Human body lifting, holding and transferring flying robot

Abstract

The invention discloses a human body lifting and holding transfer flying robot. The device is characterized by comprising (100) a land-air dual-purpose duct propeller device. And (200) a robot crawling supporting leg device. And (300) an abdominal cavity type nacelle structure. And (400) the robot hand device is lifted and held. And (500) a master control device. And (600) final assembly. The mechanisms and the systems are reasonably combined. Through AI learning training and intelligent control, the problems of emergency rescue, battlefields and other various environment areas where rescue workers are inconvenient to enter can be effectively solved. And when manpower and transport capacity are not enough, wounded personnel can be rescued, and dead personnel remains can be carried, lifted and transferred. The unmanned aerial vehicle can fly in the air, run on the land and crawl on the field. People needing to be rescued are found, and the human body is lifted and held into the cabin through the robot to be carried and transferred.

Description

Technical Field

[0001] This invention relates to a robot for lifting, carrying, and transporting human bodies. More particularly, it relates to a flying robot for lifting and transporting human bodies. Background Technology

[0002] In the rescue of people in distress or the transfer of combat casualties in wilderness and wartime environments, the current method still relies on manual lifting before loading them onto transport vehicles. When encountering special circumstances where human intervention is inconvenient, especially during wartime where human intervention on the battlefield could pose secondary risks, human rescue and transfer become extremely difficult. Currently, there are no mature solutions or products on the market that solve this problem using modern technology. This invention aims to integrate modern vehicle-mounted, aerial, and robotic technologies to design and develop specialized application equipment for specific scenarios. Through AI learning, it will enable the function of lifting and transferring people in the field. This provides an effective solution for disaster relief and military technology. Summary of the Invention

[0003] To address the technical challenges of using modern technology for lifting and transporting people in emergency rescue and battlefield medical situations, this solution integrates modern vehicle-mounted, aerial, and robotic technologies to design and develop specialized equipment for specific application scenarios. Through AI learning and training, this equipment enables the lifting and transport of people in the field. Technical solution

[0004] 1. A human body lifting and transport flying robot. Its features include: (100) a land-and-air dual-purpose ducted propeller device; (200) a robot crawling support foot device; (300) a cavity-type cabin structure; (400) a lifting robot arm device; (500) a central control device; and (600) a final assembly. The rational combination of these mechanisms and systems, through AI learning and training and intelligent control, can effectively solve the technical problems of emergency rescue and battlefield rescue personnel being unable to access various environments, as well as the rescue of the wounded and the transport of the remains of fallen personnel when manpower and transportation capacity are insufficient.

[0005] It possesses multiple special functions, including unmanned aerial flight, land driving, and wilderness crawling. It can locate people in need of rescue and use robots to lift and carry them into its rudder for transport.

[0006] 2. Components of the (100) dual-purpose land and air ducted propeller device in the mechanism (such as...) Figure 1(As shown): (101) Propeller mounting base. (102) Propeller mounting fixed connecting rod. (103) Propeller mounting tilting and positioning electric module. (104) Propeller mounting tilting and positioning connecting rod. (105) Wheel-driven swing arm structure. (106) Inner propeller duct. (107) Propeller bidirectional shaft motor. (108) Inner propeller shaft. (109) Inner propeller. (110) Outer propeller hub shaft. (111) Outer hub propeller.

[0007] Connection method: Four sets of (101) propeller mounting bases are respectively installed on the four outer corners of the (301) fuselage main frame structure. (102) Propeller mounting fixed connecting rods are installed on (101) propeller mounting bases. (103) Propeller tilting and positioning electric module is installed on (102) propeller mounting fixed connecting rod. (104) Propeller tilting and positioning connecting rod is installed on (103) propeller tilting and positioning electric module. (105) Wheel swing arm structure is installed on (104) propeller tilting and positioning connecting rod. (106) Inner propeller duct is installed on (105) wheel swing arm structure. All components are fixed by screws, nuts and other fasteners. (107) Propeller bidirectional shaft motor is installed inside the (106) inner propeller duct. (108) Propeller inner shaft is connected to the inside of (107) propeller bidirectional shaft motor. (109) Inner propeller is installed on (108) propeller inner shaft. (110) The outer hub shaft of the propeller is connected to the outer side of the (107) bidirectional shaft motor of the propeller. (111) The outer hub propeller is mounted on the outer hub shaft of the (110) propeller. The duct and hub connecting rod are connected, and the various components of the propeller are fixed by special custom fasteners.

[0008] 3. Components of the (200) robot crawling support foot device in the mechanism (such as...) Figure 2 (As shown): (201) Support foot mounting base. (202) Hip joint module. (203) Upper support rod module. (204) Knee joint module. (205) Telescopic lower support rod module. (206) Ankle joint module. (207) Grip claw module.

[0009] Connection method: Four sets of (201) support foot mounting bases are respectively installed on four sets of (102) propeller device fixed connecting rods. The (202) hip joint module is installed on the (201) support foot mounting base. The (203) upper support rod module is installed on the (202) hip joint module. The (204) knee joint module is installed on the (203) upper support rod module. The (205) telescopic lower support rod module is installed on the (204) knee joint module. The (206) ankle joint module is installed on the (205) telescopic lower support rod module. The (207) grappling claw module is installed on the (206) ankle joint module. All are fixedly connected using screws, nuts, and other fasteners.

[0010] 4. Components of the (300) ventral cabin structure in the mechanism (such as...) Figure 3 (As shown): (301) Main frame structure of the fuselage. (302) Electric actuator for double-opening lower-mounted cabin door. (303) Double-opening lower-mounted cabin door. (304) Electric actuator for the wind deflector door. (305) Wind deflector door. (306) Energy storage and power supply device. (307) Central control device. (308) Cabin pressure and temperature control device.

[0011] Connection method: Two sets of (302) double-opening lower hull door electric actuators are installed on both sides below the (301) fuselage main frame structure. (303) Two double-opening lower hull doors are respectively installed on the (302) double-opening lower hull door electric actuators. (304) Two sets of wind deflector door electric actuators are respectively installed on the front and rear upper parts of the (301) fuselage main frame structure. (305) Two wind deflector doors are respectively installed on the (304) wind deflector door electric actuators. (306) The power storage and supply device, (307) the main control room, and (308) the hull pressure and temperature control device are respectively installed on the top of the (301) fuselage main frame structure. All components are fixedly connected with screws, nuts, and other fasteners.

[0012] 5. Components of the lifting robot arm device (400) in the mechanism (such as...) Figure 4 (As shown): (401) Robotic arm mounting base. (402) Robotic arm waist joint module. (403) Robotic arm shoulder joint module. (404) Robotic arm telescopic upper arm module. (405) Robotic arm elbow joint module. (406) Robotic arm forearm module. (407) Robotic arm wrist joint module. (408) Robotic arm wrist module. (409) Robotic arm finger joint module. (410) Robotic arm finger module.

[0013] Connection method: Eight sets of (401) robot arm mounting bases are respectively installed on the top inner side of the (301) main frame structure of the robot body. (402) Robot arm waist joint module is installed on (401) robot arm mounting base. (403) Robot arm shoulder joint module is installed on (402) robot arm waist joint module. (404) Robot arm telescopic upper arm module is installed on (403) robot arm shoulder joint module. (405) Robot arm elbow joint module is installed on (404) robot arm telescopic upper arm module. (406) Robot arm forearm module is installed on (405) robot arm elbow joint module. (407) Robot arm wrist joint module is installed on (406) robot arm forearm module. (408) Robot arm wrist module is installed on (407) robot arm wrist joint module. (409) Robot arm finger (410) joint module is installed on (408) robot arm wrist module. (410) The robotic hand finger module is mounted on the (409) robotic hand finger joint module. Each component is fixedly connected by firmware.

[0014] 6. Components of the (500) central control device in the mechanism (such as...) Figure 5 (As shown): (501) Central control unit. (502) Unmanned aerial flight control system. (503) Unmanned land driving control system. (504) Robot crawling and lifting control system. (505) External sensing vision system. (506) Internal sensing vision system. (507) Energy storage power supply and temperature control system.

[0015] Connection method: (501) The central control device, as the central control module, connects to all branch mechanisms and modules of the present invention. (507) The power supply system connects to all mechanisms and modules of the present invention to provide power. Each control system and sensing system interfaces with its respective equipment and devices, and is connected via wires, cables, and hoses. AI intelligent control and operation are achieved. The central control device is installed in the control room, and operators control it via remote control or give instructions to the robot for unmanned driving and operation.

[0016] 7. Components of the (600) final assembly in the organization (such as...) Figure 6 (As shown): (100) Dual-purpose land and air ducted propeller device. (200) Robot crawling support foot device. (300) Belly-type cabin structure. (400) Lifting and holding robot arm device.

[0017] Connection method: Four (100) dual-purpose land-air ducted propeller units are installed on the upper four corners of the outer side of the (300) ventral cabin structural frame. Four (200) robot crawling support feet are installed on the (102) propeller unit fixed connecting rods respectively. Eight (400) lifting robot arm units are installed on the upper inner side of the (300) ventral cabin structural frame respectively. Each device is installed in the corresponding position as shown in the figure and fixedly connected by welding and fasteners.

[0018] Working principle: 1. A dual-drive technology combining wheels and rotors is employed, with an external hub-type propeller added to the outside of the ducted propeller. Both propellers are driven by the same bidirectional shaft motor. A rotating positioning electric module changes the propeller's working position, enabling the robot to switch between aerial flight and land-based propulsion. Crawling functionality is achieved through robotic support legs.

[0019] 2. Use life sensors and visual recognition to search for and locate human bodies that need rescue and transport.

[0020] 3. Utilizing embodied intelligent robot technology, the flying robot flies or drives close to the target requiring rescue and transport. It then crawls onto the person using its four legs, adjusting its position and balance through bending and extending its legs. This facilitates the robotic arm lifting and carrying the person into the aircraft for transfer.

[0021] 4. Each robotic finger is equipped with a contact sensor. When lifting a human body, the robot uses both vision and touch to determine the areas where the person is likely to pass through, avoiding secondary injury. First, four robotic arms lift the person off the ground, then another four arms lift the remaining parts of the person, slowly and synchronously lifting them up and placing them back into the cabin. All cabin doors are then closed. The bottom-mounted cabin door is padded. After placing the person in the cabin, the robotic arms are withdrawn. The robotic arms have a telescopic function, allowing the arm length to be adjusted according to the person's position in different environments.

[0022] 5. It can learn through AI training. The flying robot has two operation modes: remote control by the operator and autonomous navigation.

[0023] Beneficial effects of this invention: I. Improve the technological level of field emergency rescue and battlefield medical care.

[0024] Second, reduce the workload and risks for rescue workers.

[0025] Third, to meet the special needs of rescue work in special environments. IV. Rapid transfer buys time for the treatment of the wounded.

[0026] Fifth, to provide new and effective solutions for military rescue operations. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Schematic diagram number and name: Figure 1 This is a schematic diagram of a dual-purpose (land and land) ducted propeller device.

[0029] 101. Propeller mounting base, 102. Propeller assembly fixed connecting rod.

[0030] 103. Propeller device flipping and positioning electric module.

[0031] 104. Propeller device flipping and positioning connecting rod.

[0032] 105. Wheel-driven swing arm structure.

[0033] 106. Internal propeller duct.

[0034] 107. Bidirectional propeller motor.

[0035] 108. Propeller inner shaft, 109. Internal propeller.

[0036] 110. Propeller outer hub shaft.

[0037] 111. Outer hub propeller.

[0038] Figure 2 This is a schematic diagram of the robot's crawling support foot device.

[0039] 201. Support foot mounting base.

[0040] 202. Hip joint module.

[0041] 203. Upper support rod module.

[0042] 204. Knee joint module.

[0043] 205. Telescopic lower support rod module.

[0044] 206. Ankle joint module.

[0045] 207. Gripper Module.

[0046] Figure 3 This is a schematic diagram of a ventral cabin structure.

[0047] 301. Main frame structure of the fuselage.

[0048] 302. Electric actuator for double-opening lower cabin doors.

[0049] 303. Double-opening lower-mounted cabin door.

[0050] 304. Electric actuator for the two-end windshield cabin doors.

[0051] 305. Both ends of the windproof engine compartment door.

[0052] 306. Energy storage and power supply device.

[0053] 307. Central control device.

[0054] 308. Cabin air pressure and temperature control device.

[0055] Figure 4 This is a schematic diagram of a lifting and carrying robotic arm device.

[0056] 401. Robot arm mounting base.

[0057] 402. Robotic arm waist joint module.

[0058] 403. Robotic arm shoulder joint module.

[0059] 404. Telescopic boom of a robotic arm.

[0060] 405. Robotic elbow joint module.

[0061] 406. Robotic forearm.

[0062] 407. Robotic wrist joint module.

[0063] 408. Robotic wrist.

[0064] 409. Robotic hand finger joint module.

[0065] 410. Robotic hand finger module.

[0066] Figure 5 This is a schematic diagram of an intelligent control system.

[0067] 501. Central control device.

[0068] 502. Unmanned aerial flight control system.

[0069] 503. Unmanned land driving control system.

[0070] 504. Robot crawling and lifting control system.

[0071] 505. External sensing vision system.

[0072] 506. Internal sensing vision system.

[0073] 507. Energy storage power supply temperature control system.

[0074] Figure 6 This is a schematic diagram of the final assembly.

[0075] 100. Dual-purpose ducted propeller device for both land and sea use.

[0076] 200. Robot crawling support foot device.

[0077] 300. Abdominal cabin structure.

[0078] 400. Lifting and holding robotic arm device.

[0079] Figure 7 (600-1) is a schematic diagram of the flight status in the air.

[0080] Figure 8 (600-2) is a schematic diagram of the land driving state.

[0081] Figure 9 (600-3) is a schematic diagram of the crawling and lifting state. Detailed Implementation

[0082] Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are also part of the present invention. The accompanying drawings of the embodiments of the present invention clearly and completely illustrate the technical solutions of the embodiments of the present invention.

[0083] The working principle of this invention is as follows: 1. A human body lifting and transport flying robot. Its features include: (100) a land-air dual-purpose ducted propeller device. (200) a robot crawling support foot device. (300) a ventral cabin structure. (400) a lifting robot arm device. (500) a central control device. (600) a final assembly. The rational combination of these mechanisms and systems. Through AI learning training and intelligent control, it can effectively solve the technical problems of emergency rescue and battlefield rescue personnel in areas inconvenient to enter. As well as the rescue of the wounded when manpower and transportation capacity are insufficient, and the lifting and transport of the remains of the fallen. It has unmanned aerial flight, land driving, and field crawling. It has multiple special functions such as finding and discovering people in need of rescue, and lifting and carrying the human body into the rudder for transport.

[0084] 2. Components of the (100) dual-purpose land and air ducted propeller device in the mechanism (such as...) Figure 1(As shown): (101) Propeller mounting base. (102) Propeller mounting fixed connecting rod. (103) Propeller mounting tilting and positioning electric module. (104) Propeller mounting tilting and positioning connecting rod. (105) Wheel-driven swing arm structure. (106) Inner propeller duct. (107) Propeller bidirectional shaft motor. (108) Inner propeller shaft. (109) Inner propeller. (110) Outer propeller hub shaft. (111) Outer hub propeller.

[0085] Connection method: Four sets of (101) propeller mounting bases are respectively installed on the four outer corners of the (301) fuselage main frame structure. (102) Propeller mounting fixed connecting rods are installed on (101) propeller mounting bases. (103) Propeller tilting and positioning electric module is installed on (102) propeller mounting fixed connecting rod. (104) Propeller tilting and positioning connecting rod is installed on (103) propeller tilting and positioning electric module. (105) Wheel swing arm structure is installed on (104) propeller tilting and positioning connecting rod. (106) Inner propeller duct is installed on (105) wheel swing arm structure. All components are fixed by screws, nuts and other fasteners. (107) Propeller bidirectional shaft motor is installed inside the (106) inner propeller duct. (108) Propeller inner shaft is connected to the inside of (107) propeller bidirectional shaft motor. (109) Inner propeller is installed on (108) propeller inner shaft. (110) The outer hub shaft of the propeller is connected to the outer side of the (107) bidirectional shaft motor of the propeller. (111) The outer hub propeller is mounted on the outer hub shaft of the (110) propeller. The duct and hub connecting rod are connected, and the various components of the propeller are fixed by special custom fasteners.

[0086] 3. Components of the (200) robot crawling support foot device in the mechanism (such as...) Figure 2 (As shown): (201) Support foot mounting base. (202) Hip joint module. (203) Upper support rod module. (204) Knee joint module. (205) Telescopic lower support rod module. (206) Ankle joint module. (207) Grip claw module.

[0087] Connection method: Four sets of (201) support foot mounting bases are respectively installed on four sets of (102) propeller device fixed connecting rods. The (202) hip joint module is installed on the (201) support foot mounting base. The (203) upper support rod module is installed on the (202) hip joint module. The (204) knee joint module is installed on the (203) upper support rod module. The (205) telescopic lower support rod module is installed on the (204) knee joint module. The (206) ankle joint module is installed on the (205) telescopic lower support rod module. The (207) grappling claw module is installed on the (206) ankle joint module. All are fixedly connected using screws, nuts, and other fasteners.

[0088] 4. Components of the (300) ventral cabin structure in the mechanism (such as...) Figure 3 (As shown): (301) Main frame structure of the fuselage. (302) Electric actuator for double-opening lower-mounted cabin door. (303) Double-opening lower-mounted cabin door. (304) Electric actuator for the wind deflector door. (305) Wind deflector door. (306) Energy storage and power supply device. (307) Central control device. (308) Cabin pressure and temperature control device.

[0089] Connection method: Two sets of (302) double-opening lower hull door electric actuators are installed on both sides below the (301) fuselage main frame structure. (303) Two double-opening lower hull doors are respectively installed on the (302) double-opening lower hull door electric actuators. (304) Two sets of wind deflector door electric actuators are respectively installed on the front and rear upper parts of the (301) fuselage main frame structure. (305) Two wind deflector doors are respectively installed on the (304) wind deflector door electric actuators. (306) The power storage and supply device, (307) the main control room, and (308) the hull pressure and temperature control device are respectively installed on the top of the (301) fuselage main frame structure. All components are fixedly connected with screws, nuts, and other fasteners.

[0090] 5. Components of the lifting robot arm device (400) in the mechanism (such as...) Figure 4 (As shown): (401) Robotic arm mounting base. (402) Robotic arm waist joint module. (403) Robotic arm shoulder joint module. (404) Robotic arm telescopic upper arm module. (405) Robotic arm elbow joint module. (406) Robotic arm forearm module. (407) Robotic arm wrist joint module. (408) Robotic arm wrist module. (409) Robotic arm finger joint module. (410) Robotic arm finger module.

[0091] Connection method: Eight sets of (401) robot arm mounting bases are respectively installed on the top inner side of the (301) main frame structure of the robot body. (402) The robot arm waist joint module is installed on (401) On the robot arm mounting base. (403) The robot arm shoulder joint module is mounted on (402) the robot arm waist joint module. (404) The robot arm retractable upper arm module is mounted on (403) the robot arm shoulder joint module. (405) The robot arm elbow joint module is mounted on (404) the robot arm retractable upper arm module. (406) The robot arm forearm module is mounted on (405) the robot arm elbow joint module. (407) The robot arm wrist joint module is mounted on (406) the robot arm forearm module. (408) The robot arm wrist module is mounted on (407) the robot arm wrist joint module. (409) The robot arm finger (410) joint module is mounted on (408) the robot arm wrist module. (410) The robot arm finger module is mounted on (409) the robot arm finger joint module. Each component is fixedly connected with firmware.

[0092] 6. Components of the (500) central control device in the mechanism (such as...) Figure 5 (As shown): (501) Central control unit. (502) Unmanned aerial flight control system. (503) Unmanned land driving control system. (504) Robot crawling and lifting control system. (505) External sensing vision system. (506) Internal sensing vision system. (507) Energy storage power supply and temperature control system.

[0093] Connection method: (501) The central control device, as the central control module, connects to all branch mechanisms and modules of the present invention. (507) The power supply system connects to all mechanisms and modules of the present invention to provide power. Each control system and sensing system interfaces with its respective equipment and devices, and is connected via wires, cables, and hoses. AI intelligent control and operation are achieved. The central control device is installed in the control room, and operators control it via remote control or give instructions to the robot for unmanned driving and operation.

[0094] 7. Components of the (600) final assembly in the organization (such as...) Figure 6 (As shown): (100) Dual-purpose land and air ducted propeller device. (200) Robot crawling support foot device. (300) Belly-type cabin structure. (400) Lifting and holding robot arm device.

[0095] Connection method: Four (100) dual-purpose land-air ducted propeller units are installed on the upper four corners of the outer side of the (300) ventral cabin structural frame. Four (200) robot crawling support feet are installed on the (102) propeller unit fixed connecting rods respectively. Eight (400) lifting robot arm units are installed on the upper inner side of the (300) ventral cabin structural frame respectively. Each device is installed in the corresponding position as shown in the figure and fixedly connected by welding and fasteners.

[0096] As described above, by means of the above-described technical solution of the present invention, the present invention has the following advantages; 1. A dual-drive technology combining wheels and rotors is employed, with an external hub-type propeller added to the outside of the ducted propeller. Both propellers are driven by the same bidirectional shaft motor. A rotating positioning electric module changes the propeller's working position, enabling the robot to switch between aerial flight and land-based propulsion. Crawling functionality is achieved through robotic support legs.

[0097] 2. Use life sensors and visual recognition to search for and locate human bodies that need rescue and transport.

[0098] 3. Utilizing embodied intelligent robot technology, the flying robot flies or drives close to the target requiring rescue and transport. It then crawls onto the person using its four legs, adjusting its position and balance through bending and extending its legs. This facilitates the robotic arm lifting and carrying the person into the aircraft for transfer.

[0099] 4. Each robotic finger is equipped with a contact sensor. When lifting a human body, the robot uses both vision and touch to determine the areas where the person is likely to pass through, avoiding secondary injury. First, four robotic arms lift the person off the ground, then another four arms lift the remaining parts of the person, slowly and synchronously lifting them up and placing them back into the cabin. All cabin doors are then closed. The bottom-mounted cabin door is padded. After placing the person in the cabin, the robotic arms are withdrawn. The robotic arms have a telescopic function, allowing the arm length to be adjusted according to the person's position in different environments.

[0100] 5. It can learn through AI training. The flying robot has two operation modes: remote control by the operator and autonomous navigation.

[0101] Beneficial effects of this invention: I. Improve the technological level of field emergency rescue and battlefield medical care.

[0102] Second, reduce the workload and risks for rescue workers.

[0103] Third, to meet the special needs of rescue work in special environments. IV. Rapid transfer buys time for the treatment of the wounded.

[0104] Fifth, to propose new and effective solutions for military rescue operations.

Claims

1. A human-carrying and transporting flying robot. Its features include: (100) a dual-purpose land and air ducted propeller device. (200) a robot crawling support foot device. (300) a ventral cabin structure. (400) a lifting robot arm device. (500) a central control device. (600) a final assembly. The rational combination of these mechanisms and systems. Through AI learning and training and intelligent control, it can effectively solve the technical problems of emergency rescue and battlefield rescue personnel in areas that are inconvenient to enter. And the technical problems of wounded rescue when manpower and transportation capacity are insufficient, as well as the lifting and transfer of the remains of fallen personnel. It has unmanned aerial flight, land driving, and field crawling capabilities. It can find and discover people in need of rescue, and use robots to lift and carry the human body into the rudder for transport and transfer.

2. The human body lifting and transport flying robot according to claim 1 is characterized by the following components in the mechanism: (100) a land-air dual-purpose ducted propeller device (as shown in Figure 1): (101) a propeller device mounting base; (102) a propeller device fixing connecting rod.

3. (103) Propeller device tilting and positioning electric module. (104) Propeller device tilting and positioning connecting rod. (105) Wheel swing arm structure. (106) Inner propeller duct. (107) Propeller bidirectional shaft motor. (108) Inner propeller shaft, (109) Inner propeller. (110) Outer propeller hub shaft. (111) Outer hub propeller. Connection method: Four sets of (101) propeller device mounting seats are respectively installed on the four corners of the outer side of the (301) fuselage main frame structure. (102) Propeller device fixed connecting rod is installed on (101) propeller device mounting seat. (103) Propeller device tilting and positioning electric module is installed on (102) propeller device fixed connecting rod. (104) Propeller device tilting and positioning connecting rod is installed on (103) propeller device tilting and positioning electric module. (105) Wheel swing arm structure is installed on (104) propeller device tilting and positioning connecting rod. (106) The inner propeller duct is mounted on the (105) wheel swing arm structure. All components are secured with screws, nuts, and other fasteners. (107) The propeller bidirectional shaft motor is mounted inside the (106) inner propeller duct. (108) The inner propeller shaft is connected to the inner side of the (107) propeller bidirectional shaft motor. (109) The inner propeller is mounted on the (108) propeller inner shaft. (110) The outer propeller hub shaft is connected to the outer side of the (107) propeller bidirectional shaft motor. (111) The outer hub propeller is mounted on the (110) propeller outer hub shaft. The duct and hub are connected via a connecting rod, and all propeller components are secured with specially customized fasteners.

4. The human body lifting and transport flying robot according to claim 1 is characterized by the following components of the robot crawling support foot device (200) in the mechanism (as shown in Figure 2): (201) support foot mounting base. (202) hip joint module. (203) upper support rod module. (204) knee joint module. (205) retractable lower support rod module. (206) ankle joint module. (207) gripper module. Connection method: The four sets of (201) support foot mounting bases are respectively installed on the four sets of (102) propeller device fixed connecting rods. The (202) hip joint module is installed on the (201) support foot mounting base. The (203) upper support rod module is installed on the (202) hip joint module. The (204) knee joint module is installed on the (203) upper support rod module. The (205) retractable lower support rod module is installed on the (204) knee joint module. (206) The ankle joint module is installed on the (205) telescopic lower support module. (207) The gripper module is installed on the (206) ankle joint module. The connection is secured using screws, nuts, and other fasteners.

5. The human body lifting and transfer flying robot according to claim 1 is characterized by the following components of the (300) abdominal cabin structure (as shown in Figure 3): (301) main frame structure of the fuselage. (302) electric device for double-opening lower cabin door. (303) double-opening lower cabin door. (304) electric device for windshield cabin door. (305) windshield cabin door. (306) power storage and power supply device. (307) central control device. (308) cabin air pressure and temperature control device. Connection method: two sets of (302) double-opening lower cabin door electric devices are installed on both sides below the (301) main frame structure of the fuselage. (303) two double-opening lower cabin doors are respectively installed on the (302) double-opening lower cabin door electric devices. (304) two sets of windshield cabin door electric devices are respectively installed on the front and rear upper parts of the (301) main frame structure of the fuselage. (305) The two wind deflector doors are respectively installed on the wind deflector door electric actuator (304). (306) The power storage and power supply device, (307) the main control room, and (308) the cabin air pressure and temperature control device are respectively installed on the top of the main frame structure of the fuselage (301). Each component is fixedly connected with screws, nuts and other fasteners.

6. The human body lifting and transport flying robot according to claim 1 is characterized by the following components of the lifting robot arm device (400) in the mechanism (as shown in Figure 4): (401) robot arm mounting base; (402) robot arm waist joint module; (403) robot arm shoulder joint module; (404) robot arm telescopic upper arm module; and (405) robot arm elbow joint module. (406) Robotic arm forearm module. (407) Robotic arm wrist joint module. (408) Robotic arm wrist module. (409) Robotic arm finger joint module. (410) Robotic arm finger module. Connection method: Eight sets of (401) robotic arm mounting bases are respectively installed on the top inner side of the (301) main frame structure. (402) Robotic arm waist joint module is installed on (401) robotic arm mounting base. (403) Robotic arm shoulder joint module is installed on (402) robotic arm waist joint module. (404) Robotic arm telescopic upper arm module is installed on (403) robotic arm shoulder joint module. (405) Robotic arm elbow joint module is installed on (404) robotic arm telescopic upper arm module. (406) Robotic arm forearm module is installed on (405) robotic arm elbow joint module. (407) Robotic arm wrist joint module is installed on (406) robotic arm forearm module. (408) Robotic arm wrist module is installed on (407) robotic arm wrist joint module. (409) The robotic hand finger joint module is mounted on the (408) robotic hand wrist module. (410) The robotic hand finger module is mounted on the (409) robotic hand finger joint module. Each component is fixedly connected with firmware.

7. The human body lifting and transport flying robot according to claim 1 is characterized by the following components in the (500) central control device (as shown in Figure 5): (501) central control device; (502) unmanned aerial flight control system; (503) unmanned land driving control system; (504) robot crawling and lifting control system; (505) external sensing vision system; (506) internal sensing vision system; (507) energy storage power supply and temperature control control system. Connection method: (501) The central control device is connected to all branch mechanisms and modules of the present invention as the central control module. (507) The power supply system is connected to all mechanisms and modules of the present invention to provide power. Each control system and sensing system is connected to its respective equipment and devices through wires, cables, and hoses. AI intelligent control operation is realized. The central control device is installed in the control room, and the operator controls it through a remote control device or gives instructions to the robot for unmanned driving and operation.

8. The human body lifting and transport flying robot according to claim 1 is characterized by the following components in the (600) assembly (as shown in Figure 6): (100) a land-air dual-purpose ducted propeller device; (200) a robot crawling support foot device; (300) a ventral cabin structure; and (400) a lifting robot arm device. The connection method is as follows: four sets of (100) land-air dual-purpose ducted propeller devices are installed on the upper four corners of the outer side of the (300) ventral cabin structure frame. Four sets of (200) robot crawling support foot devices are respectively installed on the (102) propeller device fixed connecting rods. Eight sets of (400) lifting robot arm devices are respectively installed on the upper inner side of the (300) ventral cabin structure frame. Each device is installed in its corresponding position as shown in the figure and is fixedly connected by welding and fasteners.

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