A deformable wheel mechanism applicable to soft driving road surfaces

Abstract

The present invention discloses a deformable wheel mechanism suitable for use on soft driving surfaces. The deformable wheel mechanism includes a driving wheel, a lead screw, a first moving ring, a first pull rod, a first moving slider, a second pull rod, and a blade. The edge of the driving wheel is evenly distributed with a plurality of first strip blocks along the circumference, and a first guide rail is provided between each first strip block and a center hole. A first connecting block is provided on the outer edge of the first moving ring, and an internal thread is provided on the inner circumference of the first moving ring, which is screw-fitted with the lead screw. The first moving slider is slidably fitted with the first guide rail and provided with a first connecting portion. The blade is rotationally connected to the first strip block. A second pull rod is movably connected between the blade and the first connecting portion. A first pull rod is movably connected between the first connecting portion and the first connecting block. The above-mentioned deformable wheel mechanism solves the problem of poor obstacle-crossing capability of existing deformable wheels when facing soft and easily sinking roads.

Description

Technical Field

[0001] The present invention relates to the technical field of deformable wheels, and in particular to a deformable wheel mechanism suitable for driving on soft roads. Background Art

[0002] Small mobile robots can often be seen in some off-road environments. The driving wheels, as the core components of small mobile robots, determine the robot's overall obstacle crossing and passing performance. In particular, the use of deformable wheels has greatly improved the robot's environmental adaptability. However, currently, most deformable wheels for soft and sinkable ground are achieved by increasing the obstacle crossing height after deformation. This type of deformable wheel has low passing performance on soft ground and poor stability.

[0003] Prior art discloses a rescue robot with umbrella-shaped, deformable wheels. By adapting the wheels to different obstacles, the rescue robot has wider adaptability and higher rescue efficiency. However, these deformable wheels are not very adaptable to soft surfaces. The prior art also discloses a three-spoke deformable wheel mechanism, which similarly improves obstacle-crossing capabilities by significantly increasing the range of wheel diameter changes.

[0004] However, in the above two prior arts, the passability is improved by increasing the obstacle crossing height, and there is no corresponding response to the deformation of the soft and sinkable ground. Summary of the Invention

[0005] In view of this, the present invention provides a deformable wheel mechanism suitable for soft driving roads, which solves the problem of poor obstacle-crossing ability of existing deformable wheels when facing soft and easily sinking roads.

[0006] The present invention adopts the following specific technical solutions:

[0007] A deformable wheel mechanism suitable for soft driving roads, the deformable wheel mechanism comprising a driving wheel, a lead screw, a first motion ring, a first pull rod, a first motion slider, a second pull rod and blades;

[0008] The traveling wheel is a disc-shaped structure provided with a central hole, and a plurality of first strip-shaped blocks are evenly distributed along the circumference on the edge of one side surface, and a first guide rail distributed along the radial direction is provided between the middle portion of each first strip-shaped block along the circumference and the central hole;

[0009] The lead screw is provided with an external thread, is coaxially arranged with the traveling wheel and can rotate around the axis of the traveling wheel;

[0010] The outer edge of the first movement ring is provided with a first connecting block corresponding to the first strip block one by one, and the inner circumference of the first movement ring is provided with an internal thread, which is screw-fitted with the external thread of the lead screw through the internal thread;

[0011] The first moving slider corresponds to the first guide rail one by one and slides together, and is provided with a first connecting portion on a side away from the first guide rail;

[0012] The blades correspond to the first strip blocks one by one and are rotatably connected; a first protrusion is provided on the web of the blades;

[0013] The second pull rod is movably connected between the first protrusion and the first connecting portion corresponding to each other;

[0014] The first pull rod is movably connected between the first connecting portion and the first connecting block corresponding to each other;

[0015] During use, the screw drives the first moving ring to move axially along the screw, and the first moving ring drives the first moving slider to slide along the first guide rail through the first pull rod, thereby driving the second pull rod to realize the opening and closing of the blades, so that the deformation wheel mechanism changes to different shapes.

[0016] Furthermore, the first guide rail is a T-shaped guide rail;

[0017] The first moving slider is provided with a T-shaped slot that matches the shape of the first guide rail;

[0018] The blade is provided with circular rings corresponding to the two ends of the first strip block, and the first strip block is provided with a through hole. A rotating shaft passing through the circular rings and the through hole movably connects the blade and the traveling wheel.

[0019] Furthermore, it further comprises a reverse blade symmetrically arranged with respect to the blade, a second motion slider symmetrical with respect to the first motion slider, a second motion ring symmetrical with respect to the first motion ring, a third pull rod symmetrical with respect to the first pull rod, and a fourth pull rod symmetrical with respect to the second pull rod;

[0020] The other side surface of the traveling wheel is provided with a second strip block symmetrical to the first strip block and a second guide rail symmetrical to the first guide rail;

[0021] The lead screw is arranged through the central hole, and has external threads at both ends with opposite rotation directions;

[0022] The first movement ring and the second movement ring are located on both sides of the traveling wheel;

[0023] A second connecting block is provided on the outer edge of the second movement ring;

[0024] A second moving slider is slidably engaged on each of the second guide rails; the second moving slider is provided with a second connecting portion;

[0025] The reverse blades correspond to the second strip blocks one by one and are rotatably connected; a second protrusion is provided on the web of the reverse blades;

[0026] The fourth pull rod is movably connected between the second protrusion and the second connecting portion corresponding to each other;

[0027] The third pull rod is movably connected between the second connecting portion and the second connecting block corresponding to each other;

[0028] During use, the lead screw drives the first moving ring and the second moving ring to move symmetrically along the axial direction of the lead screw. The first moving ring drives the first moving slider to slide along the first guide rail through the first pull rod, and the second moving ring drives the second moving slider to slide along the second guide rail through the third pull rod, thereby driving the second pull rod and the fourth pull rod to realize the synchronous opening and closing of the blades and the reverse blades, so that the deformation wheel mechanism changes to different shapes.

[0029] Furthermore, it also includes a reverse blade symmetrically arranged with the blade and moving synchronously;

[0030] During use, the screw drives the first motion ring to move symmetrically along the axial direction of the screw, and the first motion ring drives the first motion slider to slide along the first guide rail through the first pull rod, thereby driving the second pull rod to realize the synchronous opening and closing of the blades and the reverse blades, so that the deformation wheel mechanism changes to different shapes.

[0031] Furthermore, a gear transmission mechanism is provided between the mutually corresponding blades and the reverse blades;

[0032] The traveling wheel is provided with a hollow structure for passing the gear transmission mechanism.

[0033] Furthermore, a belt transmission mechanism is provided between the mutually corresponding blades and the reverse blades;

[0034] The traveling wheel is provided with a hollow structure for passing the belt transmission mechanism.

[0035] Furthermore, a chain transmission mechanism is provided between the mutually corresponding blades and the reverse blades;

[0036] The traveling wheel is provided with a hollow structure for passing the chain transmission mechanism.

[0037] Beneficial effects:

[0038] The deforming wheel mechanism of the present invention is suitable for soft driving roads. The deforming wheel mechanism includes a driving wheel, a lead screw, a first moving ring, a first pull rod, a first moving slider, a second pull rod and a blade; the lead screw is coaxially arranged with the driving wheel and can rotate around the axis of the driving wheel; the first moving ring is spirally matched with the lead screw; the first moving slider corresponds to the first guide rail of the driving wheel one by one and slides together; the blade corresponds to the first strip block of the driving wheel one by one and is rotatably connected; the first moving slider is located between the blade and the first moving ring, and is movably connected to the first moving ring through the first pull rod, and is movably connected to the blade through the second pull rod; during use, by driving the lead screw to rotate, the blade can be driven to open and close through the first moving ring, the first pull rod, the first moving slider and the second pull rod in sequence, so that the deforming wheel mechanism changes into different forms, and the contact area with the ground is changed by the rotation angle of the blade, thereby increasing the contact area of the blade with the ground when the deforming wheel sinks, thereby increasing the passability of the deforming wheel on soft ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a diagram of the leg-type motion state of a deformable wheel mechanism of the present invention;

[0040] Figure 2 for Figure 1 Wheel motion state diagram of the middle deformation wheel mechanism;

[0041] Figure 3 for Figure 1 Structural diagram of the middle traveling wheel;

[0042] Figure 4 for Figure 1 The structural diagram of the first movement ring;

[0043] Figure 5 for Figure 1 The structural diagram of the first moving slider;

[0044] Figure 6 for Figure 1 The structure diagram of the middle blade;

[0045] Figure 7 This is a wheel motion state diagram of another deformable wheel mechanism of the present invention;

[0046] Figure 8 for Figure 7 Transmission structure diagram of the blades and reverse blades of the middle deformation wheel mechanism;

[0047] Figure 9 for Figure 7 Diagram of the belt drive structure of the blades and reverse blades in the middle deforming wheel mechanism.

[0048] Among them, 1-travel wheel, 2-screw, 3-first movement ring, 4-first pull rod, 5-first movement slider, 6-second pull rod, 7-blade, 8-reverse blade, 9-gear transmission mechanism, 10-belt transmission mechanism, 11-first strip block, 12-first guide rail, 13-center hole, 14-second movement ring, 15-second movement slider, 16-third pull rod, 17-fourth pull rod, 31-first connecting block, 32-internal thread, 51-T-slot, 52-first connecting part, 71-ring, 72-first protrusion DETAILED DESCRIPTION

[0049] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0050] Example 1

[0051] This embodiment provides a deformable wheel mechanism for soft driving roads, such as Figure 1 and Figure 2 As shown, the deformation wheel mechanism includes a travel wheel 1, a lead screw 2, a first motion ring 3, a first pull rod 4, a first motion slider 5, a second pull rod 6 and a blade 7;

[0052] like Figure 3 As shown, the traveling wheel 1 is a disc-shaped structure provided with a central hole 13. A plurality of first strip-shaped blocks 11 are evenly distributed along the circumference on the edge of one side surface. A radially distributed first guide rail 12 is provided between the middle portion of each first strip-shaped block 11 along the circumference and the central hole 13. The first guide rails 12 correspond one-to-one to the first strip-shaped blocks 11. A first guide rail 12 extending radially along the traveling wheel 1 is provided between each first strip-shaped block 11 and the central hole 13. One end of the first guide rail 12 is located on the outer peripheral side of the central hole 13, and the other end is located in the middle portion of the corresponding first strip-shaped block 11 along the circumference. The first guide rail 12 may be a T-shaped guide rail.

[0053] The lead screw 2 is provided with an external thread and is coaxially arranged with the traveling wheel 1 and can rotate around the axis of the traveling wheel 1; the center hole 13 at the center of the traveling wheel 1 can be used for the lead screw 2 to pass through and be movably installed;

[0054] like Figure 4 As shown, the outer edge of the first movement ring 3 is provided with a first connecting block 31 corresponding one-to-one with the first strip block 11. The inner circumference of the first movement ring 3 is provided with an internal thread 32, which is screwed together with the external thread of the lead screw 2 through the internal thread 32. The first connecting block 31 is a block structure with a connecting hole for movable connection with the first pull rod 4.

[0055] like Figure 5As shown, the first motion slider 5 corresponds to the first guide rail 12 one by one and slides together, and a first connecting portion 52 is provided on the side away from the first guide rail 12; when the first guide rail 12 is a T-shaped guide rail, the first motion slider 5 is provided with a T-shaped slot 51 that matches the shape of the first guide rail 12, and the reciprocating sliding of the first motion slider 5 along the first guide rail 12 is achieved by the shape matching of the T-shaped slot 51 and the T-shaped guide rail; the first connecting portion 52 is an oblong block structure provided with two mounting holes, and the arrangement direction of the two mounting holes is the same as the extension direction of the first guide rail 12, wherein the mounting hole close to the first pull rod 4 is used for movable connection with the first pull rod 4, and the other mounting hole close to the second pull rod 6 is used for movable connection with the second pull rod 6;

[0056] like Figure 6 As shown, the blade 7 corresponds to the first strip block 11 one by one and is rotatably connected; a first protrusion 72 is provided on the web of the blade 7; in this embodiment, the blade 7 that is triangular as a whole and has an arc in the radial direction is used as an example for explanation, and the blade 7 can also adopt other shapes; the blade 7 is provided with circular rings 71 corresponding to the two ends of the first strip block 11, and the first strip block 11 is provided with a through hole. When the blade 7 is installed on the first strip block 11, the two circular rings 71 are respectively located at the two ends of the first strip block 11, and the circular hole in the middle of the circular ring 71 is opposite to the through hole of the first strip block 11. The blade 7 is movably connected to the running wheel 1 by a rotating shaft passing through the circular ring 71 and the through hole, so that the blade 7 can rotate around the rotating shaft relative to the first strip block 11, thereby changing the angle between the blade 7 and the running ring;

[0057] like Figure 1 As shown, the second pull rod 6 is movably connected between the corresponding first protrusion 72 and the first connecting portion 52; the first pull rod 4 is movably connected between the corresponding first connecting portion 52 and the first connecting block 31;

[0058] During use, the screw 2 drives the first moving ring 3 to move axially along the screw 2. The first moving ring 3 drives the first moving slider 5 to slide along the first guide rail 12 through the first pull rod 4, thereby driving the second pull rod 6 to realize the opening and closing of the blade 7, so that the deformation wheel mechanism changes to different shapes. Figure 1 The figure is a diagram of the leg-type motion state of the deformable wheel mechanism. At this time, when the blade 7 is opened to the maximum angle, the deformable wheel mechanism realizes walking by contacting the outermost end of the blade 7 with the ground; Figure 2 This is a diagram of the wheel motion state of the deformable wheel mechanism. At this time, the blades 7 are in a closed state, the blades 7 are attached to one side of the traveling wheel 1, and the outer peripheral surface of the traveling wheel 1 is in contact with the ground to achieve rolling movement.

[0059] The above-mentioned deformable wheel mechanism is suitable for use on soft roads. The deformable wheel mechanism includes a traveling wheel 1, a lead screw 2, a first moving ring 3, a first pull rod 4, a first moving slider 5, a second pull rod 6, and a blade 7. The lead screw 2 is coaxially arranged with the traveling wheel 1 and can rotate about the axis of the traveling wheel 1. The first moving ring 3 is screwed together with the lead screw 2. The first moving slider 5 corresponds to the first guide rail 12 of the traveling wheel 1 and slides in engagement with it. The blade 7 corresponds to the first strip 11 of the traveling wheel 1 and is rotationally connected thereto. The first moving slider 5 is located between the blade 7 and the first moving ring 3 and is movably connected to the first moving ring 3 via the first pull rod 4 and to the blade 7 via the second pull rod 6. During use, by driving the lead screw 2 to rotate, the blade 7 is driven to open and close via the first moving ring 3, the first pull rod 4, the first moving slider 5, and the second pull rod 6 in sequence, thereby changing the deformable wheel mechanism into different configurations. The rotation angle of the blade 7 changes the contact area with the ground, thereby increasing the contact area of the blade 7 with the ground when the deformable wheel sinks, thereby improving the passability of the deformable wheel on soft roads.

[0060] Example 2

[0061] Based on the deformation wheel mechanism of the above embodiment 1, Figure 1 、 Figure 7 and Figure 8 The deformation wheel mechanism of this embodiment further includes a reverse blade 8 symmetrically arranged with the blade 7, a second motion slider 15 symmetrically arranged with the first motion slider 5, a second motion ring 14 symmetrically arranged with the first motion ring 3, a third pull rod 16 symmetrically arranged with the first pull rod 4, and a fourth pull rod 17 symmetrically arranged with the second pull rod 6; that is, the lead screw 2, the motion ring, the first pull rod 4, the motion slider, the second pull rod 6 and the blade 7 are symmetrically assembled on both sides of the traveling wheel 1, and are symmetrically arranged with the traveling wheel 1 as the symmetry plane; the lead screw 2 on both sides of the traveling wheel 1 can be the same;

[0062] A plurality of first strip blocks 11 are evenly distributed along the circumference of the edge of one side surface of the traveling wheel 1. A first guide rail 12 is provided radially between the middle portion of each first strip block 11 and the center hole 13. A second strip block symmetrical to the first strip block 11 and a second guide rail symmetrical to the first guide rail 12 are provided on the other side surface of the traveling wheel 1. The number, position, and structure of the second strip blocks are identical to those of the first strip blocks 11, and the number, position, and structure of the second guide rails are identical to those of the first guide rails 12.

[0063] The lead screw 2 is provided through the central hole 13, and is provided with external threads of opposite rotation at both ends. The external threads of opposite rotation realize the symmetrical movement of the first movement ring 3 and the second movement ring 14, thereby realizing the synchronous movement of the blade 7 and the reverse blade 8;

[0064] The first and second movement rings 3, 14 have symmetrical structures and are located on either side of the traveling wheel 1, with the first and second movement rings 3, 14 being symmetrically arranged with the traveling wheel 1 as the plane of symmetry. The internal threads 32 of the first and second movement rings 3, 14 need to mate with the external threads of the screw 2 at both ends with opposite rotation directions. The outer edge of the second movement ring 14 is provided with a second connecting block corresponding one-to-one with the second strip block, and the second movement block has the same structure as the first movement block.

[0065] A second moving slider 15 is slidably engaged on each second guide rail; the second moving slider 15 is provided with a second connecting portion;

[0066] The reverse blade 8 corresponds to the second strip block one by one and is rotatably connected; a second protrusion is provided on the web of the reverse blade 8; the reverse blade 8 has the same structure as the blade 7 and is symmetrically arranged on both sides of the traveling wheel 1;

[0067] A fourth pull rod 17 is movably connected between the corresponding second protrusion and the second connecting portion; the fourth pull rod 17 and the second pull rod 6 are symmetrically arranged about the traveling wheel 1, and are used to drive the reverse blade 8 to rotate;

[0068] A third pull rod 16 is movably connected between the corresponding second connecting portion and the second connecting block; the third pull rod 16 and the first pull rod 4 are symmetrically arranged about the traveling wheel 1, and are used to drive the second moving slider 15 to slide along the second guide rail;

[0069] During use, the lead screw 2 drives the first moving ring 3 and the second moving ring 14 to move symmetrically about the traveling wheel 1 along the axial direction of the lead screw 2, that is, the first moving ring 3 and the second moving ring 14 will simultaneously move linearly toward the traveling wheel 1 or simultaneously move linearly away from the traveling wheel 1; while the first moving ring 3 moves along the axial direction of the lead screw 2, it drives the first moving slider 5 to slide along the first guide rail 12 through the first pull rod 4. Similarly, while the second moving ring 14 moves along the axial direction of the lead screw 2, it drives the second moving slider 15 to slide along the second guide rail through the third pull rod 16. The first moving slider 5 drives the blades 7 to slide relative to each other through the second pull rod 6. As the first strip block 11 rotates, the second moving slider 15 drives the reverse blade 8 to rotate relative to the second strip block through the fourth pull rod 17, thereby realizing the synchronous opening and closing of the blade 7 and the reverse blade 8, so that the deforming wheel mechanism changes different shapes according to different road surfaces, so that the deforming wheel mechanism can increase the contact area with the road surface through the deformation of the blade 7 and the reverse blade 8, thereby adapting to soft and easily sinking road surfaces. The deforming wheel mechanism in this embodiment is provided with blades 7 and reverse blades 8 on both sides of the traveling wheel 1, thereby being able to multiply the contact area with the road surface. Therefore, the above-mentioned deforming wheel mechanism can better adapt to soft and easily sinking road surfaces.

[0070] Example 3

[0071] Based on the deformation wheel mechanism of the above embodiment 1, Figure 8 and Figure 9 As shown in the structure, the above-mentioned deformation wheel mechanism also includes a reverse blade 8 which is symmetrically arranged with the blade 7 and moves synchronously, that is, the blade 7 is installed on one side of the traveling wheel 1, and the reverse blade 8 is installed on the other side, and the transmission mechanism such as the lead screw 2, the first moving ring 3, the first pull rod 4, the first moving slider 5 and the second pull rod 6 for driving the blade 7 and the reverse blade 8 to open and close is only equipped on one side of the traveling wheel 1, and the reverse blade 8 and the reverse blade 8 are symmetrically arranged with respect to the traveling wheel 1 and move synchronously, such as: a gear transmission mechanism 9, a belt transmission mechanism 10 or a chain transmission mechanism is provided between the blade 7 and the reverse blade 8 which correspond one to one along the axial direction of the traveling wheel 1, and the synchronous opening and closing of the blade 7 and the reverse blade 8 is achieved by the gear transmission mechanism 9, the belt transmission mechanism 10 or the chain transmission mechanism; in actual use, the synchronous opening and closing of the blade 7 and the reverse blade 8 can be achieved only by the gear transmission mechanism 9, the belt transmission mechanism 10 or the chain transmission mechanism, or Figure 8 As shown, a gear transmission mechanism 9 is installed between a pair of corresponding blades 7 and reverse blades 8, and a belt transmission mechanism 10 is installed between another pair of corresponding blades 7 and reverse blades 8. That is, any combination of the gear transmission mechanism 9, the belt transmission mechanism 10 and the chain transmission mechanism is used in the same deforming wheel mechanism; the gear transmission mechanism 9 can be driven by a plurality of spur gears or helical gears meshing in sequence, and the gears at both ends are fixedly connected to the rings 71 of the blades 7 and reverse blades 8 respectively; as shown Figure 9 As shown, a belt transmission mechanism 10 is installed between the corresponding blades 7 and the reverse blades 8. The belt transmission mechanism 10 includes a driving pulley fixedly connected to the ring 71 of the blade 7, a driven pulley fixedly connected to the ring 71 of the reverse blade 8, and a belt wrapped around the outer circumference of the driving pulley and the driven pulley. When the blade 7 rotates around the rotating shaft, the reverse blade 8 is driven by the belt to rotate around the rotating shaft, thereby realizing the synchronous rotation of the blade 7 and the reverse blade 8; when a chain transmission mechanism is installed between the corresponding blades 7 and the reverse blade 8, similarly to the belt transmission mechanism 10, the chain The transmission mechanism includes a driving sprocket fixedly connected to the ring 71 of the blade 7, a driven sprocket fixedly connected to the ring 71 of the reverse blade 8, and a chain wrapped around the outer circumference of the driving sprocket and the driven sprocket. When the blade 7 rotates around the rotating shaft, the reverse blade 8 is driven by the chain to rotate around the rotating shaft, thereby achieving synchronous rotation of the blade 7 and the reverse blade 8. In order to realize the installation of the gear transmission mechanism 9, the belt transmission mechanism 10 or the chain transmission mechanism on the traveling wheel 1, the traveling wheel 1 is provided with a hollow structure for passing the gear transmission mechanism 9, the belt transmission mechanism 10 or the chain transmission mechanism.

[0072] During use, the screw 2 drives the first moving ring 3 to move symmetrically along the axial direction of the screw 2. The first moving ring 3 drives the first moving slider 5 to slide along the first guide rail 12 through the first pull rod 4. The first moving slider 5 drives the second pull rod 6 to realize the opening and closing of the blade 7. The blade 7 drives the reverse blade 8 to open and close synchronously, so that the deformation wheel mechanism changes to different shapes.

[0073] In the deformable wheel mechanism of this embodiment, when blades 7 are provided on both sides of the traveling wheel 1, the transmission mechanism composed of the first moving ring 3, the first pull rod 4, the first moving slider 5 and the second pull rod 6 is replaced by a gear transmission mechanism 9, a belt transmission mechanism 10 or a chain transmission mechanism. Therefore, the contact area with the road surface can be multiplied while using fewer parts, and the weight and cost can be reduced, thereby being able to better adapt to soft and easily sinking roads and improving the market competitiveness of the deformable wheel mechanism.

[0074] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A deformable wheel mechanism suitable for soft driving roads, characterized in that: It includes a traveling wheel, a lead screw, a first motion ring, a first pull rod, a first motion slider, a second pull rod and blades; The traveling wheel is a disc-shaped structure provided with a central hole, and a plurality of first strip-shaped blocks are evenly distributed along the circumference on the edge of one side surface, and a first guide rail distributed along the radial direction is provided between the middle portion of each first strip-shaped block along the circumference and the central hole; The lead screw is provided with an external thread, is coaxially arranged with the traveling wheel and can rotate around the axis of the traveling wheel; The outer edge of the first movement ring is provided with a first connecting block corresponding to the first strip block one by one, and the inner circumference of the first movement ring is provided with an internal thread, which is screw-fitted with the external thread of the lead screw through the internal thread; The first moving slider corresponds to the first guide rail one by one and slides together, and is provided with a first connecting portion on a side away from the first guide rail; The blades correspond to the first strip blocks one by one and are rotatably connected; a first protrusion is provided on the web of the blades; The second pull rod is movably connected between the first protrusion and the first connecting portion corresponding to each other; The first pull rod is movably connected between the first connecting portion and the first connecting block corresponding to each other; It also includes a reverse blade symmetrically arranged with respect to the blade, a second motion slider symmetrical with respect to the first motion slider, a second motion ring symmetrical with respect to the first motion ring, a third pull rod symmetrical with respect to the first pull rod, and a fourth pull rod symmetrical with respect to the second pull rod; The other side surface of the traveling wheel is provided with a second strip block symmetrical to the first strip block and a second guide rail symmetrical to the first guide rail; The lead screw is arranged through the central hole, and has external threads at both ends with opposite rotation directions; The first movement ring and the second movement ring are located on both sides of the traveling wheel; A second connecting block is provided on the outer edge of the second movement ring; A second moving slider is slidably engaged on each of the second guide rails; the second moving slider is provided with a second connecting portion; The reverse blades correspond to the second strip blocks one by one and are rotatably connected; a second protrusion is provided on the web of the reverse blades; The fourth pull rod is movably connected between the second protrusion and the second connecting portion corresponding to each other; The third pull rod is movably connected between the second connecting portion and the second connecting block corresponding to each other; During use, the lead screw drives the first moving ring and the second moving ring to move symmetrically along the axial direction of the lead screw. The first moving ring drives the first moving slider to slide along the first guide rail through the first pull rod, and the second moving ring drives the second moving slider to slide along the second guide rail through the third pull rod, thereby driving the second pull rod and the fourth pull rod to realize the synchronous opening and closing of the blades and the reverse blades, so that the deformation wheel mechanism changes to different shapes.

2. The deformation wheel mechanism according to claim 1, characterized in that: The first guide rail is a T-shaped guide rail; The first moving slider is provided with a T-shaped slot that matches the shape of the first guide rail; The blade is provided with circular rings corresponding to the two ends of the first strip block, and the first strip block is provided with a through hole. A rotating shaft passing through the circular rings and the through hole movably connects the blade and the traveling wheel.

3. A deformable wheel mechanism suitable for soft driving roads, characterized in that: It includes a traveling wheel, a lead screw, a first motion ring, a first pull rod, a first motion slider, a second pull rod and blades; The traveling wheel is a disc-shaped structure provided with a central hole, and a plurality of first strip-shaped blocks are evenly distributed along the circumference on the edge of one side surface, and a first guide rail distributed along the radial direction is provided between the middle portion of each first strip-shaped block along the circumference and the central hole; The lead screw is provided with an external thread, is coaxially arranged with the traveling wheel and can rotate around the axis of the traveling wheel; The outer edge of the first movement ring is provided with a first connecting block corresponding to the first strip block one by one, and the inner circumference of the first movement ring is provided with an internal thread, which is screw-fitted with the external thread of the lead screw through the internal thread; The first moving slider corresponds to the first guide rail one by one and slides together, and is provided with a first connecting portion on a side away from the first guide rail; The blades correspond to the first strip blocks one by one and are rotatably connected; a first protrusion is provided on the web of the blades; The second pull rod is movably connected between the first protrusion and the first connecting portion corresponding to each other; The first pull rod is movably connected between the first connecting portion and the first connecting block corresponding to each other; It also includes a reverse blade symmetrically arranged with the blade and moving synchronously; A gear transmission mechanism, a belt transmission mechanism or a chain transmission mechanism is provided between the corresponding blades and the reverse blades; During use, the lead screw drives the first motion ring to move along the axial direction of the lead screw, and the first motion ring drives the first motion slider to slide along the first guide rail through the first pull rod, thereby driving the second pull rod to realize the synchronous opening and closing of the blades and the reverse blades, so that the deformation wheel mechanism changes to different shapes.

4. The deformation wheel mechanism according to claim 3, characterized in that: The first guide rail is a T-shaped guide rail; The first moving slider is provided with a T-shaped slot that matches the shape of the first guide rail; The blade is provided with circular rings corresponding to the two ends of the first strip block, and the first strip block is provided with a through hole. A rotating shaft passing through the circular rings and the through hole movably connects the blade and the traveling wheel.

5. The deformation wheel mechanism according to claim 3, characterized in that: The traveling wheel is provided with a hollow structure for passing the gear transmission mechanism.

6. The deformation wheel mechanism according to claim 3, characterized in that: The traveling wheel is provided with a hollow structure for passing the belt transmission mechanism.

7. The deformation wheel mechanism according to claim 3, characterized in that: The traveling wheel is provided with a hollow structure for passing the chain transmission mechanism.

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