CN217477022U - Deformable small four-rotor four-foot flying robot - Google Patents

Abstract

The utility model discloses a small-size four rotors four-footed of flexible flies to climb robot, including fuselage, four rotor subassemblies and four shank subassemblies, wherein: the airplane body comprises a mounting seat, a flight climbing control module, an adjusting module and a battery, wherein the adjusting module comprises a power module and an electric regulator; the leg component realizes rotation with at least two degrees of freedom, and comprises at least two leg sections, a joint driving steering engine and a wheel leg switching component, wherein the wheel leg switching component can be switched into a sole or a roller; the rotor subassembly is connected with shank subassembly one-to-one, including screw and motor, and the screw passes through motor drive rotation, and the motor is connected with electricity accent electricity. And the air-ground autonomous switching can be realized, the motion modes under different environments are generated, the stability and diversity of the air-ground motion are improved, the maneuverability and the adaptability are better under the complex environment, and the requirement of miniaturization reconnaissance is met.

Description

Deformable small four-rotor four-foot flying robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to small-size four rotors of flexible four-footed flies to climb robot.

Background

The miniature robot is a multi-disciplinary crossed high-precision technology, has small size, light weight and high maneuverability, shows great potential advantages and application values in the modern multi-application field, and becomes a science and technology leading-edge subject of the current advanced countries. At present, the research of the miniature robot is still in the primary development stage, especially the research and design of the centimeter-sized robot, and there is a great gap from the real miniaturization and intellectualization, and the strict limitations on the self quality, size, driver power and the like of the robot bring great challenges. With the increasing complexity of the high-risk scenes, the operation requirement of the real execution task cannot be met by only depending on a single motion form. Inspired by nature life, insects as a class of animals with high maneuverability and high adaptability mostly have two motion forms of flight and crawling, and the simulation of the appearance structure and the motion characteristic is an effective method for improving the air-ground cooperative motion capability of the robot.

In the prior art, the article Zhang r, Wu y, Zhang l, Xu c, and Gao f, Autonomous and Adaptive Navigation for terrestial-advanced models Vehicles, IEEE Robotics and Automation Letters,2022,7(2):3008 and 3015, a four-rotor based wheeled robot is proposed, comprising two passive wheels and a tiltable four-rotor, and capable of Autonomous switching between flight and roll motion modes by means of motion planning and control algorithms. Chinese patent No. CN108502044B discloses a combined and separated type rotor and foot type mobile operation robot, which includes a multi-rotor flight mechanism, a multi-foot walking operation mechanism, and a combined and separated mechanism for combining and separating the multi-rotor flight mechanism and the multi-foot walking operation mechanism. The combined separating mechanism comprises an upper connecting module and a lower connecting module, which are respectively arranged at the bottom of the multi-rotor flight mechanism and the top of the multi-foot walking operating mechanism, and can realize the functions of air flight, support surface flight and climbing, land climbing and walking and corresponding operation through locking and matching between the upper connecting module and the lower connecting module, and can complete multi-mode air-ground cooperative operation through combined separation of the robot mechanism.

The combined type flying and climbing robot adopts a simple combined configuration, has a relatively complex structure, is heavy in self weight, large in volume, low in integration level and large in air resistance, and greatly weakens the maneuvering performance of the flying robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to the above-mentioned problem, a small-size four rotors quadruped of flexible flies to climb robot is proposed, can transform corresponding motion mode according to ambient condition self-adaptation ground, has small-size lightweight, air resistance is little, disguised good, hinder the advantage that the performance is good, the time of endurance is long more, has better mobility and adaptability under complicated land and air operation environment, can satisfy the operation demand of miniaturized reconnaissance demand and complicated land and air environment.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a small-size four rotors four-footed of flexible flies to climb robot, including fuselage, four rotor subassemblies and four shank subassemblies, wherein:

the airplane body comprises a mounting seat, and a flying crawling control module, an adjusting module and a battery which are all mounted on the mounting seat, wherein the adjusting module comprises a power module and an electric controller, and the battery, the power module, the flying crawling control module and the electric controller are sequentially and electrically connected;

the leg component is used for realizing the rotation of at least two degrees of freedom and comprises at least two leg sections, at least two joint driving steering engines and a wheel leg switching component, each joint driving steering engine is connected with the leg section in a one-to-one correspondence manner and is electrically connected with the flying control module, each leg section is sequentially connected and is driven to rotate by the corresponding joint driving steering engine, the wheel leg switching component comprises a roller and a sole, the sole is rotationally connected with the rotating shaft of the roller, the tail end of the leg component is switched by rotating the sole to be a sole or a roller, each leg component is distributed on the mounting seat in a rectangular manner, and the corresponding connected joint driving steering engines are used for driving to realize the horizontal swing around the mounting seat;

the rotor subassembly, including screw and motor, the screw passes through motor drive rotation, and the motor corresponds with shank subassembly one-to-one to be fixed in on the shank subassembly except that the mount pad is connected on the leg festival all the other arbitrary leg festival, the motor still is connected with the electricity, and under the aerial flight mode, the screw is in the horizontality, and the shank subassembly is in "T" type, "H" type, "O" type, "four kinds of flight motion modes of X" type conversion.

Preferably, the mount pad includes a plurality of connecting rods and sets gradually and first backup pad, second backup pad and the third backup pad that is parallel to each other, and first backup pad and second backup pad are connected, and the both ends of connecting rod are connected with second backup pad and third backup pad respectively, flies to climb control module and installs on first backup pad, and adjusting module wears to locate in the second backup pad, and the battery is located between second backup pad and the third backup pad.

Preferably, the rotor assembly further comprises a limit support plate connected with the motor for realizing the rotation limit of the leg section connected with the rotor assembly.

Preferably, the number of the leg sections is two, the leg sections comprise a thigh section and a calf section, the number of the joint driving steering engines is two, the joint driving steering engines comprise hip joint driving steering engines and knee joint driving steering engines, the hip joint driving steering engines are connected with the mounting seat and used for driving the thigh section to horizontally swing around the mounting seat, the knee joint driving steering engines are used for driving the calf section to vertically swing around the thigh section, and the wheel leg switching assembly is arranged at the tail end of the calf section.

Preferably, the horizontal swinging range of the thigh segment is 180 degrees, and the vertical swinging range of the lower leg segment is 90 degrees.

Preferably, each leg section is of a hollow structure.

Preferably, the propellers are distributed in a staggered manner along the height direction in a horizontal state.

Preferably the propeller is also provided with a roll boot and the wheeling or suction movement of the roll boot is achieved by propeller propulsion.

Preferably, the end of the sole is provided with a claw thorn mechanism or an adhesion mechanism.

Preferably, the deformable small quadrotor quadruped flying robot is provided with at least one of a visual sensor, an auditory sensor, an olfactory sensor and a touch sensor, and each sensor is electrically connected with the flying control module.

Compared with the prior art, the beneficial effects of the utility model are that:

1) the robot combines the aerial rotor wing assembly and the ground leg assembly, and directly integrates the rotor wing assembly on the leg assembly to form an integrated structure, so as to form a four-rotor aircraft with four rotatable legs, so that the robot has the capability of cooperative operation in the air and the ground (such as walking, flying, wall climbing, operation and object transportation), has the motion flexibility of the flying robot and the terrain adaptability of a foot-type robot, can realize large-range and long-distance global observation in the air and small-range and close-range accurate positioning in the ground, solves the problems of poor concealment of the flying robot and slow moving speed of a crawling robot, improves the maneuverability and adaptability of the robot under a complex ground and air operation environment, realizes light weight, miniaturization, integration and intellectualization, and has small air resistance, good obstacle crossing performance and long endurance time, the small reconnaissance requirement and the operation requirement of the complex air-ground environment can be met;

2) the deformable leg component is adopted and matched with the rotor component to generate different motion modes such as T-shaped, H-shaped, O-shaped and X-shaped during air flight, corresponding flight motion modes are adaptively changed according to environmental conditions, special operation tasks such as passing through narrow limited areas and ultra-close range observation on a target object can be realized, and the device has a grabbing function and a vertical surface wall climbing function;

3) compared with the single-wheel or single-leg type air-ground amphibious robot in the prior art, the device is provided with the wheel-leg switching assembly, and the tail end of the leg switching assembly is provided with the roller or the sole, so that the device has high-efficiency and flexible movement speed and ground obstacle crossing capability;

4) the method can adaptively realize the autonomous switching of the air and ground, generate motion modes in different environments, improve the stability and diversity of the air and ground motion and realize intelligent control.

Drawings

Fig. 1 is a schematic structural view of the flying crawling robot of the utility model;

fig. 2 is a schematic view of the structure of the fuselage of the present invention;

fig. 3 is a schematic structural view of the leg assembly of the present invention when it is switched to a roller;

FIG. 4 is a schematic structural view of the leg assembly of the present invention when it is switched to the sole;

fig. 5 is a schematic structural view of the flying robot of the present invention when the rollers slide;

fig. 6 is a schematic view of an "H" type structure of the flying and crawling robot of the present invention in an air flight mode;

fig. 7 is a schematic view of an "O" shaped structure of the flying robot of the present invention in an aerial flight mode;

fig. 8 is a schematic structural view of a ground crawling mode of the flying crawling robot of the present invention;

fig. 9 is a schematic view of the dynamic deformation crossing of the flying robot of the present invention.

Description of reference numerals: 1. a body; 2. a rotor assembly; 3. a leg assembly; 11. a first support plate; 12. a second support plate; 13. a third support plate; 14. a flight control module; 15. an adjustment module; 16. a battery; 17. a connecting rod; 121. a fixed seat; 21. a propeller; 22. a motor; 23. a limiting support plate; 31. the hip joint drives the steering engine; 32. a thigh segment; 33. the knee joint drives the steering engine; 34. a lower leg segment; 35. a wheel leg switching assembly; 351. a roller; 352. the sole of the foot.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

As shown in fig. 1-9, a deformable small quadrotor quadruped flying climbing robot comprises a body 1, four rotor assemblies 2 and four leg assemblies 3, wherein:

the airplane body 1 comprises a mounting seat, and a flight climbing control module 14, an adjusting module 15 and a battery 16 which are all mounted on the mounting seat, wherein the adjusting module 15 comprises a power module and an electric regulator, and the battery 16, the power module, the flight climbing control module 14 and the electric regulator are electrically connected in sequence;

the leg component 3 is used for realizing rotation of at least two degrees of freedom and comprises at least two leg sections, at least two joint driving steering engines and a wheel leg switching component 35, each joint driving steering engine is connected with the leg sections in a one-to-one correspondence mode and is electrically connected with the flying climbing control module, each leg section is sequentially connected and drives the steering engines to rotate through the corresponding joint, the wheel leg switching component 35 comprises a roller 351 and a sole 352, the sole 352 is rotationally connected with a rotating shaft of the roller 351, the tail end of the leg component 3 is switched to be the sole 352 or the roller 351 through the rotating sole 352, each leg component 3 is distributed on the mounting seat in a rectangular shape, and horizontal swinging around the mounting seat is realized through driving of the correspondingly connected joint driving steering engines;

rotor subassembly 2, including screw 21 and motor 22, screw 21 passes through motor 22 drive rotation, and motor 22 and shank subassembly 3 one-to-one to be fixed in on shank subassembly 3 except that on the leg joint that the mount pad links on all the other arbitrary leg joints, motor 22 still with the electricity be connected, under the aerial flight mode, screw 21 is in the horizontality, shank subassembly 3 is in the conversion between four kinds of flight motion modals of "T" type, "H" type, "O" type, "X" type.

Wherein, for realizing the lightweight, each leg section can adopt the fretwork frame, can adopt the double-deck fretwork horn of integral type if the leg section of being connected with gyro wheel 351, the axis of rotation of gyro wheel 351 is located the space position between the double-deck fretwork horn and rotates with double-deck fretwork horn to be connected, gyro wheel 351 is the follower, sole 352 rotates with gyro wheel 351's axis of rotation to be connected, if the axis of rotation of sole 352 and the axis of rotation coaxial connection of gyro wheel 351, the end that switches leg subassembly 3 through rotatory sole 352 is sole 352 or gyro wheel 351, sole 352 can be arbitrary shape, accessible is spacing with double-deck fretwork horn joint when using or retrieving, but manual switch. The electric regulation (namely an electronic speed regulator) is used for controlling the motor to complete the specified speed and action.

Under the prerequisite that does not increase mechanical structure complexity and reduce the platform controllability, this robot adopts the integral type structure of lighter-weight, more integrating: the leg component adopts a hollow design on the premise of ensuring the rigidity, and each single leg is embedded with the degrees of freedom of a plurality of active joints (realized by driving a steering engine through joints) and a passive joint (a wheel leg switching component); the rotor assemblies are directly integrated on the leg assemblies in a one-to-one correspondence manner to form an integrated structure, so that a four-rotor aircraft with four rotatable leg sections is formed, the four leg assemblies are arranged on the diagonal line of the aircraft body 1 in a symmetrical manner, and the rotor structure is added on the active joint to realize dynamic deformable flight motion; an auxiliary wheel structure is added on the passive joint, so that the rapid movement of a smooth surface is realized. Therefore, the flying robot can realize the motion switching under different environments of the land and the air through autonomous adjustment, and flexible maneuvering performance and environment self-adaption performance are shown.

Different flight motion modes (such as T-shaped, H-shaped, O-shaped and X-shaped modes) are generated through air dynamic deformation, if the T-shaped motion mode is closer to a target, the grabbing function is realized through the H-shaped motion mode, the four-leg-to-four-claw grabbing function is realized in an expanded mode, the robot can be suitable for different task scenes (such as walking, narrow space flight, vertical surface wall climbing, ultra-close range reconnaissance, object grabbing and transportation and the like), the environment adaptivity of the robot is greatly improved, the disadvantages that the concealment of a single flight robot is poor and the motion speed of the single crawling robot is low are overcome, the motion is stable and flexible, and the energy consumption is low.

On land, when the angle of the propeller of the robot is adjusted to be horizontal, the robot can start the flying mode in the air, and the robot can fly by cooperation of the four rotor assemblies, and can freely select no deformation or dynamic deformation in the air, and the dynamic deformation generates a T shape, an H shape, an O shape, an X shape and the like to adapt to different environments, as shown in fig. 9: a is in an X shape, b is in an O shape, c is in an H shape, d is in a T shape, a gray square represents an obstacle, and the deformation state of the flying robot during dynamic crossing is sequentially displayed from a to d. In the embodiment, the takeoff weight of the robot is less than 800g, and the overall deformation size can be reduced by 10 cm in the circumferential direction; in the air, the robot can freely and vertically fall and rapidly adjust to a ground crawling mode, crawling is realized through cooperation of the four leg components, in view of the fact that the roller 351 is a driven wheel, and crawling on the ground is realized by switching the tail ends of the leg components 3 to be the soles 352 through rotating the soles 352; when crawling on a vertical surface, the three-dimensional robot can dynamically deform into a T shape and travel under the driving of four rotor assemblies. Therefore, the flying robot can be switched autonomously in a complex land-air environment, can dynamically deform and traverse in a narrow and limited environment, and can cross obstacles in rugged terrain by imitating the structure of the insect leg and foot. It should be noted that, the robot can also adjust the propeller 21 to be vertically arranged through a waterproof design to realize water sports.

The system can meet the requirement of miniaturization reconnaissance, is suitable for the operation requirement of complex land-air environments, can execute various security tasks such as rescue and information collection of complex high-risk environments (such as jungles, mountain areas, urban building groups, ocean islands and the like), and has potential use value in the fields of agricultural protection, forest fire prevention, tunnel detection and geological exploration, high-altitude building and equipment detection, post-disaster search and rescue, reconnaissance, positioning, tracking, patrol, air-ground mobile signal base stations, tunnel/pipeline/cave narrow space operation, harmful gas detection and the like.

In one embodiment, the mounting seat comprises a plurality of connecting rods 17, a first supporting plate 11, a second supporting plate 12 and a third supporting plate 13 which are arranged in sequence and are parallel to each other, the first supporting plate 11 is connected with the second supporting plate 12, two ends of each connecting rod 17 are respectively connected with the second supporting plate 12 and the third supporting plate 13, the flying climbing control module 14 is mounted on the first supporting plate 11, the adjusting module 15 is arranged on the second supporting plate 12 in a penetrating manner, and the battery 16 is located between the second supporting plate 12 and the third supporting plate 13. It should be noted that the mounting base may also have any configuration.

In one embodiment, rotor assembly 2 further includes a limit support plate 23 coupled to motor 22 for effecting rotational limit of a leg link to which rotor assembly 2 is coupled. Spacing backup pad 23 is connected between corresponding motor 22 and the leg section, through the spacing effect protection rotor subassembly 2 not impaired.

In one embodiment, the number of the leg sections is two, and the two leg sections include a thigh section 32 and a shank section 34, the number of the joint driving steering engines is two, and the two joint driving steering engines include a hip joint driving steering engine 31 and a knee joint driving steering engine 33, the hip joint driving steering engine 31 is connected with the mounting base and used for driving the thigh section 32 to horizontally swing around the mounting base, the knee joint driving steering engine 33 is used for driving the shank section 34 to vertically swing around the thigh section 32, and the wheel-leg switching component 35 is arranged at the tail end of the shank section 34. The four corners of the mounting seat can be provided with fixing seats 121, hip joint driving steering engines 31 are installed in the fixing seats 121, the two-degree-of-freedom motion of the leg component 3 is realized by driving the thigh sections 32 and the shank sections 34 through the joint driving steering engines, and the number of the leg sections and the joint driving steering engines of the leg component 3 can be adjusted according to actual requirements so as to meet different application requirements. Rotor assembly 2 sets up on shank festival 34, realizes rotor assembly 2 direction adjustment through adjusting shank festival 34.

In one embodiment, the range of horizontal swing of the thigh section 32 is 180 ° and the range of vertical swing of the shank section 34 is 90 °. Or the motion range can be adjusted according to actual requirements.

In one embodiment, each of the leg sections is a hollow structure. Contributes to weight reduction.

In one embodiment, the propellers 21 are arranged in a staggered manner in the height direction in the horizontal state. In this embodiment, the propellers 21 are in the same horizontal plane in the air flight mode. Or can also help to further reduce the size of the robot under the condition that the propeller 21 is designed to be staggered in height to ensure normal operation.

In one embodiment, the propeller 21 is also provided with a roll boot and the roll boot is wheeled or sucked by the propeller 21 propulsion. If the propeller 21 is adjusted to be vertical when the roll boot and the propeller 21 rotate synchronously, the function of the roll boot can be switched to be wheels, and wheeled movement is realized under the propelling of the propeller 21; or when the propeller 21 is adjusted to be in an upside-down state, the function of adsorption movement is realized under the propulsion of the propeller 21.

In one embodiment, the distal end of the sole 352 is provided with a claw or adhesive mechanism. The claw thorn mechanism or the adhesion mechanism can be a robot end effector which is common in the prior art and is used for realizing the grabbing or adhesion function, such as a clamping jaw or a sucking disc and the like, and can realize the vertical movement or the adsorption on the surfaces of different materials.

In one embodiment, the deformable small quadrotor quadruped crawling robot is provided with at least one of a visual sensor, an auditory sensor, an olfactory sensor and a tactile sensor, and each sensor is electrically connected with the crawling control module 14. The type, the number and the model of each sensor are determined according to actual requirements, and the robot has the sensing capability on the environment by arranging the sensors, so that the intelligent level is improved.

A land-air autonomous switching control process of the flying and crawling robot mainly comprises motion planning and motion control. The robot carries out information acquisition through the perception of airborne sensor to the environment, the control module that flies to climb realizes fixing a position and founding the map after receiving the information that the sensor feedbacks, carry out route planning through fixing a position and founding the map, accessible path planning method optimization orbit among the prior art (including land motion route and aerial motion route), the robot that flies to climb carries out planning and control of cross-domain motion orbit according to the orbit motion that plans well, consider the topography change, can search ground mode in advance in order to reduce the energy consumption that flies to climb the robot, self-adaptation ground realization aerial flight motion or ground crawl motion.

The robot forms a four-rotor aircraft with four rotatable legs by combining an aerial rotor assembly and a ground leg assembly and directly integrating the rotor assembly on the leg assembly to form an integrated structure, so that the robot has the ground-air cooperative operation capability (such as walking, flying, wall climbing, manipulating and transporting objects), has the motion flexibility of the flying robot and the terrain adaptability of a foot-type robot, can realize large-range and long-distance global observation in the air and small-range and short-range accurate positioning in the ground, solves the problems of poor concealment of the flying robot and low moving speed of the crawling robot, and improves the maneuverability and adaptability of the robot in a complex ground-air operation environment, the air-conditioning system realizes light weight, miniaturization, integration and intellectualization, has small air resistance, good obstacle crossing performance and long endurance time, and can meet the requirements of miniaturization reconnaissance and operation in complex land-air environments; the deformable leg component is adopted and matched with the rotor component to generate different motion modes such as T-shaped, H-shaped, O-shaped and X-shaped during air flight, corresponding flight motion modes are adaptively changed according to environmental conditions, special operation tasks such as passing through narrow limited areas and ultra-close range observation on a target object can be realized, and the device has a grabbing function and a vertical surface wall climbing function; compared with the single-wheel or single-leg type air-ground amphibious robot in the prior art, the device is provided with the wheel-leg switching assembly, and the tail end of the leg switching assembly is provided with the roller or the sole, so that the device has high-efficiency and flexible movement speed and ground obstacle crossing capability; the method can adaptively realize the autonomous switching of the air and ground, generate motion modes in different environments, improve the stability and diversity of the air and ground motion and realize intelligent control.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express the more specific and detailed embodiments described in the present application, but not be construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.

Claims (10)

1. The utility model provides a small-size four rotors four-footed of flexible flies to climb robot which characterized in that: the small-size four rotors of flexible four-footed flies to climb robot includes fuselage (1), four rotor subassembly (2) and four shank subassembly (3), wherein:

the airplane body (1) comprises a mounting seat, and a flying climbing control module (14), an adjusting module (15) and a battery (16) which are all mounted on the mounting seat, wherein the adjusting module (15) comprises a power module and an electric regulator, and the battery (16), the power module, the flying climbing control module (14) and the electric regulator are sequentially and electrically connected;

the leg component (3) is used for realizing the rotation of at least two degrees of freedom and comprises at least two leg sections, at least two joint driving steering engines and a wheel leg switching component (35), wherein the joint driving steering engines are correspondingly connected with the leg sections one by one and are electrically connected with the fly climbing control module, the leg sections are sequentially connected and are driven to rotate by the corresponding joint driving steering engines, the wheel leg switching component (35) comprises a roller (351) and a sole (352), the sole (352) is rotationally connected with the rotating shaft of the roller (351), the tail ends of the leg components (3) are switched into the sole (352) or the roller (351) by rotating the sole (352), the leg components (3) are distributed on the mounting seat in a rectangular shape, the joint which is correspondingly connected drives the steering engine to drive so as to realize horizontal swinging around the mounting seat;

rotor subassembly (2), including screw (21) and motor (22), screw (21) are passed through motor (22) drive is rotatory, motor (22) and shank subassembly (3) one-to-one, and be fixed in shank subassembly (3) are gone up except that all the other arbitrary of mount pad leg joint the leg joint on, motor (22) still with the electricity is adjusted electrically and is connected, under the aerial flight mode, screw (21) are in the horizontality, shank subassembly (3) are in the conversion between "T" type, "H" type, "O" type, "four kinds of flight motion modals of X" type.

2. A deformable small quadrotor quadruped crawling robot as claimed in claim 1, wherein: the mounting base includes a plurality of connecting rods (17) and sets gradually and first backup pad (11), second backup pad (12) and third backup pad (13) that are parallel to each other, first backup pad (11) and second backup pad (12) are connected, the both ends of connecting rod (17) respectively with second backup pad (12) and third backup pad (13) are connected, fly to climb control module (14) install in on first backup pad (11), adjusting module (15) are worn to locate on second backup pad (12), battery (16) are located between second backup pad (12) and third backup pad (13).

3. A deformable small quadrotor quadruped crawling robot as claimed in claim 1, wherein: rotor subassembly (2) still include with spacing backup pad (23) that motor (22) are connected for realize with the rotation of the leg section that rotor subassembly (2) links is spacing.

4. A deformable small quadrotor quadruped crawling robot as claimed in claim 1, wherein: the leg section is two, including thigh section (32) and shank section (34), joint drive steering wheel is two, including hip joint drive steering wheel (31) and knee joint drive steering wheel (33), hip joint drive steering wheel (31) are connected with the mount pad, and are used for the drive thigh section (32) are wound the mount pad horizontal oscillation, knee joint drive steering wheel (33) are used for the drive shank section (34) are wound thigh section (32) luffing motion, wheel leg switching component (35) are located the end of shank section (34).

5. The transformable small quadrotor quadruped crawling robot as claimed in claim 4, wherein: the horizontal swing range of the thigh section (32) is 180 degrees, and the vertical swing range of the lower leg section (34) is 90 degrees.

6. A deformable small quadrotor quadruped crawling robot as claimed in claim 1, wherein: each leg section is of a hollow structure.

7. A deformable small quadrotor quadruped crawling robot as claimed in claim 1, wherein: the propellers (21) are distributed in a staggered manner in the height direction in a horizontal state.

8. A deformable small quadrotor quadruped crawling robot as claimed in claim 1, wherein: the propeller (21) is further provided with a roll-shaped protection cover, and the roll-shaped protection cover is propelled to move in a wheel type or adsorption mode through the propeller (21).

9. A deformable small quadrotor quadruped crawling robot as claimed in claim 1, wherein: the tail end of the sole (352) is provided with a claw thorn mechanism or an adhesion mechanism.

10. A deformable small quadrotor quadruped crawling robot as claimed in claim 1, wherein: the deformable small quadrotor quadruped crawling robot is provided with at least one of a visual sensor, an auditory sensor, an olfactory sensor and a touch sensor, and each sensor is electrically connected with a crawling control module (14).

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