Flexible auxiliary wheel coaxially parallel to wheel

Abstract

The invention relates to the technical field of increasing functions of going upstairs and downstairs for wheels, in particular to a flexible auxiliary wheel coaxially parallel to a wheel. The invention aims to solve the problem that wheels simultaneously have flat ground walking and upstairs and downstairs climbing capabilities; the flexible auxiliary wheels are additionally arranged on the wheels, are folded around the axes of the wheels when walking on the flat ground and extend out of the wheels to form large-diameter flexible wheels when going upstairs and downstairs; the flexible auxiliary wheel can be folded and unfolded directly on the wheel and can be folded and unfolded by utilizing the axial space of the wheel; the folding and unfolding wheels are directly folded and unfolded on the wheels, electric slip rings are adopted to obtain power and control from the outside of the wheels, the small speed reducer motors fixedly installed on the wheels drive the folding and unfolding rotating wheels to complete folding and unfolding, and the folding and unfolding wheels can be used on electric wheelchairs, electric wheel type logistics trolleys and the like with the upstairs and downstairs requirements. When the vehicle is folded and unfolded in the axial space of the wheels, the axle needs to be in a hollow type, folding and unfolding are completed through a folding and unfolding rope and a mechanical rotating ring in the axial space position by a folding and unfolding rotating disc installed on a vehicle frame and the like, and the folding and unfolding device can be used for manually-pushed vehicle types such as baby strollers and the like.

Description

Technical Field

[0001] The invention relates to the technical field of adding stair climbing and descending functions to wheels, in particular to a flexible auxiliary wheel coaxially arranged in parallel with the wheel. Background Art

[0002] With the advancement of technology, the improvement of people's living standards and the increasing severity of aging, the requirements for the stair-going and going-up functions of wheeled vehicles such as electric wheelchairs and unmanned electric logistics vehicles will become higher and higher.

[0003] Currently, there are basically no wheeled vehicles such as electric wheelchairs and wheeled electric carts on the market. Products that use the wheels' own upstairs and downstairs functions to solve the problem of going up and down stairs.

[0004] Judging from various materials that can be found in published patent documents, there are many technical solutions that allow wheels to have the function of going up and down stairs, but these solutions all have various shortcomings. For example, there is a solution that uses hydraulics to extend the pawl. In addition to the hydraulic mechanism being very complicated, the pawl alone is also difficult to match various stair sizes well. No technical solution has yet been found that uses a single wheel that can directly use electricity to extend a flexible track structure to allow the wheel to have the function of going up and down stairs.

[0005] The electric wheelchairs on the market that have the function of going up and down stairs basically have a set of track mechanisms added outside the wheels, which either requires another person to support and operate the wheelchair to go up and down the stairs, or a support mechanism for converting between stairs and flat ground must be added outside the track mechanism; the track mechanism may slide when the stair steps are too smooth or the stairs are steep.

[0006] One of the main applications of logistics wheeled unmanned electric vehicles will be delivering goods and meals to homes. For homes without elevators, they will need to have the ability to go up and down stairs well.

[0007] There are many other wheeled vehicles that also need some stair-going and climbing functions. For example, when a baby stroller is pulled up the stairs while keeping the sleeping basket horizontal, the rear wheels will constantly collide with the vertical riser surface of the stairs, and when it is pushed down the stairs, it will constantly hit the tread surface of the stairs. Currently, there is a baby stroller with the stair-going and climbing function on the market. It is a four-wheel-to-two-wheel stroller. When going up and down the stairs, the two rear wheels of the stroller are folded toward the two front wheels to transform it into a two-wheeled stroller that can be pulled up the stairs and slowly lowered down the stairs. However, this method still does not solve the problem of the wheels colliding with the riser surface and tread surface of the stairs without buffering.

[0008] It should be noted that, when solving the problem of going up and down stairs for electric wheelchairs, wheeled electric carts, etc., it is not enough to rely solely on the wheels having the function of going up and down stairs. For example, if both the front and rear wheels are equipped with flexible wheels that can go up and down stairs, the entire vehicle may collapse towards the lower stairs during the process of going up and down stairs, etc., and other related supporting technical solutions are required. Therefore, the wheels having a complete function of going up and down stairs is only one part of using the wheels having the function of going up and down stairs to solve the problem of going up and down stairs for electric wheelchairs, wheeled electric carts, etc. Summary of the invention

[0009] The invention aims to solve the problem of going up and down stairs for a wheeled vehicle and propose a technical solution in the wheel link.

[0010] To this end, the purpose of the present invention is to provide a flexible auxiliary wheel coaxially parallel to the wheel, which can bring higher stair climbing performance and safety when going up and down stairs, and does not greatly affect the driving performance of the wheel when driving on flat ground.

[0011] The technical solution of the present invention: The flexible auxiliary wheel shrinks when walking on flat ground without affecting the normal walking of the wheel, and stretches out of the tire circle of the wheel when walking up and down stairs, so as to realize the function of walking up and down stairs.

[0012] The flexible auxiliary wheel is composed of a walking part and a retractable part.

[0013] The walking part of the flexible auxiliary wheel is composed of a flexible wheel belt 300, a telescopic support rod 310, a telescopic support rod seat 320 (321), and a telescopic support rod spring 330; wherein the flexible wheel belt 300 is connected to the telescopic support rod 310 and the retractable rope belt 340, the telescopic support rod seat 320 (321) is fixed on the wheel disc 201, the telescopic support rod seat 320 (321) supports the telescopic support rod 310 to move radially, and the telescopic support rod spring 330 is installed between the flexible wheel belt 300 and the telescopic support rod seat 320 (321) to support the flexible wheel belt 300; the flexible auxiliary wheel mainly realizes the function of going up and down stairs by compressing and deforming the flexible wheel belt 300 by the stair steps to form a concave tooth shape, and the joint of the telescopic support rod 310 and the flexible wheel belt 300 plays a main supporting role, etc., and adding gear teeth to the flexible wheel belt 300 can further enhance its up and down stairs performance. Figure 1 After certain experimental verification, the number of telescopic support rods 310 is about 12, and the length of the flexible wheel belt 300 extending outside the wheel after being stretched is about 50% of the wheel radius, which is a situation that can take all aspects into consideration.

[0014] When in use, the flexible auxiliary wheel will be in a retracted state for a long time, and the telescopic support rod spring 330 will be in a compressed state for a long time. In addition to the type 320 that directly connects to the telescopic support rod spring 330, the telescopic support rod seat can also have a type 321 that leaves a longer spring space for the telescopic support rod spring 330 after compression to protect the spring performance; the telescopic support rod spring 330 mainly supports the expansion of the flexible wheel belt 300, and is required not to excessively hinder the compression deformation of the flexible wheel belt 300 caused by stairs, etc., so the elastic force requirement of the telescopic support rod spring 330 does not need to be too large.

[0015] The retracting and releasing part of the flexible auxiliary wheel is completed by the retracting and releasing rope belt 340 associated with the flexible wheel belt 300 in cooperation with the retracting and releasing mechanism. The specific retracting and releasing methods include the retracting and releasing method in the radial plane of the wheel axle and the retracting and releasing method in the axial direction of the wheel axle.

[0016] The retracting and releasing method in the radial plane of the wheel axle is that the retracting and releasing wheel 360 that can rotate around the wheel axle 203 pulls the retracting and releasing rope 340 when rotating relative to the wheel disc 201, and then pulls the retracting and releasing flexible wheel belt 300 to fold and retract; when the retracting and releasing wheel 360 rotates in the opposite direction, the flexible wheel belt 300, under the action of the telescopic support rod spring 330, pulls the released retracting and releasing rope 340 to stretch, as shown in FIG. Figure 2 .

[0017] Specifically, it comprises a retractable rope belt 340, a retractable rotating wheel 360, a motor 370, a worm gear reducer 371, a driving gear 372, an electrical slip ring 377 and a motor control circuit; wherein the retractable rope belt 340 is connected to the flexible wheel belt 300 and the retractable rotating wheel 360, the retractable rotating wheel 360 can rotate relative to the wheel disc 201 around the wheel shaft 203 and is provided with fixing holes 363 for each retractable rope belt 340, the retractable rotating wheel 360 is also provided with a driven gear 362, the motor 370 and the worm gear reducer 371 with self-locking performance are installed on the wheel disc 201, the driving gear 372 is connected to the worm gear reducer 371 and the driven gear 362 on the retractable rotating wheel 360, and the electrical slip ring 377 introduces the motor power supply and the motor forward and reverse rotation control from outside the wheel, specifically see Figure 4 , Figure 5 .

[0018] The wheel axle axis direction retracting and releasing method is to realize the retracting and releasing of the retracting rope belt 340 by pulling and releasing in the wheel axis space, thereby realizing the folding and unfolding of the flexible wheel belt 300. Figure 3 .

[0019] Specifically, it comprises a retractable rope 340, a hollow shaft 205 in the center of the wheel disc 201, a convex rotating portion 381 in the radial direction of the retractable rope 340, a collecting ring 393 of the retractable rope 340, a mechanical rotating ring 390, a retractable rope 395, and a worm gear retractable mechanism 398 with a self-locking performance; wherein the mechanical rotating ring 390 can move on the axis of the hollow shaft 205 and the two ends are respectively connected to the collecting ring 393 and the worm gear retractable mechanism 398 with a self-locking performance, see specifically Figure 6 The axial force generated by axially pulling the flexible wheel belt 300 and compressing the telescopic support spring 330 is borne by the wheel frame and the wheel axle.

[0020] Beneficial Effects

[0021] This flexible auxiliary wheel increases the outer dimensions of the wheel and the adhesion surface with the stairs when going up and down stairs, improving the passability and safety of the wheel on the stairs. When folded up and driving on flat ground, it basically does not affect the normal driving of the wheel. This flexible auxiliary wheel provides a solution for the wheel link, which enables the electric wheelchair to go up and down stairs safely and conveniently without the assistance of others. This flexible auxiliary wheel provides a solution for the wheel link so that the wheeled electric vehicle can pass through a path with stairs; This flexible auxiliary wheel is used in infant strollers to cushion the impact when going up and down stairs directly; The flexible auxiliary wheel can also be used on other wheeled vehicles that require going up and down stairs and overcoming obstacles. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 This is a schematic diagram of the walking part of the flexible auxiliary wheel and the stairs going up and down; Figure 2 It is a schematic diagram of the way in which the flexible wheel band is retracted and extended in the radial plane of the wheel axle; Figure 3 It is a schematic diagram of the flexible wheel belt being retracted and released in the direction of the wheel axle axis; Figure 4 This is a diagram illustrating the structure of the first embodiment of the invention, which adopts the method of retracting and releasing in the radial plane of the wheel axle; Figure 5 This is a schematic diagram of the control principle of the discharge and receiving motor of the first embodiment; Figure 6 This is a diagram illustrating the construction of the second embodiment that adopts the method of retracting and extending in the direction of the wheel axle axis.

[0022] Reference numerals: 100. Stair tread; 101. Stair riser; 102. Stair edge; 200, wheel tire; 201, wheel disc; 202, wheel disc shaft hole; 203, wheel axle; 204, wheel axle top thread hole; 205, wheel hollow axle; 206, hollow axle bearing mounting step; 207, wheel counterweight; 208, frame wheel axle support; 300, flexible wheel belt; 301, flexible wheel belt teeth; 302, type 1 of the connection part between the flexible wheel belt and the telescopic support rod; 303, type 2 of the connection part between the flexible wheel belt and the telescopic support rod; 304, the connection part between the flexible wheel belt and the retractable rope belt; 310, telescopic support rod; 311, telescopic support rod cap; 312, telescopic support rod and flexible wheel belt connection type 1; 313, telescopic support rod and flexible wheel belt connection type 2; 314, cotter pin; 320, telescopic support rod seat; 321, telescopic support rod seat long spring space type; 322, telescopic support rod rod portion is placed in slot; 323, telescopic support rod cap portion is placed in slot; 324, telescopic support rod sliding hole; 330, telescopic support rod spring; 331, spring cap; 340. Retractable rope belt; 341. Retractable rope belt cap; 342. Retractable rope belt anti-retraction cap; 343. Retractable rope belt installation and anti-retraction pointed cap; 350, guide hole for collecting and releasing the rope belt; 351, guide hole seat for collecting and releasing the rope belt; 360, retractable rotating wheel; 361, retractable rotating wheel shaft hole; 362, retractable rotating wheel gear; 363, retractable rope belt fixing hole; 364, slow bending arc groove; 365, retractable rotating wheel rope belt groove; 366, retractable rotating wheel micro switch contact block; 367, retractable rotating wheel retaining ring; 368, top screw; 370. Brushed DC motor; 371. Worm reducer with self-locking performance; 372. Driving gear; 373. Micro switch; 374. Diode; 375. Terminal block; 376. Wire ； 377, electrical slip ring; 378, electrical slip ring stator end; 379, electrical slip ring stator end frame fixing; 37a, electrical slip ring mover end; 380, guide hole groove for collecting and releasing rope; 381, radial rotation axis convex rotation part for collecting and releasing rope; 382, ​​bearing; 383, bearing retaining ring; 384, hollow half shaft; 385, bearing matching groove; 386, front gear position for pulling and releasing rope; 387, rear gear position for pulling and releasing rope; 388, fixed hollow horizontal shaft; 389, frame; 390. Mechanical swivel; 391. The end of the mechanical swivel that rotates with the wheel; 392. The stator end of the mechanical swivel and the ring that connects it to the pulling and releasing rope; 393. Collection ring for retracting and releasing rope; 394. Collection ring retaining ring; 395. Retracting and releasing rope; 396. Limiting disc for pulling and releasing rope; 397. Steering groove bearing; 398. Retracting and releasing mechanism with self-locking worm gear; 399. Retracting and releasing winch; 39a. Turbine worm gear hand crank; 400, mounting screw kit; 401, screw mounting hole. DETAILED DESCRIPTION

[0024] Example 1: Embodiment 1 is a method of retracting and extending the wheel axle in the radial plane.

[0025] The wheel for running on flat ground is composed of a tire 200 and a wheel disc 201. The wheel axle 203 adopts a D-type axle, and the axle hole 202 of the wheel disc 201 corresponds to it.

[0026] The flexible belt 300 of the coaxial parallel flexible auxiliary wheel has flexible belt teeth 301, a connecting part 302 with the telescopic support rod 310 and a connecting part 304 with the retractable rope 340; the concave shape adopted on both sides of the flexible belt teeth 301 is to better hook the stair step 102; the main material of the flexible belt 300 is rubber.

[0027] The connection method between the telescopic support rod 310 and the flexible wheel belt 300 adopts the type 1 312 of the anti-retraction pressure head, which is for the convenience of installation.

[0028] The telescopic support rod seat 320 is fixedly connected to the wheel disc 201, and the telescopic support rod 310 passes through the telescopic support rod sliding hole 324 and the telescopic support rod spring 330 on the telescopic support rod seat 320 and is connected to the flexible wheel belt 300. The telescopic support rod cap 311 limits the maximum extension length of the telescopic support rod 300; the free length of the telescopic support rod spring 330 is greater than the corresponding length of the telescopic support rod spring 330 when the flexible wheel belt 300 is unfolded.

[0029] The material of the flexible wheel belt retractable rope 340 is nylon with relatively good softness, which includes a rope cap 341, a small anti-backward cap 342, and an installation and anti-backward pointed cap 343, and the whole can be injection molded for mass production; the retractable rope 340 passes through the reserved assembly hole and the retractable rope guide hole 350 of the flexible wheel belt 300, and then passes through the retractable rope fixing hole 363 on the retractable wheel 360 to complete the installation.

[0030] The retractable rope guide hole seat 351 is fixedly connected to the wheel disc 201. The main function of the retractable rope guide hole 350 is to make the flexible wheel belt 300 symmetrical and beautiful during the retracting and folding process. Its cancellation does not affect the retracting of the flexible wheel belt 300.

[0031] The axial hole 361 of the radial retractable wheel 360 is circular and can rotate around the wheel axle 203; the retractable wheel retaining ring 367 limits the retractable wheel 360 in its position; the retractable rope fixing hole 363 fixes each retractable rope 340 on the retractable wheel 360; the purpose of the slow-bending arc groove 364 is to prevent the retractable rope 340 from being excessively bent when the flexible wheel belt 300 is in a folded state, so as to protect it from damage as much as possible.

[0032] The radial plane space occupied by the retractable rope 340 and the radial plane space occupied by the telescopic support rod 310 are at different axial positions and do not interfere with each other's movement; this also corresponds to the connection position of the flexible wheel belt 300 with the retractable rope 340 and the connection position with the telescopic support rod 310 being staggered in the axial direction.

[0033] A brushed DC motor 370 and a worm gear reducer 371 are fixed on the wheel disc 201, a driving gear 372 connected to the worm gear reducer 371 meshes with a gear 362 of the retractable rotating wheel 360, two micro switches 373 are respectively arranged at the positions where the flexible belt 300 contacts the retractable rotating wheel micro switch bumper 366 when the flexible belt 300 is stretched and folded; a two-way electrical slip ring 377 is installed on the wheel axle 203 near the inner side of the vehicle body of the wheel disc 201, a stator end 378 thereof is fixed to the vehicle frame, a mover end 37a rotates with the axle 203, a common end and a normally closed end of the two micro switches 373 are respectively connected in parallel with a diode 374, and the specific wiring method is shown in Figure 5 .

[0034] The specific retracting and releasing process of the radially retractable flexible wheel belt 300 is as follows: the controller on the vehicle body sends a voltage signal of the unfolding of the flexible wheel belt 300, which is transmitted to the motor 370 on the wheel through the electrical slip ring 377, and the motor 370 rotates in the direction of releasing the retracting rope 340 toward the retracting and releasing wheel 360, and the flexible wheel belt 300 is stretched out under the action of the telescopic support rod spring 330 until the retracting and releasing wheel bump block 366 triggers the normally closed switch of the micro switch 373 at the stretching completion position to be disconnected, because the positive and negative poles of the diode 374 in parallel with the micro switch are opposite to the voltage direction at this time, and the power supply circuit of the motor 370 is disconnected and stops working; the controller on the vehicle body sends a folding voltage signal opposite to the voltage direction of unfolding the flexible wheel belt 300, and the motor 370 starts to rotate in the opposite direction to the unfolding flexible wheel belt 300, and the flexible wheel belt 300 begins to fold until the retracting and releasing wheel bump block 366 triggers the normally closed switch of the micro switch 373 at the folding completion position to be disconnected.

[0035] The radial retraction and extension method of the wheel axle is suitable for the type that adopts electric power and the electric device is installed on the wheel, so this method can be used in electric wheelchairs, wheeled electric cars and other electric-driven wheeled equipment and transportation tools.

[0036] Embodiment 2: The second embodiment is a method for axially retracting and extending the wheel axle.

[0037] The wheel for running on flat ground is composed of a tire 200 and a wheel disc 201. The central axis part of the wheel disc 201 adopts the type of hollow shaft 205, leaving space for the axial movement of the collecting ring 393 and the mechanical swivel 390 of the retractable rope 340; a bearing installation step 206 is left at the rear end of the hollow shaft 205, and the bearing retaining ring 383 fixes the bearing 382 on the hollow shaft 205 of the wheel.

[0038] The fixed hollow transverse shaft 388 composed of two hollow half shafts 384 is connected to the hollow wheel shaft 205 through its bearing matching groove 385 and the outer ring of the bearing 382, ​​and together with the bearing 382, ​​it withstands the axial pressure when the flexible wheel band 300 is tightened; the fixed hollow transverse shaft 388 is connected to the frame 389.

[0039] The connection method between the telescopic support rod 310 and the flexible wheel belt 300 adopts type 2 313 fixed by a cotter pin clamp 314. The consideration is that the telescopic support rod 310 can directly use a standard pin shaft, and the cotter pin 314 also selects a corresponding standard part to reduce manufacturing costs; the connection part between the flexible wheel belt 300 and the telescopic support rod 310 also adopts type 2 303 accordingly.

[0040] The telescopic support rod seat 321 of the long spring space type is fixedly connected to the wheel disc 201; the telescopic support rod portion on the telescopic support rod seat 321 is inserted into the groove 322 and the telescopic support rod cap portion of the radially corresponding telescopic support rod seat 321 is inserted into the groove 323 in size, so that the telescopic support rod 310 can be installed into the telescopic support rod seat 321.

[0041] The retractable rope belt 340 of the flexible wheel belt 300 completes the conversion from radial to axial direction through the axially convex rotating part 381 on the hollow shaft 205 of the wheel; the retractable rope belt guide hole groove 380 plays a certain restraining and aesthetic role here, and its non-setting does not affect the completion of the retraction and extension of the flexible wheel belt 300.

[0042] The gathering ring 393 of the retractable rope belt 340 is fixedly connected to the end 391 of the mechanical swivel 390 that rotates with the wheel; the retractable rope belt 340 passes through the reserved assembly hole of the flexible wheel belt 300, and then passes through the radial rotating shaft convex rotating part 381, and then is inserted through the reserved hole of the gathering ring 393 to complete the installation; the function of the gathering ring retaining ring 394 is to promote all the retractable rope belts 340 to move in unison when the flexible wheel belt 300 is released.

[0043] The pulling and releasing rope 395 is connected to the stator end 392 of the mechanical swivel 390, and finally connected to the self-locking retracting and releasing mechanism 398 installed on the frame 389; a limiting disc 396 is fixed in the middle of the pulling and releasing rope 395, and the limiting disc 396 cooperates with the front gear 386 and the rear gear 387 in the hollow half shaft 384 to complete the limiting of the retracting and releasing of the flexible wheel belt 300, that is, when the limiting disc 396 contacts with the front gear 386, it corresponds to the position where the flexible wheel belt 300 is stretched out, and when the limiting disc 396 contacts with the rear gear 387, it corresponds to the position where the flexible wheel belt 300 is folded into place; the diameter of the limiting disc 396 is smaller than the inner diameter of the fixed hollow horizontal shaft 388, and larger than the inner hollow circle diameters of the front and rear gears 386 and 387.

[0044] The self-locking function requirement of the retracting and releasing mechanism 398 is mainly to lock the flexible wheel belt 300 after it is retracted; the steering groove bearing 397 is used when the pulling and releasing rope 395 needs to change direction to connect to the retracting and releasing mechanism 398.

[0045] In this embodiment, the retracting and extending mechanism 398 is driven by a self-locking worm gear hand crank; the retracting and extending mechanism may also be driven by a motor and related controls.

[0046] The specific retraction and extension process of the axially retractable flexible wheel belt 300 is as follows: shake the turbine worm gear hand crank 39a in the retracting and extending mechanism 398, the turbine shaft drives the connected retracting and extending winch 399 to rotate, pulls the retracting and extending rope 395 connected to the retracting and extending winch 399, and the retracting and extending rope 395 pulls the mechanical swivel 390 axially away from the wheel, drives the retracting and extending rope belt 340 and the flexible wheel belt 300 to be retracted, until the limiting disc 396 reaches the rear gear position 387, and the folding of the flexible wheel belt 300 is completed; shake the turbine worm gear hand crank 39a in the retracting and extending mechanism 398 in the opposite direction, the retracting and extending rope 395 retreats and relaxes, and the flexible wheel belt 300 stretches under the action of the spring 330, until the limiting disc 396 reaches the front gear position 386, and the unfolding of the flexible wheel belt 300 is completed.

[0047] The axial retraction and extension of the wheel axle is convenient and simple to be retracted and extended manually, and is suitable for infant strollers and the like that are pushed manually.

[0048] The above two embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Technicians in these fields may modify the technical solutions recorded in the above embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications and substitutions are all within the scope of protection of the claims attached to the present invention.

Claims

1. A flexible auxiliary wheel coaxially arranged with a wheel, characterized in that: include: Flexible wheel belt 300, telescopic support rod 310, telescopic support rod seat 320 (321), telescopic support rod spring 330, retractable rope belt 340, retractable rotating wheel 360, motor 370, worm gear reducer 371, driving gear 372, electrical slip ring 377 and motor control circuit; The flexible wheel belt 300 is connected to the telescopic support rod 310 and the retractable rope belt 340, the telescopic support rod seat 320 (321) is fixed on the wheel disc 201, the telescopic support rod seat 320 (321) supports the telescopic support rod 310 to move radially, the telescopic support rod spring 330 is installed between the flexible wheel belt 300 and the telescopic support rod seat 320 (321), the retractable rope belt 340 connects the flexible wheel belt 300 and the retractable rotating wheel 360, and the retractable rotating wheel 360 can be rotated. The wheel axle 203 rotates relative to the wheel disc 201 and is provided with fixing holes 363 for each retracting and releasing rope 340, a driven gear 362 is provided on the retracting and releasing wheel 360, a motor 370 and a turbine worm reducer 371 with self-locking performance are installed on the wheel disc 201, a driving gear 372 connects the turbine worm reducer 371 and the driven gear 362 on the retracting and releasing wheel 360, and an electrical slip ring 377 introduces motor power and motor forward and reverse control from outside the wheel.

2. The flexible auxiliary wheel coaxially arranged with the wheel as claimed in claim 1, characterized in that: The flexible belt 300 is provided with flexible belt teeth 301 .

3. A flexible auxiliary wheel coaxially arranged with the wheel, characterized in that: include: Flexible wheel belt 300, telescopic support rod 310, telescopic support rod seat 320 (321), telescopic support rod spring 330, retractable rope belt 340, hollow shaft 205 in the center of wheel disc 201, radial axial convex rotating portion 381 of retractable rope belt 340, collecting ring 393 of retractable rope belt 340, mechanical rotating ring 390, retractable rope 395, worm gear retractable mechanism 398 with self-locking performance; The flexible wheel belt 300 is connected to the telescopic support rod 310 and the retractable rope belt 340, the telescopic support rod seat 320 (321) is fixed on the wheel disc 201, the telescopic support rod seat 320 (321) supports the telescopic support rod 310 to move radially, the telescopic support rod spring 330 is installed between the flexible wheel belt 300 and the telescopic support rod seat 320 (321), and the mechanical swivel 390 can move on the axis of the hollow shaft 205 and the two ends are respectively connected to the collecting ring 393 and the worm gear retractable mechanism 398 with self-locking performance.

4. The flexible auxiliary wheel coaxially arranged with the wheel as claimed in claim 3, characterized in that: The flexible belt 300 is provided with flexible belt teeth 301 .

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