Deformation wheel device of multi-rod mechanism and vehicle

Abstract

The utility model relates to the technical field of deformation wheels, provides a deformation wheel device of a multi-rod mechanism and a vehicle, and aims at solving the problems that the design purpose of a wheel device on an existing vehicle is too single, and no deformation wheel device which can be used for walking on the flat ground and climbing stairs and is simple in structure and good in stability exists. Comprising a first driving part; the synchronizing assembly is arranged at the driving end of the first driving part; one end of the outer shaft is connected with the synchronous assembly; the deformation wheel shell is connected with the other end of the outer shaft, and the deformation wheel shell is provided with an inner cavity; the fixed end of the second driving piece is connected with the synchronous assembly; one end of the inner shaft is connected with the driving end of the second driving part; the deformation wheel assembly is arranged in the inner cavity, the deformation wheel assembly comprises a star-shaped seat, a plurality of connecting rods and a plurality of rotating blades, the star-shaped seat is provided with a plurality of first star corner parts, and the inner shaft sequentially penetrates through the synchronization assembly, the outer shaft and one end of the deformation wheel shell to be connected with the star-shaped seat.

Description

Technical Field

[0001] This application relates to the field of deformable wheel technology, and more specifically, to a deformable wheel device and vehicle with a multi-bar mechanism. Background Technology

[0002] Most common wheel shapes are round, used for walking on flat ground, but they cannot climb stairs smoothly. Currently, there are two main types of stair-climbing wheels: tracked wheels move smoothly, but have a complex and heavy structure and lower energy efficiency; planetary wheels have a simple structure, but move unevenly and are less comfortable.

[0003] How to design a deformable wheel device that can be used for both walking on flat ground and climbing stairs, and which has a simple structure and good stability, is the urgent problem to be solved in this application. Utility Model Content

[0004] The purpose of this application is to provide a multi-bar mechanism deformable wheel device and vehicle to solve the problem that the design purpose of the wheel device on the existing vehicle is too singular (generally used for walking on flat ground or climbing stairs), and there is no deformable wheel device that can be used for both walking on flat ground and climbing stairs, and has a simple structure and good stability.

[0005] To achieve the above objectives, the technical solution adopted in the first aspect of the embodiments of this application is as follows:

[0006] A multi-bar linkage deformable wheel device, comprising:

[0007] First driving component;

[0008] A synchronization component is located on the drive end of the first driver;

[0009] The outer shaft, one end of which is connected to the synchronization component;

[0010] A deformable wheel housing, which is connected to the other end of the outer shaft, has an inner cavity;

[0011] The second driving component has its fixed end connected to the synchronization component;

[0012] The inner shaft has one end connected to the drive end of the second drive component;

[0013] The deformable wheel assembly is located inside the cavity. The deformable wheel assembly includes a star-shaped seat, several connecting rods, and several rotating blades. The star-shaped seat has several first star-angle portions. The inner shaft passes through the synchronization assembly, the outer shaft, and one end of the deformable wheel housing in sequence and is connected to the star-shaped seat. One end of the connecting rod is hinged to the corresponding first star-angle portion. One end of the rotating blade is hinged to the deformable wheel housing, and the other end is hinged to the other end of the connecting rod.

[0014] When in the wheel mode, several rotating blades unfold outward and form a wheel shape, and the angle between the connecting rod and the corresponding first star corner is 180°.

[0015] When in impeller mode, several rotating blades retract inward to form an impeller shape, and the angle between the connecting rod and the corresponding first star-shaped part is an acute angle.

[0016] The deformable wheel device of the multi-bar mechanism described above has a star-shaped housing with several second star-shaped segments. The deformable wheel device also includes:

[0017] Several limiting blocks are set inside the inner cavity and located at the corresponding second star corner to restrict the rotation of the rotating blade.

[0018] As described above, in the deformable wheel device of the multi-bar mechanism, the limiting block is shaped as an arc-shaped block with a pointed tip, and the rotating blade is provided with an arc-shaped part that matches the arc-shaped block. The arc-shaped part is located at the hinge end between the rotating blade and the deformable wheel housing.

[0019] When in wheel mode, the tip of the arc-shaped block abuts against the arc-shaped part;

[0020] When in impeller mode, there is a gap between the tip of the arc block and the arc part.

[0021] The morphing wheel device of the multi-bar mechanism described above includes a synchronization component comprising:

[0022] The drive pulley is located on the drive end of the first drive component;

[0023] A connecting component is located on one side of the drive pulley, and the outer shaft and the second drive component are located on both sides of the connecting component and are connected to the connecting component.

[0024] Driven pulley, which is mounted on the connecting assembly;

[0025] A synchronous belt has one end coiled on the driving pulley and the other end coiled on the driven pulley.

[0026] The deformable wheel device of the multi-bar mechanism described above includes the following connecting components:

[0027] The first pulley baffle is located on one side of the drive pulley and is connected to the fixed end of the second drive component;

[0028] The second pulley baffle is located on one side of the drive pulley and is connected to the outer shaft;

[0029] The driven pulley mounting seat is disposed between the first pulley baffle and the second pulley baffle, and is connected to the first pulley baffle and the second pulley baffle. The driven pulley is disposed on the driven pulley mounting seat.

[0030] The deformable wheel device of the multi-bar mechanism described above further includes:

[0031] The coupling is located inside the connecting assembly. The driving end of the second driving member passes through the connecting assembly and is connected to one end of the coupling. The inner shaft passes through the connecting assembly and is connected to the other end of the coupling.

[0032] The deformable wheel device of the multi-bar mechanism described above further includes:

[0033] A conductive slip ring is disposed on one side of the second driving member and connected to the fixed end of the second driving member.

[0034] The deformable wheel device of the multi-bar mechanism described above further includes:

[0035] The center gasket is located on the side of the inner cavity near the star-shaped seat, and the star-shaped seat is fitted to the center gasket.

[0036] As described above, the deformable wheel device of the multi-bar mechanism has a through mounting hole in the deformable wheel housing, and the deformable wheel device also includes:

[0037] The first bearing has its inner ring fitted onto the outer shaft;

[0038] Several bearing inner ring washers are fitted onto the outer shaft and located between the outer shaft and the first bearing;

[0039] The outer ring of the second bearing is embedded in the mounting hole of the deformable wheel housing, and the inner ring of the second bearing is connected to the inner shaft.

[0040] The technical solution adopted in the second aspect of the embodiments of this application is:

[0041] A vehicle comprising a deformable wheel device with a multi-bar mechanism as described above.

[0042] The beneficial effects of the multi-bar linkage deformable wheel device and vehicle provided in this application are at least as follows:

[0043] This application drives a first driving component, which in turn drives a synchronization assembly, a second driving component, an outer shaft, and a deformable wheel housing to rotate, thereby enabling the deformable wheel to rotate and move. When moving on flat ground, this application drives the second driving component to rotate in a first direction, which in turn drives the inner shaft and the star seat to rotate until the star seat rotates to a point where the angle between the connecting rod and the corresponding first star corner is 180°, meaning the connecting rod and the corresponding first star corner form a straight line. At this point, the rotating blades also expand outward under the action of the connecting rod and form a circular shape. When moving up stairs, this application drives the second driving component to rotate in a second direction, which in turn drives the inner shaft and the star seat to rotate until the angle between the connecting rod and the corresponding first star corner is an acute angle. At this point, the rotating blades contract inward under the action of the connecting rod and form an impeller shape. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the structure of a multi-bar mechanism in a deformable wheel device when it is in impeller mode, as provided in an embodiment of this application.

[0046] Figure 2 This is a schematic diagram of the structure of a multi-bar mechanism in a deformable wheel device when it is in impeller mode, provided as an embodiment of this application, from another angle.

[0047] Figure 3 This is a structural schematic diagram of a multi-bar mechanism deformation wheel device in the impeller mode, provided as an embodiment of this application, at another angle.

[0048] Figure 4 This is a schematic diagram of the structure of a multi-bar mechanism in a deformable wheel device when it is in impeller mode, provided as an embodiment of this application.

[0049] Figure 5 This is a schematic diagram of the structure of a multi-bar mechanism in a deformable wheel device when it is in the circular wheel mode, as provided in an embodiment of this application.

[0050] Figure 6 This is a schematic diagram of the structure of a multi-bar mechanism in a deformable wheel device when it is in the circular wheel mode, according to an embodiment of this application.

[0051] Figure 7This is a structural schematic diagram of a multi-bar mechanism deformation wheel device in the form of a circular wheel when it is in the form of a multi-bar mechanism, as provided in an embodiment of this application.

[0052] Figure 8 This is a schematic diagram of the structure of a multi-bar mechanism in a deformable wheel device when it is in the circular wheel mode, provided in an embodiment of this application.

[0053] Figure 9 This is a schematic diagram of the structure of a multi-bar mechanism in a deformable wheel device when it is in the circular wheel mode, according to an embodiment of this application.

[0054] Figure 10 This is a schematic diagram of the structure of the deformable wheel assembly in a multi-bar mechanism deformable wheel device provided in an embodiment of this application.

[0055] Figure 11 This is a schematic diagram of the connection structure of the second driving member, coupling and inner shaft in a deformable wheel device of a multi-bar mechanism provided in an embodiment of this application.

[0056] Figure 12 This is a schematic diagram of the connection structure between the first driving component and the synchronization component in a deformable wheel device of a multi-bar mechanism provided in an embodiment of this application.

[0057] Figure 13 for Figure 12 Exploded view.

[0058] The following are the labeling elements in the figure:

[0059] 1. First driving component; 2. Synchronization assembly; 21. Driving pulley; 22. Connecting assembly; 221. First pulley baffle; 222. Second pulley baffle; 223. Driven pulley mounting seat; 23. Driven pulley; 24. Synchronous belt; 3. Outer shaft; 4. Deformable wheel housing; 41. Deformable wheel front housing; 42. Deformable wheel rear housing; 43. Second star-shaped part; 44. Limiting block; 441. Tip; 5. Second driving component; 6. Inner shaft; 7. Deformable wheel assembly; 71. Star seat; 711. First star-shaped part; 72. Connecting rod; 73. Rotating blade; 731. Arc-shaped part; 8. Coupling; 91. First bearing; 92. Bearing inner ring washer; 93. Center washer; 94. Second bearing; 10. Conductive slip ring. Detailed Implementation

[0060] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0061] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it may be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it may be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positions based on the accompanying drawings, and are for ease of description only, and should not be construed as limiting the technical solution. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly defined.

[0062] Most common wheel shapes are round, designed for walking on flat ground, but they cannot smoothly climb stairs. Current stair-climbing wheels mainly come in two types: tracked and planetary gear wheels. Tracked wheels offer stable movement but are complex, heavy, and have low energy efficiency; planetary gear wheels have a simple structure but unstable movement and poor comfort. Designing a deformable wheel device that can be used for both flat ground walking and stair climbing, while also possessing a simple structure and good stability, is the urgent problem this application aims to solve.

[0063] For this purpose, please refer to Figure 1 , Figure 5 , Figure 6 and Figure 10 The first aspect of this application provides a deformable wheel device for a multi-bar linkage, including a first driving member 1, a synchronization component 2, an outer shaft 3, a deformable wheel housing 4, a second driving member 5, an inner shaft 6, and a deformable wheel assembly 7. The synchronization component 2 is disposed on the driving end of the first driving member 1. One end of the outer shaft 3 is connected to the synchronization component 2, and the deformable wheel housing 4 is connected to the other end of the outer shaft 3. The deformable wheel housing 4 has an inner cavity. The fixed end of the second driving member 5 is connected to the synchronization component 2, and one end of the inner shaft 6 is connected to the fixed end of the second driving member 5. The drive end is connected, and the deformable wheel assembly 7 is disposed in the inner cavity. The deformable wheel assembly 7 includes a star seat 71, a number of connecting rods 72 and a number of rotating blades 73. The star seat 71 has a number of first star corners 711. The inner shaft 6 passes through the synchronization assembly 2, the outer shaft 3 and one end of the deformable wheel housing 4 in sequence and is connected to the star seat 71. One end of the connecting rod 72 is hinged to the corresponding first star corner 711. One end of the rotating blade 73 is hinged to the deformable wheel housing 4 and the other end is hinged to the other end of the connecting rod 72.

[0064] When in wheel mode, see [link / reference] Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9Several rotating blades 73 extend outwards and form a wheel shape, with the angle between the connecting rod 72 and the corresponding first star-shaped portion 711 being 180°; when in impeller mode, refer to... Figure 1 , Figure 2 , Figure 3 and Figure 4 Several rotating blades 73 all converge inward to form an impeller shape, and the angle between the connecting rod 72 and the corresponding first star-shaped part 711 is an acute angle.

[0065] In this embodiment, the first driving component 1 drives the synchronization component 2, the second driving component 5, the outer shaft 3, and the deformable wheel housing 4 to rotate in sequence, thereby realizing the rotational movement of the deformable wheel. When it is necessary to move on flat ground, this embodiment drives the second driving component 5 to rotate in the first direction, and drives the inner shaft 6 and the star seat 71 to rotate in sequence until the star seat 71 rotates until the angle between the connecting rod 72 and the corresponding first star corner 711 is 180°, that is, the star seat 71 is rotated until the connecting rod 72 and the corresponding first star corner 711 form a straight line. At this time, the rotating blades 73 also unfold outward under the action of the connecting rod 72 and form a wheel shape. When it is necessary to climb stairs, this embodiment drives the second driving component 5 to rotate in the second direction, and drives the inner shaft 6 and the star seat 71 to rotate in sequence until the star seat 71 rotates until the angle between the connecting rod 72 and the corresponding first star corner 711 is an acute angle. At this time, the rotating blades 73 will retract inward under the action of the connecting rod 72 and form an impeller shape.

[0066] It is worth noting that when the first direction is clockwise, the second direction is counterclockwise; when the first direction is counterclockwise, the second direction is clockwise.

[0067] Optional, see below Figure 1 In one embodiment, the deformable wheel housing 4 includes a front deformable wheel housing 41 and a rear deformable wheel housing 42. The front deformable wheel housing 41 is disposed on one side of the rear deformable wheel housing 42 and is connected to the rear deformable wheel housing 42. There is an inner cavity between the front deformable wheel housing 41 and the rear deformable wheel housing 42.

[0068] Optional, see below Figure 1 and Figure 8 In one embodiment, the shape of the deformable wheel housing 4 is set as a star-shaped housing, wherein the front housing 41 and the rear housing 42 of the deformable wheel are both set as star-shaped bodies, the front housing 41 and the rear housing 42 of the deformable wheel are symmetrically arranged, and both have a plurality of second star corners 43.

[0069] Optional, see below Figure 1 and Figure 8In one embodiment, the deformable wheel device further includes a plurality of limiting blocks 44, which are all disposed in the inner cavity and located at the corresponding second star corner portion 43 to limit the rotation of the rotating blade 73.

[0070] Optional, see below Figure 1 , Figure 8 and Figure 10 In one embodiment, the limiting block 44 is shaped as an arc-shaped block with a tip 441. The rotating blade 73 is provided with an arc-shaped portion 731 that matches the arc-shaped block. The arc-shaped portion 731 is located at the hinge end between the rotating blade 73 and the deformable wheel housing 4. When in the wheel mode, the tip 441 of the arc-shaped block abuts against the arc-shaped portion 731. When in the impeller mode, there is a gap between the tip 441 of the arc-shaped block and the arc-shaped portion 731.

[0071] Optionally, in one embodiment, the first driving element 1 may be configured as a motor.

[0072] Optional, see below Figure 12 and Figure 13 In one embodiment, the synchronization component 2 includes a driving pulley 21, a connecting component 22, a driven pulley 23, and a timing belt 24. The driving pulley 21 is disposed on the driving end of the first driving member 1, the connecting component 22 is disposed on one side of the driving pulley 21, the outer shaft 3 and the second driving member 5 are respectively disposed on both sides of the connecting component 22 and are both connected to the connecting component 22, the driven pulley 23 is disposed on the connecting component 22, and one end of the synchronization belt is spirally disposed on the driving pulley 21 and the other end is spirally disposed on the driven pulley 23.

[0073] It is foreseeable that in this embodiment, by driving the first driving member 1, the driving pulley 21, the timing belt 24, and the driven pulley 23 in sequence will rotate, thereby driving the outer shaft 3 and the second driving member 5 to rotate.

[0074] Optional, see below Figure 12 and Figure 13 In one embodiment, the connecting assembly 22 includes a first pulley baffle 221, a second pulley baffle 222, and a driven pulley mounting seat 223. The first pulley baffle 221 is disposed on one side of the driving pulley 21 and connected to the fixed end of the second driving member 5. The second pulley baffle 222 is disposed on one side of the driving pulley 21 and connected to the outer shaft 3. The driven pulley mounting seat 223 is disposed between the first pulley baffle 221 and the second pulley baffle 222 and connected to the first pulley baffle 221 and the second pulley baffle 222. The driven pulley 23 is disposed on the driven pulley mounting seat 223.

[0075] Optional, see below Figure 11 and Figure 12In one embodiment, the deformable wheel device further includes a coupling 8, which is disposed within the driven pulley mounting base 223 and located between the first pulley baffle 221 and the second pulley baffle 222. The driving end of the second driving member 5 passes through the first pulley baffle 221 and the driven pulley mounting base 223 and is connected to the coupling 8. The inner shaft 6 passes through the second pulley baffle 222 and is connected to the coupling 8. In this embodiment, the driving end of the second driving member 5 and the inner shaft 6 are connected by the coupling 8.

[0076] Optional, see below Figure 12 and Figure 13 In one embodiment, the deformable wheel device further includes a first bearing 91, the inner ring of which is sleeved on the outer shaft 3, and the outer ring of which is connected to the outside.

[0077] Optional, see below Figure 12 and Figure 13 In one embodiment, the deformable wheel device further includes a plurality of bearing inner ring washers 92, which are all sleeved on the outer shaft 3 and located between the outer shaft 3 and the first bearing 91.

[0078] Optional, see below Figure 3 and Figure 4 In one embodiment, the deformable wheel device further includes a central shim 93, which is disposed on the side of the rear shell 42 of the deformable wheel near the star seat 71. The star seat 71 is fitted with the central shim 93. In this embodiment, by setting the central shim 93, it is helpful to drive the rotation orientation of the star seat 71 when it rotates.

[0079] Optional, see below Figure 11 In one embodiment, a mounting hole (not shown in the figure) is provided through the deformable wheel housing 4. The deformable wheel device also includes a second bearing 94. The outer ring of the second bearing 94 is embedded in the mounting hole of the deformable wheel housing 4, and the inner ring of the second bearing 94 is connected to the inner shaft 6.

[0080] Optionally, in one embodiment, the second drive unit 5 may be configured as an ostrich machine.

[0081] Optional, see below Figure 11 In one embodiment, the deformable wheel device further includes a conductive slip ring 10, which is disposed on one side of the second driving member 5 and connected to the fixed end of the second driving member 5. In this embodiment, by providing the conductive slip ring 10, when the first driving member 1 drives the entire deformable wheel device to rotate, since the second driving member 5 is connected to the inner shaft 6 via the coupling 8, the second driving member 5 will also rotate coaxially with the inner shaft 6 as the entire deformable wheel device rotates. At this time, the wires of the second driving member 5 will become entangled and damaged. This embodiment solves this problem by introducing the conductive slip ring 10.

[0082] A second aspect of this application provides a vehicle including a deformable wheel device with a multi-bar linkage as described above.

[0083] In summary, this application provides a multi-bar linkage deformable wheel device and vehicle, including a first drive member 1, a synchronization assembly 2, an outer shaft 3, a deformable wheel housing 4, a second drive member 5, an inner shaft 6, and a deformable wheel assembly 7. The synchronization assembly 2 is disposed on the drive end of the first drive member 1. One end of the outer shaft 3 is connected to the synchronization assembly 2, and the deformable wheel housing 4 is connected to the other end of the outer shaft 3. The deformable wheel housing 4 has an inner cavity. The fixed end of the second drive member 5 is connected to the synchronization assembly 2, and one end of the inner shaft 6 is connected to the drive end of the second drive member 5. The moving end is connected, and the deformable wheel assembly 7 is disposed in the inner cavity. The deformable wheel assembly 7 includes a star-shaped seat 71, a number of connecting rods 72 and a number of rotating blades 73. The star-shaped seat 71 has a number of first star corners 711. The inner shaft 6 passes through the synchronization assembly 2, the outer shaft 3 and one end of the deformable wheel housing 4 in sequence and is connected to the star-shaped seat 71. One end of the connecting rod 72 is hinged to the corresponding first star corner 711. One end of the rotating blade 73 is hinged to the deformable wheel housing 4 and the other end is hinged to the other end of the connecting rod 72. This application drives the first driving component 1, which in turn drives the synchronization component 2, the second driving component 5, the outer shaft 3, and the deformable wheel housing 4 to rotate, thereby enabling the deformable wheel to rotate and move. When moving on flat ground, this application drives the second driving component 5 to rotate in the first direction, which in turn drives the inner shaft 6 and the star seat 71 to rotate until the star seat 71 rotates to the point where the angle between the connecting rod 72 and the corresponding first star corner 711 is 180°, that is, the star seat 71 is rotated until the connecting rod 72 and the corresponding first star corner 711 form a straight line. At this time, the rotating blades 73 also expand outward under the action of the connecting rod 72 and form a circular shape. When climbing stairs, this application drives the second driving component 5 to rotate in the second direction, which in turn drives the inner shaft 6 and the star seat 71 to rotate until the star seat 71 rotates to the point where the angle between the connecting rod 72 and the corresponding first star corner 711 is an acute angle. At this time, the rotating blades 73 will contract inward under the action of the connecting rod 72 and form an impeller shape.

[0084] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A deformable wheel device with a multi-bar linkage, characterized in that, include: First driving component; A synchronization component is disposed on the driving end of the first driving element; An outer shaft, one end of which is connected to the synchronization component; A deformable wheel housing, which is connected to the other end of the outer shaft, the deformable wheel housing having an inner cavity; The second driving component has its fixed end connected to the synchronization component; The inner shaft has one end connected to the driving end of the second driving member; A deformable wheel assembly is disposed within the inner cavity. The deformable wheel assembly includes a star-shaped seat, several connecting rods, and several rotating blades. The star-shaped seat has several first star-angle portions. The inner shaft passes sequentially through the synchronization assembly, the outer shaft, and one end of the deformable wheel housing and is connected to the star-shaped seat. One end of the connecting rod is hinged to the corresponding first star-angle portion. One end of the rotating blade is hinged to the deformable wheel housing, and the other end is hinged to the other end of the connecting rod. When in the circular mode, several of the rotating blades unfold outward and form a circular shape, and the angle between the connecting rod and the corresponding first star-shaped part is 180°. When in impeller mode, several rotating blades retract inward to form an impeller shape, and the angle between the connecting rod and the corresponding first star-shaped part is an acute angle.

2. The deformable wheel device of the multi-bar mechanism according to claim 1, characterized in that, The deformable wheel housing is configured as a star-shaped housing, and the deformable wheel housing has several second star-shaped segments. The deformable wheel device further includes: Several limiting blocks are disposed within the inner cavity and located at the corresponding second star-shaped portion to restrict the rotation of the rotating blade.

3. The deformable wheel device of the multi-bar mechanism according to claim 2, characterized in that, The limiting block is designed as an arc-shaped block with a pointed tip. The rotating blade is provided with an arc-shaped part that matches the arc-shaped block. The arc-shaped part is located at the hinge end between the rotating blade and the deformable wheel housing. When in the circular wheel mode, the tip of the arc-shaped block abuts against the arc-shaped portion; When in impeller mode, there is a gap between the tip of the arc-shaped block and the arc-shaped portion.

4. The deformable wheel device of the multi-bar mechanism according to claim 1, characterized in that, The synchronization component includes: An active pulley is disposed on the drive end of the first driving member; A connecting assembly is disposed on one side of the drive pulley, and the outer shaft and the second drive member are respectively disposed on both sides of the connecting assembly and are both connected to the connecting assembly; The driven pulley is disposed on the connecting assembly; A synchronous belt, one end of which is coiled on the driving pulley and the other end of which is coiled on the driven pulley.

5. The deformable wheel device of the multi-bar mechanism according to claim 4, characterized in that, The connection component includes: A first pulley baffle is disposed on one side of the driving pulley and connected to the fixed end of the second driving member; The second pulley baffle is disposed on one side of the driving pulley and connected to the outer shaft; A driven pulley mounting base is disposed between the first pulley baffle and the second pulley baffle and is connected to the first pulley baffle and the second pulley baffle. The driven pulley is disposed on the driven pulley mounting base.

6. The deformable wheel device of the multi-bar mechanism according to claim 4, characterized in that, The deformable wheel device further includes: A coupling is disposed inside the connecting assembly, the driving end of the second driving member passes through the connecting assembly and is connected to one end of the coupling, and the inner shaft passes through the connecting assembly and is connected to the other end of the coupling.

7. The deformable wheel device of the multi-bar mechanism according to claim 1, characterized in that, The deformable wheel device further includes: A conductive slip ring is disposed on one side of the second driving member and connected to the fixed end of the second driving member.

8. The deformable wheel device of the multi-bar mechanism according to claim 1, characterized in that, The deformable wheel device further includes: A central gasket is disposed on the side of the inner cavity near the star-shaped seat, and the star-shaped seat is fitted to the central gasket.

9. The deformable wheel device of the multi-bar mechanism according to claim 1, characterized in that, The deformable wheel housing has a through mounting hole, and the deformable wheel device further includes: The first bearing has its inner ring fitted onto the outer shaft; Several bearing inner ring washers are fitted onto the outer shaft and located between the outer shaft and the first bearing; The outer ring of the second bearing is fitted into the mounting hole of the deformable wheel housing, and the inner ring of the second bearing is connected to the inner shaft.

10. A vehicle, characterized in that, The deformable wheel device includes the multi-bar mechanism as described in any one of claims 1-9.

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