Aiming at the difficulty of cross-domain movement of intelligent robots and the complexity of transmission link redundancy, we designed a quadruple habitat multimodal motion robot based on wheel-wing mechanism, which is suitable for underwater, air, land and denial scenarios . A wheel-wing clutch mechanism using gravity self-locking is designed by variable topology mechanism, which combines wheel-type transmission link with rotor transmission link. Compared with other wheel-wing transmission mechanisms, the weight of transmission device is greatly reduced, and automatic switching and underwater movement of wheel-wing transmission link are realized. The new four-perch robot has the ability to fly in the air, drive on the ground, swim in the water and wheel-wing composite motion in a denial scenario. The new four-perch robot has a broad application prospect in the field of general intelligent robots.