A deformable single-motor dual-drive land-air cross-domain multi-modal robot

Abstract

A deformable single-motor double-drive land-air cross-domain multi-modal robot, comprising a body, an autopilot, a wing arm device, a plurality of linear slide mechanisms, a wheel wing device and a plurality of connecting pieces; the autopilot is installed on the body; the wing arm device comprises a plurality of wing arm structures, the wing arm structure comprises a rotating part, a supporting part and a rotating part; the supporting part is movably connected to the body through the rotating part, and the rotating part is installed on the supporting part; the wheel wing device comprises a plurality of wheel wing mechanisms, and the plurality of wheel wing mechanisms are slidably connected to the supporting parts of the plurality of wing arm structures through the plurality of linear slide mechanisms; the wheel wing mechanism comprises a rotor mechanism and a wheel mechanism; one side of the plurality of connecting pieces is rotatably connected to the plurality of connecting parts, and the other side is rotatably connected to the body. The present application has the characteristics of low power consumption, strong environmental adaptability, good stability and strong maneuverability, is suitable for multi-modal operation, and can meet various task requirements in various complex and harsh environments.

Description

Technical Field

[0001] This invention relates to the field of cross-domain multimodal mobile robot technology, and in particular to a deformable single-motor dual-drive land-air cross-domain multimodal robot. Background Technology

[0002] In recent years, with the rapid development of robotics technology, human exploration of complex terrains and environments has deepened. Simultaneously, modern warfare is evolving towards complex, multi-dimensional operations involving land, sea, and air. Traditional single-modal robots suffer from inherent limitations in complex, cross-domain environments (such as the field and disaster sites), including limited motion modes, poor terrain adaptability, high energy consumption, and restricted operational range. These limitations severely restrict their effectiveness in critical tasks such as multi-domain situational awareness, emergency rescue, and military reconnaissance. Therefore, researching cross-domain multimodal robots that can adapt to complex and varied terrain environments while possessing high mobility has significant theoretical and strategic value for fields such as military reconnaissance and disaster relief.

[0003] Currently, existing land-air cross-domain multimodal robots, both domestically and internationally, mainly consist of flight mechanisms and crawling mechanisms. Flight mechanisms typically employ fixed-wing, multi-rotor, and flapping-wing designs, while crawling mechanisms generally use wheeled, tracked, or legged systems. Zhejiang University designed a land-air multimodal robot system with a quadcopter and passive wheels. By adding wheels and links to both sides of the aircraft, it achieved cross-domain movement from airspace to land. However, this simple and direct connection method increased the robot's weight, and the overall balance was difficult to control during land movement. CN119283549B discloses a variable-form land-air amphibious robot, designing a variable-form land-air amphibious robot with a four-wheeled and rotor mechanism. Modal switching is achieved by controlling the folding of the left and right arms; however, each propeller and wheel uses a separate motor for driving, increasing energy consumption and overall weight.

[0004] In summary, although current multimodal robots capable of amphibious movement on land and in air are generally unable to balance lightweight design with ease of control, and cannot reduce energy consumption, they are not well adapted to complex ground environments, and are unable to complete their intended tasks such as environmental exploration and emergency rescue. Summary of the Invention

[0005] This invention provides a deformable, single-motor, dual-drive, land-air cross-domain multimodal robot to solve the technical problems mentioned in the background art.

[0006] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0007] This invention provides a deformable, single-motor, dual-drive, land-air cross-domain multimodal robot, comprising a body, an autopilot, a wing arm device, multiple linear slider mechanisms, a wheel-wing device, and multiple connectors;

[0008] The autopilot is mounted on the main body and electrically connected to the wing arm assembly;

[0009] The wing arm assembly includes multiple wing arm structures, each including a rotating part, a support part, and a rotating part; the support part is movably connected to the main body via the rotating part, and the rotating part is mounted on the support part.

[0010] The wheel wing device includes multiple wheel wing mechanisms, which are slidably connected to the support of multiple wing arm structures via multiple linear slider mechanisms; the wheel wing mechanism includes a rotor mechanism and a wheel mechanism.

[0011] Multiple connectors are rotatably connected to multiple connecting parts on one side and rotatably connected to the main body on the other side. When the rotating part of the wing arm structure drives the support part to move, under the limitation of the connectors, the rotating part will switch between the rotor mechanism and the wheel mechanism, thereby completing the switching between flight mode and ground mode.

[0012] The beneficial effects of this invention are:

[0013] 1. The invention features an ingenious structural design that reduces the robot's power consumption. Through the clever combination of the rotor and wheel mechanisms, the land-air cross-domain multimodal robot can freely switch between flight and ground modes without requiring additional actuators. Compared to existing land-air cross-domain multimodal robots that suffer from high energy consumption due to complex structural designs or the need for additional actuators, this invention effectively balances the two aspects, significantly reducing power consumption.

[0014] 2. The land-air cross-domain multimodal robot provided by this invention features good stability and high maneuverability. Furthermore, it exhibits strong environmental adaptability, enabling it to meet the task requirements in complex and ever-changing scenarios. On flat ground, the robot uses ground mode; when encountering insurmountable obstacles or rugged, muddy terrain, it can switch to flight mode, possessing cross-domain multimodal operation capabilities and effectively meeting the diverse task requirements in various complex and harsh environments. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a land-air cross-domain multimodal robot in flight mode;

[0016] Figure 2 This is a schematic diagram of the structure of a land-air cross-domain multimodal robot in the ground mode;

[0017] Figure 3This is an enlarged schematic diagram of the three-dimensional structure of the wing arm;

[0018] Figure 4 This is an enlarged schematic diagram of the front structure of the wheel mechanism;

[0019] Figure 5 This is an enlarged schematic diagram of the rear structure of the wheel mechanism;

[0020] Figure 6 This is an enlarged three-dimensional structural diagram of the linear slider mechanism;

[0021] Figure 7 This is an enlarged three-dimensional structural diagram of the connector;

[0022] Figure 8 A magnified three-dimensional structural diagram of the rotor input gear;

[0023] Figure 9 This is a schematic block diagram of the autopilot system.

[0024] Explanation of reference numerals in the attached figures:

[0025] 10. Ontology;

[0026] 20. Autopilot;

[0027] 30. Wing arm assembly; 31. Left front wing arm structure; 32. Right front wing arm structure; 33. Left rear wing arm structure; 34. Right rear wing arm structure; 300. Servo motor; 301. Servo motor bracket; 302. Motor; 303. Motor shaft support; 304. Motor output shaft gear;

[0028] 40. Linear slider mechanism; 400. Linear guide rail; 401. Slider;

[0029] 50. Wheel assembly; 51. Rotor mechanism; 52. Wheel mechanism; 500. Propeller; 501. Propeller fixing component; 502. Thin-walled bearing; 503. Bearing clip; 504. Wheel protection device 1; 505. Wheel protection device 2; 506. Rotor input gear; 507. Guide rail bracket; 508. Gear set 1; 509. Gear set 2; 510. Gear set 3; 511. Wheel;

[0030] 60. Connectors. Detailed Implementation

[0031] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many other different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0032] It should be noted that when a component is referred to as "fixed" or "set" on another component, it can be directly on or indirectly on the other component. When a component is referred to as "connected" to another component, it can be directly connected to or indirectly connected to the other component.

[0033] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying 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, they should not be construed as limitations on the present invention.

[0034] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or component as an example. It should be understood that the reference numerals are also applicable to other identical parts or components.

[0035] Reference Figure 1 and Figure 2 This application provides a deformable single-motor dual-drive land-air cross-domain multimodal robot, including a body 10, an autopilot 20, a wing arm device 30, multiple linear slider mechanisms 40, a wheel wing device 50, and multiple connectors 60.

[0036] The autopilot 20 is mounted on the main body 10 and electrically connected to the wing arm device 30. The autopilot 20 is used to control the wing arm device 30 to drive the wheel wing device 50 to a designated position along the linear slider mechanism 40 under the tension of the connector 60, so as to realize the switching and operation of ground mode and flight mode.

[0037] The wing arm device 30 includes multiple wing arm structures, each including a rotating part, a support part, and a rotating part; the support part is movably connected to the main body 10 via the rotating part, and the rotating part is mounted on the support part.

[0038] The wheel wing device 50 includes multiple wheel wing mechanisms, which are slidably connected to the support of multiple wing arm structures via multiple linear slider mechanisms 40; the wheel wing mechanism includes a rotor mechanism 51 and a wheel mechanism 52.

[0039] Multiple connectors 60 are rotatably connected to multiple connecting parts on one side and rotatably connected to the main body 10 on the other side. When the rotating part of the wing arm structure drives the support part to move, under the limitation of the connectors 60, the rotating part will switch between the rotor mechanism 51 and the wheel mechanism 52, thereby completing the switching between flight mode and ground mode. The shape of the connector 60 is shown in [details omitted]. Figure 7 As shown.

[0040] In some embodiments, refer to Figure 1 and Figure 2 The number of wing arm structures is four, namely the left front wing arm structure 31, the right front wing arm structure 32, the left rear wing arm structure 33 and the right rear wing arm structure 34. The four wing arm structures are identical in structure and are symmetrically installed on the body 10 in an X-shape. The left front wing arm structure 31 and the right rear wing arm structure 34 are located on the same diagonal line, and the right front wing arm structure 32 and the left rear wing arm structure 33 are located on the same diagonal line.

[0041] Similarly, the number of wheel-wing mechanisms is also four. The use of four rotor structures enables the land-air cross-domain multi-mode robot to have high stability and strong maneuverability in flight mode. In ground mode, the design of four rotor structures also makes the land-air cross-domain multi-mode robot have better safety and stability, and provides greater traction and grip, as well as improving load capacity.

[0042] In some embodiments, refer to Figure 3 The rotating part of the wing arm structure is a servo motor 300; the servo motor 300 is fixedly mounted on the body 10 by screws, so that the servo motor 300 can be fixed relative to the body 10; the servo motor 300 is used to drive the wheel wing device 50 to rotate, so that the wheel wing device 50 can rotate to a horizontal state or a vertical state.

[0043] The supporting part of the wing arm structure is a servo bracket 301, which is fixedly installed on the movable part of the servo 300. The servo bracket 301 is L-shaped and includes a horizontal section and a vertical section. The servo bracket 301 is designed with a first set of mounting holes that are perpendicular to each other in three-dimensional space (the axis of the first set of mounting holes corresponds to...). Figure 3 Y1 in the middle), and the second set of mounting holes (the axis where the second set of mounting holes is located corresponds to the axis of the second set of mounting holes). Figure 3 Y2 in the middle) and the third set of mounting holes (the axis where the third set of mounting holes is located corresponds to) Figure 3 In Y3), the servo bracket 301 is fixedly connected to the servo 300 through the first set of mounting holes, so that it rotates with the servo 300; the motor 302 is fixedly connected to the servo bracket 301 through the second set of mounting holes; and the linear slider mechanism 40 is fixedly connected to the servo bracket 301 through the third set of mounting holes.

[0044] The rotating part of the wing arm structure includes a motor 302, a motor shaft support 303, and a motor output shaft gear 304. The motor 302 is fixedly mounted on the vertical section of the servo bracket 301, the motor shaft support 303 is fixed on the output shaft of the motor 302, and the motor output shaft gear 304 is fixedly mounted on the motor shaft support 303. The servo 300 and the motor 302 are electrically connected to the autopilot 20. A first screw-in surface is formed on both sides of the motor output shaft gear 304. The first screw-in surface is arc-shaped or frustum-shaped. In this embodiment, the first screw-in surface is preferably arc-shaped; the specific shape can be found in [reference needed]. Figure 3 The shape of both sides of the output shaft gear 304 of the motor.

[0045] In some embodiments, refer to Figure 6 The linear slider mechanism 40 includes a linear guide rail 400 and a slider 401;

[0046] The linear guide rail 400 is mounted on the transverse section of the servo bracket 301. One side of the slider 401 is slidably connected to the linear guide rail 400, and the other side is fixedly connected to the connecting part of the wheel mechanism, which is used to drive the corresponding wheel mechanism to move linearly along the linear guide rail 400. The slider 401 contains small ball bearings for sliding on the linear guide rail 400.

[0047] In some embodiments, refer to Figure 4 , Figure 5 as well as Figure 8 The rotor mechanism 51 includes a propeller 500, a propeller fixing component 501, a thin-walled bearing 502, a bearing snap-fit ​​component 503, a wheel protection first 504, a wheel protection second 505, a rotor input gear 506, and a guide rail bracket 507.

[0048] Wheel protectors 504 and 505 are fixedly connected by a guide rail bracket 507 and multiple copper pillars. The bottom of the bearing retainer 503 is fixedly installed on the top of wheel protector 504. The rotor input gear 506 is rotatably connected to the inner wall of the bearing retainer 503 via a thin-walled bearing 502. The propeller 500 is fixedly installed on the top of the rotor input gear 506 via a propeller fixing member 501. The guide rail bracket 507 is fixedly connected to the slider 401. A second screw-in surface adapted to the first screw-in surface is formed on the teeth of the rotor input gear 506 facing the motor output shaft gear 304. The second screw-in surface is inclined. Designing a second screw-in surface on the teeth of the rotor input gear 506 facilitates smoother meshing between the rotor input gear 506 and the motor output shaft gear 304 when switching between flight mode and ground mode. The rotor input gear 506 meshes with the motor output shaft gear 304 in flight mode.

[0049] In some embodiments, refer to Figure 4 and Figure 5The axes of the propeller 500, propeller fixing member 501, thin-walled bearing 502, bearing snap member 503, and rotor input gear 506 are collinear.

[0050] In some embodiments, the wheel mechanism 52 includes a gear set 508, a gear set 509, a gear set 510, and a wheel 511;

[0051] Gear set 1 508, gear set 2 509, and gear set 3 510 are all rotatably connected in the mounting cavity formed by wheel protection 1 504 and wheel protection 2 505. Wheel 511 is fixedly installed on wheel protection 1 504 and wheel protection 2 505, and wheel 511 is collinear with the axis of rotor input gear 506.

[0052] Gear set 1 508 includes a large gear 1 and a small gear 1 fixedly connected. Gear set 2 509 includes a large gear 2 and a small gear 2 fixedly connected. In ground mode, large gear 1 meshes with motor output shaft gear 304; small gear 1 meshes with large gear 2, small gear 2 meshes with gear 3 510, and gear 3 510 meshes with the internal teeth formed by the inner ring of wheel 511. A third screw-in surface is formed on the teeth of large gear 1 facing motor output shaft gear 304, and the third screw-in surface is adapted to the first screw-in surface. The third screw-in surface is inclined. Designing a third screw-in surface on each tooth of large gear 1 facilitates smoother meshing between motor output shaft gear 304 and large gear 1 during flight and ground mode switching. The outer ring of wheel 511 is cylindrical, which increases the contact area with the ground and acts as a duct, increasing pulling force. Simultaneously, wheel mechanism 52 uses a three-stage gear transmission, achieving both speed reduction and increased torque.

[0053] In some embodiments, the wheel mechanism 52 further includes a plurality of connecting bearings, and gear set one 508, gear set two 509, and gear three 510 are rotatably connected to wheel protection one 504 and wheel protection two 505 respectively through the plurality of connecting bearings.

[0054] In some embodiments, the body 10 is a cuboid with concave ends, consisting of two layers of hollowed-out rectangular plates with concave ends, used as a structural skeleton to support and connect other components.

[0055] In some embodiments, refer to Figure 9 The autopilot 20 includes a power module, an onboard computer, and a data transmission radio, a remote controller receiver, an IMU module, a servo drive board, a GPS module, and a vision sensor connected to the onboard computer.

[0056] The power module is used to provide power to the onboard computer;

[0057] The data transmission radio is used to transmit the operational status information of the land-air cross-domain multimodal robot to the ground station wirelessly.

[0058] The remote control receiver is used to receive remote control commands issued by the remote remote control;

[0059] The IMU module (or inertial measurement unit) is used to sense the position, attitude, and velocity of the land-air cross-domain multimodal robot and send the position, attitude, and velocity information to the onboard computer.

[0060] The servo drive board is used to drive the operation of the servo 300;

[0061] The GPS module is used to obtain the real-time position coordinates of the land-air cross-domain multimodal robot and send the real-time position coordinate information to the onboard computer;

[0062] The visual sensor is used to perceive the surrounding environment of the land-air cross-domain multimodal robot and send the collected image information to the onboard computer.

[0063] The onboard computer receives position, attitude, and velocity information, real-time position coordinates, image information, load information, and control commands from the land-air cross-domain multimodal robot and runs a preset control program to enable the land-air cross-domain multimodal robot to operate in different modes.

[0064] In some embodiments, the IMU module includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer, which are used to detect the three-axis angular velocity, three-axis acceleration, and the components of the geomagnetic intensity on the x, y, and z axes of the land-air multimodal robot, respectively.

[0065] The working principle of this invention is as follows:

[0066] When the land-air cross-domain multimodal robot needs to switch to ground mode, the servo drive board in the autopilot 20 drives the servo motor 300, which in turn drives the servo motor bracket 301 to rotate downwards until the lateral section of the servo motor bracket 301 is flush with the ground and the main body 10. During the downward rotation of the servo motor bracket 301, due to the constraint of the connecting piece 60, the wheel mechanism will slide on the linear guide rail 400 via the slider 401, causing the motor output shaft gear 304 to slide out from the rotor input gear 506 and mesh with the large gear on the gear set 508. At this point, the land-air cross-domain multimodal robot switches from flight mode to ground mode. The motor output shaft gear 304 is activated, and its rotation drives the wheel 511 to rotate through the gear set 508, gear set 509, and gear set 510, thereby enabling the land-air cross-domain multimodal robot to move to the designated location in ground mode.

[0067] Conversely, when the land-air cross-domain multimodal robot needs to switch to flight mode, the servo drive board in the autopilot 20 drives the servo motor 300, which in turn drives the servo motor bracket 301 to rotate upwards until the horizontal section of the servo motor bracket 301 is perpendicular to the ground and the body 10, i.e., the horizontal section of the servo motor bracket 301 is in a vertical state. During the upward rotation of the servo motor bracket 301, due to the constraint of the connecting piece 60, the wheel mechanism will slide on the linear guide rail 400 via the slider 401, disengaging the motor output shaft gear 304 from the large gear and sliding into the inner side of the rotor input gear 506, so that the motor output shaft gear 304 and the rotor input gear 506 are properly engaged. At this point, the land-air cross-domain multimodal robot switches from ground mode to flight mode. The motor output shaft gear 304 is then activated, rotating and synchronously driving the rotor input gear 506 and the propeller 500 to rotate, thus enabling the land-air cross-domain multimodal robot to fly smoothly.

[0068] This invention features an ingenious structural design that reduces the robot's power consumption. Through the clever combination of rotor and wheel mechanisms, the land-air cross-domain multimodal robot can freely switch between flight and ground modes without requiring additional actuators. Compared to existing land-air cross-domain multimodal robots that suffer from high energy consumption due to complex structural designs or the need for additional actuators, this invention effectively balances these two aspects, significantly reducing power consumption.

[0069] Furthermore, the land-air cross-domain multimodal robot provided by this invention features good stability and high maneuverability. It also exhibits strong environmental adaptability, enabling it to meet mission requirements in complex and ever-changing scenarios. On flat ground, the robot uses ground mode; when encountering insurmountable obstacles or rugged, muddy terrain, it can switch to flight mode, possessing cross-domain multimodal operation capabilities and effectively meeting diverse mission requirements in various complex and harsh environments.

[0070] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A deformable, single-motor, dual-drive, land-air cross-domain multimodal robot, characterized in that, It includes a main body (10), an autopilot (20), a wing arm assembly (30), multiple linear slider mechanisms (40), a wheel wing assembly (50), and multiple connectors (60). The autopilot (20) is mounted on the main body (10) and electrically connected to the wing arm assembly (30); The wing arm device (30) includes multiple wing arm structures, each including a rotating part, a support part, and a rotating part; the support part is movably connected to the main body (10) through the rotating part, and the rotating part is mounted on the support part; The wheel wing device (50) includes multiple wheel wing mechanisms, which are slidably connected to the support of multiple wing arm structures through multiple linear slider mechanisms (40); the wheel wing mechanism includes a rotor mechanism (51) and a wheel mechanism (52). Multiple connectors (60) are rotatably connected to multiple connecting parts on one side and rotatably connected to the main body (10) on the other side. When the rotating part of the wing arm structure drives the support part to move, under the limitation of the connector (60), the rotating part will switch between the rotor mechanism (51) and the wheel mechanism (52) to complete the switching between flight mode and ground mode. The rotating part of the wing arm structure is selected as a servo motor (300); the servo motor (300) is installed on the main body (10); the servo motor (300) is used to drive the wing arm device (30) to rotate, so as to drive the wing arm device (30) to rotate to a horizontal state or a vertical state to the ground. The support part of the wing arm structure is a servo bracket (301), which is fixedly installed on the movable part of the servo (300); The rotating part of the wing arm structure includes a motor (302), a motor shaft support (303), and a motor output shaft gear (304). The motor (302) is fixedly mounted on the servo bracket (301), the motor shaft support (303) is fixedly mounted on the output shaft of the motor (302), and the motor output shaft gear (304) is fixedly mounted on the motor shaft support (303). The servo (300) and the motor (302) are electrically connected to the autopilot (20) respectively. The motor output shaft gear (304) has a first screw-in surface on both sides. The linear slider mechanism (40) includes a linear guide rail (400) and a slider (401). The linear guide (400) is mounted on the servo bracket (301). One side of the slider (401) is slidably connected to the linear guide (400), and the other side is fixedly connected to the connecting part of the wheel mechanism, which is used to drive the corresponding wheel mechanism to move linearly along the linear guide (400). The rotor mechanism (51) includes a propeller (500), a propeller fixing component (501), a thin-walled bearing (502), a bearing snap-fit ​​component (503), a wheel protection first component (504), a wheel protection second component (505), a rotor input gear (506), and a guide rail bracket (507). Wheel protection unit 1 (504) and wheel protection unit 2 (505) are fixedly connected by a guide rail bracket (507), and the bottom of the bearing clip (503) is fixedly installed on the top of wheel protection unit 1 (504); the rotor input gear (506) is rotatably connected to the inner wall of the bearing clip (503) by a thin-walled bearing (502), and the propeller (500) is fixedly installed on the top of the rotor input gear (506) by a propeller fixing piece (501); the guide rail bracket (507) is fixedly connected to the slider (401); a second screw-in surface adapted to the first screw-in surface is formed on the teeth of the rotor input gear (506) facing the motor output shaft gear (304); the rotor input gear (506) meshes with the motor output shaft gear (304) in flight mode; The axes of the propeller (500), propeller fixing member (501), thin-walled bearing (502), bearing snap member (503), and rotor input gear (506) are collinear; The wheel mechanism (52) includes a gear set one (508), a gear set two (509), a gear three (510), and a wheel (511). Gear set one (508), gear set two (509), and gear three (510) are all rotatably connected in the mounting cavity formed by wheel protection one (504) and wheel protection two (505). The wheel (511) is fixedly installed on wheel protection one (504) and wheel protection two (505), and the wheel (511) is collinear with the axis of the rotor input gear (506). Gear set one (508) includes a large gear one and a small gear one fixedly connected, and gear set two (509) includes a large gear two and a small gear two fixedly connected. In ground mode, the large gear one meshes with the motor output shaft gear (304); the small gear one meshes with the large gear two, the small gear two meshes with the gear three (510), and the gear three (510) meshes with the internal teeth formed by the inner ring of the wheel (511); a third screw-in surface is formed on the teeth of the large gear one facing the motor output shaft gear (304), and the third screw-in surface is adapted to the first screw-in surface.

2. The deformable single-motor dual-drive land-air cross-domain multimodal robot according to claim 1, characterized in that, The number of wing arm structures is four, namely the left front wing arm structure (31), the right front wing arm structure (32), the left rear wing arm structure (33) and the right rear wing arm structure (34). The four wing arm structures are symmetrically installed on the body (10) in an X-shape. The left front wing arm structure (31) and the right rear wing arm structure (34) are located on the same diagonal line, and the right front wing arm structure (32) and the left rear wing arm structure (33) are located on the same diagonal line.

3. The deformable single-motor dual-drive land-air cross-domain multimodal robot according to claim 1, characterized in that, The wheel mechanism (52) also includes multiple connecting bearings. Gear set one (508), gear set two (509), and gear three (510) are rotatably connected to wheel protection one (504) and wheel protection two (505) respectively through multiple connecting bearings.

4. The deformable single-motor dual-drive land-air cross-domain multimodal robot according to claim 1, characterized in that, The main body (10) is composed of two hollowed-out rectangular plates.

5. The deformable single-motor dual-drive land-air cross-domain multimodal robot according to claim 1, characterized in that, The autopilot (20) includes a power module, an onboard computer, and a data transmission radio, a remote controller receiver, an IMU module, a servo drive board, a GPS module, and a vision sensor connected to the onboard computer. The power module is used to provide power to the onboard computer; The data transmission radio is used to transmit the operational status information of the land-air cross-domain multimodal robot to the ground station wirelessly. The remote control receiver is used to receive remote control commands issued by the remote remote control; The IMU module is used to sense the position, attitude, and velocity of the land-air cross-domain multimodal robot and send the position, attitude, and velocity information to the onboard computer. The servo drive board is used to drive the operation of the servo (300); The GPS module is used to obtain the real-time position coordinates of the land-air cross-domain multimodal robot and send the real-time position coordinate information to the onboard computer; The visual sensor is used to perceive the surrounding environment of the land-air cross-domain multimodal robot and send the collected image information to the onboard computer.

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