Bionic obstacle crossing trolley suitable for multiple terrains

Abstract

According to the bionic obstacle crossing trolley suitable for the multiple terrains, on the basis that the manufacturing cost is reduced, the technical problem that posture adjustment needs to be conducted through a complex algorithm to adapt to the different terrains is solved through a simpler mechanical structure, the bionic obstacle crossing trolley comprises a frame, and the front portion and the rear portion of the frame are each provided with a stepping type rod set unit and a rear drive unit; the stepping type rod set unit comprises at least four advancing rods hinged to a rocker, a sliding groove is formed in the middle of each advancing rod and connected with a rod shaft on the frame in a sliding mode, and the adjacent advancing rods walk alternately. The stepping type rod set unit is of a bionic supporting leg structure, so that the front foot can simulate gait movement, the front auxiliary wheel assembly and the rear auxiliary wheel assembly provide auxiliary supporting, and the stepping type rod set unit can adapt to various terrains including rugged terrains, uneven ground, obstacles and the like. The position of the advancing rod of the stepping rod group unit can be automatically adjusted, and stability and balance are kept.

Description

Technical Field

[0001] The invention relates to the field of bionic vehicles, in particular to a bionic obstacle-crossing vehicle suitable for multiple terrains. Background Art

[0002] In the past decade, the United States, Japan and other countries have done a lot of work in the research of rescue robots for earthquakes, fires and other situations, and have developed various obstacle-crossing robots suitable for various terrains and can be used for disaster site rescue. For example, the PackBot series of robots produced by the American iRobot company, the PackBot robot has a pair of fin-shaped forelimbs, which can help navigate on rugged ground, and can also raise the sensing platform for better observation. The MicroVGTV polymorphic search and rescue robot of the Canadian Inuktun company can flexibly adjust its shape and size according to the size of the search channel and the distance of the search range, but the search field of view will be limited if the size is small. The obstacle-crossing robots in the above-mentioned prior art have the problems of large size, high requirements for the working environment and high cost, which restrict the promotion of the products.

[0003] In order to solve the above-mentioned problem of high requirements for the working environment, a Chinese invention patent with an authorization announcement date of 2023.12.26 and an authorization announcement number of CN117284389A has appeared, which discloses a lizard-like robot that is adapted to crawling in multiple environments, and provides a lizard-like robot that is adapted to crawling in multiple environments, which includes a trunk component, a leg component, a claw component, a spine component and a tail component, the leg component is symmetrically arranged below the trunk component, the claw component is arranged below the leg component, the trunk component is arranged at both ends of the spine component, and the tail component is arranged on one side of the trunk component. Through the mutual cooperation of each component, crawling on a narrow matrix and crawling on a vertical or horizontal wall that are adapted to crawling in multiple environments are realized, and through the gear transmission of the claw component, the horizontal or bending of the gripper and the rotation of the suction cup direction are realized, and the mutual switching between the crawling claw of the narrow matrix and the crawling claw of the vertical wall is realized, and the balance performance of the robot when crawling on a narrow matrix is enhanced through the swinging of the spine component and the tail component. At the same time, the spine component can also achieve displacement in the vertical direction, and enhance the robot's walking ability on uneven surfaces.

[0004] Although the above-mentioned lizard-like robot can adapt to walking in multiple environments, it requires more complex control algorithms to adjust the position and posture of the limbs in real time to adapt to the terrain, which leads to instability. In addition, quadrupedal movement requires more mechanical structures and sensors to achieve, and the manufacturing cost is often higher than other modes of movement. Summary of the invention

[0005] The present invention proposes a bionic obstacle-crossing vehicle suitable for multiple terrains. On the basis of reducing manufacturing costs, it uses a simpler mechanical structure to solve the technical problem of requiring complex algorithms to adjust the posture to adapt to different terrains.

[0006] To achieve the above object, the present invention provides the following technical solutions: A bionic obstacle-crossing vehicle applicable to multiple terrains, including a vehicle frame. A stepper rod group unit and a rear drive unit are respectively installed at the front and rear parts of the vehicle frame. The stepper rod group unit includes at least four traveling rods hinged to a rocker. A chute is provided in the middle of the traveling rod, and the chute is slidably connected to a rod shaft on the vehicle frame. Adjacent traveling rods walk alternately. This vehicle can adapt to various terrains, including rough terrains, uneven ground, obstacles, etc., through the coordinated action of the stepper rod group unit and the rear drive unit.

[0007] Further, the rocker includes a drive motor I and a bearing seat installed on the vehicle frame. The drive motor I is connected to a rotating shaft installed on the bearing seat through a conveyor belt II. The rotating shaft is rigidly connected to one end of a connecting rod, and the other end of the connecting rod is hinged to the upper end of the traveling rod. Through the connection of the drive motor I and the conveyor belt II, the movement of the rocker can be accurately controlled. The drive motor provides power, and the conveyor belt transmits the power to the rotating shaft connected to the bearing seat, thereby realizing the accurate control of the connecting rod and the traveling rod. This accurate control enables the vehicle to more accurately respond to different terrains and obstacles.

[0008] Further, a one-way wheel that rolls forward is provided at the lower end of the traveling rod. The setting of the one-way wheel can avoid slipping during forward movement.

[0009] Further, the rear drive unit includes a drive motor II, and the drive motor II drives the rear wheels to roll through a rotating shaft I. Through the design of the rear drive unit, the power output is directly transmitted to the rear wheels, which can achieve force balance between the front and rear wheels. This can reduce the roll and instability of the vehicle during driving, improve the stability and control performance of the vehicle; through the drive of the rear wheels, the vehicle can achieve more flexible turning operations. The rolling of the rear wheels can be rotated in different directions as needed, enabling the vehicle to complete turning actions more quickly and accurately, improving the mobility and maneuverability of the vehicle.

[0010] Further, the rear wheels include a hub, and a rubber layer is sleeved on the outer ring of the hub, or elastic buffer rods are inserted around it, or at least three support rods with flywheels connected to their outer ends are connected around it. Replacing different rear wheels can better adapt to different terrains, improve the buffering and shock absorption effects, increase the grip, improve the stability and controllability, and increase the power transmission efficiency, further enhancing the performance and effect of the multi-terrain obstacle-crossing vehicle.

[0011] Furthermore, when the elastic buffer rods are inserted around the outer circumference of the wheel hub, fixing plates coaxial with the wheel hub and having a diameter larger than that of the wheel hub are respectively connected to both sides of the wheel hub. The outer circumferences of the fixing plates are connected through limit pieces, and adjacent limit pieces fixedly hold the elastic buffer rods at intervals. The arrangement of inserting the elastic buffer rods can provide a better elastic buffering effect. When facing a pitted ground, the elastic buffer rods can play a role when the rear wheels are subjected to impacts or shock forces. Through their elastic characteristics, they can absorb and mitigate the impact forces, thereby reducing the impacts on the vehicle body and the rear wheels. The fixing plates are coaxial with the wheel hub and have a diameter larger than that of the wheel hub, which can provide a more solid support and connection, making the overall structure of the rear wheels more stable. This can reduce the deformation and swaying of the rear wheels during driving, improving the stability and control performance of the trolley. Through the connection of the limit pieces, the gaps between adjacent elastic buffer rods can be fixed, improving the assembly accuracy.

[0012] Furthermore, when the support rods with flywheels are connected around the outer circumference of the wheel hub, the outer end vertices of the support rods are located on the arc of the same inscribed circle, and the size of the inscribed circle corresponds to the size of the arc on which the lower end of the traveling rod moves. The correspondence between the front and rear wheels can improve the balance and stability of the trolley. The size of the inscribed circle corresponds to the size of the arc on which the lower end of the traveling rod moves, enabling the support rods to maintain a balanced position during movement, reducing unnecessary offsets and swaying, and thus improving the stability of the trolley.

[0013] Furthermore, the flywheel and the rotating shaft II are connected by belt drive. When slipping occurs during obstacle crossing and jamming, the flywheel can also provide power to further adapt to different terrains.

[0014] Furthermore, auxiliary wheel frames are respectively installed at the front and rear ends of the vehicle frame. A universal wheel is installed on the front auxiliary wheel frame, and an auxiliary wheel is installed on the rear auxiliary wheel frame. The auxiliary wheel is drivingly connected to the main shaft II. The universal wheel provides guidance, and the auxiliary wheel installed at the rear can provide additional support and balance, increasing the stability of the trolley. The driving connection between the auxiliary wheel and the main shaft II can keep the auxiliary wheel in contact with the ground, reducing the swaying and instability of the trolley during driving, and improving the overall balance and stability.

[0015] Furthermore, the axles of the auxiliary wheel and the universal wheel are lower than the axle of the rear drive unit, and the lowest points of the auxiliary wheel and the universal wheel are higher than the lowest point of the rear drive unit. At a certain angle with the ground, when the vehicle body tilts backward, the auxiliary wheel provides a certain support effect, and the front wheel plays a role of universal guidance.

[0016] The beneficial effects of the present invention are: The stepping rod group unit adopts a bionic leg structure, enabling the front feet to simulate gait movements. Moreover, the front auxiliary wheel assembly and the rear auxiliary wheel assembly provide auxiliary support, enabling adaptation to various terrains, including rough terrains, uneven ground, obstacles, etc. The traveling rod of the stepping rod group unit can automatically adjust its position to maintain stability and balance. The force balance design of the rear drive unit and the optimized design of the rear wheels can reduce the roll and instability of the trolley, improving stability and control performance. The installation of the auxiliary wheels can also provide additional support and balance, further enhancing stability. Brief Description of the Drawings

[0017] Figure 1 is a three-dimensional schematic diagram of a bionic obstacle-crossing trolley applicable to multiple terrains; Figure 2 is a schematic diagram of replacing the rear drive unit of a bionic obstacle-crossing trolley applicable to multiple terrains; Figure 3 is a schematic diagram of another angle of a bionic obstacle-crossing trolley applicable to multiple terrains; Figure 4 is a schematic diagram of the bottom of a bionic obstacle-crossing trolley applicable to multiple terrains; Figure 5 is a schematic diagram of the rear drive unit of a bionic obstacle-crossing trolley applicable to multiple terrains.

[0018] In the figures: 1. Frame; 11. Leg shaft; 2. Stepping rod group unit; 21. Bearing seat; 22. Connecting rod; 23. Traveling rod; 24. One-way wheel; 3. Rear drive unit; 31. Limit piece; 32. Elastic buffer rod; 33. Wheel hub; 34. Fixed plate; 4. Monitoring unit; 5. Spraying unit; 51. Water pump 6. Transmission unit; 61. Transmission belt Ⅰ; 62. Transmission belt Ⅱ; 63. Transmission motor Ⅰ; 64. Transmission motor Ⅱ; 7. Auxiliary drive unit; 71. Auxiliary wheel frame; 72. Universal wheel; 73. Auxiliary wheel; The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. Detailed Embodiments

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs; the terms used in the specification of this invention are only for the purpose of describing specific embodiments and are not intended to limit this invention; the term "and / or" as used herein includes any and all combinations of one or more of the related listed items.

[0021] Example 1, A bionic obstacle-crossing vehicle applicable to multiple terrains, as Figure 1 shown, includes a vehicle frame 1. A stepper rod group unit 2 and a rear drive unit 3 are respectively installed at the front and rear parts of the vehicle frame 1. The stepper rod group unit 2 includes at least four traveling rods 23 hinged to a rocker. A chute is provided in the middle of the traveling rod 23, and the chute is slidably connected to a rod shaft on the vehicle frame 1. The adjacent traveling rods 23 walk alternately. This vehicle can adapt to various terrains, including rough terrains, uneven ground, obstacles, etc., and can be applied to the management of cash crops in hilly areas. Through the coordinated action of the stepper rod group unit 2 and the rear drive unit 3, it can overcome various obstacles. The stepper rod group unit 2 starts from the perspective of bionics and refers to the traveling mode of inchworm crawling. By the two stepper rods of each group advancing alternately, it can achieve obstacle-crossing on multiple terrains while maintaining stability. The movement trajectory of the rod group has similarities with the crank-rocker mechanism of the engine.

[0022] Example 2, As a preferred embodiment of the bionic obstacle-crossing vehicle applicable to multiple terrains, as Figure 2 shown, the difference from Example 1 is that the rocker includes a drive motor I 63 and a bearing seat 21 installed on the vehicle frame 1. The drive motor I 63 is connected to a rotating shaft installed on the bearing seat 21 through a conveyor belt II. The rotating shaft is rigidly connected to one end of a connecting rod 22, and the other end of the connecting rod 22 is hinged to the upper end of the traveling rod 23. During operation, the drive motor I 63 provides power, and the conveyor belt II transmits the power to the rotating shaft connected to the bearing seat 21. The connection mode between the rotating shaft and the connecting rod 22 ensures its rigidity, enabling the rocker to maintain stability during movement. The other end of the connecting rod 22 is hinged to the upper end of the traveling rod 23, enabling the rocker to transmit the movement through the traveling rod 23. Through the connection of the drive motor I 63 and the conveyor belt II, the movement of the rocker can be precisely controlled. The drive motor provides power, and the conveyor belt transmits the power to the rotating shaft connected to the bearing seat 21, thereby achieving precise control of the connecting rod 22 and the traveling rod 23. This precise control enables the vehicle to more accurately respond to different terrains and obstacles.

[0023] Example 3, As a preferred embodiment of the bionic obstacle-crossing vehicle applicable to multiple terrains, as Figure 2As shown, the difference from Example 2 is that the lower end of the traveling rod 23 is provided with a one-way wheel 24 that rolls forward. The one-way wheel 24 can prevent slipping during the forward movement. The one-way wheel 24 provides greater efficiency and provides two forward movement modes in the actual forward movement. It can adopt a four-wheel drive step-by-step mode or a rear-wheel drive mode with rolling as the main mode. Moreover, the front part of the vehicle body can adjust the center of gravity according to whether the two wheels are on the ground or the four wheels are on the ground. The adoption of this solution has a certain pioneering reference significance in the direction of overcoming obstacles.

[0024] Example 4, as a preferred implementation of a bionic obstacle-crossing vehicle suitable for multiple terrains, Figure 2 As shown, the difference from Example 3 is that the rear drive unit 3 includes a transmission motor II 64, and the transmission motor II 64 drives the rear wheel to roll through the rotating shaft I. Through the design of the rear drive unit 3, the power output is directly transmitted to the rear wheel, and the force balance between the front and rear wheels can be achieved. This can reduce the roll and instability of the car during driving, and improve the stability and control performance of the car; through the drive of the rear wheel, the car can achieve more flexible turning operations. The rolling of the rear wheel can be rotated in different directions as needed, so that the car can complete the turning action more quickly and accurately, and improve the maneuverability and controllability of the car.

[0025] Example 5, as a preferred implementation of a bionic obstacle-crossing vehicle suitable for multiple terrains, Figure 2 As shown, the difference from Example 4 is that the rear wheel includes a hub 33, and the outer ring of the hub 33 is provided with a rubber layer or a surrounding elastic buffer rod 32 or at least three supporting rods with flywheels connected to the outer ends. Replacing different rear wheels can better adapt to different terrains, improve the buffering and shock absorption effects, increase grip, improve stability and controllability, and increase power transmission efficiency, further improving the performance and effect of the multi-terrain obstacle traversing vehicle. The optimal method of the above-mentioned elastic buffer rod 32 is to use a hydraulic rod, followed by a spring built-in setting, or a hydraulic rod and other methods.

[0026] Example 6, as a preferred implementation of a bionic obstacle-crossing vehicle suitable for multiple terrains, Figure 2As shown in the figure, the difference from Embodiment 5 is that when the elastic buffer rods 32 are inserted and connected around the outer circumference of the wheel hub 33, fixing plates 34 coaxial with the wheel hub 33 and having a diameter larger than that of the wheel hub 33 are respectively connected to both sides of the wheel hub 33. The outer circumference of the fixing plates 34 is connected through limiting pieces 31, and the adjacent limiting pieces 31 fix the elastic buffer rods 32 at intervals. The arrangement of the inserted elastic buffer rods 32 can provide a better elastic buffering effect. When facing uneven ground, the provided elastic buffer rods 32 can play a role when the rear wheels are subjected to impacts or shock forces, and absorb and mitigate the impact forces through their elastic characteristics, thereby reducing the impact on the vehicle body and the rear wheels. The fixing plates 34 are coaxial with the wheel hub 33 and have a diameter larger than that of the wheel hub 33, which can provide a more solid support and connection, making the overall structure of the rear wheels more stable. This can reduce the deformation and swaying of the rear wheels during driving, and improve the stability and control performance of the trolley. Through the connection of the limiting pieces 31, the gaps between adjacent elastic buffer rods 32 can be fixed, improving the assembly accuracy.

[0027] Embodiment 7, as a preferred embodiment of a bionic obstacle-crossing trolley applicable to multiple terrains, as Figure 2 shown in the figure, the difference from Embodiment 5 is that when the support rods with flywheels are connected around the outer circumference of the wheel hub 33, the outer end vertices of the support rods are located on the arc of the same inscribed circle, and the size of the inscribed circle corresponds to the size of the arc where the lower end of the traveling rod 23 moves. The correspondence between the front and rear wheels can improve the balance and stability of the trolley. The size of the inscribed circle corresponds to the size of the arc where the lower end of the traveling rod 23 moves, enabling the support rods to maintain a balanced position during movement, reducing unnecessary offsets and swaying, and thus improving the stability of the trolley.

[0028] Embodiment 8, as a preferred embodiment of a bionic obstacle-crossing trolley applicable to multiple terrains, as Figure 2 shown in the figure, the difference from Embodiment 7 is that the flywheel is connected to the rotating shaft II through a belt drive. When getting stuck and slipping during obstacle crossing, the flywheel can also provide power, further improving the obstacle-crossing performance.

[0029] Embodiment 9, as a preferred embodiment of a bionic obstacle-crossing trolley applicable to multiple terrains, as Figure 2 shown in the figure, the difference from the above embodiments is that auxiliary wheel frames 71 are installed at both the front and rear ends of the vehicle frame 1. A universal wheel 72 is installed on the front auxiliary wheel frame 71, and an auxiliary wheel 73 is installed on the rear auxiliary wheel frame 71. The auxiliary wheel 73 is in transmission connection with the main shaft II. The universal wheel 72 is for guiding, and the auxiliary wheel 73 installed at the rear can provide additional support and balance, increasing the stability of the trolley. The transmission connection between the auxiliary wheel 73 and the main shaft II can keep the auxiliary wheel 73 in contact with the ground, reduce the swaying and instability of the trolley during driving, and improve the overall balance and stability.

[0030] Example 10, as a preferred implementation of a bionic obstacle-crossing vehicle suitable for multiple terrains, Figure 2 As shown, the difference from Example 9 is that the axis of the auxiliary wheel 73 and the universal wheel 72 is lower than the axis of the rear drive unit 3, and the lowest point of the auxiliary wheel 73 and the universal wheel 72 is higher than the lowest point of the rear drive unit 3. At a certain angle to the ground, when the vehicle body is tilted backward, the auxiliary wheel 73 provides a certain support effect, and the front wheel plays a universal guiding role.

[0031] Embodiment 11 is different from the above embodiments in that a monitoring unit and a spraying unit are added on the basis of the above embodiments. When in use, the motor inside the device drives the driving wheel to rotate, and the driving wheel drives the entire device. The universal wheel rotates under the action of the steering mechanism and the electrical control module inside the device to adjust the forward and backward directions of the trolley. During the entire movement of the trolley, the camera performs real-time monitoring. The operator at a distance can control the movement trajectory of the trolley through the radio transceiver unit inside the trolley and the image information recorded by the camera. According to actual needs, the water pump draws the liquid inside the water tank and sprays the liquid through the nozzle. Since the nozzle is higher than the camera, it is difficult to spray to the camera. At the same time, it also has a large spray coverage range. When the trolley encounters a higher When there is an obstacle, the reduction motor starts, and the flip feet on both sides cooperate with the universal wheels to lift the front end of the trolley, the auxiliary wheel contacts the ground, and the auxiliary wheel belt drives the auxiliary wheel to rotate, pushing the trolley forward. At the same time, the flip feet flip at a certain angle, and the trolley achieves climbing over the obstacle. The chassis height of the trolley can be adjusted freely, which has greater flexibility. The battery box supplies power to the trolley through the battery throughout the process. The trolley serves as a mobile carrier platform, and its internal water tank can achieve different purposes by carrying different liquids. When the water tank carries liquid water, the trolley can be used as a mobile fire extinguishing or irrigation platform to replenish water. When the water tank carries disinfectant, the trolley can carry out all-round disinfection operations. No matter what kind of liquid it carries, the trolley has the ability to climb over higher obstacles, and the operating range is very wide.

[0032] Working principle: The motor inside the device drives the driving wheel to rotate. The driving wheel pushes the entire device forward. The caster wheels rotate under the action of the steering mechanism and the electrical control module inside the device to adjust the forward and backward directions of the trolley. During the movement of the entire trolley, the camera monitors in real time. The operator in the distance can control the movement trajectory of the trolley through the radio transceiver unit inside the trolley using the image information captured by the camera. According to actual needs, the water pump sucks the liquid inside the water tank and sprays the liquid through the nozzle. Since the nozzle is higher than the camera, it is difficult to spray onto the camera. At the same time, it also has a large spraying coverage area. When the trolley encounters a relatively high obstacle on the forward path, the reduction motor starts. The flipping feet on both sides of it cooperate with the caster wheels to lift the front end of the trolley. The auxiliary wheels come into contact with the ground. The auxiliary wheel belt drives the auxiliary wheels to rotate and push the trolley forward. At the same time, the flipping feet flip by a certain angle, and the trolley can overcome the obstacle. The chassis height of the trolley can be freely adjusted, with great flexibility. The battery box powers the trolley with batteries throughout the process. As a mobile carrier platform, the water tank inside the trolley can achieve different purposes by carrying different liquids. When the water tank carries liquid water, the trolley can be used as a mobile fire extinguishing or irrigation platform for water replenishment. When the water tank carries disinfectant, the trolley can carry out comprehensive disinfection operations. Regardless of the liquid carried, the trolley has the ability to overcome relatively high obstacles, and the operable range is very wide.

[0033] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Anyone familiar with this technology can make various modifications and decorations without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be defined by the claims.

Claims

1. A bionic obstacle-crossing vehicle applicable to multiple terrains, comprising a vehicle frame (1), characterized in that: A stepping rod group unit (2) and a rear drive unit (3) are respectively installed at the front and rear of the frame (1); the stepping rod group unit (2) comprises at least four traveling rods (23) hinged to rockers; a slide groove is provided in the middle of the traveling rod (23); the slide groove is slidably connected to a rod shaft (11) on the frame (1); and adjacent traveling rods (23) move alternately.

2. The bionic obstacle-crossing vehicle applicable to multiple terrains according to claim 1, wherein: The rocker comprises a transmission motor I (63) and a bearing seat (21) mounted on the frame (1); the transmission motor I (63) is connected to a rotating shaft mounted on the bearing seat (21) via a conveyor belt II (62); the rotating shaft is rigidly connected to one end of a connecting rod; and the other end of the connecting rod is hinged to the upper end of the travel rod (23).

3. The bionic obstacle-crossing vehicle applicable to multiple terrains according to claim 2, wherein: The lower end of the traveling rod (23) is provided with a one-way wheel (24) that rolls forward.

4. The bionic obstacle-crossing vehicle applicable to multiple terrains according to claim 3, characterized in that: The rear drive unit comprises a transmission motor II (64), and the transmission motor II (64) drives the rear wheel to roll via a rotating shaft I.

5. The bionic obstacle-crossing vehicle applicable to multiple terrains according to claim 4, characterized in that: The rear wheel comprises a wheel hub (33), the outer ring of which is provided with a rubber layer or surrounds an elastic buffer rod (32) for insertion or surrounds at least three supporting rods with flywheels connected to their outer ends.

6. The bionic obstacle-crossing vehicle applicable to multiple terrains according to claim 5, wherein: When the elastic buffer rod (32) is inserted around the outside of the wheel hub, fixing plates (34) coaxial with the wheel hub (33) and having a larger diameter than the wheel hub (33) are respectively connected to both sides of the wheel hub (33), and the outer periphery of the fixing plates (34) is connected via limiting plates (31), and the gaps between adjacent limiting plates (31) fix the elastic buffer rod (32).

7. The bionic obstacle-crossing vehicle applicable to multiple terrains according to claim 5, wherein: When the hub (33) surrounds the support rod connected to the flywheel, the vertices of the outer ends of the support rods are located on the arc of the same inscribed circle, and the size of the inscribed circle corresponds to the size of the arc of the movement of the lower end of the traveling rod (23).

8. The bionic obstacle-crossing vehicle applicable to multiple terrains according to claim 7, wherein: The flywheel is connected to the rotating shaft II through a belt transmission.

9. The bionic obstacle-crossing vehicle applicable to multiple terrains according to any one of claims 1-8, characterized in that: Auxiliary wheel frames (71) are respectively installed at the front and rear ends of the frame (1); the front auxiliary wheel frame (71) is installed with a universal wheel (72); the rear auxiliary wheel frame (71) is installed with an auxiliary wheel (73); and the auxiliary wheel (73) is drivingly connected to the main shaft II.

10. The bionic obstacle-crossing vehicle applicable to multiple terrains according to claim 9, characterized in that: The axis centers of the auxiliary wheel (73) and the universal wheel (72) are lower than the axis center of the rear drive unit (3), and the lowest points of the auxiliary wheel (73) and the universal wheel (72) are higher than the lowest point of the rear drive unit (3).

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