The invention relates to an all-terrain four-wheel amphibious robot and belongs to the technical field of amphibious robots. A plurality of wheel type structures are symmetrically arranged on the two sides of a main machine body through power devices, and in a land driving state, the wheel type structures are parallel to the main machine body through metamorphic mechanisms; in the overwater driving state, the multiple wheel type structures are all perpendicular to the main machine body through the metamorphic mechanism, buoyancy bins are symmetrically arranged on the two sides of the main machine body, the outer side cross-shaped mounting plate is connected with the driving end of the power device through a coupler, the end of the cross-shaped mounting plate is hinged to an outer wheel arc-shaped piece, and a steering engine is arranged on the side wall of the outer side cross-shaped mounting plate. The output end of the steering engine is connected with a steering wheel, a locking mechanism is slidably arranged on the outer side cross-shaped mounting plate, and the metamorphic mechanism can enable the device to freely switch a land driving state or a water driving state according to the terrain requirement so as to adapt to different landform environments; the outer wheel arc-shaped piece deformation structure can enable the device to be freely switched between a cross-country state and a high-speed state according to terrain requirements so as to adapt to different road surface environments.

本发明涉及一种全地形四轮水陆两栖机器人，属于水陆两栖机器人技术领域，主机体两侧通过动力装置对称设置有多个轮式结构，陆地驱动状态，多个轮式结构通过变胞机构均与主机体平行设置；水上驱动状态，多个轮式结构通过变胞机构均与主机体垂直设置，主机体两侧对称设置有浮力仓，外侧十字安装板与通过联轴器与动力装置的驱动端连接，十字安装板的端部铰接有外轮弧形片，外侧十字安装板侧壁设置有舵机，舵机的输出端连接有舵盘，外侧十字安装板上滑动设置有锁定机构，变胞机构可以使本装置能够根据地形需要任意切换陆地驱动状态或水上驱动状态，以适应不同地貌环境，外轮弧形片变形结构可以使本装置能够根据地形需要任意切换越野状态或高速状态，以适应不同路面环境。