Wheeled robots have broad applications in even and ruled terrains due to their stable motion, simple control, and the high speed they can achieve. However, wheeled robots encounter many difficulties in rough terrains with large obstacles, which require complex route planning to adapt to these scenarios. This paper introduces a variable-mode robot inspired by chiral origami, which can switch between wheeled and quadcopter modes. The origami-inspired structure has one degree of freedom, which allows it to perform folding motion for mode transition using a single actuator. The structure inspired by animals that roll into balls is added to the robot, which can serve as a landing buffer for the quadcopter and form a wheel structure in the rolling mode through the folding motion. The robot, in this paper, can adapt to various scenarios using different modes through folding and can effectively resolve issues related to traversing rough terrains and navigating large obstacles.