The invention discloses a modularized rubber crawler wheel, and relates to a crawler walking device. The modularized rubber crawler wheel comprises a frame, a modularized drive wheel, a guide wheel train, a modularized load bearing wheel train, an independent swing arm suspension and a rubber crawler. A plurality of load bearing wheel sets, a multi-dimensional balance suspension and a linear-moving type following tension structure or a fixed type tension structure are adopted, a bend steering function and a power-assisted steering function are achieved, all components and the integrated wheel are modularized, quick wheel and crawler exchanging of high-speed and heavy-duty cross-country engineering vehicles can be achieved, ground pressure of the vehicles is substantially reduced, adhesive force is improved, smoothness, stability and passing ability of the vehicles on rough topography are improved, stable traction is maintained, working reliability is improved, and using and maintaining are convenient. Meanwhile, different structures of the modularized rubber crawler wheel can be selected according to vehicle loads.