A four-wheel robot with obstacle crossing capability

Abstract

This invention relates to a four-wheeled robot with obstacle-crossing capabilities, comprising a robot body and a motion control component. The robot body has a wheel at each of its front, rear, left, and right ends, and each wheel is equipped with a motion control component. The motion control component includes a steering mechanism and a lifting mechanism. The lifting mechanism is connected to the steering mechanism and is mounted on the wheel. The steering mechanism is detachably mounted on the robot body. The advantages of this invention are: by installing a motion control component on each wheel, when the robot encounters an obstacle, there is no need to adjust the robot's overall driving posture. The lifting mechanism simply pushes the wheel on the obstacle side to move vertically, thus avoiding concave areas or lifting it over protruding obstacles. The remaining three wheels maintain their original height to support the robot body, keeping the robot's center of gravity stable and preventing problems such as unilateral tilting, tipping over, or chassis scraping.

Description

Technical Field

[0001] This invention relates to a four-wheeled robot with obstacle-crossing capabilities. Background Technology

[0002] With the rapid development of intelligent manufacturing, smart logistics, and autonomous driving technologies, wheeled mobile platforms have become indispensable core equipment in industrial production, warehousing and logistics, public services, and special operations. Existing wheeled robots and wheeled vehicle chassis all adopt traditional structures with fixed wheelbases and passive suspension. The wheels have no active vertical adjustment capability relative to the frame. Traditional chassis can travel stably on flat indoor roads, but they have many inherent defects when operating on complex and uneven surfaces such as uneven ground, steps, and gravel ditches. Firstly, passive suspension can only absorb minor road vibrations through material deformation and cannot actively adjust the ground clearance of a single wheel. When there are bumps or depressions on the road surface, it is easy for one wheel to slip and the chassis to scrape the road surface directly. Secondly, traditional chassis have four-wheel attitude linkage and cannot independently control the lifting attitude of a single wheel. When crossing obstacles, the overall driving angle of the machine must be adjusted and the driving speed reduced, making it impossible to maintain a stable and straight body and resulting in low obstacle crossing efficiency. Most existing wheeled chassis with obstacle crossing capabilities adopt an overall lifting solution for the entire vehicle frame, which still cannot achieve independent attitude control of a single wheel. When crossing obstacles, the attitude of the entire machine changes synchronously, the center of gravity fluctuates greatly, and it is easy to have problems such as unilateral tilting and rollover. Summary of the Invention

[0003] The purpose of this invention is to solve the problem that existing wheels lack active height adjustment capabilities, which prevents four-wheeled robots from smoothly crossing obstacles. This invention proposes a four-wheeled robot with obstacle-crossing capabilities. By installing a motion control component on each wheel, which includes a steering mechanism and a lifting mechanism, when the robot encounters an obstacle, there is no need to adjust the robot's overall driving posture. The lifting mechanism simply pushes the wheel on the obstacle side to move vertically, thus avoiding concave areas or lifting it over protruding obstacles. The remaining three wheels maintain their original height to support the robot body, keeping the robot's center of gravity stable and preventing problems such as unilateral tilting, rollover, or chassis scraping.

[0004] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: a four-wheeled robot with obstacle-crossing capability, comprising a robot body and a motion control component. The robot body is provided with a wheel at each of its front, rear, left, and right ends, and a motion control component is installed on each wheel. The motion control component includes a steering mechanism for driving the wheel to rotate in the horizontal direction, and a lifting mechanism for driving the wheel to move in the vertical direction relative to the steering mechanism. The lifting mechanism is connected to the steering mechanism and is installed on the wheel. The steering mechanism is detachably installed on the robot body.

[0005] Preferably, the robot body is equipped with a sensing component, and both the lifting mechanism and the steering mechanism are connected to the sensing component.

[0006] Preferably, the sensing component includes a data acquisition unit for collecting road condition information and a control chip for receiving signals collected by the data acquisition unit. The data acquisition unit is disposed on the outer side wall of the robot body, and the control chip is disposed inside the robot body. The lifting mechanism and the steering mechanism are both connected to the control chip.

[0007] Preferably, the steering mechanism includes a bracket and a steering arm, the bracket is provided with a steering assembly that drives the steering arm to rotate horizontally on the bracket, the lifting mechanism is connected to the steering arm, and the bracket is detachably mounted on the robot body.

[0008] Preferably, a positioning structure is provided between the support and the robot body, the positioning structure including a zero-point rivet and a zero-point module that are connected to each other.

[0009] Preferably, the lifting mechanism includes a lifting rocker arm and a lifting power cylinder. The lifting power cylinder includes a fixed end and a movable end. The movable end is movably connected to the fixed end. The middle section of the lifting rocker arm is rotatably connected to the wheel hub axle. One end of the lifting rocker arm is rotatably connected to the fixed end. The other end of the lifting rocker arm is rotatably connected to one end of the steering arm. The movable end is rotatably connected to the other end of the steering arm.

[0010] Preferably, the fixed end includes a housing and a first joint bearing disposed on the housing. The fixed end is rotatably connected to one end of the lifting rocker arm through the first joint bearing. The movable end includes a telescopic rod and a second joint bearing. The movable end is rotatably connected to the other end of the steering arm through the second joint bearing. A driving component is provided inside the housing. The telescopic rod passes through the housing and is connected to the driving component for transmission. The driving component drives the telescopic rod to perform linear reciprocating motion relative to the housing to realize the extension and retraction of the telescopic rod.

[0011] Preferably, the driving component is an electric push rod, a hydraulic power cylinder, or a pneumatic power cylinder.

[0012] Preferably, the steering arm includes a first connecting part and a second connecting part, the first connecting part being rotatably connected to the other end of the lifting rocker arm, and the second connecting part being rotatably connected to a second joint bearing.

[0013] Preferably, the lifting rocker arm includes a rocker arm body, a first connecting arm, and a second connecting arm. The rocker arm body is rotatably connected to the wheel hub axle. One end of the first connecting arm is connected to the rocker arm body, and the other end of the first connecting arm has a downwardly inclined section. The inclined section has a first hinge portion, and the first connecting arm is rotatably connected to a first joint bearing through the first hinge portion. One end of the second connecting arm is connected to the rocker arm body, and the other end of the second connecting arm has a second hinge portion. An eccentric bearing is assembled between the second hinge portion and the first connecting portion, and the eccentric bearing is used to realize the rotatable connection between the second hinge portion and the first connecting portion.

[0014] In summary, the advantages of this invention are as follows: By installing a motion control component on each wheel, which includes a steering mechanism that drives the wheel to rotate horizontally and a lifting mechanism that drives the wheel to move vertically relative to the steering mechanism, the steering and lifting mechanisms are independent of each other. Therefore, when the robot encounters an obstacle, it does not need to adjust its overall driving posture. The lifting mechanism alone pushes the wheel on the obstacle side to move vertically, allowing it to avoid concave areas or lift over protruding obstacles. The remaining three wheels maintain their original height to support the robot body, keeping its center of gravity stable and preventing unilateral tilting, rollover, or chassis scraping. Furthermore, the lifting actions of the four wheels do not interfere with each other, allowing for the individual lifting of suspended or obstructed wheels according to actual road conditions, always ensuring at least three wheels are stably grounded and supported. This significantly widens the boundaries of the driving surface and can be used for field inspections, construction site surveys, and indoor... The robot can handle various scenarios, including transporting robots across uneven terrain. It can also simultaneously lift all four wheels to adjust the height difference between the chassis and the wheel centers, thereby adjusting the chassis's ground clearance and enabling the robot to traverse obstacles. This significantly improves the robot's mobility and terrain adaptability, preventing chassis scraping against obstacles and causing the robot to stall. Secondly, the steering mechanism only outputs horizontal rotational power, so the wheel lifting action does not interfere with steering. The robot can simultaneously perform fine-tuning of wheel steering during obstacle crossing, eliminating steering jerking and angle deviation issues, resulting in greater controllability of the robot's trajectory. Finally, the detachable installation structure of the steering mechanism and the robot body allows for easy replacement and repair of faulty wheel modules without stopping the robot to disassemble its internal circuitry and frame. This not only reduces subsequent maintenance costs but also improves repair efficiency. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a perspective view of a four-wheeled robot with obstacle-crossing capabilities according to the present invention. Figure 2This is a perspective view of a four-wheeled robot with obstacle-crossing capabilities that achieves crab-like movement after turning. Figure 3 This is a three-dimensional view of a four-wheeled robot with obstacle-crossing capabilities that achieves obstacle avoidance after being lifted up, according to the present invention. Figure 4 This is a schematic diagram of the motion control component in this invention; Figure 5 This is a schematic diagram of the steering mechanism in this invention; Figure 6 This is a schematic diagram of the lifting mechanism in this invention; Figure 7 This is a schematic diagram of the lifting rocker arm in this invention; Figure 8 This is a schematic diagram of the lifting power cylinder in this invention; Figure 9 This is a partial schematic diagram of the connection between the support frame and the robot body in this invention.

[0016] Figure label: 1 Robot body, 2 Wheels, 3 Motion control components, 4 Steering mechanism, 41 Bracket, 42 Steering arm, 421 First connecting part, 422 Second connecting part, 43 Steering assembly, 5 Lifting mechanism, 51 Lifting rocker arm, 511 Rocker arm body, 512 First connecting arm, 513 Second connecting arm, 514 Inclined section, 515 First hinge part, 516 Second hinge part, 52 Lifting power cylinder, 53 Fixed end, 531 Housing, 532 First joint bearing, 54 Movable end, 541 Telescopic rod, 542 Second joint bearing, 55 Drive component, 6 Sensing components, 7 Positioning structure, 71 Zero-point pull stud, 72 Zero-point module, 8 Eccentric bearing. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] The terms "first," "second," etc. (if present) in the specification and claims of this invention are used to distinguish similar objects, not to describe a specific order or sequence. Even if "second" is used before a technical feature for distinction, it does not necessarily imply the presence of "first." It should be understood that in this invention, "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. It should be understood that in this invention, "a plurality of" refers to two or more. "And / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, X and / or Y can represent: X alone, X and Y simultaneously, and Y alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "Containing X, Y, and Z," "Containing X, Y, and Z" means that all three X, Y, and Z are included; "Containing X, Y, or Z" means that one of X, Y, and Z is included; "Containing X, Y, and / or Z" means that any one, two, or three of X, Y, and Z are included.

[0019] The technical solution of the present invention will be described in detail below with reference to specific embodiments. The following specific embodiments may be combined or substituted with each other according to the actual situation, and the same or similar concepts or processes may not be described again in some embodiments.

[0020] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, a four-wheeled robot with obstacle-crossing capability includes a robot body 1 and a motion control component 3. The robot body 1 has a wheel 2 at each of its front, rear, left, and right ends. Each wheel 2 is equipped with a motion control component 3. The motion control component 3 includes a steering mechanism 4 for driving the wheel 2 to rotate in the horizontal direction, and a lifting mechanism 5 for driving the wheel 2 to move in the vertical direction relative to the steering mechanism 4. The lifting mechanism 5 is connected to the steering mechanism 4 and is mounted on the wheel 2. The steering mechanism 4 is detachably mounted on the robot body 1.

[0021] By installing a motion control component 3 on each wheel 2, which includes a steering mechanism 4 that drives the wheel 2 to rotate horizontally and a lifting mechanism 5 that drives the wheel 2 to move vertically relative to the steering mechanism 4, the steering mechanism 4 and the lifting mechanism 5 are independent of each other. Therefore, when the robot body 1 encounters an obstacle, it does not need to adjust the overall driving posture of the robot. It can simply push the wheel 2 on the obstacle side to move vertically by the lifting mechanism 5 to avoid the concave area or lift over the protruding obstacle. The remaining three wheels 2 maintain their original height to support the robot body 1, keeping the center of gravity of the robot body 1 stable and preventing problems such as unilateral tilting, rollover, or chassis scraping. Moreover, the lifting and lowering actions of the four wheels 2 do not interfere with each other. The suspended or obstructed wheels 2 can be lifted individually according to the actual road conditions, always ensuring that at least three wheels are stably grounded and supported. This greatly widens the boundary of the driving road surface and can be used for field inspection, construction site survey, and indoor high-altitude work. In various scenarios such as low-impact transport, the robot can simultaneously lift all four wheels to adjust the height difference between the chassis and the wheel centers, thereby adjusting the chassis's ground clearance and enabling the robot to traverse obstacles. This significantly improves the robot's passability and terrain adaptability, preventing the chassis from scraping against obstacles and causing it to stall. Secondly, the steering mechanism 4 only outputs horizontal rotational power, so the lifting action of the wheels 2 does not interfere with the steering motion. The robot body 1 can simultaneously perform fine-tuning of the steering of the wheels 2 during obstacle crossing, eliminating steering jerking and angle deviation issues. This makes the robot's trajectory more controllable. Finally, the detachable installation structure of the steering mechanism 4 and the robot body 1 allows for easy replacement and repair of faulty wheel modules without stopping the robot body 1 to disassemble its internal circuitry and frame. This not only reduces subsequent maintenance costs but also improves repair efficiency.

[0022] The robot body 1 is equipped with a sensing component 6. The lifting mechanism 5 and the steering mechanism 4 are both connected to the sensing component 6. By installing the sensing component 6 on the robot body 1, during movement, the robot can detect road conditions in real time, anticipate obstacles, and autonomously adjust the steering angle and lifting height of the wheels 2. This achieves autonomous obstacle avoidance and obstacle crossing during movement, reducing the risk of tipping over and meeting various road conditions. Specifically, the sensing component 6 includes a data acquisition unit for collecting road condition information and a control chip for receiving signals collected by the acquisition unit. The acquisition unit is located on the outer wall of the robot body 1, and the control chip is located inside the robot body 1. The lifting mechanism 5 and the steering mechanism 4 are both connected to the control chip. During use, the control chip receives the road condition signals collected by the acquisition unit and outputs different control signals based on these signals to control the movement of the lifting mechanism 5 and / or the steering mechanism 4. In this embodiment, the acquisition unit is a combination of multiple technologies, including lidar, image acquisition unit, infrared imaging unit, and ultrasonic acquisition unit, to meet different acquisition needs. In addition, by placing the acquisition unit on the outer wall of the robot body 1 and the control chip inside the robot body 1, it can be ensured that the robot body 1 will not obstruct the acquisition path, thus improving the reliability of road condition signal acquisition. Acquisition units with different structures and installation positions can be installed according to different needs. Placing the control chip inside the robot body 1 can isolate it from dust, rain and impact, thus improving its service life.

[0023] The steering mechanism 4 includes a bracket 41 and a steering arm 42. The bracket 41 is equipped with a steering assembly 43 that drives the steering arm 42 to rotate horizontally on the bracket 41. The lifting mechanism 5 is connected to the steering arm 42. The bracket 41 is detachably mounted on the robot body 1. By configuring the steering mechanism 4 with the bracket 41 and the steering arm 42, the steering assembly 43, which drives the steering arm 42 to rotate horizontally on the bracket 41, can stably drive the steering arm 42 to complete horizontal rotation around the bracket 41. Since the lifting mechanism 5 is connected to the steering arm 42, it can rotate synchronously with the rotation of the steering arm 42, enabling the lifting and steering actions to be independent and non-interfering, resulting in stable and reliable motion coordination. Furthermore, the steering rotation center of the steering arm 42 is set at... The bracket 41 allows for large-angle steering operations, and the steering arm 42 bears the lifting load of the lifting mechanism 5. The bracket 41 disperses the steering torque, effectively distributing the stress on the robot body 1, reducing stress deformation, and extending the overall service life. In this embodiment, the steering arm 42 is equipped with a mounting seat. The steering assembly 43 includes a steering motor and a high-ratio planetary reducer. The high-ratio planetary reducer includes an input end and an output end. The steering motor is connected to the input end, and the output end is equipped with an output flange. The mounting seat has a mounting groove for mounting the output flange. The transmission rigidity is high, with no transmission backlash, enabling stable and precise rotation of the mounting seat. Furthermore, the high-ratio planetary reducer can achieve reverse self-locking, ensuring the stability of the steering position. Additionally, to ensure smooth rotation of the mounting seat, a rotating shaft can be installed at the bottom of the mounting seat in this embodiment. Finally, the bracket 41 is designed as a detachable mounting structure, allowing for complete disassembly and assembly after pre-installation and debugging, simplifying equipment assembly and subsequent maintenance.

[0024] A positioning structure 7 is provided between the bracket 41 and the robot body 1. The positioning structure 7 includes a zero-point rivet 71 and a zero-point module 72 that are interconnected. The positioning structure 7 allows the bracket 41 and the robot body 1 to be effectively positioned during assembly, which helps reduce the assembly difficulty of the bracket 41 and the robot body 1, thereby improving the assembly efficiency. In addition, the positioning structure 7 can improve the concentricity between the entire bracket 41 and the robot body 1, which helps reduce the vibration and noise of the entire robot body 1 during operation. Secondly, by setting the positioning structure 7 as an interconnected zero-point rivet 71 and zero-point module 72, the zero-point rivet 71 and zero-point module 72 can automatically and accurately align and lock during installation. After multiple disassemblies and reassemblies, the steering reference of the wheel 2 and the lifting reference will not shift, eliminating the need for repeated calibration and adjustment. On the other hand, it eliminates the need to rely on multiple sets of bolts to be aligned and locked one by one, allowing a single person to quickly complete the disassembly and assembly of the bracket 41, further improving the installation efficiency. In this embodiment, the bracket 41 includes a horizontal part and a vertical part. The steering arm 42 is rotatably connected to the horizontal part. The zero-point rivet 71 is provided on the vertical part, and there are four zero-point rivets 71. The four zero-point rivets 71 are evenly arranged on the vertical part. The zero-point module 72 is provided on the robot body 1, which can significantly improve the connection rigidity and stability between the bracket 41 and the robot body 1. Moreover, the four zero-point rivets 71 are evenly arranged on the bracket 41, which is conducive to balancing the tension force and preventing the bracket 41 from tilting or twisting. Secondly, the threaded installation and disassembly are convenient, the connection is reliable, and it is convenient for subsequent maintenance and replacement. In this embodiment, the zero-point rivet 71 is provided with external threads, and the vertical part is provided with threaded holes. The specific structures of the zero-point module 72 and the zero-point rivet 71 are all existing technologies, and will not be described in detail in this embodiment.

[0025] The lifting mechanism 5 includes a lifting rocker arm 51 and a lifting power cylinder 52. The lifting power cylinder 52 includes a fixed end 53 and a movable end 54. The movable end 54 is movably connected to the fixed end 53. The middle section of the lifting rocker arm 51 is rotatably connected to the wheel hub axle of the wheel 2. One end of the lifting rocker arm 51 is rotatably connected to the fixed end 53, and the other end of the lifting rocker arm 51 is rotatably connected to one end of the steering arm 42. The movable end 54 is rotatably connected to the other end of the steering arm 42. By configuring the lifting mechanism 5 with the structure of the lifting rocker arm 51 and the lifting power cylinder 52, since the middle section of the lifting rocker arm 51 is rotatably connected to the wheel hub axle of the wheel 2, the entire lifting rocker arm 51 can form a lever structure with the wheel hub axle of the wheel 2 as the fulcrum. This allows for the generation of a large lifting torque under a relatively small input driving force, significantly reducing the requirements for the size and power of the lifting power cylinder 52, and thus significantly reducing the volume and weight of the entire lifting mechanism. Furthermore, the length of the lifting rocker arm 51 can be set according to different lifting requirements to meet different lifting needs. In addition, the entire structure can effectively improve space utilization, without occupying additional installation space, and the overall structure is more compact. Secondly, the lifting power cylinder 52 is set as a structure with a fixed end 53 and a movable end 54. As the length of the movable end 54 on the fixed end 53 changes, the lifting rocker arm 51 rotates with one end of the steering arm 42 as the fulcrum, thereby causing the middle section of the lifting rocker arm 51 to undergo vertical displacement relative to the bracket 41. The linear motion of the movable end 54 is converted into the rotation of the lifting rocker arm 51, which greatly improves the lifting effect. In addition, the rotatable connection between one end of the lifting rocker arm 51 and the fixed end 53 can reduce the number of power transmission stages, thereby shortening the transmission lag and enabling the lifting rocker arm 51 to respond quickly to the power output of the movable end 54. The same vertical displacement can be adjusted in a shorter time, giving the lifting rocker arm 51 a faster response speed. In this embodiment, the middle section of the lifting rocker arm 51 does not refer to the center position of the lifting rocker arm 51. The size and structure of the lifting rocker arm 51 can be set according to specific needs.

[0026] The fixed end 53 includes a housing 531 and a first joint bearing 532 disposed on the housing 531. The fixed end 53 is rotatably connected to one end of the lifting rocker arm 51 via the first joint bearing 532. The movable end 54 includes a telescopic rod 541 and a second joint bearing 542. The movable end 54 is rotatably connected to the other end of the steering arm 42 via the second joint bearing 542. A driving component 55 is provided inside the housing 531. The telescopic rod 541 passes through the housing 531 and is connected to the driving component 55. The driving component 55 drives the telescopic rod 541 to perform linear reciprocating motion relative to the housing 531 to realize the extension and retraction of the telescopic rod 541. The first joint bearing 532 and the second joint bearing 542... The installation of the hinge bearing 542 ensures smooth lifting and lowering of the entire wheel 2 when the movable end 54 moves. Additionally, a drive component 55 is installed within the housing 531 to drive the telescopic rod 541 in a linear reciprocating motion relative to the housing 531. This results in a compact overall structure with minimal space requirements. Furthermore, the drive component 55 acts directly on the telescopic rod 541, allowing the driving force to be converted and linearly displaced within the same component, eliminating the need for secondary transmission through external linkages, chains, or cam mechanisms. This significantly reduces transmission losses and improves energy efficiency and response speed. In this embodiment, the drive component 55 can be an electric push rod, a hydraulic power cylinder, or a pneumatic power cylinder to meet various installation requirements.

[0027] The steering arm 42 includes a first connecting part 421 and a second connecting part 422. The first connecting part 421 is rotatably connected to the other end of the lifting rocker arm 51, and the second connecting part 422 is rotatably connected to the second joint bearing 542. This facilitates the quick installation of the lifting rocker arm 51 and the second joint bearing 542 onto the steering arm 42, thereby improving the overall installation efficiency. The first connecting part 421 and the second connecting part 422 can be configured with different structures, such as connecting shafts or connecting sleeves, according to actual installation requirements. Specifically, the lifting rocker arm 51 includes a rocker arm body 511, a first connecting arm 512, and a second connecting arm 513. The rocker arm body 511 is rotatably connected to the wheel hub axle of the wheel 2. One end of the first connecting arm 512 is connected to the rocker arm body 511, and the other end of the first connecting arm 512 is provided with a downwardly inclined section 514. The inclined section 514 is provided with a first hinge portion 515, and the first connecting arm 512 is rotatably connected to a first joint bearing 532 through the first hinge portion 515. The lifting rocker arm 51 is configured as a rocker arm body 51. 1. The first connecting arm 512 and the second connecting arm 513 can be adjusted in length and angle according to different environments to precisely design the required lever arm ratio and meet different lifting needs. Furthermore, the inclined section 514, with its first hinge 515 rotatably connected to the first joint bearing 532, provides installation space for the lifting power cylinder 52 and avoids spatial interference with the housing 531 of the fixed end 53, resulting in a more compact structure. In this embodiment, the inclined section... The inclined section 514 and the first connecting arm 512 preferably adopt an integrated structure, which can improve the connection strength between the inclined section 514 and the first connecting arm 512. In addition, a reinforcing rib can be provided between the inclined section 514 and the first connecting arm 512 to effectively disperse the stress concentration of the inclined section 514, prevent cracking or deformation during long-term use, and improve the overall service life. One end of the second connecting arm 513 is connected to the rocker arm body 511, and the other end of the second connecting arm 513 is provided with a second hinge part 516. The second hinge part 516 is assembled with the first connecting part 421. An eccentric bearing 8 is included, which enables the rotational connection between the second hinge portion 516 and the first connecting portion 421. The eccentric bearing 8 compensates for dimensional errors between the two portions, eliminating clearance and play in the hinge joint. This ensures smooth lifting and steering of the wheel 2 without lag or wobbling, significantly improving motion control precision. Furthermore, the eccentric bearing 8 greatly reduces wear at the hinge position, decreasing equipment maintenance frequency. Simultaneously, the bearing's eccentric allowance slightly absorbs instantaneous vibrations transmitted from the road surface to the hinge, providing auxiliary vibration damping and buffering. In this embodiment, the second hinge portion 516 is a hinge hole, the first connecting portion 421 is a connecting shaft, the eccentric bearing 8 is disposed within the hinge hole, and the connecting shaft passes through the eccentric bearing 8.

[0028] In addition to the preferred embodiments described above, there are other embodiments of the present invention. Those skilled in the art can make various changes and modifications based on the present invention, and all such changes and modifications should fall within the scope defined by the appended claims, as long as they do not depart from the spirit of the present invention.

Claims

1. A four-wheeled robot with obstacle-crossing capability, comprising a robot body, wherein each of the robot body has a wheel at its front, rear, left, and right ends, characterized in that: It also includes a motion control assembly, one of which is installed on each wheel. The motion control assembly includes a steering mechanism for driving the wheel to rotate in the horizontal direction and a lifting mechanism for driving the wheel to move in the vertical direction relative to the steering mechanism. The lifting mechanism is connected to the steering mechanism and is installed on the wheel. The steering mechanism is detachably installed on the robot body.

2. The four-wheeled robot with obstacle-crossing capability according to claim 1, characterized in that: The robot body is equipped with a sensing component, and both the lifting mechanism and the steering mechanism are connected to the sensing component.

3. A four-wheeled robot with obstacle-crossing capability according to claim 2, characterized in that: The sensing components include a data acquisition unit for collecting road condition information and a control chip for receiving signals collected by the data acquisition unit. The data acquisition unit is located on the outer side wall of the robot body, and the control chip is located inside the robot body. The lifting mechanism and the steering mechanism are both connected to the control chip.

4. A four-wheeled robot with obstacle-crossing capability according to claim 1, characterized in that: The steering mechanism includes a bracket and a steering arm. The bracket is equipped with a steering assembly that drives the steering arm to rotate horizontally on the bracket. The lifting mechanism is connected to the steering arm. The bracket is detachably mounted on the robot body.

5. A four-wheeled robot with obstacle-crossing capability according to claim 4, characterized in that: A positioning structure is provided between the support and the robot body, and the positioning structure includes a zero-point rivet and a zero-point module that are connected to each other.

6. A four-wheeled robot with obstacle-crossing capability according to claim 4, characterized in that: The lifting mechanism includes a lifting rocker arm and a lifting power cylinder. The lifting power cylinder includes a fixed end and a movable end. The movable end is movably connected to the fixed end. The middle section of the lifting rocker arm is rotatably connected to the wheel hub axle. One end of the lifting rocker arm is rotatably connected to the fixed end. The other end of the lifting rocker arm is rotatably connected to one end of the steering arm. The movable end is rotatably connected to the other end of the steering arm.

7. A four-wheeled robot with obstacle-crossing capability according to claim 6, characterized in that: The fixed end includes a housing and a first joint bearing mounted on the housing. The fixed end is rotatably connected to one end of the lifting rocker arm via the first joint bearing. The movable end includes a telescopic rod and a second joint bearing. The movable end is rotatably connected to the other end of the steering arm via the second joint bearing. A driving component is provided inside the housing. The telescopic rod passes through the housing and is connected to the driving component for transmission. The driving component drives the telescopic rod to perform linear reciprocating motion relative to the housing to realize the extension and retraction of the telescopic rod.

8. A four-wheeled robot with obstacle-crossing capability according to claim 7, characterized in that: The driving component is an electric push rod, a hydraulic power cylinder, or a pneumatic power cylinder.

9. A four-wheeled robot with obstacle-crossing capability according to claim 7, characterized in that: The steering arm includes a first connecting part and a second connecting part. The first connecting part is rotatably connected to the other end of the lifting rocker arm, and the second connecting part is rotatably connected to a second joint bearing.

10. A four-wheeled robot with obstacle-crossing capability according to claim 9, characterized in that: The lifting rocker arm includes a rocker arm body, a first connecting arm, and a second connecting arm. The rocker arm body is rotatably connected to the wheel hub axle. One end of the first connecting arm is connected to the rocker arm body, and the other end of the first connecting arm has a downwardly inclined section. The inclined section has a first hinge portion, and the first connecting arm is rotatably connected to a first joint bearing through the first hinge portion. One end of the second connecting arm is connected to the rocker arm body, and the other end of the second connecting arm has a second hinge portion. An eccentric bearing is assembled between the second hinge portion and the first connecting portion, and the eccentric bearing is used to realize the rotatable connection between the second hinge portion and the first connecting portion.

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