Four-rotor power transmission mobile robot mechanism

Abstract

The invention relates to the technical field of robots, in particular to a four-rotor power transmission mobile robot mechanism which comprises a walking wheel set module, a power transmission module, a power transmission module and a power transmission module. The unmanned aerial vehicle body comprises an active driving assembly and a passive lifting and rotating assembly, the active driving assembly drives the passive lifting and rotating assembly to rotate, and when the passive lifting and rotating assembly rotates, the walking supporting piece is controlled to be opened or closed; a rotatable wing module includes an inner ring portion, an outer ring portion, and a driving member. The device has the beneficial effects that the inner ring part is driven by the driving piece to be switched between the coplanar position and the vertical position relative to the outer ring part, and seamless switching between lifting power and along-line moving power is achieved in cooperation with independent adjustment of the blade angle. Compared with the limitation that a traditional flying robot depends on a single power direction, the flexibility and efficiency of power distribution are remarkably improved through the modular design.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, in particular to a four-rotor power transmission mobile robot mechanism. Background Art

[0002] The power system is the fundamental infrastructure of modern society, and transmission lines, as its core component, are responsible for the critical task of transmitting electrical energy. Ensuring the safe operation of transmission lines and a stable power supply is crucial. Traditional manual inspections suffer from low efficiency, high costs, inaccurate data, and harsh working environments. As power grids expand and voltage levels rise, these systems are no longer sufficient, necessitating a more efficient and safe solution. Robotic technology, with its efficiency, safety, precision, and adaptability, is an ideal solution.

[0003] Based on their mobility, transmission line inspection robots are primarily categorized as wheeled, tracked, and flying. Wheeled robots offer a simple structure and rapid mobility, but struggle to traverse obstacles such as power towers, making them suitable for short-distance inspections. Tracked robots are highly adaptable, but their complex structure and heavy weight limit their application. Flying robots (drones) utilize cameras or sensors to enable large-scale, long-distance inspections, unrestricted by terrain and offering high flexibility. However, they suffer from short flight times and insufficient wind resistance. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that the robot is not restricted by terrain but has a short endurance and limited wind resistance.

[0005] The above technical problems are solved by the following technical solutions: The present invention proposes a four-rotor power transmission mobile robot mechanism, which includes a walking wheel group module, including multiple moving rubber wheel parts, and the multiple moving rubber wheel parts are suspended on the transmission line and move along the transmission line; the UAV body, including an active drive component and a passive lifting and turning component, the active drive component drives the passive lifting and turning component to rotate, and the passive lifting and turning component controls the walking support part to open or close when it rotates; the rotatable wing module, including an inner ring part, an outer ring part and a driving part, the outer ring part is fixed to the UAV body, and the inner ring part is driven to rotate by the driving part to switch the lifting or moving power along the line.

[0006] In a preferred embodiment of the four-rotor electric power transmission mobile robot mechanism of the present invention: the walking wheel assembly module also includes multiple mounting seats and walking support members, and the multiple mounting seats fix the moving rubber wheel member to the upper part of the walking support member.

[0007] In a preferred embodiment of the four-rotor electric transmission mobile robot mechanism of the present invention: the active drive component includes a driving gear driven by a servo, and the passive lift-transfer component includes a passive gear externally meshed with the driving gear.

[0008] In a preferred embodiment of the four-rotor electric power transmission mobile robot mechanism of the present invention, it also includes an active driving pulley welded to the end faces of the active gear and the passive gear and connected to the steering gear shaft through a flat key.

[0009] In a preferred embodiment of the four-rotor power transmission mobile robot mechanism of the present invention: the outer ring portion is fixed to the servo bracket and is in a horizontal plane, and the inner ring portion is driven by a driving member to rotate around the servo bracket.

[0010] In a preferred embodiment of the four-rotor power transmission mobile robot mechanism of the present invention: blades are installed inside the inner ring.

[0011] In a preferred embodiment of the four-rotor power transmission mobile robot mechanism of the present invention: three moving rubber wheel parts are provided, the two outer moving rubber wheel parts are fixed on the two walking support parts through a mounting seat, and the inner moving rubber wheel part is fixed to the center position between the walking support parts through a mounting seat. The mounting seat adopts an L-shaped structure, the upper end of which is fixed with the moving rubber wheel part, and the lower end is connected to the walking support part.

[0012] In a preferred embodiment of the four-rotor electric power transmission mobile robot mechanism of the present invention: the inner ring portion switches between a position coplanar with or perpendicular to the outer ring portion, and the blades are individually adjusted in angle by a driving member.

[0013] In a preferred embodiment of the four-rotor power transmission mobile robot mechanism of the present invention: the gear grooves are symmetrically distributed on both sides of the drone body; and the servo brackets are fixed in the gear grooves.

[0014] In a preferred embodiment of the four-rotor power transmission mobile robot mechanism of the present invention: the transmission shaft penetrates the hole at the bottom end of the walking support member, and the transmission shaft is driven to rotate by a passive drive pulley, driving the walking support member to open or close around the transmission shaft.

[0015] The beneficial effect of this invention lies in: by using a driver to switch the inner ring between coplanar and perpendicular positions relative to the outer ring, combined with independent adjustment of the blade angle, a seamless transition between lifting power and line-travel power is achieved. Compared to the limitations of traditional flying robots that rely on a single power direction, this modular design significantly improves the flexibility and efficiency of power distribution, optimizes the efficiency of switching between flight and line-travel modes, reduces energy consumption and noise, and maintains the accuracy and stability of power output.

[0016] The unique symmetrical arrangement of the three moving rubber wheels, with the two outer wheels providing primary grip and the inner wheels providing auxiliary balance, ensures a centered center of mass and effectively prevents rollover. This enhances grip and durability with the power lines, making it suitable for complex line environments.

[0017] The present invention uses the synergistic effect of the active drive assembly and the passive lifting assembly to drive the walking support to achieve precise opening or closing movements, thereby enabling the robot to quickly contact and separate from the power transmission line. The external meshing design of the active and passive gears, combined with the active and passive drive pulleys driven by the servo, ensures the coordination and reliability of the mechanical movements. Compared with the complex and time-consuming operation of traditional robots on and off the line, the drive system of the present invention simplifies the operation process and significantly improves the efficiency and safety of operations in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings of the embodiments of the present invention. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Among them:

[0019] Figure 1 The overall structural diagram of the four-rotor power transmission mobile robot is shown;

[0020] Figure 2 A diagram showing the connection between the walking wheel module of the four-rotor power transmission mobile robot and the power transmission line is shown;

[0021] Figure 3 A perspective view of the mounting base of the four-rotor power transmission mobile robot mechanism is shown;

[0022] Figure 4 Shows a three-dimensional view of the active drive component and passive lift-and-turn component of the four-rotor electric mobile robot mechanism;

[0023] Figure 5 A perspective view of a rotatable wing module of a four-rotor electric mobile robot mechanism is shown;

[0024] Figure 6 A demonstration diagram showing the separation of the walking wheel module of the four-rotor power transmission mobile robot mechanism from the power transmission line is shown. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to specific embodiments and the accompanying drawings.

[0026] The terms used in the present invention are those commonly used in the art in view of the functions of the present invention, but these terms may vary according to the intentions of those skilled in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the present invention. Therefore, the terms used in the specification should not be understood as simple names, but rather as the meanings of the terms and the overall description of the present invention.

[0027] Reference Figure 1-2 This embodiment provides a four-rotor power transmission mobile robot mechanism, including a walking wheel module 1, including three moving rubber wheel components 11, which are suspended on a power transmission line 12 and move along the line; a drone body 2, including an active drive component 21 and a passive lifting and turning component 22, the active drive component 21 and the passive lifting and turning component 22 rotate to control the opening or closing of a walking support component 23 to achieve up and down line and along line movement; a rotatable wing module 3, including an inner ring portion 31, an outer ring portion 32 and a driving component 33, the outer ring portion 32 is fixed to the drone body 2, and the inner ring portion 31 is driven to rotate by the driving component 33 to switch the lifting or moving along the line power.

[0028] In this embodiment, the running wheel module 1 includes three moving rubber wheels 11, which are symmetrically arranged and suspended on the power line 12. The moving rubber wheels 11 have a flexible outer layer and a high friction coefficient, and can roll closely against the surface of the power line 12.

[0029] The support frame is an expandable and closable structure connected to the drone body 2. It opens and closes controlled by a mechanical linkage, clamping or releasing the power line 12 and facilitating the robot's transition between on-line, off-line, and walking modes. The motion rubber wheel 11, in conjunction with the support frame, provides the entire machine with stable along-line mobility and ensures balanced attitude control.

[0030] The active drive assembly 21 is used to provide a power source and perform opening and closing operations, and to manipulate the walking support 23, thereby controlling the online and offline status of the entire machine.

[0031] The passive lifting and rotating assembly 22 is connected to the support frame and can cooperate with the support frame to move in a passive state, so that the robot can smoothly bypass the power transmission line 12 structure and reposition itself during the process of going online or going offline.

[0032] The two components form a linkage relationship with the group of moving rubber wheels 11 to ensure mechanical coordination and accurate movement of the robot during the switching process between take-off and walking states.

[0033] The inner ring portion 31 is equipped with a rotor structure and can rotate independently around the axis.

[0034] The outer ring portion 32 is fixedly connected to the drone body 2 and provides a mounting base for the inner ring portion 31 .

[0035] The driving member 33 is installed between the outer ring portion 32 and the inner ring portion 31 and is used to drive the inner ring portion 31 to achieve rotation switching; the driving member 33 is a servo motor.

[0036] The rotor module, controlled by the driver 33, rotates the inner ring 31 to different angles to suit the power direction requirements in flight and lift mode or walking mode. It coordinates with the drone body 2 to adjust the overall posture and lift direction of the drone.

[0037] refer to Figure 2-6 In one embodiment provided herein, two traveling supports 23 are symmetrically arranged and connected at their lower ends by a transmission shaft. Three mounting seats 13 employ an L-shaped structure to secure the moving rubber wheel member 11 to the upper portion of the traveling supports 23. The active drive assembly 21 includes a driving gear 211 driven by a servo 25. The passive lift assembly 22 includes a passive gear 222 externally meshing with the driving gear 211. The active drive pulley 24 is welded to the end faces of the driving gear 211 and the passive gear 222 and is connected to the shaft of the servo 25 via a flat key. The passive drive pulley 26 is connected to the transmission shaft via a flat key and is coplanar with the active drive pulley 24. The outer ring portion 32 is fixed to the servo bracket 321 and is in a horizontal plane. The inner ring portion 31 is driven to rotate about the servo bracket 321 by a driving member 33. The blades 311 are mounted on the inner ring portion 31 and can be individually adjusted in angle. The servo bracket 321 is fixed within the gear slot 4.

[0038] In this embodiment, the walking wheel module 1 ensures a centered center of mass through the layout of three moving rubber wheels 11. The two outer wheels provide stable forward motion, while the inner wheel assists in balancing and preventing rollover. The active drive assembly 21 of the drone body 2 drives the active gear 211 to rotate via a servo 25, which engages with the passive gear 222, driving the active drive pulley 24 and the passive drive pulley 26 to rotate synchronously, achieving the opening or closing of the walking support 23, thereby completing the robot's movement up and down the line and along the line. The rotatable wing module 3 drives the inner ring 31 via a drive member 33 to switch between a coplanar state and a perpendicular state with the outer ring 32, respectively providing lifting power or along-line movement power. The gear slot 4 enhances the stability of the servo support 321, making it adaptable to complex environments. The integrated walking and flying functions reduce weight, improve flexibility and stability, and require no auxiliary equipment, reducing installation and maintenance costs. Operators do not need to climb a tower, thus improving safety.

[0039] The moving rubber wheel member 11 is fixed to the walking support member 23 via the mounting seat 13 and is adjusted in position as the walking support member 23 opens or closes.

[0040] The moving rubber wheel component 11 forms a stable support structure with the walking support component 23 through the mounting base 13. The walking support component 23 is connected by a transmission shaft, receiving power from the active drive component 21 and the passive drive pulley 26 to achieve opening or closing movement, thereby driving the moving rubber wheel component 11 to complete the movement along the line.

[0041] The servo 25 rotates the driving gear 211, which in turn rotates the driven gear 222 through external meshing. The active drive pulley 24 rotates synchronously with the driving gear 211 and the driven gear 222, transmitting power to the servo 25 shaft via a flat key. The driven drive pulley 26, coplanar with the active drive pulley 24, rotates with the drive shaft, driving the travel support 23 to open or close.

[0042] Active drive assembly 21, powered by servo 25, rotates active gear 211 and passive gear 222, which in turn drives active drive pulley 24 and passive drive pulley 26, which in turn rotate with travel support 23 to complete the opening or closing motion. Gear slot 4 provides fixed support for servo bracket 321, ensuring the stability of rotatable wing module 3.

[0043] The driving member 33 drives the inner ring 31 to rotate around the servo bracket 321, and the inner ring 31 can switch between being coplanar with the outer ring 32 or perpendicular to the outer ring 32. The blades 311 rotate with the inner ring 31 and can adjust their angles independently.

[0044] The inner ring 31 is driven by a driver 33, adjusting its rotation angle to change the direction of the power. The outer ring 32 is secured to the gear slot 4 via a servo bracket 321, providing a stable rotational base for the inner ring 31. The blades 311 coordinate with the inner ring 31 by adjusting their angle to change the direction of power output. The fixed connection between the servo bracket 321 and the gear slot 4 enhances the stability of the overall structure.

[0045] The robot's motion is achieved through the collaboration of the walking wheel module 1, the drone body 2, and the rotatable wing module 3. The three moving rubber wheels 11 of the walking wheel module 1 are fixed to the walking support 23 via an L-shaped mounting bracket 13. The support frame, connected by a transmission shaft, is driven by the servo 25 of the active drive assembly 21. Through the linkage of the active gear 211, the passive gear 222, the active drive pulley 24, and the passive drive pulley 26, the robot opens or closes, completing the movement along the line. The inner ring 31 of the rotatable wing module 3 is driven by a drive member 33 and rotates around a servo bracket 321, switching the relative position of the inner ring 31 and the outer ring 32. The blades 311 provide power in different directions through angle adjustment.

[0046] refer to Figure 3 As an optional embodiment, the three moving rubber wheel components 11 are made of wear-resistant material. The two outer moving rubber wheel components 11 are fixed to the two walking support components 23 through the mounting seat 13, and the inner moving rubber wheel component 11 is fixed to the center position between the walking support components 23 through the mounting seat 13. The mounting seat 13 adopts an L-shaped structure, the upper end of which fixes the moving rubber wheel component 11 and the lower end is connected to the walking support component 23.

[0047] In this embodiment, the two outer moving rubber wheel components 11 are fixed to symmetrical walking supports 23 via L-shaped mounting brackets 13, providing the primary grip for movement along the power line 12. The inner moving rubber wheel component 11 is centrally located to aid balance, ensuring a centered center of mass and preventing the robot from tipping over. Wear-resistant materials enhance the grip and durability of the rubber wheels, allowing them to adapt to the complex environment of the power line 12. This layout improves the robot's stability and adaptability along the power line 12, reduces wear, and extends its service life.

[0048] refer to Figure 4 As an optional embodiment, the inner ring portion 31 can be switched between a coplanar position and a perpendicular position with the outer ring portion 32 , and the blades 311 are mounted on the inner ring portion 31 and the angles are adjusted individually by the driving member 33 .

[0049] In this embodiment, the driver 33 drives the inner ring 31 to rotate about the servo bracket 321. When in the coplanar position, the blades 311 rotate to generate lift, enabling the robot to ascend and descend. When in the vertical position, the blades 311 rotate to generate thrust, propelling the robot along the power transmission line 12. The angle of the blades 311 can be individually adjusted to optimize lift or thrust. By adjusting the angle of the inner ring 31, seamless transitions between elevation and traversal are achieved, improving power efficiency and reducing energy consumption and noise.

[0050] refer to Figure 4 As an optional embodiment, six gear slots 4 are symmetrically distributed on both sides of the drone body 2; the servo bracket 321 is fixed in the gear slot 4, and the gear slot 4 optimizes lift and stability by adjusting the distance between the rotatable wing modules 3.

[0051] In this embodiment, the gear slots 4 secure the servo brackets 321. Through symmetrical distribution and adjusted spacing, this ensures balanced lift generated by the rotatable wing modules 3 during high-speed rotation, minimizing drift caused by wind or vibration. This enhances the robot's stability in complex environments, adapting to varying wind speeds and flight paths, and improving hovering and movement efficiency.

[0052] refer to Figure 3 As an optional embodiment, the transmission shaft passes through the hole at the bottom end of the walking support member 23, and the transmission shaft is driven to rotate by the passive drive pulley 26, driving the walking support member 23 to open or close around the transmission shaft to achieve contact or separation between the moving rubber wheel member 11 and the power transmission line 12.

[0053] In this embodiment, the traveling support member 23 is connected to a drive shaft through a hole at its bottom end. This drive shaft is driven by a passive drive pulley 26, which rotates the support frame around its axis to achieve opening and closing. When closed, the moving rubber wheel member 11 tangentially contacts the power line 12, allowing it to move along the line. When opened, the rubber wheel detaches from the power line 12, allowing it to rise and fall. This collaboration between the drive shaft and the support frame allows for precise online and offline operations, simplifying operations and improving efficiency.

[0054] Operation process:

[0055] Step 1: Online preparation

[0056] The driving member 33 is activated to drive the inner ring portion 31 to rotate around the axis of the servo bracket 321 until the inner ring portion 31 and the outer ring portion 32 are in a coplanar state.

[0057] The inner ring portion 31 and the outer ring portion 32 are coplanar, which adjusts the orientation of the blade 311 and provides a suitable aerodynamic posture for subsequent liftoff.

[0058] The driving member 33 is linked with the inner ring portion 31 , the outer ring portion 32 and the servo bracket 321 . The servo bracket 321 provides stable support for rotation, and the movement of the inner ring portion 31 provides a basis for the lift-off preparation of the blade 311 .

[0059] The steering gear 25 is started to drive the travel wheel support frame to rotate around its hinge point and expand to a specific angle.

[0060] The opening of the traveling wheel support frame reserves space for the moving rubber wheel component 11 to ensure the subsequent contact and engagement with the power transmission line 12.

[0061] The steering gear 25 directly cooperates with the running wheel support frame, and the movement of the running wheel support frame provides support for the positioning of the moving rubber wheel member 11, which is linked to the subsequent clamping line step.

[0062] Step 2: Start taking off

[0063] The operator starts the motor inside the blade 311 , and the motor drives the blade 311 to rotate at high speed, generating lift, which pushes the entire drone body 2 up to the height of the power transmission line 12 .

[0064] The rotation of the blades 311 provides sufficient lift to ensure that the drone body 2 can reach the target altitude quickly and stably.

[0065] The blades 311 work closely with the inner ring portion 31 and the motor. The coplanar state of the inner ring portion 31 provides a stable rotation plane for the blades 311 , and the motor provides power for the blades 311 .

[0066] Step 3: Hold the line tight

[0067] After the UAV reaches the desired height, the steering gear 25 starts and rotates in the opposite direction, driving the running wheel support frame to close, so that the moving rubber wheel parts 11 approach each other until the wheel hub is tangent to the transmission line 12.

[0068] The engagement of the moving rubber wheel parts 11 ensures that the UAV body 2 is stably attached to the power line 12, providing a fixed foundation for operation along the line.

[0069] The steering gear 25 cooperates with the traveling wheel support frame and the moving rubber wheel component 11 . The closing of the traveling wheel support frame directly affects the positioning of the moving rubber wheel component 11 , and the contact with the power transmission line 12 forms a stable mechanical connection.

[0070] After the moving rubber wheel member 11 is tangent to the power transmission line 12 , the operator stops the operation of the motor inside the blade 311 , and the blade 311 stops rotating.

[0071] Stopping the rotation of the blades 311 avoids lift interference and ensures that the drone body 2 is stably attached to the power line 12.

[0072] The motor stop is coordinated with the closing of the walking wheel support frame to ensure that the drone smoothly transitions from the launch state to the attachment state.

[0073] Step 4: Run along the line

[0074] The driving member 33 is started to drive the inner ring portion 31 to rotate to a position perpendicular to the outer ring portion 32 and then stop.

[0075] The vertical positioning of the inner ring portion 31 adjusts the orientation of the blades 311 to provide the appropriate power direction for running along the line.

[0076] The driving member 33 cooperates with the inner ring portion 31 and the outer ring portion 32. The movement of the inner ring portion 31 provides support for the power output of the blade 311 and forms a linkage with the subsequent start-up of the motor of the blade 311.

[0077] The operator starts the internal motor of the blade 311 to drive the blade 311 to rotate, generating a propulsion force along the direction of the transmission line 12.

[0078] The rotation of the blades 311 pushes the drone body 2 to move along the transmission line 12, thereby realizing the line patrol function.

[0079] The blades 311 cooperate with the inner ring 31 and the motor. The vertical positioning of the inner ring 31 ensures that the propulsion direction of the blades 311 is correct, and together with the attachment state of the moving rubber wheel part 11, stable operation is achieved.

[0080] Step 5: Offline preparation

[0081] The driving member 33 is activated to drive the inner ring portion 31 to rotate until it is coplanar with the outer ring portion 32 and then stops.

[0082] The inner ring portion 31 and the outer ring portion 32 are coplanar to adjust the orientation of the blades 311 to provide a suitable aerodynamic posture for descent.

[0083] The driving member 33 cooperates with the inner ring portion 31 and the outer ring portion 32. The movement of the inner ring portion 31 provides support for the lift generation of the blade 311 and is linked to the subsequent start-up of the motor of the blade 311.

[0084] The operator starts the motor inside the blade 311 to drive the blade 311 to rotate and generate lift.

[0085] The rotation of the blades 311 provides a control force for the descent of the drone body 2, ensuring a smooth descent.

[0086] The blades 311 cooperate with the inner ring portion 31 and the motor, and the coplanar state of the inner ring portion 31 ensures that the lift direction of the blades 311 is correct.

[0087] Step 6: Start offline

[0088] The steering gear 25 is started to drive the travel wheel support frame to rotate around the hinge point and expand to a specific angle.

[0089] The opening of the traveling wheel support frame allows the moving rubber wheel member 11 to separate from the power transmission line 12, thereby releasing the attachment state and creating conditions for descending.

[0090] The steering gear 25 cooperates with the running wheel support frame and the moving rubber wheel member 11 . The opening of the running wheel support frame and the lifting force of the blades 311 together ensure that the UAV smoothly leaves the power transmission line 12 .

[0091] After the running wheel support is opened, the rotation of the blades 311 provides a control force, and the operator controls the rotation speed of the blades 311 to slowly descend the drone body 2.

[0092] The rotation of the blades 311 ensures that the descent process is smooth and controllable, avoiding sudden falls.

[0093] The blades 311 cooperate with the running wheel support frame. The opening of the running wheel support frame releases the attachment, and the lift force of the blades 311 controls the descent speed.

[0094] Step 7: Offline completed

[0095] After the drone reaches the ground, the operator stops the motor inside the blade 311 and the blade 311 stops rotating.

[0096] Stopping the blades 311 from rotating ensures that the drone body 2 is stably docked on the ground, avoiding unnecessary power consumption.

[0097] The blade 311 cooperates with the motor and the subsequent action of the steering gear 25 to complete the offline process.

[0098] The steering gear 25 is started to drive the travel wheel support frame to rotate to a vertical position.

[0099] The walking wheel support frame returns to a vertical state so that the drone body 2 returns to its initial posture, making it easier to store or use it next time.

[0100] The steering engine 25 cooperates with the running wheel support frame and the blade 311 stops rotating to complete the offline finishing.

[0101] The driving member 33 is activated to drive the inner ring portion 31 to rotate to the initial position.

[0102] The inner ring portion 31 returns to its original position, returning the rotatable wing module 3 to its initial state, ready for the next operation.

[0103] Finally, it should be pointed out that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the present invention.

Claims

1. A four-rotor power transmission mobile robot mechanism, characterized by: include, The traveling wheel module (1) comprises a plurality of moving rubber wheel components (11), wherein the moving rubber wheel components (11) are suspended on a power transmission line (12) and move along the power transmission line (12); The drone body (2) includes an active drive component (21) and a passive lift-and-turn component (22), wherein the active drive component (21) drives the passive lift-and-turn component (22) to rotate, and when the passive lift-and-turn component (22) rotates, the walking support component (23) is controlled to open or close; The rotatable wing module (3) comprises an inner ring portion (31), an outer ring portion (32) and a driving member (33). The outer ring portion (32) is fixed to the drone body (2). The inner ring portion (31) is driven to rotate by the driving member (33) to switch the lifting or moving force along the line.

2. The four-rotor power transmission mobile robot mechanism according to claim 1, characterized in that: The traveling wheel assembly module (1) further comprises a plurality of mounting seats (13) and a traveling support member (23), wherein the plurality of mounting seats (13) fix the moving rubber wheel member (11) to the upper portion of the traveling support member (23).

3. The four-rotor power transmission mobile robot mechanism according to claim 2, characterized in that: The active driving component (21) includes a driving gear (211) driven by a steering engine (25), and the passive lifting component (22) includes a passive gear (222) externally meshed with the driving gear (211).

4. The four-rotor power transmission mobile robot mechanism according to claim 1, characterized in that: It also includes an active driving pulley (24) welded to the end faces of the active gear (211) and the passive gear (222) and connected to the steering gear (25) shaft via a flat key.

5. The four-rotor power transmission mobile robot mechanism according to claim 3, characterized in that: The outer ring portion (32) is fixed to the servo bracket (321) and is located in a horizontal plane, and the inner ring portion (31) is driven by a driving member (33) to rotate around the servo bracket (321).

6. The four-rotor power transmission mobile robot mechanism according to any one of claims 1 to 5, characterized in that: Blades (311) are installed inside the inner ring portion (31).

7. The four-rotor power transmission mobile robot mechanism according to claim 6, characterized in that: The number of the moving rubber wheel components (11) is three, the two outer moving rubber wheel components (11) are fixed to the two walking support components (23) via a mounting seat (13), and the inner moving rubber wheel component (11) is fixed to the center position between the walking support components (23) via a mounting seat (13). The mounting seat (13) adopts an L-shaped structure, the upper end of which fixes the moving rubber wheel component (11) and the lower end is connected to the walking support component (23).

8. The four-rotor power transmission mobile robot mechanism according to claim 7, characterized in that: The inner ring portion (31) switches between a position coplanar with or perpendicular to the outer ring portion (32), and the blades (311) are individually adjusted in angle via a driving member (33).

9. The four-rotor power transmission mobile robot mechanism according to claim 5, characterized in that: It also includes gear slots (4) symmetrically distributed on both sides of the drone body (2), and the servo bracket (321) is fixed in the gear slots (4).

10. The four-rotor power transmission mobile robot mechanism according to claim 1, characterized in that: It also includes a transmission shaft that penetrates into the hole at the bottom end of the walking support member (23). The transmission shaft is driven to rotate by a passive driving pulley (26), driving the walking support member (23) to open or close around the transmission shaft.

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