arm and the adjusting shell are fixedly mounted with a rotating gear, an adjusting rack meshing with the rotating gear is slidably connected inside the adjusting shell, an electric cylinder is fixedly mounted inside the adjusting shell, and a connecting rod for pushing the adjusting rack to slide is provided at one end of the electric cylinder.

[0007] As a further solution of the present invention: a suspension assembly that increases the stability of the impeller when operating on land is symmetrically arranged on the top of the fuselage, and the suspension assembly includes a U-shaped mounting seat fixedly installed on the top of the fuselage, a first rotating block rotatably connected to the U-shaped mounting seat, a mounting bracket fixedly installed on the top of the second connecting arm, and a second rotating block rotatably connected to the mounting bracket, a telescopic connecting rod is fixedly installed on the U-shaped mounting seat and the middle of the mounting bracket, and a return spring is provided on the outer periphery of the telescopic connecting rod.

[0008] As a further solution of the present invention: a guide rod for slidingly guiding the adjusting rack is fixed inside the adjusting shell, and the guide rod is symmetrically fixed inside the adjusting shell.

[0009] As a further solution of the present invention: the top end of the first connecting arm is threadedly connected with a fixing screw fixedly mounted on the machine body, and the fixing screws are symmetrically threadedly connected to the mounting base and the top end of the U-shaped mounting base.

[0010] As a further solution of the present invention: an engaging block which is engaged and fixed with the impeller is fixedly installed on the inner side of the wear-resistant outer ring, and the engaging block is symmetrically fixedly installed at both ends of the inner side of the wear-resistant outer ring.

[0011] As a further solution of the present invention: a monitoring module is provided at one end of the machine body.

[0012] As a further solution of the present invention: the portable power supply is electrically connected to the rotating motor, the electric cylinder and the monitoring module.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The present invention can change the working mode of the machine body at any time through the deformation mechanism, increase the function of the machine body to work on land, and increase the detection angle of the machine body to land data;

[0015] 2. The suspension assembly can buffer vibrations and bumps, reduce the shaking of the machine caused by uneven terrain, and enable monitoring modules and other equipment to work more stably and obtain more accurate data. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 2 The present invention Figure 1 A schematic diagram of the local enlarged structure at point A in the middle;

[0018] Figure 3 It is a partial structural schematic diagram of the first connecting arm, the second connecting arm and the third connecting arm of the present invention;

[0019] Figure 4 It is a schematic diagram of the cross-sectional structure of the regulating housing of the present invention;

[0020] Figure 5 The present invention Figure 4 A schematic diagram of the local enlarged structure at B in the middle;

[0021] Figure 6 This is a schematic diagram of the structure of the machine body of the present invention that is deformed and walks on land;

[0022] Figure 7 It is a partial cross-sectional structural schematic diagram of the machine body of the present invention;

[0023] Figure 8 It is a schematic diagram of the cross-sectional structure of the impeller and the wear-resistant outer ring of the present invention;

[0024] Fig. 9 It is a top view of the structure of the flying body of the present invention in a flying state;

[0025] Fig.10 It is a bottom-up stereoscopic diagram of the structure of the flying body of the present invention in a flying state;

[0026] Fig.11 It is a schematic diagram of the upright structure of the flying body of the present invention.

[0027] In the figure: 1, body; 2, monitoring module; 3, support base; 4, portable power supply; 5, deformation mechanism; 51, first connecting arm; 52, second connecting arm; 53, third connecting arm; 54, wing wheel; 55, rotating main shaft; 56, wing propeller; 57, rotating motor; 58, wear-resistant outer ring; 59, adjustment shell; 510, rotating shaft; 511, rotating gear; 512, adjusting rack; 513, guide rod; 514, connecting rod; 515, electric cylinder; 516, embedded card block; 517, fixed screw; 6, suspension group; 61, U-shaped mounting seat; 62, mounting card seat; 63, first rotating block; 64, second rotating block; 65, telescopic connecting rod; 66, return spring; 100, flying body; 101, wing; 102, rotating connecting arm; 103, rotating connecting block; 104, walking leg; 105, connecting part; 106, rudder. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which 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, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is an explanation of an embodiment of the present invention based on the overall structure of the present invention.

[0030] Example 1: Reference Figures 1 to 8In an embodiment of the present invention, a flying deformable robot supporting long-distance cluster deployment includes a body 1, a support base 3 is fixedly installed at the bottom of the body 1, and a portable power source 4 for providing power to the body 1 is arranged inside the support base 3, and a deformation mechanism 5 for deformation is symmetrically arranged at both ends of the body 1;

[0031] The deformation mechanism 5 includes a first connecting arm 51 fixedly mounted on the machine body 1, a second connecting arm 52 rotatably connected to the first connecting arm 51, and a third connecting arm 53 rotatably connected to the second connecting arm 52. A rotating shaft 510 fixedly mounted on the third connecting arm 53 is provided at one end of the second connecting arm 52. A rotating main shaft 55 is rotatably connected to the top of the third connecting arm 53, and a wing wheel 54 is fixedly mounted on the outer periphery of the rotating main shaft 55. The rotating main shaft 55 passes through the third connecting arm 53 and is rotatably connected to a rotating motor 57. The rotating main shaft 55 passes through the wing wheel 54 and is evenly surrounded by a rotating motor 57 fixedly mounted thereon. The propeller 56 and the propeller wheel 54 are fixedly installed with a wear-resistant outer ring 58 on the periphery for easy operation on land. An adjusting housing 59 is fixedly installed at one end of the second connecting arm 52. A rotating shaft 510 passes through the second connecting arm 52, the third connecting arm 53 and the adjusting housing 59 and is fixedly installed with a rotating gear 511. An adjusting rack 512 meshing with the rotating gear 511 is slidably connected inside the adjusting housing 59. An electric cylinder 515 is fixedly installed inside the adjusting housing 59, and a connecting rod 514 is provided at one end of the electric cylinder 515 for pushing the adjusting rack 512 to slide.

[0032] Through the implementation of this method: the working mode of the body 1 can be changed at any time through the deformation mechanism 5, the function of the body 1 to work on land is increased, and the detection angle of the body 1 to land data is increased. The wear-resistant outer ring 58 is made of polyurethane elastic material, which is wear-resistant and has a certain degree of rigidity and strength, and can better adapt to different terrains. The wing wheel 54 is made of carbon fiber composite material, which has the characteristics of light weight and low density. When the body 1 is flying, the load can be reduced and the energy consumption can be reduced. In terms of land operations, the high hardness and high strength of the carbon fiber composite material can withstand the pressure and friction when the robot rolls on the ground. Even on uneven ground or encountering small obstacles, the wing wheel can maintain a stable shape and will not affect the normal land operations of the robot.

[0033] Example 2, refer to Fig. 9 , Fig.10 and Fig.11The flying body 100 can realize the rotation of flight through the wings 101 symmetrically fixed at both ends to monitor the environment in the air, and realize the direction adjustment in the flight state through the rudder 106 at the top and rear of the flying body 100. The aircraft body 100 is streamlined as a whole. When it is necessary to monitor the environment on land, the rotating connecting block 103 at the bottom of the flying body 100 and the rotating connecting arm 102 in the middle of the connecting part 105 can drive the walking leg 104 to complete the deformation, so that the walking leg 104 supports the flying body 100 to walk upright on land, monitor the environment on land, and increase the monitoring angle. When the flying body 100 is in the flight state, the walking leg 104 is folded and hidden in the flying body 100, so that the walking leg 104 does not interfere with the overall streamlined canard layout of the flying body 100 before deformation.

[0034] The design principle of the flying transformable robot consists of multiple joints and connectors, and its main components include the following 4 parts:

[0035] The flying body 100 of the flying transformable robot is the main structure of the flying transformable robot as the source of stability and support force. In this design, the motor is installed on the wheels to form the running mechanism of the flying transformable robot in the flying state, so that the flying transformable robot can move.

[0036] Link joints: The link joints of the flying transformable robot are the rotational connection points used to connect the various parts of the flying transformable robot. They are like the elbow joints of human hands and can achieve multiple degrees of freedom, allowing the flying transformable robot to rotate and bend in different directions. The flying transformable robot has multiple joints, and each joint can be controlled independently.

[0037] Kinematic link: The kinematic link refers to a rigid rod connecting the joints of the flying transformable robot. Its length and shape can be designed and adjusted according to the actual operating range and flexibility requirements, and the angles of each servo can be adjusted as needed.

[0038] Walking legs 104; adopting a leg activity structure similar to that of humans, each walking leg 104 joint of the flying transformable robot is connected by a small servo, and the flexion and extension of the walking leg 104 is controlled by a connecting rod to complete the movements of leg extension and walking, thereby realizing the operation of the mobile flying transformable robot in a humanoid self-propelled form.

[0039] The control system of the flying transformable robot is controlled by the main controller which issues the corresponding motion instructions. After receiving the deformation signal from the remote or the cabin, the main controller processes the signal and sends the motion signal to each slave controller. After receiving the motion instruction, the slave controller sends a pulse signal or motion instruction to the corresponding servo drive motor, and the drive motor drives the servo to move.

[0040] At the same time, the flying transformable robot can also be equipped with 5 MG996R servos and 1 micro switch module to realize the transformation action and pedestrian self-propelled operation. The servo mainly includes a circuit board, a drive motor, a reducer and a position detection element; the micro switch is acted on the action reed by an external force through a transmission element, so that the fixed contact and the moving contact at the end are quickly connected or disconnected. Three wheels are installed on the base of the flying body 100, driven by three N20 motors, so that the wheels can have a mobile function like a car.

[0041] The overall design uses both wireless and wired transmission and reception. The transmitter and receiver can set any same "wireless communication group ID" or the same number. When the machine is turned on, the receiver can receive a series of instructions from the transmitter and run the corresponding program. The transmitter contains the relevant programs for controlling 2 N20 motors, 1 micro switch and 5 MG996R servos, and the receiver contains the programs for all modules.

[0042] The deformation angle adjustment of the flying deformable robot in each direction is achieved by controlling the corresponding four steering gears. The walking leg 104 adopts a flexion and extension structure similar to a human joint, and is composed of a steering gear and a micro switch module.

[0043] The following structure is adopted in the conventional power of the flying transformable robot:

[0044] 1. Engine

[0045] The core of the flying transformable robot's power system is its engine, which can be the WS-10 series engine independently developed by China, or the more advanced WS-15 engine.

[0046] 2. Air Intake System

[0047] The inlet system of the flying transformable robot adopts an advanced design to maximize the engine's air intake efficiency, reduce radar reflection, and improve stealth performance. The inlet design of the flying transformable robot is closely matched with its fuselage shape, using an S-duct structure, which helps to reduce the reflection of radar waves and maintain good air intake stability during high-speed and high-altitude flight.

[0048] 3. Exhaust system

[0049] The exhaust system of the flying transformable robot includes a nozzle and an exhaust port. To improve stealth and maneuverability, the exhaust system of the flying transformable robot uses an adjustable nozzle (THA, Thrust Vectoring Nozzle), which can adjust the direction of the exhaust flow according to flight needs, thereby achieving higher maneuverability, especially in special flight conditions such as supersonic flight and vertical maneuvering. Its thrust vector control technology enables the flying transformable robot to have stronger super maneuverability.

[0050] 4. Fuel system

[0051] The fuel system of the flying transformable robot is designed to provide sufficient operating endurance. In addition to traditional aviation fuel, the flying transformable robot also uses a dual oil system to ensure that even if one side of the fuel system fails during flight, it can still continue to perform its mission. At the same time, the flying transformable robot is also equipped with aerial refueling capabilities, which can extend the operating radius and improve remote operating capabilities.

[0052] 5. Auxiliary Power Unit (APU)

[0053] The flying transformable robot is equipped with an auxiliary power unit (APU) to provide necessary support such as electricity and air conditioning when the aircraft's main engine is turned off, or as a power source when the main engine is started on the ground. The use of APU can improve the ground operation efficiency of the flying transformable robot.

[0054] 6. Thrust-to-weight ratio and maneuverability

[0055] The thrust-to-weight ratio of the flying transformable robot is extremely high. Both the WS-10 and WS-15 engines have maximized the thrust and thrust-to-weight ratio, especially in terms of long-range operations and high-performance maneuverability.

[0056] Reference Figures 1 to 8 The top of the body 1 is symmetrically provided with a suspension assembly 6 for increasing the stability of the impeller 54 when operating on land. The suspension assembly 6 comprises a U-shaped mounting seat 61 fixedly mounted on the top of the body 1, a first rotating block 63 rotatably connected to the U-shaped mounting seat 61, a mounting clamping seat 62 fixedly mounted on the top of the second connecting arm 52, and a second rotating block 64 rotatably connected to the mounting clamping seat 62. A telescopic connecting rod 65 is fixedly mounted in the middle of the U-shaped mounting seat 61 and the mounting clamping seat 62, and a return spring 66 is sleeved on the outer periphery of the telescopic connecting rod 65;

[0057] Through the implementation of this method: the suspension component 6 can buffer vibration and bumps, reduce the shaking of the machine body caused by uneven terrain, and enable the monitoring module and other equipment to work more stably and obtain more accurate data. The telescopic connecting rod 65 is made of polyetheretherketone-PEEK material, which is a high-performance engineering plastic with excellent mechanical properties. It has high strength and good toughness and elasticity. Its molecular chain structure enables it to undergo reversible deformation when subjected to external force, thereby realizing the telescopic function, and its density is usually lower than that of metal materials, which helps to reduce the weight of the suspension component 6.

[0058] Reference Figures 1 to 8 A guide rod 513 for slidingly guiding the adjustment rack 512 is fixed inside the adjustment housing 59, and the guide rod 513 is symmetrically fixed inside the adjustment housing 59. A fixing screw 517 fixedly mounted on the machine body 1 is threadedly connected to the top of the first connecting arm 51, and the fixing screw 517 is symmetrically threadedly connected to the mounting base 62 and the top of the U-shaped mounting base 61;

[0059] Through the implementation of this method: the suspension component 6 and the deformation component 5 can be easily installed with the body 1 by fixing the screw 517.

[0060] Reference Figures 1 to 8 , an inlay block 516 inlayed and fixed with the wing wheel 54 is fixedly installed on the inner side of the wear-resistant outer ring 58, and the inlay block 516 is symmetrically fixedly installed at both ends of the inner side of the wear-resistant outer ring 58;

[0061] Through the implementation of this method, the engaging block 516 can be used to quickly replace and install the wear-resistant outer ring 58 after it is worn out in the later stage.

[0062] Reference Figures 1 to 8 A monitoring module 2 is provided at one end of the body 1, and the portable power source 4 is electrically connected to the rotating motor 57, the electric cylinder 515 and the monitoring module 2.

[0063] The working principle of the present invention is: first, when using the device, first, multiple groups of first connecting arms 51, second connecting arms 52 and third connecting arms 53 are fixedly installed on both ends of the body 1 through the fixing screw 517, and then the U-shaped mounting seat 61 and the mounting card seat 62 are fixedly installed on the top of the body 1 and the second connecting arm 52 respectively through the same method, and then the body 1 can be started to fly. When it is necessary to control the body 1 to move on land, the body 1 is landed, and then the staff controls the electric cylinder 515, and the electric cylinder 515 drives the connecting rod 514 to extend. When the connecting rod 514 extends, it drives the adjusting rack 512 to slide inside the adjusting shell 59 through the guide rod 513. As the adjusting rack 512 is adjusted, the connecting rod 514 is adjusted. The sliding will drive the rotating gear 511 meshing with it to rotate. As the rotating gear 511 rotates, the rotating shaft 510 will be driven to rotate, and then the third connecting arm 53 will be driven to rotate ninety degrees at one end of the second connecting arm 52, so that the wear-resistant outer ring 58 on the periphery of the wing wheel 54 contacts the ground. After that, the staff can operate the body 1 to move on land. The deformation mechanism 5 can change the working mode of the body 1 at any time, increase the function of the body 1 to work on land, and increase the detection angle of the body 1 for land data. At the same time, when the body 1 is working on land, the suspension component 6 can buffer vibrations and bumps, reduce the shaking of the body 1 caused by uneven terrain, and enable the monitoring module 2 and other equipment to work more stably and obtain more accurate data.

[0064] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A flying transformable robot supporting long-distance cluster deployment, characterized in that: The machine comprises a body (1), a support base (3) is fixedly mounted at the bottom of the body (1), a portable power source (4) for providing power to the body (1) is arranged inside the support base (3), and deformation mechanisms (5) for deformation are symmetrically arranged at both ends of the body (1); The deformation mechanism (5) comprises a first connecting arm (51) fixedly mounted on the machine body (1), a second connecting arm (52) rotatably connected to the first connecting arm (51), and a third connecting arm (53) rotatably connected to the second connecting arm (52); one end of the second connecting arm (52) is provided with a rotating shaft (510) fixedly mounted on the third connecting arm (53); the top end of the third connecting arm (53) is rotatably connected to a rotating main shaft (55), and a wing wheel (54) is fixedly mounted on the outer periphery of the rotating main shaft (55); the rotating main shaft (55) passes through the third connecting arm (53) and is rotatably connected to a rotating motor (57); the rotating main shaft (55) passes through the wing wheel (54) and evenly surrounds the fixedly mounted A winged paddle (56) is provided, wherein the outer periphery of the wing wheel (54) is fixedly provided with a wear-resistant outer ring (58) for facilitating movement on land, an adjusting housing (59) is fixedly provided at one end of the second connecting arm (52), the rotating shaft (510) passes through the second connecting arm (52), the third connecting arm (53) and the adjusting housing (59), and a rotating gear (511) is fixedly provided thereon, an adjusting rack (512) meshingly connected with the rotating gear (511) is slidably connected inside the adjusting housing (59), an electric cylinder (515) is fixedly provided inside the adjusting housing (59), and a connecting rod (514) is provided at one end of the electric cylinder (515) for pushing the adjusting rack (512) to slide.

2. The flying transformable robot supporting long-distance cluster deployment according to claim 1, characterized in that: A suspension assembly (6) for increasing the stability of the impeller (54) when operating on land is symmetrically arranged at the top of the body (1), the suspension assembly (6) comprising a U-shaped mounting seat (61) fixedly mounted on the top of the body (1), a first rotating block (63) rotatably connected to the U-shaped mounting seat (61), a mounting clamping seat (62) fixedly mounted on the top of the second connecting arm (52), and a second rotating block (64) rotatably connected to the mounting clamping seat (62), a telescopic connecting rod (65) is fixedly mounted in the middle of the U-shaped mounting seat (61) and the mounting clamping seat (62), and a return spring (66) is sleeved on the outer periphery of the telescopic connecting rod (65).

3. The flying transformable robot supporting long-distance cluster deployment according to claim 1, characterized in that: A guide rod (513) for slidingly guiding the adjusting rack (512) is fixedly disposed inside the adjusting housing (59), and the guide rod (513) is symmetrically fixedly disposed inside the adjusting housing (59).

4. The flying transformable robot supporting long-distance cluster deployment according to claim 1, characterized in that: The top end of the first connecting arm (51) is threadedly connected to a fixing screw (517) fixedly mounted on the machine body (1), and the fixing screw (517) is symmetrically threadedly connected to the mounting base (62) and the top end of the U-shaped mounting base (61).

5. The flying transformable robot supporting long-distance cluster deployment according to claim 1, characterized in that: An engaging clamping block (516) engaged and fixed with the impeller (54) is fixedly installed on the inner side of the wear-resistant outer ring (58), and the engaging clamping block (516) is symmetrically fixedly installed at two ends of the inner side of the wear-resistant outer ring (58).

6. The flying transformable robot supporting long-distance cluster deployment according to claim 1, characterized in that: A monitoring module (2) is provided at one end of the machine body (1).

7. The flying transformable robot supporting long-distance cluster deployment according to claim 1, characterized in that: The portable power source (4) is electrically connected to the rotating motor (57), the electric cylinder (515) and the monitoring module (2).

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