Spoked wheel mechanism with variable spoke shapes

Abstract

The invention belongs to the technical field of robots, and discloses a spoke wheel mechanism with variable spoke shapes, which comprises a wheel disc, the wheel disc is in a hollow disc shell shape. A plurality of fixed discs are fixed in the wheel disc and are arranged in the axis direction of the wheel disc, and the fixed discs and the wheel disc are coaxially arranged; stretching mechanisms are arranged on the fixed discs, a plurality of spokes are connected to the stretching mechanism of any fixed disc, the spokes are annularly and uniformly distributed around the central axis of the fixed disc, the spokes are arranged in the radial direction of the wheel disc, and the stretching mechanisms are used for synchronously driving the spokes connected with the stretching mechanisms to synchronously move in the radial direction of the fixed discs; the ends, away from the central axis of the wheel disc, of the spokes on the stretching mechanisms are different in shape. A plurality of through grooves are formed in the circumferential wall of the wheel disc; the purpose that the spoked wheel mechanism can be rapidly switched among the wheel mode, the spoke leg mode and the spoke leg modes of various different forms is achieved, so that the spoked wheel mechanism can adapt to various different terrains, and the adaptability of the spoked wheel mechanism to the terrains is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a spoke wheel mechanism with variable spoke shapes. Background Art

[0002] In mobile robots, wheeled and legged are two typical motion modes. Wheeled motion has low energy loss, a simple mechanical structure, simple motion control, and good smoothness on open and flat terrains, but it is difficult to pass through uneven terrains such as steps and stairs; compared with wheeled motion, legged motion is very good at coping with various terrain environments, but its motion efficiency is low, the structure is complex, and the requirements for control are relatively high; in order to combine the advantages of wheeled and legged motions, wheel-legged composite robots have become a major research focus in the field of mobile robots. Among them, spoke wheel robots have received extensive attention due to their simple structure and control; however, due to the fixed and relatively single spoke shapes in the spoke wheel mechanisms of existing spoke wheel robots, the adaptability of robots in different terrain environments is limited. For example, in soft sand, gravel roads or stepped terrains, the fixed spoke shapes may not provide optimal grip or obstacle-crossing ability, thus affecting the motion performance and stability of the robots; therefore, there is a problem in the prior art that the adaptability of the spoke wheel mechanism to terrain is relatively poor. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a spoke wheel mechanism with variable spoke shapes, which solves the problem that the adaptability of the spoke wheel mechanism to terrain in the prior art is relatively poor.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] A spoke wheel mechanism with variable spoke shapes, comprising a wheel disc;

[0006] The wheel disc is in the shape of a hollow disc-shaped housing;

[0007] A plurality of fixed discs are fixed inside the wheel disc. The plurality of fixed discs are arranged along the axis direction of the wheel disc, and the fixed discs are all coaxially placed with the wheel disc;

[0008] Stretching mechanisms are provided on each fixed disc. A plurality of spokes are connected to the stretching mechanism of any one fixed disc. The plurality of spokes are evenly distributed in a ring around the central axis of the fixed disc. The spokes are all arranged radially of the wheel disc. The stretching mechanism is used to synchronously drive the respective spokes connected thereto to move synchronously along the radial direction of the fixed disc, and the shapes of the ends of the spokes on each stretching mechanism away from the central axis of the wheel disc are different;

[0009] A plurality of through grooves are formed in the peripheral wall of the wheel disc. The number of through grooves is equal to and corresponds one-to-one with the number of spokes;

[0010] When the extension unit is fully deployed, the extension mechanism can drive each spoke connected thereto to extend through the through groove to the outside of the wheel disc; when the extension mechanism is fully retracted, the extension mechanism can drive each spoke connected thereto to contract inside the wheel disc;

[0011] In the initial state, the spokes corresponding to each extension mechanism are all contracted inside the wheel disc;

[0012] A driving unit is provided on the wheel disc, and the driving unit is used to drive each extension mechanism to deploy or contract. When the driving unit drives any one extension mechanism to be fully deployed, the spokes corresponding to the remaining extension mechanisms are all contracted inside the wheel disc;

[0013] The extension mechanism includes a plurality of quadrilateral articulated monomers, and the plurality of articulated monomers are evenly distributed in a ring around the central axis of the wheel disc;

[0014] Each articulated monomer includes a first articulated shaft, a second articulated shaft and a third articulated shaft that are coaxially placed with the wheel disc. The first articulated shaft, the second articulated shaft and the third articulated shaft are all slidably connected to the corresponding fixed disc, and the first articulated shaft and the second articulated shaft are both arranged radially along the wheel disc. The number of the third articulated shafts is two, and the two third articulated shafts are symmetrically placed with respect to the plane where the central axes of the first articulated shaft and the second articulated shaft are located. Articulated rods are provided between the first articulated shaft, the second articulated shaft and the two third articulated shafts. One end of each articulated rod is rotatably sleeved on the third articulated shaft for rotational connection, and the other end of each articulated rod is rotatably sleeved on the first articulated shaft or the second articulated shaft for rotational connection;

[0015] The adjacent two articulated monomers share the same third articulated shaft on the side close to each other;

[0016] The number of articulated monomers is greater than or equal to the number of spokes, and the spokes are all arranged on different articulated monomers. One end of each spoke is fixed to the first articulated shaft of the corresponding articulated monomer;

[0017] The extension mechanism further includes a connecting frame, and the connecting frame is fixed to the corresponding fixed disc. A plurality of sliding grooves that are evenly distributed in a ring around the central axis of the wheel disc are provided on the connecting frame. The sliding grooves are all arranged radially along the wheel disc, and the number of the sliding grooves is less than or equal to the number of articulated monomers;

[0018] Any one sliding groove corresponds to an articulated monomer, and the first articulated shaft and the second articulated shaft of the corresponding articulated monomer are both slidably clamped in the sliding groove;

[0019] Each extension mechanism also includes a pushing block, and the pushing block is fixed to the first articulated shaft of the articulated monomer corresponding to any one sliding groove;

[0020] The connecting frames are all symmetrically placed. The number of sliding grooves on the connecting frame is greater than or equal to the number of fixed discs, and the projections of the sliding grooves corresponding to the pushing blocks in any two extension mechanisms along the axial direction of the wheel disc are all in a crossed state;

[0021] The driving unit includes a roller coaxially placed with the wheel disc. The roller sequentially passes through each fixed disc and is rotatably connected to the fixed disc. A plurality of cams are fixedly sleeved on the roller, and the cams correspond to the fixed discs one by one. The cams are symmetrically placed between each other, and the cams and the push blocks at the corresponding fixed discs are in the same height plane;

[0022] When the end of the circumferential wall of the cam away from the central axis of the wheel disc contacts the push block, the extension mechanism is fully extended;

[0023] When the end of the circumferential wall of the cam close to the central axis of the wheel disc contacts the push block, the extension mechanism is in a fully retracted state;

[0024] The driving unit further includes slide bars. The number of slide bars is equal to and corresponds to the number of push blocks one by one. The slide bars are coaxially placed with the chutes corresponding to the push blocks. One end of each slide bar is fixed on the inner circumferential wall of the wheel disc, and the push blocks are slidably sleeved on the corresponding slide bars. Springs are sleeved on the slide bars. One end of each spring is fixed to the inner circumferential wall of the wheel disc, and the other end of each spring is fixed to the push block;

[0025] The number of chutes on the connecting frame is at least one more than the number of push blocks;

[0026] The driving unit further includes a grooved wheel assembly. The grooved wheel assembly includes a driven dial fixedly sleeved on the upper end of the roller. The driven dial is coaxially placed with the roller. A plurality of uniformly distributed annular dial grooves are formed on the driven dial. The dial grooves are all arranged along the radial direction of the wheel disc. The number of dial grooves is equal to the number of chutes on the connecting frame. An active dial is rotatably connected to the inner end face of the wheel disc. The active dial is coaxially placed with the wheel disc. A round pin adapted to the dial groove is connected to the active dial through a fixed bar. A rotating motor for connecting and driving the active dial to rotate is installed on the wheel disc;

[0027] Guide blocks are slidably sleeved on the spokes, and the guide blocks are all fixed on the second hinge shafts of the spokes corresponding to the articulated monomers.

[0028] Advantages of the present invention:

[0029] 1. In the initial state, each spoke is retracted inside the wheel disc. At this time, the spoke wheel mechanism is in the wheel mode; when passing through complex terrains such as gullies or obstacles, any extension mechanism can be driven by the driving unit to expand, so that the corresponding spoke passes through the through groove and extends to the outside of the wheel disc. At this time, the spoke mechanism switches to the spoke leg mode, so as to pass through complex terrains with gullies or obstacles, and different extension mechanisms can be selectively driven to expand according to different terrains, so that the corresponding spokes extend out of the wheel disc, and different spoke leg modes of different forms are switched, so as to achieve the purpose of quickly switching between the wheel mode, the spoke leg mode and various different forms of spoke leg modes of the spoke wheel mechanism, so as to facilitate the spoke wheel mechanism to adapt to various different terrains and improve the adaptability of the spoke wheel mechanism to terrains;

[0030] 2. Through the cooperative setting of the rotating motor and the grooved wheel assembly, the cam can be driven to rotate intermittently, and the angle of each rotation of the cam can be accurately controlled, so as to realize the control and switching of the wheel mode and various spoke modes with different forms by a single rotating motor, and each mode after the switching has a self-locking function. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0032] Figure 1 is the overall structural schematic diagram of the present invention;

[0033] Figure 2 is the sectional structural schematic diagram of the wheel disc of the present invention;

[0034] Figure 3 is the partial structural schematic diagram at the fixed disc of the present invention;

[0035] Figure 4 is the partial structural schematic diagram at the cam of the present invention;

[0036] Figure 5 is the partial structural schematic diagram at the articulated rod of the present invention;

[0037] Figure 6 is the partial structural schematic diagram at the first articulated shaft of the present invention;

[0038] Figure 7 is the partial structural schematic diagram at the rotating roller of the present invention;

[0039] Figure 8 is the partial structural schematic diagram at the driven dial of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0041] As Figures 1 to 8 shown, a spoke wheel mechanism with variable spoke shapes includes a wheel disc 100;

[0042] The wheel disc 100 is in the shape of a hollow disc-shaped shell;

[0043] A plurality of fixed disks 200 are fixed inside the roulette wheel 100. The plurality of fixed disks 200 are arranged along the axial direction of the roulette wheel 100, and the fixed disks 200 are all coaxially placed with the roulette wheel 100;

[0044] Each fixed disk 200 is provided with a stretching mechanism 300. A plurality of spokes 400 are connected to the stretching mechanism 300 of any one fixed disk 200. The plurality of spokes 400 are evenly distributed in a ring around the central axis of the fixed disk 200. The spokes 400 are all arranged radially along the roulette wheel 100. The stretching mechanism 300 is used to synchronously drive the respective spokes 400 connected thereto to move synchronously in the radial direction of the fixed disk 200, and the shapes of the ends of the spokes 400 on each stretching mechanism 300 away from the central axis of the roulette wheel 100 are different;

[0045] A plurality of through grooves 101 are formed in the peripheral wall of the roulette wheel 100. The number of through grooves 101 is equal to and corresponds one by one to the number of spokes 400;

[0046] When the stretching unit is fully deployed, the stretching mechanism 300 can drive the respective spokes 400 connected thereto to extend through the through grooves 101 to the outside of the roulette wheel 100; when the stretching mechanism 300 is fully contracted, the stretching mechanism 300 can drive the respective spokes 400 connected thereto to contract inside the roulette wheel 100;

[0047] In the initial state, the spokes 400 corresponding to each stretching mechanism 300 are all contracted inside the roulette wheel 100;

[0048] A driving unit 500 is provided on the roulette wheel 100. The driving unit 500 is used to drive each stretching mechanism 300 to expand or contract. When the driving unit 500 drives any one stretching mechanism 300 to be fully deployed, the spokes 400 corresponding to the remaining stretching mechanisms 300 are all contracted inside the roulette wheel 100;

[0049] Preferably, the shapes of the ends of the spokes 400 away from the central axis of the roulette wheel 100 include circular, hook-shaped or ring-shaped strip. The shapes of the spokes 400 connected to the same stretching mechanism 300 are the same, and the shapes of the spokes 400 connected to different stretching mechanisms 300 are different;

[0050] Preferably, the number of spokes 400 connected to each stretching mechanism 300 is equal, and the number of spokes 400 on the stretching mechanism 300 is 4 - 12;

[0051] In the initial state, each extension mechanism 300 is in a contracted state, and each spoke 400 is contracted inside the wheel disc 100. At this time, the spoke 400 wheel mechanism is in the wheel mode; when passing through complex terrains such as gullies or obstacles, any extension mechanism 300 can be driven by the driving unit 500 to expand, so that the corresponding spoke 400 extends through the through groove 101 to the outside of the wheel disc 100. At this time, the spoke 400 mechanism switches to the spoke leg mode, so as to pass through complex terrains with gullies or obstacles, and different extension mechanisms 300 can be selectively driven to expand according to different terrains, so that the corresponding spokes 400 extend out of the wheel disc 100, and switch to different spoke leg modes with different forms, realizing the purpose of quickly switching the spoke 400 wheel mechanism between the wheel mode, the spoke leg mode and various different forms of spoke leg modes, so as to facilitate the spoke 400 wheel mechanism to adapt to various different terrains and improve the adaptability of the spoke wheel mechanism to the terrain.

[0052] The extension mechanism 300 includes a plurality of quadrilateral articulated monomers, and the plurality of articulated monomers are evenly distributed in a ring around the central axis of the wheel disc 100;

[0053] Each articulated monomer includes a first articulated shaft 301, a second articulated shaft 302 and a third articulated shaft 303 that are coaxially placed with the wheel disc 100. The first articulated shaft 301, the second articulated shaft 302 and the third articulated shaft 303 are all slidably connected to the corresponding fixed disc 200, and the first articulated shaft 301 and the second articulated shaft 302 are both arranged radially along the wheel disc 100. The number of the third articulated shafts 303 is two, and the two third articulated shafts 303 are symmetrically placed with respect to the plane where the central axes of the first articulated shaft 301 and the second articulated shaft 302 are located. Articulated rods 304 are provided between the first articulated shaft 301, the second articulated shaft 302 and the two third articulated shafts 303. One end of each articulated rod 304 is rotatably sleeved on the third articulated shaft 303 for rotational connection, and the other end of each articulated rod 304 is rotatably sleeved on the first articulated shaft 301 or the second articulated shaft 302 for rotational connection;

[0054] The adjacent two articulated monomers share the same third articulated shaft 303 on the side close to each other;

[0055] The number of articulated monomers is greater than or equal to the number of spokes 400, and the spokes 400 are all arranged on different articulated monomers. One end of each spoke 400 is fixed on the first articulated shaft 301 of the corresponding articulated monomer;

[0056] When the first hinge shaft 301 in any one of the hinged monomers is pushed along the radial direction of the wheel disc 100 away from the central axis of the wheel disc 100, all the hinged monomers move synchronously towards the end away from the central axis of the wheel disc 100. During the movement, the relative distance between the first hinge shaft 301 and the second hinge shaft 302 in each hinged monomer gradually decreases, and the distance between the two third hinge shafts 303 in the hinged monomer gradually increases. At this time, the expansion mechanism 300 is completed. During the movement of the first hinge shaft 301, the spoke 400 is pushed along the radial direction of the wheel disc 100 away from the central axis of the wheel disc 100, so as to synchronously drive each spoke 400 on the expansion mechanism 300 to extend out of the wheel disc 100;

[0057] When the first hinge shaft 301 on any one of the hinged monomers is driven to move closer to the hub central axis, all the hinged monomers move towards the hub central axis. The distance between the first hinge shaft 301 and the second hinge shaft 302 in the hinged monomer increases, and the distance between the third hinge shafts 303 in the hinged monomer gradually decreases, causing the expansion mechanism 300 to contract and driving the spoke 400 to retract into the interior of the wheel disc 100.

[0058] In order to improve the connection stability between the expansion mechanism 300 and the corresponding fixed disc 200, the expansion mechanism 300 further includes a connecting frame 305. The connecting frame 305 is fixed on the corresponding fixed disc 200. A plurality of sliding grooves 3051 are formed on the connecting frame 305 and are evenly distributed in a ring around the central axis of the wheel disc 100. The sliding grooves 3051 are all arranged along the radial direction of the wheel disc 100, and the number of the sliding grooves 3051 is less than or equal to the number of the hinged monomers;

[0059] Any one of the sliding grooves 3051 corresponds to a hinged monomer. The first hinge shaft 301 and the second hinge shaft 302 of the corresponding hinged monomer are both slidably clamped in the sliding groove 3051;

[0060] Preferably, guiding grooves are formed coaxially in the sliding grooves 3051. Protrusions that are clamped and matched with the guiding grooves are fixed on the peripheral walls of the first hinge shaft 301 and the second hinge shaft 302, and the protrusions are slidably connected in the guiding grooves;

[0061] By fixedly connecting the connecting frame 305 to the fixed disc 200 and slidably clamping the first hinge shaft 301 and the second hinge shaft 302 in the sliding groove 3051, the connection stability between the expansion mechanism 300 and the corresponding fixed disc 200 can be improved, and at the same time, the guiding property during the movement of the first hinge shaft 301 and the second hinge shaft 302 can be effectively improved.

[0062] The expansion mechanism 300 also includes a pushing block 306. The pushing block 306 is fixed on the first hinge shaft 301 of the hinged monomer corresponding to any one of the sliding grooves 3051;

[0063] The connecting frames 305 are symmetrically placed relative to each other. The number of sliding grooves 3051 on the connecting frames 305 is greater than or equal to the number of fixed disks 200, and the projections of the sliding grooves 3051 corresponding to the pushing blocks 306 in any two extension mechanisms 300 along the axis direction of the disk 100 are in a crossed state;

[0064] The driving unit 500 includes a roller 501 coaxially placed with the disk 100. The roller 501 sequentially passes through the fixed disks 200 and is rotatably connected to the fixed disks 200. A plurality of cams 502 are fixedly sleeved on the roller 501. The cams 502 correspond to the fixed disks 200 one by one. The cams 502 are symmetrically placed relative to each other, and the cams 502 and the pushing blocks 306 at the corresponding fixed disks 200 are in the same height plane;

[0065] When the end of the peripheral wall of the cam 502 away from the central axis of the disk 100 contacts the pushing block 306, the extension mechanism 300 is fully extended;

[0066] When the end of the peripheral wall of the cam 502 close to the central axis of the disk 100 contacts the pushing block 306, the extension mechanism 300 is in a fully contracted state;

[0067] When the roller 501 rotates, the roller 501 drives the cams 502. Since the pushing blocks 306 of the extension mechanisms 300 are in the sliding grooves 3051 at different positions, when the ends of the cams 502 away from the central axis of the disk 100 do not contact the corresponding pushing blocks 306, the spokes 400 corresponding to the extension mechanisms 300 are all retracted into the disk 100; when the roller 501 rotates to drive the cams 502 to rotate, the ends of the cams 502 away from the central axis of the disk 100 can sequentially push the pushing blocks 306 in the extension mechanisms 300 away from the central axis of the disk 100, so as to achieve the purpose of driving the extension mechanism 300 to expand, and only one spoke 400 corresponding to the extension mechanism 300 extends out of the disk 100 at a time.

[0068] When the end of the cam 502 away from the central axis of the wheel disc 100 moves away from the push block 306, in order to facilitate the automatic reset of the push block 306 towards the central axis of the wheel disc 100, the driving unit 500 further includes a slide bar 503. The number of slide bars 503 is equal to and corresponds one-to-one with the number of push blocks 306. The slide bars 503 are coaxially placed with the corresponding sliding grooves 3051 of the push blocks 306. One end of each slide bar 503 is fixed on the inner peripheral wall of the wheel disc 100, and the push blocks 306 are all slidably sleeved on the corresponding slide bars 503. Springs 504 are sleeved on the slide bars 503. One end of each spring 504 is fixed to the inner peripheral wall of the wheel disc 100, and the other end of each spring 504 is fixed to the push block 306. When the end of the cam 502 away from the central axis of the wheel disc 100 gradually approaches the corresponding push block 306, the push block 306 continuously moves towards the end away from the central axis of the wheel disc 100 and pushes the spring 504 to be compressed. When the end of the cam 502 away from the central axis of the wheel disc 100 gradually moves away from the corresponding push block 306, under the elastic force of the spring 504, the push block 306 is continuously driven to approach the central axis of the wheel disc 100 until the first hinge shaft 301 connected to the push block 306 abuts against the end of the sliding groove 3051 close to the central axis of the wheel disc 100, so as to facilitate the automatic control of the contraction of the extension mechanism 300.

[0069] In order to facilitate the precise control of the rotation angle of the cam 502, the number of the sliding grooves 3051 on the connecting frame 305 is at least one more than the number of the push blocks 306.

[0070] In the initial state, the end of the cam 502 away from the central axis of the wheel disc 100 faces the sliding groove 3051 in each connecting frame 305 where no push block 306 is provided, so that the spokes 400 in each extension mechanism 300 are all retracted inside the wheel disc 100.

[0071] The driving unit 500 further includes a Geneva wheel assembly. The Geneva wheel assembly includes a driven dial 505 fixedly sleeved on the upper end of the roller 501. The driven dial 505 is coaxially placed with the roller 501. A plurality of uniformly distributed annular dial grooves 5051 are formed on the driven dial 505. The dial grooves 5051 are all arranged along the radial direction of the wheel disc 100. The number of the dial grooves 5051 is equal to the number of the sliding grooves 3051 on the connecting frame 305. A driving dial 506 is rotatably connected to the inner end face of the wheel disc 100. The driving dial 506 is coaxially placed with the wheel disc 100. A round pin 5061 adapted to the dial groove 5051 is connected to the driving dial 506 through a fixing bar. A rotating motor 507 for connecting and driving the driving dial 506 to rotate is installed on the wheel disc 100.

[0072] Turn on the rotating motor 507, and through the setting of the Geneva wheel assembly, it is convenient to intermittently drive the roller 501 and the cam 502 to rotate intermittently, and precisely control the rotation angle of the cam 502 each time. And due to the setting of the Geneva wheel assembly, each mode after the switching has a self-locking function.

[0073] Sliding sleeves are provided on the spokes 400 with guide blocks 307, and the guide blocks 307 are fixed on the second hinge shafts 302 of the spokes 400 corresponding to the hinged monomers; so as to improve the connection stability of the spokes 400 and the guiding property during the movement of the spokes 400.

[0074] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0075] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed.

Claims

1. A spoke wheel mechanism with a variable spoke shape, comprising a wheel disc (100), characterized in that: The wheel disc (100) is in the shape of a circular shell with a hollow interior; A plurality of fixed disks (200) are fixed inside the wheel disk (100), the plurality of fixed disks (200) are arranged along the axis direction of the wheel disk (100), and the fixed disks (200) are all placed coaxially with the wheel disk (100); The fixed disk (200) is provided with an extension mechanism (300), and the extension mechanism (300) of any fixed disk (200) is connected to a plurality of spokes (400), and the plurality of spokes (400) are evenly distributed in a ring shape around the central axis of the fixed disk (200), and the spokes (400) are arranged radially along the wheel disk (100), and the extension mechanism (300) is used to synchronously drive the spokes (400) connected to it to synchronously move radially along the fixed disk (200), and the spokes (400) on each extension mechanism (300) have different shapes at the ends away from the central axis of the wheel disk (100); A plurality of through slots (101) are provided on the peripheral wall of the wheel disc (100), and the number of the through slots (101) is equal to the number of the spokes (400) and corresponds one to one. When the extension unit is fully extended, the extension mechanism (300) can drive the spokes (400) connected to it to pass through the through slot (101) and extend to the outside of the wheel disc (100); when the extension mechanism (300) is fully retracted, the extension mechanism (300) can drive the spokes (400) connected to it to retract inside the wheel disc (100); In the initial state, the spokes (400) corresponding to each extension mechanism (300) are all retracted inside the wheel disc (100); A driving unit (500) is arranged on the wheel disc (100), and the driving unit (500) is used to drive each extension mechanism (300) to expand or contract. When the driving unit (500) drives any extension mechanism (300) to fully expand, the corresponding spokes (400) of the other extension mechanisms (300) are all contracted inside the wheel disc (100).

2. The spoke wheel mechanism with variable spoke shape according to claim 1, characterized in that: The extension mechanism (300) comprises a plurality of quadrilateral hinge units, and the plurality of hinge units are evenly distributed in a ring shape around the central axis of the wheel disc (100); The hinged monomers each include a first hinge shaft (301), a second hinge shaft (302) and a third hinge shaft (303) which are coaxially arranged with the wheel disc (100); the first hinge shaft (301), the second hinge shaft (302) and the third hinge shaft (303) are all slidably connected to the corresponding fixed disc (200); the first hinge shaft (301) and the second hinge shaft (302) are both radially arranged along the wheel disc (100); the number of the third hinge shafts (303) is two, and the two third hinge shafts (303) are connected to each other in a sliding manner. The shaft (303) is symmetrically arranged about the plane where the central axes of the first hinge shaft (301) and the second hinge shaft (302) are located. A hinge rod (304) is arranged between the first hinge shaft (301), the second hinge shaft (302) and the two third hinge shafts (303). One end of the hinge rod (304) is rotatably sleeved on the third hinge shaft (303) for rotational connection, and the other end of the hinge rod (304) is rotatably sleeved on the first hinge shaft (301) or the second hinge shaft (302) for rotational connection. The adjacent sides of two hinged units share the same third hinge axis (303); The number of the articulated monomers is greater than or equal to the number of the spokes (400), the spokes (400) are all arranged on different articulated monomers, and one end of the spokes (400) is fixed on the first articulated shaft (301) of the corresponding articulated monomer.

3. The spoke wheel mechanism with a variable spoke shape according to claim 2, characterized in that: The extension mechanism (300) further comprises a connecting frame (305), the connecting frame (305) being fixed on the corresponding fixed disk (200), the connecting frame (305) being provided with a plurality of slide grooves (3051) evenly distributed in an annular shape around the central axis of the wheel disk (100), the slide grooves (3051) being arranged radially along the wheel disk (100), and the number of the slide grooves (3051) being less than or equal to the number of the articulated monomers; Each slide groove (3051) corresponds to a hinged unit, and the first hinge shaft (301) and the second hinge shaft (302) of the corresponding hinged unit are both slidably engaged in the slide groove (3051).

4. The spoke wheel mechanism with a variable spoke shape according to claim 3, characterized in that: The extension mechanism (300) also includes a push block (306), and the push block (306) is fixed on the first hinge shaft (301) of the hinge unit corresponding to any slide groove (3051); The connecting frames (305) are symmetrically placed, the number of the slide grooves (3051) on the connecting frames (305) is greater than or equal to the number of the fixed disks (200), and the projections of the slide grooves (3051) corresponding to the push blocks (306) in any two extension mechanisms (300) along the axis direction of the wheel disk (100) are in a cross state; The driving unit (500) comprises a roller (501) coaxially arranged with the wheel disc (100), the roller (501) sequentially passing through each fixed disc (200) and being rotatably connected with the fixed disc (200), a plurality of cams (502) being fixedly sleeved on the roller (501), the cams (502) corresponding to the fixed discs (200) one by one, the cams (502) being symmetrically arranged, and the cams (502) and the push blocks (306) at the corresponding fixed discs (200) being in the same height plane; When the peripheral wall of the cam (502) is away from the central axis end of the wheel disc (100) and contacts the push block (306), the extension mechanism (300) is fully extended; When the peripheral wall of the cam (502) is close to the central axis end of the wheel disc (100) and contacts the pushing block (306), the extension mechanism (300) is in a fully retracted state.

5. The spoke wheel mechanism with variable spoke shape according to claim 4, characterized in that: The driving unit (500) further comprises a sliding rod (503), wherein the number of the sliding rods (503) and the pushing blocks (306) are equal and correspond one to one, the sliding rods (503) are coaxially arranged with the sliding grooves (3051) corresponding to the pushing blocks (306), one end of the sliding rods (503) are fixed on the inner peripheral wall of the wheel disc (100), the pushing blocks (306) are slidably mounted on the corresponding sliding rods (503), the sliding rods (503) are mounted with springs (504), one end of the springs (504) are fixed to the inner peripheral wall of the wheel disc (100), and the other end of the springs (504) are fixed to the pushing blocks (306).

6. The spoke wheel mechanism with a variable spoke shape according to claim 5, characterized in that: The number of the sliding grooves (3051) on the connecting frame (305) is at least one more than the number of the pushing blocks (306).

7. The spoke wheel mechanism with a variable spoke shape according to claim 6, characterized in that: The driving unit (500) further comprises a groove wheel assembly, wherein the groove wheel assembly comprises a driven dial (505) fixedly sleeved on the upper end of the rotating roller (501), the driven dial (505) and the rotating roller (501) are coaxially arranged, and a plurality of evenly distributed ring-shaped grooves (5051) are formed on the driven dial (505), the grooves (5051) are arranged radially along the wheel disc (100), and the number of the grooves (5051) is the same as the number of the sliding grooves ( The number of the driving dials (506) is equal to that of the driving dials (5051), and the inner end surface of the wheel (100) is rotatably connected to the driving dial (506), the driving dial (506) and the wheel (100) are coaxially arranged, and the driving dial (506) is connected to the driving dial (506) through a fixing strip and is matched with the dial groove (5051), and a rotating motor (507) connected to the driving dial (506) and driving the driving dial (506) to rotate is installed on the wheel (100).

8. The spoke wheel mechanism with variable spoke shape according to claim 7, characterized in that: The spokes (400) are all slidably sleeved with guide blocks (307), and the guide blocks (307) are all fixed on the second hinge shafts (302) of the corresponding hinge units of the spokes (400).

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