Vehicle driving deformation wheel

Abstract

The present invention relates to the technical field of vehicle running devices, and in particular to a vehicle running deformable wheel; it comprises a first arc wheel, a second arc wheel and a driving mechanism, wherein two ends of the first arc wheel and two ends of the second arc wheel are opposite to each other and are separated by a radial dividing line between the first arc wheel and the second arc wheel, and the driving mechanism can drive the first arc wheel and / or the second arc wheel to slide along the extension direction of the radial dividing line to switch the wheel hub between a closed state and a dislocated state. Since the first arc wheel and / or the second arc wheel are dislocated by sliding along the extension direction of the radial dividing line, the distance between the outer end of the first arc wheel and the outer end of the second deformable wheel in the dislocated state can be effectively increased, so that the span of the outer end of the first arc wheel and the outer end of the second deformable wheel is increased, thereby enabling the deformable wheel to climb over higher obstacles.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle running devices, in particular to a vehicle running deformable wheel. Background Art

[0002] Nowadays, various types of vehicles with different performances have been widely used in urban transportation, agriculture, military, aerospace and other fields. Existing wheeled machinery generally adopts a round wheel structure, which cannot change the structural parameters according to the actual situation. It has defects such as high requirements for road surface, insufficient obstacle crossing ability, and weak grip. To solve this problem, researchers proposed a solution called deformable wheel.

[0003] In order to improve the obstacle climbing ability of the vehicle, the patent with announcement number CN214688852U discloses a deformable wheel mechanism that can be used for climbing stairs. The deformation of the wheel is controlled by the action of the flange, the transmission shaft and the bevel gear, so as to achieve step climbing. However, since the shape of the deformed wheel structure is similar to that of a spherical tire, it will take up a large space in the vehicle chassis after installing four wheels, so its actual application value in automobiles is limited. At the same time, the deformed wheel structure in this scheme is shaped like a "four-pointed star", so in actual application it is more suitable for climbing stairs with a height less than the value of its wheel radius. For higher vertical obstacles, this structure is difficult to achieve. For another example, the deformable wheel mechanism disclosed in the prior art uses a deformable wheel mechanism constructed by the motion characteristics of a crank slider mechanism, and uses a servo as a power source to achieve automatic deformation of the deformable wheel, thereby achieving step climbing. However, the deformable wheel is composed of three sets of identical arc wheels, and has a weak ability to climb obstacles with high vertical heights. In certain road conditions such as ruins, the overlapped edge of the deformed wheel will serve as the contact surface with the special road surface during climbing, and the overlapped edge structure does not have a strong gripping ability. At the same time, the deformation principle of the deformable wheel utilizes the motion characteristics of the crank slider mechanism, which has high requirements on the manufacturing accuracy and installation accuracy of the components.

[0004] Therefore, in the prior art, whether it is a spherical tire or a deformation mechanism of multiple sets of arc wheels, basically there is a problem that it is difficult to climb over high vertical obstacles, and the existing deformation wheel mechanism has a high matching accuracy of parts. The deformation wheel is prone to damage under long-term high-pressure work and is difficult to repair, resulting in the deformation wheel being difficult to be widely used. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and to provide a vehicle running deformable wheel to solve the technical problem in the prior art that the deformable wheel is difficult to climb over higher obstacles.

[0006] In order to achieve the above technical objectives, the technical solution of the present invention provides a vehicle running deformable wheel, including a first arc wheel, a second arc wheel and a driving mechanism, the two ends of the first arc wheel and the two ends of the second arc wheel are opposite to each other, a radial dividing line is formed between the first arc wheel and the second arc wheel, the first arc wheel and the second arc wheel can slide along the extension direction of the radial dividing line through the first arc wheel and / or the second arc wheel to enclose a wheel hub with a closed state and a misaligned state, when the wheel hub is in the closed state, the two ends of the first arc wheel and the two ends of the second arc wheel are butted, when the wheel hub is in the misaligned state, the two ends of the first arc wheel and the two ends of the second arc wheel are misaligned with each other, the driving mechanism is drivingly connected to the first arc wheel and the second arc wheel, and is used to drive the first arc wheel and / or the second arc wheel to slide along the extension direction of the radial dividing line to switch the wheel hub between the closed state and the misaligned state.

[0007] Optionally, the driving mechanism includes a base and a driving unit, an installation space is arranged between the first arc wheel and the second arc wheel, the base is arranged in the installation space, the first arc wheel and the second arc wheel are respectively slidably connected to both sides of the base, the sliding paths of the first arc wheel and the second arc wheel are parallel to the radial dividing line, and the driving unit is drivingly connected to the first arc wheel and the second arc wheel for driving the first arc wheel and the second arc wheel to slide along the surface of the base.

[0008] Optionally, the driving mechanism also includes two sliders, and slideways are arranged on both sides of the base close to the first arc wheel and the second arc wheel, and the slideways are arranged parallel to the radial dividing line. The two sliders are respectively slidably connected to the two slideways, and the first arc wheel and the second arc wheel are respectively fixed on the two sliders.

[0009] Optionally, the driving unit includes two drivers, both of which are fixed on the base and are respectively connected to the two sliders for driving the two sliders to slide on the corresponding slideways.

[0010] Optionally, two limiting edges arranged opposite to each other are provided on both sides of the base close to the first arc wheel and the second arc wheel, and the limiting edges on both sides of the base extend toward the first arc wheel and the second arc wheel respectively, so as to limit the two sides of the first arc wheel and the second arc wheel respectively. Optionally, an extension is provided at one end of the first arc wheel and / or the second arc wheel, and the extension passes through the radial dividing line and extends toward the first arc wheel and / or the second arc wheel. When the wheel hub is in a closed state, the extension abuts against the outer side surface of the first arc wheel and / or the second arc wheel, so as to limit the first arc wheel and the second arc wheel.

[0011] Optionally, both the first arc-shaped wheel and the second arc-shaped wheel are semicircular structures, and when the wheel hub is in a closed state, two ends of the first arc-shaped wheel are connected with two ends of the second arc-shaped wheel.

[0012] Optionally, an accommodating groove for accommodating the extension part is provided on the outer side surface of the end of the first arc wheel and / or the second arc wheel opposite to the extension part, and when the wheel hub is in a closed state, the extension part is located in the accommodating groove, and the inner side surface of the extension part is in contact with the side wall of the accommodating groove.

[0013] Optionally, a connecting groove is provided between the extension portion and the end surface of the first arc wheel and / or the second arc wheel, one end of the first arc wheel and / or the second arc wheel provided with an accommodating groove is located in the connecting groove, and the outer side surface of the extension portion is connected with the outer side surface of the first arc wheel and / or the second arc wheel.

[0014] Optionally, the extension portion includes a plurality of claws, and the plurality of claws are fixed at intervals on the ends of the first arc-shaped wheel and / or the second arc-shaped wheel, and the claws are used to grip the ground when the wheel hub is walking in a dislocated state.

[0015] Compared with the prior art, the beneficial effects of the vehicle running deformable wheel provided by the present invention include: by arranging the first arc wheel, the second arc wheel and the driving mechanism, the two ends of the first arc wheel and the two ends of the second arc wheel are opposite to each other and are separated by the radial dividing line between the first arc wheel and the second arc wheel; since the first arc wheel and the second arc wheel can slide along the extension direction of the radial dividing line through the first arc wheel and / or the second arc wheel to enclose and form a wheel hub with a closed state and a misaligned state, the driving mechanism can drive the first arc wheel and / or the second arc wheel to slide along the extension direction of the radial dividing line to switch the wheel hub between the closed state and the misaligned state; when the vehicle is traveling on an ordinary road, the driving mechanism drives the first arc wheel and / or the second arc wheel to slide along the extension direction of the radial dividing line. Or the second curved wheel, so that the wheel hub is in a closed state, so that the deformed wheel can run normally on an ordinary road. When the vehicle is traveling over a road with obstacles, the driving mechanism drives the first curved wheel and / or the second curved wheel, so that the wheel hub is in a dislocated state. When climbing over an obstacle, one of the dislocated parts of the wheel hub is used as a support point. When the other dislocated part of the wheel hub rotates to above the obstacle, the obstacle can be climbed over. Since the first curved wheel and / or the second curved wheel are dislocated by sliding along the extension direction of the radial dividing line, the distance between the outer end of the first curved wheel and the outer end of the second deformed wheel in the dislocated state can be effectively increased, so that the span of the outer end of the first curved wheel and the outer end of the second deformed wheel is increased, thereby enabling the deformed wheel to climb over higher roadblocks. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic structural diagram of a wheel hub of a vehicle running deformable wheel in a dislocated state provided by an embodiment of the present invention.

[0017] Figure 2 A front view of a wheel hub of a vehicle running deformable wheel provided by an embodiment of the present invention in a dislocated state.

[0018] Figure 3 A front view of a wheel hub of a vehicle running deformable wheel provided by an embodiment of the present invention in a closed state.

[0019] Figure 4 For along Figure 3 Sectional view along line AA.

[0020] Figure 5 An exploded view of a driving mechanism of a vehicle running deformable wheel provided in an embodiment of the present invention.

[0021] Among them, the reference numerals in the figure are:

[0022] 10—first arc wheel 11—extension portion 12—accommodation groove

[0023] 13—connection groove 20—second arc wheel 21—wheel hub

[0024] 22 - Installation space 30 - Driving mechanism 31 - Base

[0025] 32—driving unit 33—sliding block 34—rotating driving motor

[0026] 111—claw 311—slide 312—limiting edge

[0027] 321 - driver 322 - translation drive motor 323 - lead screw.

[0028] 323—Screw DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] The present invention provides a vehicle travel deformable wheel, such as Figures 1 to 4 As shown, the first arc wheel 10, the second arc wheel 20 and the driving mechanism 30 are included. The two ends of the first arc wheel 10 are opposite to the two ends of the second arc wheel 20. A radial separation line ( Figure 3 The first arc wheel 10 and the second arc wheel 20 can slide along the extension direction of the radial separation line to enclose and form a closed state (such as Figure 4 as shown) and misaligned state (as shown Figures 1 to 3 The hub 21 is shown in the figure. When the hub 21 is in a closed state, the two ends of the first arc wheel 10 and the two ends of the second arc wheel 20 are butted against each other. When the hub 21 is in a dislocated state, the two ends of the first arc wheel 10 and the two ends of the second arc wheel 20 are dislocated from each other. The driving mechanism 30 is drivingly connected to the first arc wheel 10 and the second arc wheel 20, and is used to drive the first arc wheel 10 and / or the second arc wheel 20 to slide along the extension direction of the radial dividing line to switch the hub 21 between a closed state and a dislocated state.

[0031] Specifically, the deformation wheel is provided with a first arc wheel 10, a second arc wheel 20 and a driving mechanism 30, the two ends of the first arc wheel 10 and the two ends of the second arc wheel 20 are opposite to each other, and are separated by a radial dividing line between the first arc wheel 10 and the second arc wheel 20, the first arc wheel 10 and the second arc wheel 20 can slide along the extension direction of the radial dividing line between the first arc wheel 10 and / or the second arc wheel 20 to enclose a wheel hub 21 having a closed state and a misaligned state, and the driving mechanism 30 can drive the first arc wheel 10 and / or the second arc wheel 20 to slide along the extension direction of the radial dividing line to switch the wheel hub 21 between the closed state and the misaligned state;

[0032] When the vehicle is traveling on a normal road, the driving mechanism 30 drives the first curved wheel 10 and / or the second curved wheel 20, so that the two ends of the first curved wheel 10 and the two ends of the second curved wheel 20 are butted, so that the wheel hub 21 is in a closed state, so that the deformed wheel can travel normally on a normal road;

[0033] When the vehicle is traveling over a road with obstacles, if the first arc wheel 10 is supported on the ground, the first arc wheel 10 and the second arc wheel 20 can be misaligned by driving the second arc wheel 20 to slide. When the second arc wheel 20 is supported on the ground, the first arc wheel 10 can be driven to slide to achieve the misalignment of the first arc wheel 10 and the second arc wheel 20. When the deformable wheel is in a suspended state, the first arc wheel 10 and the second arc wheel 20 can be driven at the same time to make the first arc wheel 10 and the second arc wheel 20 slide relative to each other to achieve the first arc wheel 10 and the second arc wheel 20. The first arc wheel 10 and / or the second arc wheel 20 are dislocated by sliding along the extension direction of the radial dividing line to form a dislocation, which can effectively increase the distance between the outer end of the first arc wheel 10 and the outer end of the second deformed wheel in the dislocated state, so that the span of the outer end of the first arc wheel 10 and the outer end of the second arc wheel 20 is increased, thereby enabling the deformed wheel to climb over higher obstacles.

[0034] In this embodiment, in order to facilitate the deformation wheel to travel on ordinary roads, the first arc wheel 10 and the second arc wheel 20 are both arc-shaped structures.

[0035] It can be understood that the first arc wheel 10 and the second arc wheel 20 can be arc structures of arbitrary curvature, and it is only necessary to form a circular structure when the hub 21 is in a closed state. When the curvature of the first arc wheel 10 is greater than 180°, the curvature of the second arc wheel 20 is less than 180°. When the curvature of the second arc wheel 20 is greater than 180°, the curvature of the first arc wheel 10 is less than 180°. When the curvatures of the first arc wheel 10 and the second arc wheel 20 are both less than 180°, a connecting piece can be provided between the first arc wheel 10 and the second arc wheel 20, and the first arc wheel 10 and the second arc wheel 20 are respectively provided on both sides of the connecting piece, and a complete circular structure is formed by the connection of the first arc wheel 10, the second arc wheel 20 and the connecting piece.

[0036] In this embodiment, in order to balance the rotation of the hub 21 and increase the distance between the outer end of the first arc wheel 10 and the outer end of the second arc wheel 20 when the hub 21 is in a misaligned state, the first arc wheel 10 and the second arc wheel 20 are both configured as semicircular structures. When the hub 21 is in a closed state, the two ends of the first arc wheel 10 and the two ends of the second arc wheel 20 are connected.

[0037] It can be understood that the driving mechanism 30 can be installed on the vehicle body or on the deformable wheel.

[0038] In this embodiment, since the driving mechanism 30 can drive the first arc wheel 10 and the second arc wheel 20 at the same time, or drive one of the first arc wheel 10 and the second arc wheel 20 separately, when one of the first arc wheel 10 and the second arc wheel 20 is supported on the ground or is stuck and cannot slide, the slidable first arc wheel 10 or the second arc wheel 20 can be driven separately, thereby effectively improving the practical performance of the deformable wheel.

[0039] Alternatively, if Figures 1 to 5 As shown, the driving mechanism 30 includes a base 31 and a driving unit 32. An installation space 22 is provided between the first arc wheel 10 and the second arc wheel 20. The base 31 is provided in the installation space 22. The first arc wheel 10 and the second arc wheel 20 are respectively slidably connected to both sides of the base 31. The sliding paths of the first arc wheel 10 and the second arc wheel 20 are parallel to the radial dividing line. The driving unit 32 is drivingly connected to the first arc wheel 10 and the second arc wheel 20, and is used for driving the first arc wheel 10 and the second arc wheel 20 to slide along the surface of the base 31.

[0040] Specifically, the base 31 can strengthen the connection between the first arc wheel 10 and the second arc wheel 20 , and at the same time, can realize the independent sliding of the first arc wheel 10 and the second arc wheel 20 , thereby realizing the separate driving of the first arc wheel 10 and the second arc wheel 20 by the driving unit 32 .

[0041] In this embodiment, Figure 1 and 4 As shown in Figures 5 to 6, the driving mechanism 30 further includes a rotation driving motor 34, which is fixed to the side of the base 31 and is used to drive the base 31 to rotate, thereby driving the wheel hub 21 to rotate.

[0042] It can be understood that sliding grooves can be provided on both sides of the base 31, and the first arc wheel 10 and the second arc wheel 20 are slidably connected in the sliding grooves at one end close to the sliding grooves.

[0043] In this embodiment, in order to facilitate the disassembly and maintenance of the arc wheel and the second arc wheel 20, as shown in FIG. Figures 2 to 5 As shown, the driving mechanism 30 also includes two sliders 33. The base 31 is provided with slideways 311 on both sides close to the first arc wheel 10 and the second arc wheel 20. The slideways 311 are arranged parallel to the radial dividing line. The two sliders 33 are respectively slidably connected to the two slideways 311. The first arc wheel 10 and the second arc wheel 20 are respectively fixed on the two sliders 33.

[0044] Through the sliding connection setting of the slider 33, the first arc wheel 10 and the second arc wheel 20 can achieve misalignment and docking with the base 31 without high-precision matching, which effectively simplifies the structure of the deformation wheel and reduces the probability of overhauling the deformation wheel. Even when the first arc wheel 10 and the second arc wheel 20 are damaged, it is only necessary to remove the first arc wheel 10 and the second arc wheel 20 from the slider 33 to achieve the overhaul and replacement of the first arc wheel 10 and the second arc wheel 20, which effectively improves the practical performance of the deformation wheel.

[0045] It can be understood that the slideway 311 can be a structure such as a slide rail, a slide rod or a slide groove.

[0046] In this embodiment, Figures 1 to 5 As shown, in order to ensure a stable connection between the slider 33 and the base 31, the slideway 311 is configured as a slide rod structure, and the slide rail is sleeved on the surface of the slide rod.

[0047] Alternatively, if Figures 1 to 3 As shown in Figure 5, the driving unit 32 includes two drivers 321, both of which are fixed on the base 31 and are respectively connected to the two sliders 33 for driving the two sliders 33 to slide on the corresponding slideways 311. Specifically, the driving unit 32 is configured as two drivers 321. When one of the drivers 321 fails, the first arc wheel 10 or the second arc wheel 20 can still be dislocated by driving the other driver 321 to drive the first arc wheel 10 or the second arc wheel 20, thereby effectively improving the practical performance of the deformable wheel.

[0048] In this embodiment, Figure 5 As shown, the driver 321 includes a translation drive motor 322 and a screw rod 323. The translation drive motor 322 is fixed to the side of the base 31, the screw rod 323 is fixed to the shaft of the translation drive motor 322 and is rotationally connected to the base 31, the slider 33 is sleeved on the surface of the screw rod 323, and the translation drive motor 322 drives the screw rod 323 to rotate, thereby realizing the sliding of the slider 33 along the slide rod.

[0049] Alternatively, if Figures 1 to 5 As shown, two limiting edges 312 are arranged opposite to each other on both sides of the base 31 close to the first arc wheel 10 and the second arc wheel 20, and the limiting edges 312 on both sides of the base 31 extend toward the first arc wheel 10 and the second arc wheel 20 respectively, so as to limit the two sides of the first arc wheel 10 and the second arc wheel 20 respectively. Specifically, the two limiting edges 312 can effectively limit the axial direction of the first arc wheel 10 and the second arc wheel 20, thereby improving the stability of the deformable wheel when walking and climbing over obstacles.

[0050] Alternatively, if Figures 1 to 3As shown, an extension portion 11 is provided at one end of the first arc wheel 10 and / or the second arc wheel 20, and the extension portion 11 passes through the radial dividing line and extends toward the first arc wheel 10 and / or the second arc wheel 20. When the hub 21 is in a closed state, the extension portion 11 abuts against the outer side surface of the first arc wheel 10 and / or the second arc wheel 20 to limit the first arc wheel 10 and the second arc wheel 20.

[0051] Specifically, because when the hub 21 is in a closed state, the extension portion 11 abuts against the outer side surface of the first arc wheel 10 and / or the second arc wheel 20, it can provide positioning for the docking of the first arc wheel 10 and the second arc wheel 20, and limit the sliding of the first arc wheel 10 and / or the second arc wheel 20, thereby improving the stability of the deformable wheel.

[0052] It can be understood that the extension portion 11 can be disposed at one end of the first arc wheel 10 , or at one end of the second arc wheel 20 , or at both ends of the first arc wheel 10 and the second arc wheel 20 .

[0053] In this embodiment, Figures 1 to 3 As shown, in order to ensure the stability of the deformable wheel, one end of the first arc wheel 10 and one end of the second arc wheel 20 are both provided with an extension portion 11.

[0054] Alternatively, if Figures 1-2 As shown, the outer side surface of the end of the first arc wheel 10 and / or the second arc wheel 20 opposite to the extension part 11 is provided with a receiving groove 12 for receiving the extension part 11. When the wheel hub 21 is in a closed state, the extension part 11 is located in the receiving groove 12, and the inner side surface of the extension part 11 is in contact with the side wall of the receiving groove 12. Specifically, the receiving groove 12 can achieve a close contact between the extension part 11 and the outer side surface of the first arc wheel 10 or the second arc wheel 20, thereby ensuring a stable connection between the first arc wheel 10 and the second arc wheel 20 when the wheel hub 21 is in a closed state.

[0055] In this embodiment, Figures 1-2 As shown, both the first arc wheel 10 and the second arc wheel 20 are provided with a receiving groove 12 .

[0056] Alternatively, if Figures 1-2 As shown, a connection groove 13 is provided between the extension portion 11 and the end surface of the first arc wheel 10 and / or the second arc wheel 20, one end of the first arc wheel 10 and / or the second arc wheel 20 provided with the receiving groove 12 is located in the connection groove 13, and the outer side surface of the extension portion 11 is connected with the outer side surface of the first arc wheel 10 and / or the second arc wheel 20. Specifically, the provision of the connection groove 13 and the receiving groove 12 can achieve a close connection between the ends of the first arc wheel 10 and the second arc wheel 20, improve the circumference of the wheel hub 21 when it is in a closed state, and improve the stability of the deformable wheel.

[0057] In this embodiment, Figures 1-2 As shown, both the first arc wheel 10 and the second arc wheel 20 are provided with a connecting groove 13 .

[0058] Alternatively, if Figure 1 As shown, the extension 11 includes a plurality of claws 111, which are fixed at intervals at the ends of the first arc wheel 10 and / or the second arc wheel 20, and the claws 111 are used to grip the ground when the wheel hub 21 is in a misaligned state. Specifically, the claws 111 can provide gripping force for the deformable wheel when climbing over obstacles, making it easier for the vehicle to climb over obstacles.

[0059] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A vehicle running deformable wheel, characterized in that: The invention comprises a first arc wheel, a second arc wheel and a driving mechanism, wherein two ends of the first arc wheel are opposite to two ends of the second arc wheel, a radial separation line is formed between the first arc wheel and the second arc wheel, the first arc wheel and the second arc wheel can slide along the extension direction of the radial separation line through the first arc wheel and / or the second arc wheel, and enclose a wheel hub with a closed state and a misaligned state, when the wheel hub is in the closed state, two ends of the first arc wheel and two ends of the second arc wheel are butted, and when the wheel hub is in the misaligned state, two ends of the first arc wheel and two ends of the second arc wheel are misaligned with each other; The driving mechanism is drivingly connected to the first arc wheel and the second arc wheel, and is used to drive the first arc wheel and / or the second arc wheel to slide along the extension direction of the radial separation line, so as to switch the wheel hub between a closed state and a misaligned state; The driving mechanism includes a base and a driving unit, an installation space is provided between the first arc wheel and the second arc wheel, the base is provided in the installation space, the first arc wheel and the second arc wheel are respectively slidably connected to two sides of the base, the sliding paths of the first arc wheel and the second arc wheel are parallel to the radial dividing line, and the driving unit is drivingly connected to the first arc wheel and the second arc wheel, and is used to drive the first arc wheel and the second arc wheel to slide along the surface of the base; The first arc wheel and the second arc wheel are both semicircular structures, and when the wheel hub is in a closed state, two ends of the first arc wheel are connected with two ends of the second arc wheel; An extension portion is provided at one end of the first arc wheel and / or the second arc wheel, and the extension portion passes through the radial dividing line and extends toward the first arc wheel and / or the second arc wheel. When the hub is in a closed state, the extension portion abuts against the outer side surface of the first arc wheel and / or the second arc wheel to limit the first arc wheel and the second arc wheel.

2. The vehicle travel deformable wheel according to claim 1, characterized in that: The driving mechanism also includes two sliders. Slideways are arranged on both sides of the base close to the first arc wheel and the second arc wheel. The slideways are arranged parallel to the radial dividing line. The two sliders are respectively slidably connected to the two slideways. The first arc wheel and the second arc wheel are respectively fixed on the two sliders.

3. The vehicle travel deformable wheel according to claim 2, characterized in that: The driving unit comprises two drivers, both of which are fixed on the base and are drivingly connected to the two sliders respectively, so as to drive the two sliders to slide on the corresponding slideways.

4. The vehicle travel deformable wheel according to claim 1, characterized in that: The base is provided with two oppositely arranged limiting edges on both sides close to the first arc wheel and the second arc wheel, and the limiting edges on both sides of the base extend toward the first arc wheel and the second arc wheel respectively to limit the two sides of the first arc wheel and the second arc wheel respectively.

5. The vehicle travel deformable wheel according to claim 1, characterized in that: An accommodating groove for accommodating the extension part is provided on the outer side surface of the end of the first arc wheel and / or the second arc wheel opposite to the extension part. When the wheel hub is in a closed state, the extension part is located in the accommodating groove, and the inner side surface of the extension part is in contact with the side wall of the accommodating groove.

6. The vehicle travel deformable wheel according to claim 5, characterized in that: A connecting groove is arranged between the extension part and the end surface of the first arc wheel and / or the second arc wheel, one end of the first arc wheel and / or the second arc wheel provided with an accommodating groove is located in the connecting groove, and the outer side surface of the extension part is connected with the outer side surface of the first arc wheel and / or the second arc wheel.

7. The vehicle travel deformable wheel according to claim 1, characterized in that: The extension portion includes a plurality of claws, and the plurality of claws are fixed at intervals on the ends of the first arc-shaped wheel and / or the second arc-shaped wheel. The claws are used to grip the ground when the wheel hub is walking in a dislocated state.

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