Hydraulic drive deformable wheel-track composite variable wheel

Abstract

The application discloses a wheel-track composite variable wheel driven by hydraulic pressure, which comprises a deformable track (1), a hydraulic driving mechanism (2) and a web stretching mechanism (3), wherein the hydraulic driving mechanism (2) is connected with the web stretching mechanism (3) and used for providing the stretching driving force for the web stretching mechanism (3); the deformable track (1) is connected with the web stretching mechanism (3) and used for being deformed and switched between the wheel type and the track type under the action of the hydraulic driving mechanism (2) and the web stretching mechanism (3) and realizing the running motion by generating the driving force through the friction with the external ground. The structure design of the application is scientific, the wheel type walking mechanism and the track type walking mechanism are organically combined, the deformation interconversion between the wheel type and the track type can be realized under the hydraulic power driving according to the change of the running environment, the application can be better applied to robots, off-road vehicles and other light carriers, and the mobility and adaptability of the equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of variator wheel technology, and in particular to a hydraulically driven variator wheel with a track-wheel hybrid design. Background Technology

[0002] Currently, there are two relatively mature types of walking mechanisms: wheeled and tracked. Wheeled walking mechanisms have the advantages of high speed and high efficiency, but their operating area is more limited. Tracked walking mechanisms, on the other hand, have strong adaptability and good passability, but their structure is complex, the mechanism is relatively bulky, and their operating efficiency is low.

[0003] For mobile chassis that need to operate in different terrains and environments, especially when performing troop deployment and material transportation tasks on the battlefield, as well as conducting exploration and search and rescue operations in disaster area ruins, wheeled equipment is currently the most commonly used. It is required to have the ability to move in various complex road conditions, but the existing walking mechanisms cannot meet the requirements well. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a hydraulically driven, deformable wheel-track hybrid variant wheel.

[0005] Therefore, the present invention provides a hydraulically driven deformable wheel-track composite variant wheel, comprising deformable tracks, a hydraulic drive mechanism, and a web extension mechanism, wherein:

[0006] The hydraulic drive mechanism is connected to the web plate telescopic mechanism and is used to provide the telescopic driving force for the web plate telescopic mechanism.

[0007] The deformable track, connected to the web plate telescopic mechanism, is used to switch between wheeled and tracked states under the action of the hydraulic drive mechanism and the web plate telescopic mechanism, and to achieve travel by generating driving force through friction with the external ground.

[0008] The deformable track has a double-layer structure, consisting of an inner track and an outer track distributed inside and outside.

[0009] The outer track is attached to the outer surface of the inner track.

[0010] The inner track includes multiple track sections, and multiple inner track return springs are installed between any two adjacent track sections.

[0011] Each track segment in the inner track has a longitudinally distributed inner track protrusion at both its front and rear ends;

[0012] Each track link has two inner track protrusions that mesh with the sprocket-like outer edges on the outer and inner hubs of the web telescopic mechanism, respectively.

[0013] The outer and inner wheel hubs are spaced apart, with the inner wheel hub located directly behind the outer wheel hub.

[0014] The outer track includes multiple single track sections, and the bottom surface of each single track section has an outer track groove or an outer track insertion port.

[0015] Each track section in the inner track has two intermittently distributed inner track protrusions on the left and right sides of its top surface.

[0016] The protruding end of the inner track is embedded in the outer track groove or outer track insertion port on the single track section of the outer track, thereby making the outer track as a whole attached to the outer surface of the inner track.

[0017] The web plate telescopic mechanism includes an outer hub, an inner hub, an outer web plate, an inner web plate, four fixed shafts, two telescopic arms, two telescopic wheel systems, a top auxiliary wheel, a base auxiliary wheel, a drive shaft, and two drive bearings.

[0018] The outer and inner wheel hubs are spaced apart, with the inner wheel hub located directly behind the outer wheel hub;

[0019] The outer hub is directly mounted on the longitudinally distributed drive shaft, which is located at the center of the outer hub;

[0020] A drive bearing is provided on the outer wall of each of the front and rear ends of the drive shaft;

[0021] The outer web and the inner web are respectively mounted on two drive bearings distributed at the front and rear of the drive shaft;

[0022] The inner hub is mounted on the inner web plate;

[0023] The inner web plate has an inner web plate protrusion end, and the inner hub has a circular hole in the center;

[0024] The inner web plate extends outwards through a circular hole in the center of the inner hub and connects to the outer frame.

[0025] The drive shaft has two fixed shafts spaced apart on its upper and lower sides, respectively.

[0026] The fixed axis is located between the outer web and the inner web;

[0027] The front and rear ends of each fixed shaft are fixedly connected to the inner sides of the outer web and the inner web;

[0028] The web plate telescopic mechanism has a top auxiliary wheel and a base auxiliary wheel at its top and bottom, respectively.

[0029] The lower side of the top auxiliary wheel and the upper side of the base auxiliary wheel are respectively mounted on two adjacent fixed shafts;

[0030] A telescopic arm is installed on each of the two fixed shafts located below the drive shaft;

[0031] The telescopic arm is installed on the inner side of the outer web and the inner web via a fixed shaft;

[0032] Each telescopic arm has a telescopic wheel system installed on its upper outer end;

[0033] Each telescopic boom has an auxiliary wheel installed in the lower middle part.

[0034] The hydraulic drive mechanism, located between the outer web and the inner web, includes two hydraulic cylinders symmetrically distributed on the left and right.

[0035] Each hydraulic cylinder contains a hydraulic rod;

[0036] Two hydraulic cylinders are each connected to a hydraulic oil pipe on opposite sides;

[0037] The upper ends of the two hydraulic cylinders are respectively fixed to two fixed shafts located above the drive shaft;

[0038] The front and rear ends of the fixed shaft are respectively installed on the outer web and the inner web.

[0039] Each of the four outer corners of the hydraulic cylinder is equipped with a hydraulic cylinder support rod.

[0040] Each hydraulic rod has a protruding hydraulic rod end at its lower end;

[0041] The protruding end of the hydraulic rod is embedded in the telescopic arm slot at the upper end of the telescopic arm in the web telescopic mechanism.

[0042] Each hydraulic oil pipe extends from the side of the hydraulic cylinder closest to the drive shaft, extends to the inner web plate, passes through the holes in the inner web plate, and then connects upwards to the external oil pump.

[0043] The hydraulically driven deformable wheel-track composite variant wheel provided by this invention includes the following working modes:

[0044] First, when the deformable track changes from a wheeled state to a tracked state, the telescopic arm opens outward under the push of the hydraulic rod, causing the telescopic wheel system to extend outward, pressing the deformable track from a "circular" shape to a "quasi-triangular" shape, enabling tracked movement. When changing from tracked to wheeled, the telescopic arm retracts inward under the pull of the hydraulic rod, causing the telescopic wheel system to retract inward, and the pressure on the deformable track disappears.

[0045] Second, when moving in wheeled mode, the drive shaft rotates under the driving force of the external engine, which drives the outer wheel hub to rotate, thereby driving the deformable track and the inner wheel hub to rotate as well. At this time, the deformable track functions similarly to the tire of an ordinary wheel, while the telescopic mechanism of the web plate, including the inner web plate and the outer web plate, remains relatively stationary because the whole is connected to the frame.

[0046] Third, when the deformable wheel changes from a wheeled state to a tracked state, the hydraulic drive mechanism provides hydraulic driving force. The two hydraulic rods extend downwards and outwards, pushing the two telescopic arms to open outwards, causing the two telescopic wheel systems to extend outwards, compressing the deformable track from a "circular" shape to a "quasi-triangular" shape. At this time, the deformable wheel can move in track form. When the deformable wheel changes from tracked to wheeled, the hydraulic rods retract, pulling the telescopic arms inwards, causing the telescopic wheel systems to retract inwards. The compressive force on the deformable track disappears, and the track, under the action of the inner track return spring, returns to a "circular" shape, enabling wheeled movement.

[0047] As can be seen from the technical solution provided by the present invention above, compared with the prior art, the present invention provides a hydraulically driven deformable wheel-track composite variant wheel with a scientific structural design. By organically combining the wheeled walking mechanism and the tracked walking mechanism, it can deform and interchange between the wheeled and tracked states under hydraulic power drive according to changes in the driving environment. It can be well applied to robots, off-road vehicles and other light vehicles, improving the mobility and adaptability of the equipment, and has significant practical significance in production. Attached Figure Description

[0048] Figure 1 A schematic diagram of the overall structure of a hydraulically driven deformable wheel-track composite variant wheel provided by the present invention;

[0049] Figure 2 A schematic diagram of the overall structure of the deformable track in a hydraulically driven deformable wheel-track composite variant wheel provided by the present invention;

[0050] Figure 3 A schematic diagram of the top surface of a portion of the track in a hydraulically driven deformable wheel-track composite variant wheel provided by the present invention;

[0051] Figure 4 A schematic diagram of the bottom surface of a portion of the track in a hydraulically driven deformable wheel-track composite variant wheel provided by the present invention;

[0052] Figure 5 A schematic diagram of the overall hydraulic drive mechanism in a hydraulically driven deformable wheel-track composite variant wheel provided by the present invention;

[0053] Figure 6A schematic diagram of the assembly of the web plate and telescopic mechanism of a hydraulically driven deformable wheel-track composite variant wheel provided by the present invention;

[0054] Figure 7 A schematic diagram of the internal structure of a hydraulically driven deformable wheel-track composite variant wheel provided by the present invention;

[0055] Figure 8 A side view of the internal structure of a hydraulically driven deformable wheel-track composite variant wheel provided by the present invention;

[0056] Figure 9 A schematic diagram of the internal structure of a hydraulically driven deformable wheel-track composite variant wheel in tracked mode, provided by the present invention.

[0057] Figure 10 A schematic diagram of a hydraulically driven deformable wheel-track hybrid variant wheel in tracked mode, provided by the present invention.

[0058] In the diagram, 1 is the deformable track, 2 is the hydraulic drive mechanism, 3 is the web plate telescopic mechanism, 4 is the outer hub, 5 is the inner hub, 6 is the outer web plate, 7 is the inner web plate, 8 is the fixed shaft, 9 is the hydraulic cylinder, and 10 is the hydraulic rod.

[0059] 11 is the telescopic boom, 12 is the telescopic wheel system, 13 is the top auxiliary wheel, 14 is the base auxiliary wheel, 15 is the drive shaft, 16 is the drive bearing, 17 is the outer track, 18 is the inner track, 19 is the inner track return spring, 20 is the hydraulic oil pipe, 21 is the inner track protruding rod, and 22 is the hydraulic cylinder support rod.

[0060] 23 is the protruding end of the inner web plate, 24 is the auxiliary wheel of the telescopic arm, 25 is the sprocket-shaped outer edge, 26 is the outer track groove, 27 is the outer track insertion opening, 28 is the telescopic arm groove, 29 is the protruding end of the hydraulic rod, and 30 is the protruding end of the inner track. Detailed Implementation

[0061] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0062] See Figures 1 to 10 This invention provides a hydraulically driven deformable wheel-track composite variant wheel for mobile platforms that need to change their walking mode according to terrain. Specifically, it includes deformable tracks 1, a hydraulic drive mechanism 2, and a web extension mechanism 3, wherein:

[0063] The hydraulic drive mechanism 2 is connected to the web plate telescopic mechanism 3 and is used to provide the telescopic driving force for the web plate telescopic mechanism 3.

[0064] The deformable track 1 is connected to the web plate telescopic mechanism 3. It is used to transform and switch between wheeled and tracked states under the action of the hydraulic drive mechanism 2 and the web plate telescopic mechanism 3, and to achieve driving movement by generating driving force through friction with the external ground.

[0065] In this invention, specifically, the deformable track 1 has a double-layer structure, including an inner track 18 and an outer track 17 distributed inside and outside.

[0066] The outer track 17 is attached to the outer surface of the inner track 18.

[0067] In specific implementation, the inner track 18 includes multiple track sections, wherein multiple inner track return springs 19 are installed between any two adjacent track sections;

[0068] Each track segment in the inner track 18 has a longitudinally distributed inner track protrusion 21 at both its front and rear ends;

[0069] Each track link has two inner track protrusions 21, which respectively mesh with the sprocket-shaped outer edges 25 on the outer sides of the inner hub 5 and the outer hub 4 in the web plate telescopic mechanism 3;

[0070] The outer hub 4 and the inner hub 5 are spaced apart, with the inner hub 5 located directly behind the outer hub 4.

[0071] In specific implementation, the outer track 17 includes multiple single track sections, and the bottom surface of each single track section has an outer track groove 26 or an outer track insertion port 27.

[0072] Each track section 18 has an inner track protrusion 30 spaced apart on the left and right sides of the top surface of each track section 18.

[0073] The inner track protrusion 30 is embedded in the outer track groove 26 or outer track insertion port 27 on the single track section of the outer track 17, thereby causing the outer track 17 to be attached to the outer surface of the inner track 18.

[0074] It should be noted that for the outer track 17, some single track sections have outer track grooves 26 on their bottom surface, while other single track sections have outer track insertion openings 27 on their bottom surface.

[0075] In this invention, the outer track connects to the inner track and generates driving force through friction with the ground, and the inner tracks are connected by an inner track return spring.

[0076] It should be noted that, in this invention, the deformable track 1 will stretch or shorten as the wheel body deforms, mainly by changing the spacing between the inner layers 18 of each track.

[0077] In this invention, when the deformable track 1 is compressed and elongated, the protruding end 30 of the inner track embedded in the outer track groove 26 moves to both sides of the outer track groove 26, causing the pitch of part of the inner track 18 to increase, which in turn drives the pitch of part of the outer track 17 to increase, thereby causing the deformable track 1 to elongate. Conversely, when the pressure on the deformable track 1 disappears, the inner track 18 moves closer to each other under the elastic force of the inner track return spring 19, causing the protruding end 30 of the inner track in the outer track groove 26 to move closer to the middle, causing the pitch of part of the outer track 17 to decrease, thereby causing the deformable track 1 to shorten.

[0078] In this invention, in specific implementation, such as Figures 6 to 9 As shown, the web plate telescopic mechanism 3 includes an outer hub 4, an inner hub 5, an outer web plate 6, an inner web plate 7, four fixed shafts 8, two telescopic arms 11, two telescopic wheel systems 12, a top auxiliary wheel 13, a base auxiliary wheel 14, a drive shaft 15, and two drive bearings 16, wherein:

[0079] The outer hub 4 and the inner hub 5 are spaced apart, with the inner hub 5 located directly behind the outer hub 4.

[0080] The outer hub 4 is directly mounted on the longitudinally distributed drive shaft 15, and the drive shaft 15 is located at the center of the outer hub 4; therefore, the outer hub 4 can rotate together with the drive shaft 15.

[0081] A drive bearing 16 is respectively installed on the outer walls of the front and rear ends of the drive shaft 15; the outer web plate 6 and the inner web plate 7 are respectively mounted on the two drive bearings 16 distributed at the front and rear of the drive shaft 15. It should be noted that the specific mounting parts are equipped with cylindrical rollers.

[0082] The inner hub 5 is mounted on the inner web plate 7, and the mounting part is equipped with cylindrical rollers and spherical rollers;

[0083] It should be noted that the inner hub 5 is mounted on the inner web plate 7, moves relative to the web plate telescopic mechanism 3, and remains stationary relative to the outer hub 4.

[0084] The inner web plate 7 has an inner web plate extension end 23, and the inner hub 5 has a circular hole in the center. The inner web plate extension end 23 passes through the circular hole in the center of the inner hub 5 and extends outward to connect with the outer frame.

[0085] It should be noted that, through the inner web plate extension end 23 on the inner web plate 7, the inner web plate 7 can be directly connected to the external frame (such as the frame of an off-road vehicle), so that the entire web plate telescopic mechanism remains relatively stationary with the frame during the wheel's wheel-like motion.

[0086] It should be noted that, in this invention, when the drive shaft 15 rotates, the inner hub 5 and the outer hub 4 can rotate together with the drive shaft 15, while the outer web plate 6 and the inner web plate 7 can remain relatively stationary.

[0087] In specific implementation, the upper and lower sides of the drive shaft 15 have two fixed shafts 8 that are spaced apart to the left and right respectively;

[0088] The fixed shaft 8 is located between the outer web 6 and the inner web 7;

[0089] The front and rear ends of each fixed shaft 8 are fixedly connected to the inner sides of the outer web plate 6 and the inner web plate 7.

[0090] The top and bottom of the web plate telescopic mechanism 3 are respectively equipped with a top auxiliary wheel 13 and a base auxiliary wheel 14;

[0091] The lower side of the top auxiliary wheel 13 and the upper side of the base auxiliary wheel 14 are respectively mounted on two adjacent fixed shafts 8;

[0092] A telescopic arm 11 is installed on each of the two fixed shafts 8 located below the drive shaft 15;

[0093] See Figure 6 As shown, the telescopic arm 11 is installed on the inner side of the outer web plate 6 and the inner web plate via the fixed shaft 8;

[0094] Each telescopic arm 11 has a telescopic wheel system 12 installed on its upper outer end;

[0095] Each telescopic boom 11 has a telescopic boom auxiliary wheel 24 installed at the lower middle position.

[0096] In this invention, specifically, the hydraulic drive mechanism 2 includes two hydraulic devices that provide extension and retraction driving force to the web extension and retraction mechanisms 3 on both sides.

[0097] The hydraulic drive mechanism 2 is located between the outer web plate 6 and the inner web plate 7, and includes two hydraulic cylinders 9 symmetrically distributed on the left and right sides.

[0098] Each hydraulic cylinder 9 has a hydraulic rod 10;

[0099] Two hydraulic cylinders 9 are each connected to a hydraulic oil pipe 20 on opposite sides.

[0100] The upper ends of the two hydraulic cylinders 9 are respectively fixed on two fixed shafts 8 located above the drive shaft 15;

[0101] The front and rear ends of the fixed shaft 8 are respectively installed on the outer web plate 6 and the inner web plate 7.

[0102] In practice, a hydraulic cylinder support rod 22 is installed at each of the four outer corners of the hydraulic cylinder 9 to enhance the stability of the hydraulic cylinder 9.

[0103] In practice, each hydraulic rod 10 has a hydraulic rod protruding end 29 at its lower end;

[0104] The protruding end 29 of the hydraulic rod is embedded in the telescopic arm slot 28 at the upper end of the telescopic arm 11 in the web telescopic mechanism 3.

[0105] In other words, the lower end of the hydraulic rod 10 is connected to the telescopic arm 11.

[0106] In practice, each hydraulic oil pipe 20 extends from the side of the hydraulic cylinder 9 near the drive shaft 15, extends to the inner web plate 7, passes through the hole on the inner web plate 7, and then connects upward to the external oil pump.

[0107] It should be noted that, for the present invention, as Figures 7 to 9 As shown, when the variant wheel changes from a wheel type to a track type, the hydraulic rod 10 extends outward at an angle, thereby pushing the telescopic arm 11 to open outward. When the variant wheel changes from a track type to a wheel type, the hydraulic rod 10 retracts upward at an angle, thereby pulling the telescopic arm 11 to retract inward.

[0108] In this invention, the hydraulic drive mechanism 2 is installed in the body of the variant wheel to provide driving force for the deformation of the variant wheel. The entire hydraulic drive mechanism 2 is connected to the inner web plate 6 and the outer web plate 7 through the fixed shaft 8, and the lower end of the hydraulic rod 10 is connected to the telescopic arm 11.

[0109] To better understand the technical solution of the present invention, the working principle of the present invention is explained below.

[0110] For the present invention, when the variant wheel changes from a wheeled state to a tracked state, see [reference needed]. Figure 9 , Figure 10 As shown, the telescopic boom 11 extends outward under the push of the hydraulic rod 10, causing the telescopic wheel system 12 to extend outward, compressing the deformable track 1 from a "circular" shape to a "quasi-triangular" shape, enabling tracked movement. When changing from tracked to wheeled, see... Figure 7 As shown, the telescopic arm 11 retracts inward under the pull of the hydraulic rod 10, which in turn drives the telescopic wheel system 12 to retract inward, thus eliminating the pressure on the deformable track 1.

[0111] like Figure 10As shown, in the present invention, when moving in wheeled mode, the drive shaft 15 rotates under the driving force of an external engine (e.g., an off-road vehicle engine), causing the outer wheel hub 4 to rotate, thereby causing the deformable track 1 and the inner wheel hub 5 to rotate as well. At this time, the deformable track 1 functions similarly to the tire of an ordinary wheel, while the telescopic mechanism 3, including the inner web plate 7 and the outer web plate 6, remains relatively stationary because it is connected to the frame as a whole.

[0112] See Figures 5 to 10 As shown, when the deformable wheel changes from a wheeled state to a tracked state, the hydraulic drive mechanism 2 provides hydraulic driving force. The two hydraulic rods 10 extend downwards and outwards, pushing the two telescopic arms 11 to open outwards, causing the two telescopic wheel systems 12 to extend outwards, compressing the deformable track 1 from a "circular" shape to a "quasi-triangular" shape. At this time, the deformable wheel can move in track form. When the deformable wheel changes from tracked to wheeled, the hydraulic rods 10 retract, pulling the telescopic arms 11 inwards, causing the telescopic wheel systems 12 to retract inwards. The compressive force on the deformable track 1 disappears, and the track, under the action of the inner track return spring 19, returns to a "circular" shape, enabling wheeled movement.

[0113] In summary, compared with the prior art, the hydraulically driven deformable wheel-track composite variant wheel provided by this invention has a scientifically designed structure. By organically combining the wheeled walking mechanism and the tracked walking mechanism, it can deform and interchange between the wheeled and tracked states under hydraulic power drive according to changes in the driving environment. It can be well applied to robots, off-road vehicles and other light vehicles, improving the mobility and adaptability of the equipment, and has significant practical significance in production.

[0114] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A wheel-track composite transformable wheel driven by hydraulic pressure, characterized in that, The deformable track (1), the hydraulic drive mechanism (2) and the web stretching mechanism (3), wherein: The hydraulic drive mechanism (2) is connected with the web stretching mechanism (3) and is used to provide the stretching driving force for the web stretching mechanism (3); The deformable track (1) is connected with the web stretching mechanism (3) and is used to deform and switch between the wheeled and tracked states under the action of the hydraulic drive mechanism (2) and the web stretching mechanism (3) and to realize the running motion by generating the driving force through the friction with the external ground; The deformable track (1) is of a double-layer structure and comprises the inner track (18) and the outer track (17) distributed inside and outside, and the outer track (17) is integrally attached to the outer surface of the inner track (18); The inner track (18) comprises a plurality of track links, and a plurality of inner track return springs (19) are installed between any two adjacent track links, and each track link of the inner track (18) has a longitudinally distributed inner track protruding rod (21) at each of the front and rear ends, each track link has two inner track protruding rods (21) which are engaged with the sprocket-shaped outer edges (25) on the four outer sides of the inner hub (5) and the outer hub (4) in the web stretching mechanism (3), the outer hub (4) and the inner hub (5) are spaced apart and distributed in front and back, and the inner hub (5) is located directly behind the outer hub (4), and each track link of each track link in the inner track (18) has a spaced-apart inner track protruding end (30) on the top surface on the left and right sides; The outer track (17) comprises a plurality of single links, and each single link has an outer track notch (26) or an outer track embedding port (27) on the bottom surface; The inner track protruding end (30) is embedded into the outer track notch (26) or the outer track embedding port (27) on the single link of the outer track (17), so that the outer track (17) is integrally attached to the outer surface of the inner track (18); The web stretching mechanism (3) comprises the outer hub (4), the inner hub (5), the outer web (6), the inner web (7), the four fixed shafts (8), the two stretching arms (11), the two stretching wheel systems (12), the top auxiliary wheel (13), the base auxiliary wheel (14), the driving shaft (15) and the two driving bearings (16), wherein: The outer hub (4) and the inner hub (5) are spaced apart and distributed in front and back, and the inner hub (5) is located directly behind the outer hub (4); The outer hub (4) is directly installed on the longitudinally distributed driving shaft (15) which is located at the center of the outer hub (4); The front and rear ends of the outer wall of the driving shaft (15) are respectively provided with a driving bearing (16); The outer web (6) and the inner web (7) are respectively installed on the two driving bearings (16) which are spaced apart and distributed in front and back on the driving shaft (15); The inner hub (5) is installed on the inner web (7); The inner web (7) has an inner web protruding end (23), and the center of the inner hub (5) has a circular hole; The inner web protruding end (23) penetrates through the circular hole in the center of the inner hub (5) and extends outward to be connected with the external frame.

2. The hydraulically driven transformable wheel-track combined transformable wheel according to claim 1, characterized in that, The upper and lower sides of the driving shaft (15) are respectively provided with two fixed shafts (8) which are spaced apart left and right; The fixed shafts (8) are located between the outer web plate (6) and the inner web plate (7); The front and rear ends of each fixed shaft (8) are fixedly connected to the inner side of the outer web plate (6) and the inner web plate (7); The top end and the bottom of the web plate telescopic mechanism (3) are respectively provided with a top auxiliary wheel (13) and a base auxiliary wheel (14); The lower side of the top auxiliary wheel (13) and the upper side of the base auxiliary wheel (14) are respectively mounted on the two adjacent fixed shafts (8); Two telescopic arms (11) are respectively mounted on the two fixed shafts (8) located on the lower side of the driving shaft (15); The telescopic arms (11) are mounted on the inner side of the outer web plate (6) and the inner web plate through the fixed shafts (8); The upper outer end of each telescopic arm (11) is respectively provided with a telescopic wheel system (12); The middle lower position of each telescopic arm (11) is respectively provided with a telescopic arm auxiliary wheel (24).

3. The hydraulically driven transformable wheel-track combined transformable wheel according to claim 2, characterized in that, The hydraulic drive mechanism (2) is located between the outer web plate (6) and the inner web plate (7) and includes two hydraulic cylinders (9) which are symmetrically distributed left and right; Each hydraulic cylinder (9) has a hydraulic rod (10) therein; The opposite sides of the two hydraulic cylinders (9) are respectively connected to a hydraulic oil pipe (20); The upper ends of the two hydraulic cylinders (9) are respectively fixed on the two fixed shafts (8) located above the driving shaft (15); The front and rear ends of the fixed shafts (8) are respectively mounted on the outer web plate (6) and the inner web plate (7).

4. The hydraulically driven transformable wheel-track combined transformable wheel according to claim 3, characterized in that, The outer four corners of the hydraulic cylinder (9) are respectively provided with a hydraulic cylinder support rod (2); The lower end of each hydraulic rod (10) has a hydraulic rod protruding end (29); The hydraulic rod protruding end (29) is embedded in the telescopic arm slot (28) opened at the upper end of the telescopic arm (11) in the web plate telescopic mechanism (3).

5. The hydraulically driven transformable wheel-track combined transformable wheel according to claim 3, characterized in that, Each hydraulic oil pipe (20) extends from the side of the hydraulic cylinder (9) close to the driving shaft (15), extends to the inner web plate (7), and after penetrating through the hole in the inner web plate (7), is connected upward to an external oil pump.

6. The hydraulically driven transformable wheel-track combined transformable wheel according to claim 3, characterized in that, The working modes include: (1) When the variable wheel changes from the wheel type state to the track type state, the telescopic arm (11) is expanded outward under the pushing of the hydraulic rod (10), drives the telescopic wheel system (12) to extend outward, and compresses the deformable track (1) to change from "circular" to "triangular", so that the track type movement can be performed, and when the track type changes to the wheel type, the telescopic arm (11) is retracted inward under the pulling of the hydraulic rod (10), drives the telescopic wheel system (12) to retract inward, and the compression force on the deformable track (1) disappears; (2) When moving in the wheel type state, the driving shaft (15) rotates under the driving force of the external engine, drives the outer hub (4) to rotate, thereby driving the deformable track (1) and the inner hub (5) to rotate, at this time, the deformable track (1) is similar to the tire of a common wheel, and the telescopic mechanism including the inner web plate (7) and the outer web plate (6) in the web plate telescopic mechanism (3) remains relatively static as a whole and is connected to the frame; Three, when the variable wheel changes from wheel state to track state, the hydraulic drive mechanism (2) provides hydraulic drive force, two hydraulic rods (10) stretch out obliquely downward and outward, push two telescopic arms (11) to open outward, drive two telescopic wheel systems (12) to stretch out outward, and compress the deformable track (1) to change from "circular" to "triangular", at this time, the variable wheel can move in the form of track, and when the variable wheel changes from track to wheel, the hydraulic rod (10) is retracted, pulls the telescopic arm (11) to retract inward, drives the telescopic wheel system (12) to retract inward, and the compression force on the deformable track (1) disappears, so that the track changes to "circular" again under the action of the inner track return spring (19) and can move in the form of wheel.

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