154results about How to "Easy to control direction" patented technology

The invention discloses a multi-ground-clearance self-steering intelligent sprayer and a control method. The sprayer comprises a vehicle platform, two self-steering traveling mechanisms, a controllable lifting spraying device, a gasoline power generation and supply device and a control device, and each self-steering traveling mechanism is connected with the vehicle platform by adopting a rotation structure; the controllable lifting spraying device is fixed at the tail of the vehicle platform and comprises a sprayer lifting mechanism, a spraying rod device and a drug mixing device, the spraying rod device is arranged on the sprayer lifting mechanism and connected with the drug mixing device, and a spraying rod can move up and down along with traction of the sprayer lifting mechanism; the drug mixing device is fixed in the middle of the vehicle platform and provides drug to spraying equipment for spraying, the gasoline power generation and supply device is fixed on the front portion of the vehicle platform and serves as a stable voltage power source of the equipment, and the control device is connected with driving equipment, a control motor and multiple sensors. Four hub motors are controlled by the control device to realize self-steering of wheels at differential speeds, and the sprayer is high in control accuracy and small in turning radius.

The invention discloses a wireless bicycle pile system regulating the parking position of a shared bicycle. The wireless bicycle pile system comprises a plurality of wireless bicycle piles and a server; each wireless bicycle pile comprises a solar panel, a charging and power supply management circuit, a charging battery, a GPRS communication module, a main control Bluetooth chip and a GPS positioning module; and when a user returns the shared bicycle at the wireless bicycle piles, the main control Bluetooth chips monitor signals broadcasted by the shared bicycle and obtains shared bicycle information, then establishes communication with the server through the GPRS communication modules, the server confirms that the user legally parks the bicycle, and shared bicycle returning is completed. According to the wireless bicycle pile system, the low power consumption Bluetooth technology is used to serve as a communication mode between the shared bicycle and the wireless bicycle piles, and the distance and direction of monitoring can be controlled; solar energy is utilized to charge, the system is independent, electric supply does not need to be introduced, and mounting is convenient; and the structure is simple, the cost is low, parking stations of shared bicycles can be transformed or additionally arranged by utilizing an existing bicycle parking lot, and the shared bicycle is conveniently borrowed and parked.

The invention relates to a medical instrument, in particular to an axis odontoid screw sighting device for guiding positioning of hollow screws during axis odontoid fracture treatment. The axis odontoid screw sighting device comprises a hollow guide tube and is characterized in that at least two telescopic connection rods are installed on the hollow guide tube, one ends of the telescopic connection rods are provided with sleeves, the hollow tube is inserted in the sleeves, and the other ends of the telescopic connection rods are connected onto a fine control panel which is connected with a supporting rod through a spherical joint. The axis odontoid screw sighting device is simple in structure and convenient to use, and can be used for guiding accurate positioning of kirschner wires during the axis odontoid fracture treatment. Therefore, operation quality is improved, operation errors are reduced, and pain of patients is alleviated.

The invention provides a gas sensor gas-sensing characteristic test system for a multi-physical field coupling environment. The gas sensor characteristic test system for the multi-physical field coupling environment comprises a gas distribution system, a test chamber, a test environment control unit and a test unit, wherein the gas distribution system can match test gas according to the required concentration and mix thoroughly and then the test gas can be introduced into the test chamber. The test chamber is a closed cylindrical box, and the bottom of the closed cylindrical box is connected with an external control unit through wires. The test environment control unit comprises an electromagnetic field control unit, a temperature control unit, a humidity control unit, and a vacuum pump. The test unit is used for performing real-time current collection of a gas sensor, and connected with an external computer to analyze obtained current data so as to obtain a dynamic characteristic testcurve of the sensor. The gas sensor characteristic test system for the multi-physical field coupling environment disclosed by the invention solves the technical problem that the existing gas sensor performance test device cannot simulate space magnetic field environments, and further satisfies the controllable temperature, humidity, pressure and illumination condition control to provide corresponding environments for testing performances of the gas sensor under different environmental conditions.

The invention provides a successive approximation register (SAR) analog-to-digital converter (ADC) trimming method based on charge compensation and a trimming circuit. The trimming circuit comprises a register block, an attenuation capacitor and a trimming array, wherein the register block comprises groups of registers, the trimming array includes multiple binary-weight capacitor networks, the trimming array is coupled to a to-be-trimmed main capacitor array through the attenuation capacitor, and the registers control the switching direction of corresponding capacitor switches in the trimming array. According to the trimming method and the trimming circuit, the charge compensation is carried out on the mismatched capacitors, the purpose that the capacitors are matched is achieved, compensation vector quantities can be configured through the registers, and the trimming method and the trimming circuit are suitable for being used in large-scale production and tests and can be carried out on most process platforms.

A high-precision AGV driving and steering integrated device comprises a driving module and an independent steering module, wherein the driving module comprises a driving wheel, a traveling motor and aresolver; the integrated device further comprises a transmission module; and the transmission module comprises a support seat and a two-stage deceleration mechanism, wherein the independent steeringmodule is mounted on the support seat. The AGV driving and steering integrated device comprises a driving wheel, a traveling motor and a resolver. The steering reducer is installed vertically parallelto the steering motor, which greatly reduces the height between the independent steering module and the ground, and reduces the requirement of AGV for road smoothness. the invention also provides a high-precision AGV driving and steering integrated control method. The invention provides the high-precision AGV driving and steering integrated device with good flexibility, simplified structure, goodstability and easy control and a control method thereof.

The invention discloses a spray boom assembly and a lifting spraying device comprising the same. A multi-ground-clearance self-steering smart sprayer comprises a vehicle platform, the controllable lifting spraying device, a gasoline power generation and supply device and a control device, wherein two self-steering travelling mechanisms are connected with the vehicle platform through rotating structures respectively; the controllable lifting spraying device is fixed at the tail part of the vehicle platform and comprises a sprayer lifting mechanism, the spray boom assembly and a pesticide mixing device, the spray boom assembly is arranged on the sprayer lifting mechanism and connected with the pesticide mixing device, and a spray boom can move up and down under drawing of the sprayer lifting mechanism; the pesticide mixing device is fixed in the middle of a frame platform and used for supplying pesticides to a sprayer for spraying; the gasoline power generation and supply device is fixed at the front part of the frame platform and taken as a steady voltage power supply of equipment; the control device is connected with a drive device, a control motor and multiple sensors. According to the equipment, the control device controls four wheel hub motors to realize self-steering based on wheel differential, besides, the control precision is high, and the turning radius is small.

The H-bridge circuit consists of first and second switch unit, and first and second linear unit, and is used to impress driving current on motor. The error amplifier generates error signal that presents the difference between command current signal and driving current detected by current detection circuit. The status control circuit simultaneously controls first and second switch unit and feed back circuit. The error signal is selectively impressed on first and second linear unit to make one of them operate at linear mode and other one operate at off state in order to control driving current being in direct proportion to command current signal. The status circuit also controls braking circuit to make error signal convert to braking signal, and first and second linear unit operate at on state mode.

Provided is a construction method of shield machine rapid station passing in small space. Through the use of an over station trolley and a shield machine, the rail is laid on the ground, and the over station trolley is erected on the rail. The trolley is provided with wheels, and walks on the steel rail, the resistance is small, and the directional control performance is good. Not only construction can be conducted in small space, but also the technical problems in the prior art of tedious construction, complex process and high labor intensity of workers are solved. The method is high in station passing efficiency, accurate in directional control, and the construction cost is low.

The invention belongs to the technical field of monitoring devices, in particular to a convenient-to-regulate monitoring device for smart home security and protection. Aiming at solving the technicalproblems that the attractiveness is influenced due to the damage of an indoor wall since an existing security and protection monitor is installed on the indoor wall and an energy-saving effect is poor, the invention provides the following scheme that the convenient-to-regulate monitoring device for smart home security and protection comprises a base, wherein a fixed column is fixed to one side ofan outer wall of the top part of the base through a screw; a groove is formed in an outer wall of the top part of the fixed column; a support rod is welded onto an inner wall of the groove; fixed teeth distributed at equal distances are fixed to an outer wall of one side of the support rod through screws; a display is fixed to an outer wall of one side, far away from the fixed teeth, of the support rod through a screw; and a control switch is fixed to an outer wall of one side of the display through a screw. According to the convenient-to-regulate monitoring device for smart home security andprotection provided by the invention, through arranging an electric slide block, a motor and an electric telescopic rod, the position and the direction of a camera can be conveniently regulated, so that the view detected by the camera is clear; and a solar cell panel can convert luminous energy into electric energy, so that energy conservation and environment protection are realized.

The invention discloses an inner support body of a safety tire, which comprises an inner ring, a metal ring and a buffer ring which are orderly arranged along the direction from a hub steel ring to an outer tire. The outer ring surface of the metal ring is provided with a buffer ring installing groove and a buffer ring limiting groove, the inner ring surface of the buffer ring is provided with a limiting rim and a limiting platform, the limiting rim is correspondingly embedded in the buffer ring installing groove on the outer ring surface of the metal ring, the lifting platform is correspondingly embedded in the buffer ring limiting groove on the outer ring surface of the metal ring, the relative sliding of the buffer ring and the metal ring is limited, and the outer ring surface of the buffer ring faces toward the inner surface of the outer tire. The inner support body of the safety tire, disclosed by the invention, can efficiently overcome and resolve suddenly increased friction caused by tire explosion so as to maintain the stable driving and the direction-controllable status of automobiles, thereby avoiding danger of sudden tire explosion of automobiles at high speed. In addition, the invention has advantages of reasonable design, production and assembly, simple installation, easy operation, reliable quality, enhanced practical applicability and potential replication of the product.

The invention discloses a self-steering mechanism about the multiple land gaps in the field, which comprises the mobile platform, the self-steering walking mechanism and the control device.The self-steering walking mechanism is composed of two bases with the slewing mechanism and four tires with the in-wheel motor.The slewing mechanism is rotated by the bearing arranged in the mobile platform, the shore at the bottom of the bearing and the shock absorber.Or the slewing mechanism is rotated by the bearing arranged in the mobile platform, the base platform at the bottom of the bearing and the vehicle and bridge.The self-steering mechanism about the multiple land gap in the field utilizes the control device to control the four in-wheel motors to realize the self-steering of the wheel differential with the high control accuracy and the short turning radius.

The invention discloses a construction method of a single vane installation technique of a large wind driven generator, and relates to the technical field of new energy technology. Firstly, a main crane and an auxiliary crane cooperate to install a first section of tower drum, a second section of tower drum and a third section of tower drum; then, an engine room and a fan hub are installed; finally, a first single vane is horizontally installed; then an impeller is rotated by 120 degrees to lock braking; a second vane and a third vane are installed in the same way; electricity is checked, anddebugging is performed to guarantee that faults are absent; test run is done; and installation is ended. By applying the construction method disclosed by the invention, the installation problem of thelarge wind driven generator under special environmental conditions, such as mountain regions, intertidal zones and coastal regions, can be effectively solved; construction is convenient; the construction speed is fat; investment is reduced; the cost is reduced; and the installation efficiency of the wind driven generator is increased.

The invention discloses a method for enhancing Raman signals with a nano super-crystal technology to identify microorganisms. The method is characterized by comprising steps as follows: airing optically anisotropic precious metal nano-materials on silicon wafer substrates in a natural evaporation manner under humidity-controlled and temperature-controlled conditions so as to form direction-controllable and regularly-arranged three-dimensional super-crystals; enabling the to-be-tested microorganisms to be adsorbed on the three-dimensional super-crystals, amplifying the intrinsic Raman signals of the microorganisms by using a plasmon field of the three-dimensional super-crystals, and acquiring the intrinsic Raman signals of the to-be-tested microorganisms through detection with an enhanced Raman technology so as to identify the species of the to-be-tested microorganisms. According to the method, the nano super-crystals are used as the substrates, the microorganisms are adsorbed directly, the weak intrinsic Raman signals of the microorganisms are efficiently amplified, label-free quick identification of the microorganisms can be realized, and the long-cycle process for propagation and culture of the microorganisms is avoided.

The invention proposes a driving direction control method and a control system after vehicle tire puncture. The control method comprises the steps of: obtaining the tire pressure information of each tire of a vehicle; obtaining the wheel rotating speed information; obtaining the steering wheel pointing information; obtaining the vehicle driving lane information; recording and analyzing the vehicle driving state and driving trajectory according to the obtained information; and immediately braking a non-punctured tire at the other side coaxial with a punctured tire if judging the vehicle has a flat tire, and reducing and controlling the rotating speed of the non-punctured tire at the other side coaxial with the punctured tire, so that the rotating speed of the coaxial non-punctured tire is kept in a safe and reasonable range compared with the rotating speed of the punctured tire. The method can enable the vehicle to timely eliminate the adverse effects generated by such factors as wheel diameter reduction and rolling resistance increment after the tire puncture, so that the vehicle is driven according to the planned trajectory, steering wheel pointing direction and lane trajectory to prevent the vehicle driving direction from being out of control suddenly after the tire puncture, and the tire puncture derived accidents are prevented.

The invention relates to an adjustable vegetable plastic film mulching machine. The machine comprises pull rods, a machine frame, front wheel components, plough discs, rear wheel components and soil returning plates, wherein the pull rods are detachably connected to the two sides of the front end of the machine frame, a wooden plug used for installing a plastic film tube is arranged on each pull rod, and the front wheel components, the plough discs, the rear wheel components and the soil returning plates are installed on the two sides of the machine frame from front to back in sequence. The machine has the advantages that the machine can replace the traditional manual plastic film mulching mode, labor is saved, working efficiency is improved, and the problems that in strong wind weather, manual film drawing is hard, and a plastic film is prone to corrugation and looseness are solved.

The invention relates to a method using a sol-gel method to synthesize spiral ZrC whiskers in an in-situ manner. A carbon source layer is precipitated on a carbon-fiber prefabricated body through a CVI method, and the prefabricated body with the carbon source layer is dipped into sol with even and stable components. Due to the fact that metal organic zirconium salt (zirconium n-propoxide) can effectively moisten the carbon-fiber prefabricated body, the zirconium source can be evenly spread on the surfaces of carbon fibers, and the zirconium source and the carbon source are diffused mutually after thermal treatment of certain temperature to obtain the ZrC whiskers spirally growing along the surfaces of the carbon fibers. The method is simple, free of pollution, controllable in direction, high in production efficiency, safe, stable and reliable in technology, capable of artificially designing the growing direction of the whiskers so as to increase the mechanical performance and oxidation and ablation resistance of composite materials, applicable to composite materials such as resin-based composite materials and ceramic-based composite materials and good in economic and social benefits.

The invention provides a method for detecting an arc surface error of an aircraft cabin door. A positioning coordinate system of a product is established on the product and a scanning operation is performed on the product. Corresponding parameter items are set in a scanning function module of measurement software. After the scanning operation is completed, coordinate data of a vertex are extractedfrom the scanned coordinate data point data. The coordinate data after the coordinate data of the vertex is inversely shifted by a theoretical radius in a vector direction thereof are coordinate dataof the center of the circle. A comparison is conducted with the theoretical value, the coordinate system is fine-tuned according to the result of the comparison until the deviation of each data pointreaches an optimal state, and the deviation of each point is evaluated to obtain an evaluation result of the shape error.

The invention discloses a knife holder of a carving machine. The knife holder comprises a fixing mechanism and a correction mechanism, wherein a connecting ring connected with a main shaft is arranged on the fixing mechanism and equipped with a mounting base; a bulgy block for mounting a carving knife is arranged in the mounting base; and the correction mechanism is located below the carving knife and provided with a guide groove, the carving knife is driven to stretch into the guide groove by the main shaft, and accordingly, the knife edge angle of the carving knife is adjusted. During use, a connecting screw in the bulgy block can be unscrewed, the carving knife is stretched into the guide groove for correction, the screw is tightened after the correction, then, carving processing is performed, and the knife edge direction is convenient to control. The knife holder of the carving machine combines processing characteristics of a lathe and a planer and combines precision of the numerical control carving, so that the service life of the knife is prolonged, the nonuniform product meshes produced due to repeated changing of the knife are avoided, the problem that burr is prone to produce during carving is reduced, and the product is attractive and easy to use.

A camera rotating structure includes a bottom frame, a rotating device, a camera device, and a top frame. The rotating device comprises an operating tab, the rotating device are pivotally mounted to an inner side of the bottom frame. The camera device comprises a base board and a camera. The base board is secured to the rotating device. The top frame defines a through opening to expose the camera and a mounting opening. The top frame is mounted to the bottom frame to enable the rotating device and the camera device to be mounted between the top frame and the bottom frame. The operating tab extends through the mounting opening exposing out of the top frame. The operating tab is operated in the mounting opening to move to drive the rotating device to rotate, thereby driving the camera to rotate to adjust an angle of the camera.

The invention discloses a device and a method for testing wind resistance of an unmanned aerial vehicle. The device comprises a shell; a flight channel for flight of the unmanned aerial vehicle is arranged in the shell; an air inlet and an air outlet are formed in the two opposite sides of the shell; an air inlet channel is formed by the air inlet and the air outlet; and the air inlet channel andthe flight channel are intersected. According to the device, a driven apparatus is driven by the gravity actions of counterweight parts in a driving apparatus, so that the unmanned aerial vehicle canbe driven to do an accelerated motion, and the counterweight parts with different gravities can accelerate the unmanned aerial vehicle to different speeds; the spatial position of the unmanned aerialvehicle can be adjusted through a length adjusting mechanism on the driven apparatus, so that the unmanned aerial vehicle can be accelerated, the spatial position of the unmanned aerial vehicle can beadjusted, and the size and the direction of the accelerated unmanned aerial vehicle are controllable; and the cost is low.

The invention discloses a detachable endoscope anastomat, and the endoscope anastomat comprises a fixed handle, an adjusting shifting piece and a drying mechanism; a movable handle is rotatably connected to the left side of the bottom of the fixed handle, the adjusting shifting piece penetrates through a dial to be rotatably connected to a connecting sleeve, and a first gun barrel is fixed to the left end of the connecting sleeve; the left end of the first gun barrel is connected with a second gun barrel in a clamped mode, the left end of the second gun barrel is rotationally connected with a nail bin base, and the drying mechanism is clamped on the protective cover. According to the detachable endoscope anastomat, when the second gun barrel and the first gun barrel are connected together in a left-right clamped mode through the connecting rod and the connecting block, the second arrow indication mark corresponds to the first arrow indication mark, and then the second gun barrel is manually rotated till the second arrow indication mark corresponds to the rotation in-place indication mark; at the moment, the sliding block slides in place in the second sliding groove, the locking effect is conveniently achieved, and after the device is used and the operation is reversely repeated, the second gun barrel and the first gun barrel can be detached.

The invention belongs to the technical field of garden environmental protection and particularly relates to a portable disinfecting water spraying device for garden environmental protection. The device solves the problem that the existing portable disinfecting water spraying device is easy to cause muscle fatigue of the user after long-term use. The portable disinfecting water spraying device comprises a mixing tank, four corners of the bottom outer wall of the mixing tank are fixedly provided with universal wheels by screws, the outer wall of one side of the mixing tank is fixedly provided with braces by screws, the outer wall of the top of the mixing tank is fixedly provided with support pins, the outer wall of one side of the support pin is sleeved by a sleeve, the outer wall of the topof the sleeve is provided with a sliding rod chute, the inner wall of the sliding rod chute is slidingly connected to a sliding rod and the outer wall of one side of the mixing tank is fixedly provided with a fixing rack through screws. The device easily controls spraying height and direction, reduces the labor intensity of the user, is easy to use, improves the uniformity of the mixing of the disinfecting liquid, is easy to carry, quantitatively prepares the disinfecting liquid according to the demands and improves the operation convenience.

The invention discloses a pesticide spraying and weeding integrated device. The pesticide spraying and weeding integrated device comprises a traveling plate trailer, a spray head and a telescopic cutting head, the spray head is connected to a pesticide pump through a pesticide spraying pipe, the pesticide pump is connected with a pesticide storage box, the pesticide pump and the pesticide storagebox are installed on the traveling plate trailer, the telescopic cutting head is installed at the bottom of the traveling plate trailer in a suspended mode, the pesticide pump and the telescopic cutting head are driven by the same power mechanism, and the power mechanism is installed on the traveling plate trailer. A weeding mechanism and a pesticide spraying mechanism are integrated on the traveling plate trailer, integration of two functions is achieved, automatic use of the two functions is achieved simultaneously, the efficiency is high, the operation cost is low, time and labor are saved,the telescopic cutting head of a telescopic structure is adopted, the telescopic cutting head can adapt to the uneven ground, tool jamming is avoided, and the operation risk of workers is reduced.

The invention is applicable to the technical field of plastic products and provides a set-top box, aiming to solve the problem that a weld line appears outside a plastic shell of a set-top box in the prior art. The set-top box comprises a first shell and a second shell which are made of plastics and formed by a point plastic filling mode. The first shell and the second shell are arranged oppositely and form an accommodating cavity for accommodating an electronic device. The first shell comprises an upper cover and a first enclosure wall, and the second shell comprises a lower cover and a second enclosure wall. The upper cover is provided with a plastic filling port allowing a mould to perform external plastic filling treatment, the plastic filling port is located at the center of the upper cover, and the set-top box further comprises a cover plate which is arranged above the upper cover in a covering manner so as to cover the plastic filling port. Through the first shell and the second shell formed by the point plastic filling mode, direction and length of a weld line are controlled conveniently, and the cover plate is arranged on the upper cover of the first shell to cover the plastic filling port, so that the weld line formed on the surface of the first shell is hidden, namely, brightness of the outer surface of the set-top box is guaranteed.

A semiconductor refrigeration air conditioning device which is suitable for the environment with oil and smoke is provided with an electric fan, a semiconductor refrigeration power supply and a heat absorbing water tank arranged along the air flow direction of the electric fan; the hot end surface of a semiconductor refrigeration chip which is connected with the semiconductor refrigeration power supply by leads is connected with the heat absorbing surface of the heat absorbing water tank, a heat absorbing plate having the included angle of 30-60 degrees between a windward side and a horizontal plane is arranged on the cold end surface of the semiconductor refrigeration chip, a heat insulating layer is arranged in the space between the heat absorbing plate and the heat absorbing water tank, the upper part of the heat absorbing water tank is provided with a water inlet pipe communicated with the interior of the heat absorbing water tank, and the lower part of the heat absorbing water tank is provided with a water outlet pipe which is communicated with the interior of the heat absorbing water tank and provided with a tap water faucet, and the heat absorbing water tank is provided with a temperature sensor on the inner side wall and a temperature display alarm connected with the temperature sensor by leads on the outer side wall. Compared with the semiconductor air conditioners with the same type, the semiconductor refrigeration air conditioning device has the advantages of saving water and energy, being remarkable in heat dissipation effect and the like, and can be popularized and used in the kitchen of family house and restaurant.

The invention relates to a solar cell epitaxial wafer and a manufacturing method thereof. The solar cell epitaxial wafer comprises a substrate, a buffer layer, a sacrificial layer and a solar cell layer which are sequentially arranged, wherein the sacrificial layer comprises a first sacrificial layer and a second sacrificial layer, the first sacrificial layer is arranged close to the buffer layer, the second sacrificial layer is arranged close to the first sacrificial layer, the corrosion rate of the first sacrificial layer is greater than the corrosion rate of the second sacrificial layer, a plurality of mutually parallel bar-shaped grooves are distributed on the first sacrificial layer, and the second sacrificial layer is provided with a plurality of bar-shaped bulges which are tightly matched with the bar-shaped grooves. A technical problem that the sacrificial layer is corroded by a corrosive liquid with an unpredictable direction and different speeds is solved. The time of a stripping process can be reduced, and damages of the substrates and the solar cell layer in the stripping process can also be reduced, thereby improving the quality of a solar cell product and the yield of a production line.

The invention relates to an intelligent system for regulating and controlling indoor environmental odor. The intelligent system comprises a plurality of wireless sensor nodes deployed at different locations indoors, ventilating equipment capable of being automatically controlled, at least one odor release device and a terminal controller, wherein the odor release devices and the terminal controller are deployed indoors; the deployment locations of the wireless sensor nodes and the odor release devices are reasonably selected according to the indoor gas concentration distribution condition, theindoor environmental air flow is simulated by means of a computational fluid dynamics method to obtain the indoor gas concentration distribution, and the deployment locations of the wireless sensor nodes indoors are determined according to the gas concentration; each odor release device comprises an ultrasonic micropore atomizing sheet module, an odor liquid container, a fan, a motor module, a wireless transmitting and receiving module and a single chip microcomputer, and an ultrasonic micropore atomizing sheet is fixed to a bottle opening of each liquid container and has a sealing effect ina state of being powered off.

The invention belongs to the field of ground mobile robots, and particularly relates to a four-wheel robot with a scalable vehicle body. The four-wheel robot comprises a camera carrying mechanism (A),a vehicle body deformation mechanism (B), a first wheel telescopic mechanism (C1), a second wheel telescopic mechanism (C2), a third wheel telescopic mechanism (C3) and a fourth wheel telescopic mechanism (C4). The four-wheel robot provided by the invention can realize folding and unfolding deformation in a single degree of freedom; the vehicle body mechanism have two deformation limit positions,the adjusting range is large, and the four-wheel robot is convenient to store and transport during folding, capable of being used as a portable or throwing type robot, capable of meeting different moving requirements through deformation of the vehicle body mechanism and adjustment of the vehicle width, the vehicle length and the wheel track after being unfolded, capable of turning easily throughdeformation of the vehicle body mechanism, controllable in direction, good in flexibility and stability and good in popularization significance.