All-terrain self-adaptive moving device for service robot

The invention relates to an all-terrain self-adaptive moving device for a service robot. The device comprises a chassis, driving mechanisms are arranged at the four corners of the chassis, the driving mechanisms are connected with moving mechanisms through wheel shafts, each driving mechanism comprises a motor, a speed reducer and a bearing support, the motors are connected with the speed reducers, the speed reducers are connected with the wheel shafts, and the wheel shafts are rotationally installed on the bearing supports; each moving mechanism comprises a Mecanum wheel and a deformation wheel, each Mecanum wheel and each deformation wheel are both fixedly connected with the wheel shafts, each deformation wheel comprises a deformation inner wheel, each deformation inner wheel is rotationally connected with at least three deformation scrolls, all the deformation scrolls are evenly distributed in the circumferential direction of the deformation inner wheels, elastic pieces are arranged at the rotating positio