Multi-road-condition automatic deformation wheel and equipment

Abstract

The invention discloses a multi-road-condition automatic deformation wheel and equipment, and belongs to the technical field of vehicles. The deformation wheel comprises a supporting unit; the overall structure is used for supporting the deformation wheel; the transmission unit is hinged to the supporting unit to achieve power transmission; the clutch control unit is arranged on the supporting unit and used for outputting and interrupting power; and the crawler belt is arranged on the outer side of the deformation wheel and meshed with the supporting unit and / or the transmission unit. Wherein the supporting unit comprises a deformation frame, and the deformation frame is driven by a transmission unit, so that when the deformation wheel is circular, the deformation frame shrinks to form a complete circle. And when the deformation wheels are crawler-type wheels, the deformation frames extend, so that the driven wheels are engaged with the crawler belts. Through cooperation of the hydraulic telescopic device and the deformation frame, combination of wheel type movement and crawler type movement is achieved, the walking smoothness is effectively improved, and the overall supporting strength of the wheels is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and more specifically, relates to a multi-road-condition automatic deformation wheel and device. Background Art

[0002] Existing wheels are divided into wheel-type wheels and crawler-type wheels. Among them, wheel-type wheels have a simple structure, are easy to use, have a relatively high movement speed, have a relatively small friction force with the ground, and have a high movement efficiency, but are more suitable for flat ground; crawler-type wheels have a slow movement speed, low efficiency, poor movement stability on a smooth ground, but have a better obstacle-crossing ability and can overcome the problem of difficult movement of vehicles in mountainous and uneven ground environments.

[0003] After retrieval, Patent CN112498505A discloses a deformable crawler wheel, which includes a toothed outer tire, and a support frame is arranged inside the toothed outer tire. When in use, by stepping on the clutch, the clutch is engaged with the rotating shaft through a gear. The central slewing mechanism is driven to rotate by the rotating shaft. After the clutch reaches the limit, the clutch is released to disconnect the clutch. At this time, the rotating shaft does not move, and the central slewing mechanism rotates. The power is directly transmitted to the drive wheel through the central slewing mechanism. After the drive wheel rotates, it drives three sets of driven wheels to rotate. Through the gear between the driven wheel and the hydraulic cylinder, the three sets of hydraulic cylinders are regularly compressed. Through the fixed pulley between the hydraulic cylinder and the toothed tire, the tire moves, and different terrains can be conveniently moved through the hydraulic cylinder. Patent CN111572271A discloses a wheel-track composite variant wheel with hydraulic drive deformation, which includes a deformable crawler, a hydraulic drive mechanism, and a web telescopic mechanism. Among them: the hydraulic drive mechanism is connected to the web telescopic mechanism and is used to provide telescopic driving force for the web telescopic mechanism; the deformable crawler is connected to the web telescopic mechanism and is used to deform and switch between the wheel type and the crawler type under the action of the hydraulic drive mechanism and the web telescopic mechanism, and realizes the driving movement by generating a driving force through friction with the external ground. However, in the above patents, there are gaps between the wheel structures for supporting the crawler, resulting in low overall strength of the formed wheel-type tire.

[0004] In addition, Patent CN104443086A discloses a hydraulic telescopic and deformable crawler wheel, including a crawler, a hydraulic support frame, and three support wheels; a telescopic rod is connected between the second support wheel and the third support wheel, and a rubber block is respectively installed between the telescopic rod and the second support wheel and the third support wheel. Among them, the hydraulic support frame consists of a support hydraulic cylinder body and three hydraulic rods to form a circle; when the hydraulic support frame is contracted, and at the same time, the distance between the second support wheel and the third support wheel is increased due to the extension of the telescopic rod, the walking wheel forms a triangular shape. Arc-shaped tooth pieces meshing with the inner teeth of the crawler are arranged at the ends of the hydraulic rods, so that the arc-shaped tooth pieces and three corner gears mesh with the crawler to form a circle. However, when the hydraulic rod contracts, due to the obstruction of the front transmission shaft, a complete circle cannot be formed.

[0005] Therefore, in the variable crawler wheel structure of the above patent, since the wheel frame cannot form a complete circle, it causes unsmooth wheel-shaped walking, and the missing part of the frame is only supported by the crawler, resulting in low wheel support strength and affecting the service life. Summary of the Invention

[0006] 1. Problems to be Solved

[0007] Aiming at the problem that the support structure of the existing crawler wheel cannot form a complete support surface, the first object of the present invention is to provide a multi-road-condition automatic deformation wheel, and the support structure formed by the deformation wheel can form a complete support surface with high wheel support strength;

[0008] The second object of the present invention is to provide a device including the above multi-road-condition automatic deformation wheel, and the device is applicable to various road conditions.

[0009] 2. Technical Solutions

[0010] In order to solve the above problems, the technical solutions adopted by the present invention are as follows:

[0011] The first object of the present invention is to provide a multi-road-condition automatic deformation wheel, which includes:

[0012] A support unit; used to support the overall structure of the deformation wheel;

[0013] A transmission unit: hinged to the support unit to achieve power transmission;

[0014] A clutch control unit: arranged on the support unit to achieve power output and interruption;

[0015] And a crawler: arranged outside the deformation wheel and meshing with the support unit and / or the transmission unit.

[0016] Among them, the support unit includes a deformation frame, and the deformation frame is driven by a transmission unit so that when the deformation wheel is circular, the deformation frame shrinks to form a complete circle.

[0017] Furthermore, the crawler is arranged outside the deformation wheel and includes crawler outer teeth and crawler inner teeth, and the crawler inner teeth are meshed with the support unit and / or the transmission unit.

[0018] Furthermore, the support unit includes a support frame, a deformation frame and a hydraulic telescopic device. The three cooperate to realize the change of the wheel shape. Among them, the support frame is a polygon with central symmetry. The deformation frame is hinged to the outside of the support frame, and the deformation frame is driven by the hydraulic telescopic device so that in the extended state, the deformation frame forms a complete circle.

[0019] Furthermore, one end of the deformation frame is hinged to the support frame, and the other end is connected to the hydraulic telescopic device. The hydraulic telescopic device includes a telescopic rod. The number of telescopic rods is adapted to the number of deformation frames. Both ends of each telescopic rod are respectively hinged to two adjacent deformation frames. Both ends of the telescopic rod are provided with hinge interfaces and can be telescoped. The hydraulic telescopic rod is driven by a motor. During use, three telescopic rods drive the deformation frame to move outwards at the same time, so that the deformation frame finally forms a complete circle.

[0020] Preferably, the support frame is a polygon with central symmetry, such as a triangle, a quadrilateral, etc. The top ends of the polygon are respectively hinged to the deformation frame; the number of telescopic rods matches the number of polygons, and the telescopic rods are hinged to the deformation frame in pairs to form a polygon with central symmetry.

[0021] Furthermore, the deformation frame is an arc-shaped rod, including an extended end and a contracted end. The adjacent extended end and contracted end are clamped together so that the deformation frame finally forms a complete circle. When used as a circle, the crawler and the wheel hub are linked and will not slip.

[0022] Among them, tooth patterns are provided on the outside of the contracted end so that the deformation frame is meshed with the crawler inner teeth. An auxiliary wheel is provided on the deformation frame. The tooth patterns on the outside of the contracted end and the tooth patterns on the auxiliary wheel are meshed with the crawler inner teeth, so that the deformation frame supports and fixes the entire crawler to move.

[0023] Furthermore, a clutch control center is provided on the support frame. The clutch control center is provided with a central shaft wheel. The central shaft wheel is coaxial with the support frame and rotates together, and the speed can be adjusted to complete the transmission and interruption of power.

[0024] The transmission unit includes a central shaft wheel, a transmission wheel, and a driven wheel. The central shaft wheel is located at the center of the support frame, the transmission wheel is located at the apex of the support frame, and the driven wheel is located at the extended end of the deformation frame. The wheel belts are respectively sleeved between the central shaft wheel and the transmission wheel, between adjacent transmission wheels, and between the transmission wheel and the driven wheel.

[0025] Specifically, the hinge joint between the transmission wheel and the deformation frame is not the same shaft hole.

[0026] Specifically, the transmission wheels respectively include a first transmission wheel, a second transmission wheel, and a third transmission wheel, the driven wheels respectively include a first driven wheel, a second driven wheel, and a third driven wheel. Wheel belts are respectively provided between the central shaft wheel and the first transmission wheel, between the first transmission wheel and the second transmission wheel, and between the second transmission wheel and the third transmission wheel. Wheel belts are respectively provided between the first transmission wheel and the first driven wheel, between the second transmission wheel and the second driven wheel, and between the third transmission wheel and the third driven wheel to achieve multi-stage transmission.

[0027] Among them, the central shaft wheel, the transmission wheel, and the driven wheel are arranged on the same plane.

[0028] The second object of the present invention is to provide a device including the above multi-road-condition automatic deformation wheel. The device includes a traveling mechanism, and the traveling mechanism includes a multi-road-condition automatic deformation wheel, and the multi-road-condition automatic deformation wheel includes:

[0029] A support unit; for supporting the overall structure of the deformation wheel;

[0030] A transmission unit: hinged to the support unit to achieve power transmission;

[0031] A clutch control unit: arranged on the support unit to achieve the output and interruption of power;

[0032] And a crawler belt: arranged outside the deformation wheel and meshed with the support unit and / or the transmission unit.

[0033] Among them, the support unit includes a deformation frame, and the deformation frame is driven by the transmission unit so that when the deformation wheel is circular, the deformation frame shrinks to form a complete circle;

[0034] When the deformation wheel is a crawler-type wheel, the deformation frame extends so that the driven wheel meshes with the crawler belt.

[0035] The device can realize traveling on different road conditions through the multi-road-condition automatic deformation wheel, and the device can be a crawler vehicle or other machines or devices that need to realize traveling.

[0036] 3. Beneficial effects

[0037] Compared with the prior art, the beneficial effects of the present invention are:

[0038] (1) A multi-road-condition automatic deformation wheel of the present invention is provided with a deformation frame hinged to a support frame in a support unit. Through the cooperation of a transmission unit and the support unit, when the deformation wheel is circular, the deformation frame shrinks to form a complete circle, avoiding the problem of unsmooth walking when using a wheel shape, and the lack of the frame is only supported by a crawler, resulting in low wheel support strength. It effectively improves the smoothness of walking and the overall support strength of the wheels.

[0039] (2) A multi-road-condition automatic deformation wheel of the present invention realizes the conversion between two types of wheels, namely, wheel type and crawler type, through the cooperation of a hydraulic telescopic device and the deformation frame, achieving multi-functional work. It not only overcomes the technical problem of difficult movement of vehicles in environments such as mountains and uneven ground, but also improves the working efficiency of the vehicle and meets the requirements of the vehicle in the wheel technology field.

[0040] (3) The support components, transmission components, driven wheel components, and clutch control center of the present invention are all centrosymmetric, and the center of symmetry is the power shaft. While improving the working efficiency of the vehicle, it ensures the stability of walking and is more suitable for multi-terrain, difficult environments, or the state of switching wheels to move forward. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The technical solutions of the present invention will be further described in detail below in conjunction with the drawings and embodiments. However, it should be understood that these drawings are only designed for the purpose of explanation and are not intended to limit the scope of the present invention. In addition, unless otherwise specified, these drawings are only intended to conceptually illustrate the structural configurations described herein and are not necessarily drawn to scale.

[0042] Figure 1 It is a three-dimensional structural schematic diagram of the rear side view when the multi-road-condition deformation wheel of the present invention is in a wheel structure.

[0043] Figure 2 It is a three-dimensional structural schematic diagram of the front side view when the multi-road-condition deformation wheel of the present invention is in a wheel structure.

[0044] Figure 3 It is a three-dimensional structural schematic diagram of the front side view when the multi-road-condition deformation wheel of the present invention is in a crawler structure.

[0045] Figure 4 It is a three-dimensional structural schematic diagram of the rear side view when the multi-road-condition deformation wheel of the present invention is in a crawler structure.

[0046] Figure 5 It is a front side view structural schematic diagram of the multi-road-condition deformation wheel of the present invention when it is in a wheel structure, and the crawler is not shown in the figure.

[0047] Figure 6 It is a structural schematic diagram of a single deformation frame of the multi-road-condition deformation wheel of the present invention.

[0048] Figure 7 This is a front - right - side view structural schematic diagram of the multi - road - condition deformable wheel of the present invention when it is in a track - type structure. The track is not shown in the figure.

[0049] Figure 8 This is a side - view structural schematic diagram of the multi - road - condition deformable wheel of the present invention when it is in a track - type structure. The track is not shown in the figure.

[0050] In the figure: 100, track;

[0051] 200, support unit; 210, support frame; 211, side rod; 212, center line rod;

[0052] 220, deformation frame; 221, arc rod; 222, auxiliary wheel;

[0053] 230, hydraulic telescopic device; 231, telescopic rod;

[0054] 300, transmission unit; 310, central shaft wheel; 320, transmission wheel; 321, first transmission wheel; 322, second transmission wheel; 323, third transmission wheel;

[0055] 330, driven wheel; 331, first driven wheel; 332, second driven wheel; 333, third driven wheel;

[0056] 340, wheel belt; 341, wheel belt A; 342, wheel belt B; 343, wheel belt C; 344, wheel belt D; 345, wheel belt E; 346, wheel belt F;

[0057] 400, clutch control unit. Detailed implementation mode

[0058] The following detailed description of the exemplary embodiments of the present invention refers to the accompanying drawings, which form a part of the description. In the drawings, exemplary embodiments in which the present invention can be implemented are shown as examples. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to implement the present invention, it should be understood that other embodiments can be achieved and various changes can be made to the present invention without departing from the spirit and scope of the present invention. The following more detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed present invention, but is merely for illustrative purposes and does not limit the description of the features and characteristics of the present invention, in order to present the best mode of implementing the present invention and to enable those skilled in the art to implement the present invention. Therefore, the scope of the present invention is only defined by the appended claims.

[0059] It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection specifically claimed by the present invention. As used herein, the terms "parallel" and "perpendicular" are not limited to their strict geometric definitions, but include tolerances for machining or human errors that are reasonable and inconsistent.

[0060] Unless otherwise specified, the products in the present invention are all commercially available, that is, commercially available products.

[0061] Example 1

[0062] As Figure 1-8 shown, the present invention provides a multi-road-condition automatic deformation wheel, which can be deformed into a wheel-type or crawler-type wheel, and includes:

[0063] Crawler 100: Provided on the outside of the deformation wheel and meshed with the transmission unit 300;

[0064] Support unit 200; used to support the overall structure of the deformation wheel;

[0065] Transmission unit 300: Hinged to the support unit 200 to achieve power transmission;

[0066] Clutch control unit 400: Provided on the support unit 200 to achieve power output and interruption.

[0067] Among them, the crawler 100 is provided on the outside of the deformation wheel, and includes crawler outer teeth and crawler inner teeth, and the crawler inner teeth are meshed with the support unit 200 and / or the transmission unit 300.

[0068] The support unit 200 includes a support frame 210, a deformation frame 220 and a hydraulic telescopic device 230. The three cooperate to achieve the change of the wheel shape. Among them, the support frame 210 is triangular, and the triangular tops of the support frame 210 are respectively hinged to the deformation frame 220. The deformation frame 220 is driven by the hydraulic telescopic device 230, so that in the extended state, the deformation frame 220 forms a complete circle.

[0069] Specifically, it includes three deformation frames 220. One end of the deformation frame 220 is hinged to the support frame 210, and the other end is connected to the hydraulic telescopic device 230. The hydraulic telescopic device 230 includes a telescopic rod 231. The number of the telescopic rods 231 is adapted to the number of the deformation frames 220. In this embodiment, in order to realize the telescoping of each deformation frame 220, three telescopic rods 231 are provided. The three telescopic rods 231 are hinged to the deformation frame 220 in pairs to form a triangle. Among them, both ends of each telescopic rod 231 are respectively hinged to two adjacent deformation frames 220. Both ends of the telescopic rod 231 are provided with hinge interfaces and can be telescoped. When in use, the three telescopic rods 231 drive the deformation frame 220 to move outwards at the same time, so that the deformation frame 220 finally forms a complete circle.

[0070] Among them, the telescopic rod 231 includes a telescopic inner rod and a telescopic outer rod. The telescopic inner rod is sleeved inside the telescopic outer rod, and the length of the telescopic rod 231 is adjusted by sliding inside the telescopic outer rod.

[0071] Among them, as Figure 6 shown, the deformation frame 220 is an arc-shaped rod 221, including an extension end and a contraction end. The adjacent extension end and contraction end are engaged with each other, so that the deformation frame 220 finally forms a complete circle. When moving in a wheeled structure, the walking is smoother and the overall structural strength is higher. A driven wheel 330 is provided on the extension end, and a tooth pattern is provided on the outer side of the contraction end, so that the deformation frame 220 meshes with the inner teeth of the track. In order to improve the tightness of the engagement between the deformation frame 220 and the track 100, an auxiliary wheel 222 is provided on the deformation frame 220. The tooth pattern on the auxiliary wheel 222 meshes with the inner teeth of the track, so that the deformation frame 220 supports and fixes the entire track 100 to move.

[0072] Furthermore, a clutch control center is provided on the support frame 210. The clutch control center is provided with a central shaft wheel 310. The central shaft wheel 310 and the support frame 210 are coaxial and rotate together, and the speed can be adjusted to complete the transmission and interruption of power.

[0073] Specifically, the support frame 210 is an equilateral triangle, which is composed of three side rods 211 and three median rods 212. Transmission wheels 320 are provided on the outer sides of the positions of the three included angles; inside the three included angles and near the median rods 212, they are hinged to the deformation frame 220; it should be specially noted that the hinge joints of the two transmission wheels 320 and the deformation frame 220 are not the same shaft holes.

[0074] The transmission unit 300 includes a central shaft wheel 310, a transmission wheel 320, and a driven wheel 330. The central shaft wheel 310 is located at the center of the support frame 210, the transmission wheel 320 is located at the apex of the support frame 210, and the driven wheel 330 is located at the extended end of the deformation frame 220. The wheel belt 340 is sleeved between the central shaft wheel 310 and the transmission wheel 320, between adjacent two transmission wheels 320, and between the transmission wheel 320 and the driven wheel 330 respectively.

[0075] It should be noted that in this embodiment, there are three deformation frames 220, so there are three transmission wheels 320 and three driven wheels 330. Actually, when sleeving the wheel belt 340, to ensure that the three deformation frames 220 extend or contract simultaneously, one wheel belt 340 is used to connect the central shaft wheel 310 and a transmission wheel 320, and then the wheel belt 340 is used to connect the three transmission wheels 320 pairwise.

[0076] Specifically, as Figure 7 shown, the wheel belt 340 respectively includes a wheel belt A 341, a wheel belt B 342, a wheel belt C 343, a wheel belt D 344. The transmission wheels 320 respectively include a first transmission wheel 321, a second transmission wheel 322, and a third transmission wheel 323. The driven wheels 330 respectively include a first driven wheel 331, a second driven wheel 332, and a third driven wheel 333. The wheel belt A 341 is sleeved between the central shaft wheel 310 and the first transmission wheel 321, the wheel belt B 342 is sleeved between the first transmission wheel 321 and the second transmission wheel 322, the wheel belt C 343 is sleeved between the second transmission wheel 322 and the third transmission wheel 323, the wheel belt D 344 is sleeved between the first transmission wheel 321 and the first driven wheel, the wheel belt E 345 is sleeved between the second transmission wheel 322 and the second driven wheel 332, and the wheel belt F 346 is sleeved between the third transmission wheel 323 and the third driven wheel 333. Through the sequential sleeving of the wheel belt 340, multi-stage transmission is achieved, and the transmission wheels 320 and the driven wheels 330 on the three deformation frames 220 are all transmitted in this way. This design can effectively transmit power, enable the wheels to move better as a whole simultaneously, and prevent the mutual influence between the wheel belts 340.

[0077] Among them, the central shaft wheel 310, the transmission wheels 320, and the driven wheels 330 are arranged on the same plane. Through the cooperation of the wheel belt 340 and the transmission unit 300, the power of the central shaft wheel 310 is transmitted to the transmission wheel 320, and then from the transmission wheel 320 to the driven wheel 330, realizing the continuous transmission of power, and the speeds of all transmission components are uniform.

[0078] In an implementable embodiment, the deformable wheel presents a track 100 - type forward movement, and its deformation process is as follows: As the telescopic rod 231 extends, it drives the deformable frame 220 to contract inward on one side and expand outward on the other side. The three deformable frames 220 are in a centrosymmetric state. The track 100 meshes with the driving wheel 320 to achieve a track - type forward movement. This structure can achieve forward movement in complex environments. When facing steps, deep ditches and other extreme terrains that are difficult to pass, it can ensure the stable forward movement of the vehicle in this environment. The large contact area with the ground can make the vehicle more stable, and anti - skid is achieved through the outer teeth of the track.

[0079] When the deformable wheel presents a circular wheel - like structure, its deformation process is as follows: The telescopic rod 231 contracts inward, driving the contraction of the deformable frame 220. The driving wheel 320 and the auxiliary wheel 222 on the contracted deformable frame 220 mesh with the inner teeth of the track. Finally, the transmission unit 300 and the support unit 200 present a circular state, enabling wheel - type forward movement. The wheel - type structure is fast and efficient.

[0080] Through the free deformation of the track 100 - type and wheel - type structures, the deformable wheel can adapt to different walking environments.

[0081] Embodiment 2

[0082] The support frame 210 is a centrosymmetric quadrilateral, and four deformable frames 220 are respectively provided. The four deformable frames 220 are respectively driven by four telescopic rods 231.

[0083] A driving wheel 320 is respectively provided at the vertices of the quadrilateral support frame 210, and a driven wheel 330 is respectively provided at the extension ends of the deformable frames 220. The central shaft wheel 310, the driving wheel 320 and the driven wheel 330 are connected by a wheel belt 340 to achieve the conversion between wheel - type and track 100 - type wheels.

[0084] Embodiment 3

[0085] A device including the multi - road - condition automatic deformable wheel as described in Embodiment 1. This device is a tracked vehicle, including a traveling mechanism. The traveling mechanism includes a multi - road - condition automatic deformable wheel, and the multi - road - condition automatic deformable wheel includes:

[0086] Support unit 200; used to support the overall structure of the deformable wheel;

[0087] Transmission unit 300: Hinged to the support unit 200 to achieve power transmission;

[0088] Clutch control unit 400: Provided on the support unit 200 and connected to the power mechanism of the device to achieve the output and interruption of power;

[0089] And a track 100: Provided outside the deformable wheel and meshing with the support unit 200 and / or the transmission unit 300.

[0090] Among them, the support unit 200 includes a deformation frame 220, and the deformation frame 220 is driven by a hydraulic telescopic device 220 and a transmission unit 300, so that when the deformation wheel is circular, the deformation frame shrinks to form a complete circle;

[0091] When the deformation wheel is a crawler wheel, the deformation frame 220 extends, so that the driven wheel 330 meshes with the crawler 100.

[0092] The device can realize walking on different road conditions through the multi-road-condition automatic deformation wheel.

[0093] The above description is only the preferred embodiment of the present application and the description of the applied technical principles. Those skilled in the art should understand that the scope involved in the present application is not limited to the technical solution formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept, such as the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present application.

[0094] Except for the technical features described in the specification, the remaining technical features are well-known to those skilled in the art. To highlight the innovative features of the present invention, the remaining technical features are not described herein again.

Claims

1. A multi-road condition automatic deforming wheel, characterized in that: include: Support unit (200); Used to support the overall structure of the deformation wheel; Transmission unit (300): articulated with the support unit (200) to achieve power transmission; Clutch control unit (400): arranged on the support unit (200), realizing power output and interruption; And a crawler (100): arranged on the outside of the deformable wheel and meshing with the support unit (200) and / or the transmission unit (300). The support unit (200) comprises a deformation frame (220), and the deformation frame (220) is driven by a transmission unit (300), so that when the deformation wheel is circular, the deformation frame (220) contracts to form a complete circle.

2. The multi-road condition automatic deforming wheel according to claim 1, characterized in that: The support unit (200) comprises a support frame (210) and a deformable frame (220); the support frame (210) is a centrally symmetrical polygon; the top ends of the support frame (210) are respectively hinged to the deformable frames (220); the deformable frames (220) are driven by a hydraulic telescopic device (230) such that in an extended state, the deformable frames (220) form a complete circle.

3. The multi-road condition automatic deforming wheel according to claim 2, characterized in that: One end of the deformation frame (220) is hinged to the support frame (210), and the other end is connected to the hydraulic telescopic device (230). The hydraulic telescopic device (230) comprises telescopic rods (231). The number of the telescopic rods (231) matches the number of the deformation frames (220). The two ends of the telescopic rods (231) are respectively hinged to two adjacent deformation frames (220).

4. The multi-road condition automatic deforming wheel according to claim 3, characterized in that: The support frame (210) is in a triangular shape, and the top ends of the triangles are respectively hinged to the deformation frames (220); three telescopic rods (231) are provided, and the three telescopic rods (231) are hinged to the deformation frames (220) in pairs to form a triangle.

5. The multi-road condition automatic deforming wheel according to claim 2, characterized in that: The deformation frame (220) is an arc-shaped rod (221) comprising an extended end and a contracted end, and adjacent extended ends and contracted ends are engaged with each other, so that the deformation frame (220) forms a complete circle in a contracted state.

6. The multi-road condition automatic deforming wheel according to claim 5, characterized in that: The outer side of the contraction end is provided with tooth patterns, so that the deformation frame (220) meshes with the inner teeth of the track; an auxiliary wheel (222) is provided on the deformation frame (220); the tooth patterns on the outer side of the contraction end and the tooth patterns on the auxiliary wheel (222) mesh with the inner teeth of the track.

7. The multi-road condition automatic deforming wheel according to claim 6, characterized in that: The transmission unit (300) comprises a central axis wheel (310), a transmission wheel (320) and a driven wheel (330); the central axis wheel (310) is located at the center of the support frame (210); the transmission wheel (320) is located at the top corner of the support frame (210); the driven wheel (330) is located at the extended end of the deformation frame (220); and the wheel belt (340) is respectively sleeved between the central axis wheel (310) and the transmission wheel (320), between two adjacent transmission wheels (320), and between the transmission wheel (320) and the driven wheel (330).

8. The multi-road condition automatic deforming wheel according to claim 7, characterized in that: The transmission wheel (320) comprises a first transmission wheel (321), a second transmission wheel (322) and a third transmission wheel (323); the driven wheel (330) comprises a first driven wheel (331), a second driven wheel (332) and a third driven wheel (333); belts (340) are respectively arranged between the central axis wheel (310) and the first transmission wheel (321), between the first transmission wheel (321) and the second transmission wheel (322), and between the second transmission wheel (322) and the third transmission wheel (323); belts (340) are respectively arranged between the first transmission wheel (321) and the first driven wheel (331), between the second transmission wheel (322) and the second driven wheel (332), and between the third transmission wheel (323) and the third driven wheel (333).

9. The multi-road condition automatic deforming wheel according to claim 1, characterized in that: The crawler (100) is arranged outside the deformable wheel, and comprises external crawler teeth and internal crawler teeth, wherein the internal crawler teeth are meshed with the support unit (200) and / or the transmission unit (300).

10. A device comprising the multi-road condition automatic deforming wheel according to any one of claims 1 to 9, the device comprising a walking mechanism, characterized in that: The walking mechanism includes a multi-road condition automatic deformation wheel, and the multi-road condition automatic deformation wheel includes: A supporting unit (200); used for supporting the overall structure of the deformation wheel; Transmission unit (300): articulated with the support unit (200) to achieve power transmission; Clutch control unit (400): arranged on the support unit (200), realizing power output and interruption; and a crawler (100): arranged outside the deformable wheel and meshing with the support unit (200) and / or the transmission unit (300); The support unit (200) comprises a deformation frame (220), and the deformation frame (220) is driven by a transmission unit (300), so that when the deformation wheel is circular, the deformation frame (220) contracts to form a complete circle.

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