The invention provides a wheel-legged
obstacle crossing robot, and belongs to the field of mobile robots. The wheel-legged
obstacle crossing robot comprises a frame and a wheel
leg mechanism, connected with each other; the wheel
leg mechanism comprises a frame joint, a mechanical arm steering device, a mechanism arm, a wheel body steering device and a wheel body device; the mechanical arm steeringdevice is rotationally connected with the frame joint; one end of the mechanical arm is connected with the mechanical arm steering device, and the other end of the mechanical arm is connected with the wheel body steering device; the wheel body device is rotationally connected with the wheel body steering device; the mechanical arm comprises a telescopic driving device and a quadrangular mechanismcapable of being folded and deformed; and a fixed end and an expansion end of the telescopic driving device are separately connected with the two ends of a
diagonal of the quadrangular mechanism. Themechanical arm steering device can be used for driving the mechanical arm to rotate horizontally, the wheel body steering device can drive the wheel body device to rotate horizontally, and the mechanical arm moves in the height direction through the telescopic driving device of the mechanical arm, so that the wheel-legged
obstacle crossing robot achieves the omnibearing driving of
multiple degrees of freedom, thereby having high obstacle crossing performance.