Ground self-adaption type omnidirectional wheel device

The invention relates to a ground self-adaption type omnidirectional wheel device. The device comprises a wheel stand, and an omnidirectional wheel arranged on the wheel stand; a bracket is vertically connected to the wheel stand; a sliding block is glidingly arranged on the bracket along the vertical direction; a telescopic part is arranged between the sliding block and the wheel stand; a hanging rack is also fixed to the sliding block and convenient to arrange the whole omnidirectional wheel device to a chassis of a mobile robot; the hanging rack comprises a supporting plate that is fixed to the sliding block; two horizontal clamping plates are arranged on the bracket. The ground self-adaption type omnidirectional wheel device can be connected to the chassis of the mobile robot, the wheel stand, the bracket, the sliding block and the hanging rack on the bracket are matched, and thereby, the omnidirectional wheel can freely expand or shrink under uneven pavement or impact condition, the spacing to the chassis of the mobile robot is changed to adapt to different pavement conditions, and as a result, the influence on the stability of the whole mobile robot is reduced, and the effects of buffering and preventing vibration are realized; the device is simple in structure, convenient to mount, and high in adaption.