CN210455005U

CN210455005U - Reconfigurable wheel

Info

Publication number: CN210455005U
Application number: CN201921565165.8U
Authority: CN
Inventors: 徐林森; 刘磊; 刘进福; 陈寿起; 徐鸿; 程高新; 石佳; 韩松; 徐嘉骏
Original assignee: Hefei Institutes of Physical Science of CAS
Current assignee: Hefei Institutes of Physical Science of CAS
Priority date: 2019-09-18
Filing date: 2019-09-18
Publication date: 2020-05-05
Anticipated expiration: 2029-09-18

Abstract

The utility model discloses a reconfigurable wheel, which comprises a supporting frame, wherein three groups of reconfigurable units are uniformly distributed on the supporting frame along the circumferential direction, and a crawler belt is wrapped on the periphery of each group of reconfigurable units; each group of reconstruction units comprises a first driving mechanism, a connecting block, a power shaft, a power gear and two groups of deformation supporting parts, wherein the output shaft of each group of reconstruction units is driven to stretch by the first driving mechanism so as to drive the connecting block to move along the radial direction, on one hand, the power shaft and the power gear are driven to move along the radial direction, and the track is ejected out or retracted by the power gear; on the other hand, the two groups of deformation supporting parts are driven to retract or expand so as to support the deformed crawler belt; thereby realizing the conversion in two modes of wheel type and crawler type; the supporting frame is further provided with a second driving mechanism, and the second driving mechanism drives the three power gears to rotate so as to drive the crawler belt to operate. The utility model has the advantages that: the quick back-and-forth switching between the wheel type mode and the crawler type mode is realized.

Description

Reconfigurable wheel

Technical Field

The utility model relates to the technical field of robot, what especially relate to is a restructural wheel.

Background

The moving mechanism of the robot is generally divided into a wheel type and a crawler type. The wheel type robot runs on hard ground and only rolls on the ground, so that the robot is stable in the running process. The crawler-type enlarges the contact area with the ground, and can run stably on the soft ground. Both of these movement modes make the movement of the robot limited.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's not enough, provide a restructural wheel to can make a round trip to switch fast between wheeled and two kinds of modes of crawler-type in the phase, make the robot can deal with the road conditions of various complicacies in a flexible way.

The utility model discloses a realize through following technical scheme:

a reconfigurable wheel comprises a supporting frame, wherein three groups of reconfigurable units are uniformly distributed on the supporting frame along the circumferential direction, and a crawler belt is wrapped on the periphery of each of the three groups of reconfigurable units;

each group of reconstruction units comprises a first driving mechanism, a connecting block, a power shaft, a power gear and two groups of deformation supporting parts, wherein the first driving mechanism is arranged on a supporting frame, an output shaft of the first driving mechanism extends outwards along the radial direction and is fixedly connected with the connecting block, the power shaft is rotatably arranged on the connecting block, the power gear is fixed on the power shaft and is meshed with the inner side of the crawler belt, the two groups of deformation supporting parts are respectively arranged at two sides of the power shaft, one end part of each deformation supporting part is rotatably connected with the connecting block, the middle part of each deformation supporting part is rotatably connected with a pull rod, and the other end of each pull rod is rotatably connected with the supporting frame; the output shaft of the first driving mechanism is driven to stretch and retract, so that the connecting block is driven to move along the radial direction, and the power shaft and the power gear are driven to move along the radial direction on the one hand, and the track is ejected out or retracted through the power gear; on the other hand, the two groups of deformation supporting parts are driven to retract or expand so as to support the deformed crawler belt;

when the output shaft of the first driving mechanism of the three groups of reconstruction units extends out, the crawler belt is ejected out by the three power gears, meanwhile, the two groups of deformation supporting parts of each group of reconstruction units are retracted, the crawler belt is in a regular triangle shape, and the wheels are in a crawler-type working mode; when the output shaft of the first driving mechanism of the three groups of reconstruction units retracts, the three power gears retract, meanwhile, the two groups of deformation supporting parts of each group of reconstruction units are both opened, at the moment, the crawler belt is circular, the wheels are in a wheel type working mode, and the running of the wheels is realized by the supporting frame externally connected with a driving shaft;

and the support frame is also provided with a second driving mechanism for driving the power shafts of the three groups of reconstruction units to synchronously rotate, and the second driving mechanism drives the three power shafts to rotate so as to drive the three power gears to rotate and further drive the crawler in a crawler type working mode to operate.

Furthermore, the second driving mechanism comprises a driving gear, a driving source for driving the driving gear to rotate and three groups of transmission mechanisms uniformly distributed along the circumferential direction of the driving gear, and power is transmitted to the power shafts of the three groups of reconstruction units in a one-to-one correspondence mode through the three groups of transmission mechanisms;

each group of transmission mechanisms comprises at least one transmission unit, each transmission unit comprises first to fifth belt wheels which are sequentially connected in a transmission way through a synchronous belt, the first belt wheel is coaxially connected with a first driven gear through a first transmission shaft, a second belt wheel is coaxially connected with a second driven gear through a second transmission shaft, the first driven gear and the second driven gear are distributed on the periphery of a driving gear and are respectively meshed with the driving gear, a third belt wheel is positioned on the outer side of the second belt wheel, the fifth belt wheel is positioned on the outer side of the first belt wheel, a fourth belt wheel is fixed on a power shaft, the first to fifth belt wheels are arranged in the first to fifth belt wheels, a pressing wheel is arranged between the adjacent belt wheels to press the synchronous belt from outside to inside, a pressing wheel positioned between the second belt wheel and the third belt wheel and a pressing wheel positioned between the first belt wheel and the fifth belt wheel are movable pressing wheels, the rest pressing wheels are fixed pressing wheels, and the movable pressing wheels are arranged on an automatic pressing device, the automatic pressing device comprises a moving rod, a guide rod, a limiting rod and a pressure spring, wherein the movable pressing wheel is rotatably sleeved on the moving rod, the end part of the moving rod extends into a chute formed in the supporting frame and can slide back and forth in the chute, the middle section of the moving rod is sleeved on the guide rod vertical to the moving rod, the guide rod is fixedly installed on the supporting frame and parallel to the chute, the limiting rod is arranged at one end of the guide rod, the pressure spring is sleeved at a position between the limiting rod and the moving rod on the guide rod, and the moving rod is automatically pressed to the synchronous belt through the pressure spring, so that the movable pressing wheel on the moving rod is pressed to the synchronous belt all the time.

Further, braced frame includes two end covers, a fixed baseplate, fixed baseplate is the loop configuration and with the equal cladding of three transmission mechanism's of group first driven gear and second driven gear including, two end covers set up relatively and fix respectively at fixed baseplate's both ends, the fixed baseplate periphery is equipped with three mounting surface, is used for installing the first actuating mechanism of three restructuring units of group respectively, still open the perforation that the hold-in range that supplies three transmission mechanism of group to wear out on the fixed baseplate.

Furthermore, the fixed pinch roller is sleeved on a fixed rod, and two ends of the fixed rod, the first transmission shaft and the second transmission shaft are respectively and rotatably connected with the inner sides of the two end covers; and two ends of the movable rod respectively extend into the sliding grooves formed in the inner sides of the two end covers.

Further, the driving source is a motor installed on the end cover, and the first driving mechanism is an oil cylinder installed on the fixed base.

Further, every group in the reconsitution unit, every group warp the supporting part including relative two that set up warp and support the page or leaf, warp for two and support and link as an organic wholely through a plurality of bracing pieces between the page or leaf, a plurality of bracing pieces are close to two and warp the outside interval that supports the page or leaf and set up and arrange into an arc line, the bracing piece both ends are connected with two deformation support page or leaf rotations respectively, the bracing piece both ends are overlapped respectively and are equipped with the support spacing ring, support the lateral surface that the spacing ring protrusion supported the page or leaf in two deformations, the inboard middle section of track is equipped with round and power gear engaged with internal tooth, the internal tooth of track is located two and supports the clearance between the spacing ring, supports the internal tooth both ends of track through two and carries on spacingly to support the track medial surface.

Furthermore, in each group of the deformation supporting parts, two ends of the pull rod are respectively provided with a connecting rod perpendicular to the pull rod, two ends of one connecting rod are respectively rotatably connected with the two deformation supporting leaves, and two ends of the other connecting rod are respectively rotatably connected with the two end covers.

Furthermore, in each group of reconstruction units, a connecting shaft is arranged on the connecting block, two first lugs for rotatably supporting the power shaft are arranged on the connecting shaft, the end parts of the two groups of deformation supporting parts are rotatably connected with the connecting block through rotating shafts respectively, the two rotating shafts are arranged on two sides of the power shaft respectively and are parallel to each other, two second lugs for rotatably supporting the two rotating shafts are further arranged on the connecting shaft, and each second lug is of a V-shaped structure.

Furthermore, the two ends of the connecting shaft are provided with sliding blocks, a guide rail which is in sliding fit with the sliding blocks is fixedly arranged on the supporting frame, the guide rail extends along the radial direction, and the guide rail guides the movement of the connecting block.

Furthermore, each group of transmission mechanism comprises two transmission units, and two synchronous belts of the two transmission units are distributed at intervals along the axial direction.

Compared with the prior art, the utility model has the following advantages:

1. the utility model provides a reconfigurable wheel, it includes three groups of reconsitution units of along braced frame circumference equipartition, and the cladding is at the peripheral track of three groups of reconsitution units, every group reconsitution unit passes through the flexible of first actuating mechanism drive power gear, drive two sets of deformation supporting parts simultaneously and withdraw or open, thereby realize the deformation of track, make the track can be in the triangle-shaped form and the circular form fast switch over, thereby realize the track in crawler-type and wheeled two kinds of mode fast switch over, make the wheel no matter can use on stereoplasm road surface or on soft road surface, have during wheeled mode and move rapidly, steady advantage, can have good performance when needing to hinder more on soft ground or uneven road surface during crawler-type mode, can effectively reduce the condition that the wheel skidded, thereby make the wheel can respond to various complicated road conditions in a flexible way, the application range of the wheel is greatly improved. And the robot can be directly changed without stopping in the process of switching between the wheel type working mode and the crawler type working mode, so that the running continuity of the robot can be ensured, and the running efficiency of the robot is higher. In addition, the wheels are different in wheel type and crawler type driving shafts, so that the robot can adapt to the requirements of various speeds, and can reach a higher movement speed.

2. The utility model provides a pair of reconfigurable wheel, it is provided with a plurality of pinch rollers in every group drive mechanism, wherein two pinch rollers are the activity pinch roller, every activity pinch roller is installed on an automatic closing device, automatic closing device passes through the effect of pressure spring, can guarantee that the activity pinch roller is hugged closely throughout and is compressed tightly the hold-in range, even the hold-in range removes under a actuating mechanism's drive, the activity pinch roller also can remove along with the removal of hold-in range together, thereby the realization compresses tightly the self-adaptation of hold-in range, and then the normal steady operation under power gear's normal steady operation and the crawler-type mode has been guaranteed.

3. The utility model provides a pair of reconfigurable wheel, its braced frame include two end covers and a fixed baseplate, and other part integrations are installed on two end covers and a fixed baseplate, and whole structural configuration is compact, occupation space not.

Drawings

Fig. 1 is a perspective view of the present invention in a wheeled state.

Fig. 2 is a front view of the present invention in a wheeled state.

Fig. 3 is a perspective view of the present invention in a crawler-type state.

Fig. 4 is a front view of the present invention in a crawler state.

Fig. 5 is a front view of the present invention with one end cap removed.

Fig. 6 is a front view of a single set of reconstruction units of the present invention.

Fig. 7 is a perspective view of a single-unit reconstruction unit according to the present invention.

Fig. 8 is a perspective view of the connecting block of the present invention.

Fig. 9 is a perspective view of a second drive mechanism of the present invention.

Fig. 10 is a plan view of a single unit transmission of the present invention.

Fig. 11 is a perspective view of a single-unit transmission mechanism of the present invention.

Fig. 12 is a perspective view of the fixing base of the present invention.

Fig. 13 is a perspective view of the driving gear of the present invention engaged with a plurality of driven gears.

Fig. 14 is a front view of the track of the present invention engaged with three power gears.

Fig. 15 is a perspective view of the track of the present invention engaged with three power gears.

Reference numbers in the figures: 1 end cover, 2 fixed base, 3 connecting plate, 4 crawler belt, 5 oil cylinder, 6 connecting block, 7 power shaft, 8 power gear, 9 deformation support page, 10 pull rod, 11 connecting rod, 12 support rod, 13 support limit ring, 14 internal tooth, 15 connecting shaft, 16 first lug, 17 rotating shaft, 18 second lug, 19 slider, 20 guide rail, 21 motor, 22 driving gear, 23 synchronous belt, 24 first belt wheel, 25 second belt wheel, 26 third belt wheel, 27 fourth belt wheel, 28 fifth belt wheel, 29 first transmission shaft, 30 first driven gear, 31 second transmission shaft, 32 second driven gear, 33 movable pressing wheel, 34 fixed pressing wheel, 35 fixed rod, 36 guide rod, 37 limit rod, 38 pressure spring, 39 chute, 40 moving rod, 41 installation plane, and 42 perforation.

Detailed Description

The embodiments of the present invention will be described in detail below, and the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

Referring to fig. 1 to 15, the present embodiment discloses a reconfigurable wheel, including a supporting frame, the supporting frame includes two end covers 1 and a fixed base 2, the fixed base 2 is an annular structure, the two end covers 1 are oppositely disposed and respectively fixed at two ends of the fixed base 2, the end covers 1 are triangular, and three corners of the two end covers 1 are respectively connected together through a connecting plate 3. Three groups of reconstruction units are uniformly distributed on the supporting frame along the circumferential direction, and a crawler 4 is wrapped on the periphery of each of the three groups of reconstruction units. Wherein, track 4 is a rubber track 4 that has elasticity, can satisfy the wheeled and 4 formula deformation demands of track of restructurable wheel.

Each group of reconstruction units comprises a first driving mechanism, a connecting block 6, a power shaft 7, a power gear 8 and two groups of deformation supporting parts, wherein the first driving mechanism can adopt an oil cylinder 5 arranged on the fixed base 2. The output shaft of hydro-cylinder 5 radially outwards extends and with connecting block 6 fixed connection, power shaft 7 rotates and installs on connecting block 6, power gear 8 is fixed on power shaft 7, power gear 8 meshes with 4 inboard looks meshes in the track, two sets of deformation supporting parts are listed in power shaft 7 both sides, deformation supporting part one end tip is connected with connecting block 6 rotation, deformation supporting part middle part rotation is connected with a pull rod 10, the both ends of pull rod 10 are equipped with respectively with pull rod 10 looks vertically connecting rod 11, one of them connecting rod 11 both ends are connected with two deformation support page 9 rotation respectively, another connecting rod 11 both ends are connected with two end cover 1 rotation respectively. The output shaft of the oil cylinder 5 is driven to stretch and retract, so that the connecting block 6 is driven to move along the radial direction, the power shaft 7 and the power gear 8 are driven to move along the radial direction on one hand, and the track 4 is ejected out or retracted through the power gear 8 when the connecting block 6 moves; on the other hand, the two groups of deformation supporting parts are driven to retract or expand so as to support the deformed crawler belt 4; the deformation of the wheels in the wheel type and the track type 4 modes is realized by the driving of the oil cylinder 5.

In each group of reconstruction units, each group of deformation support part comprises two deformation support pages 9 which are oppositely arranged, the two deformation support pages 9 are connected into a whole through a plurality of support rods 12, the plurality of support rods 12 are arranged at intervals close to the outer sides of the two deformation support pages 9 and are arranged into an arc line, two ends of each support rod 12 are respectively connected with the two deformation support pages 9 in a rotating way, two ends of each support rod 12 are respectively sleeved with a support limit ring 13, the support limit rings 13 protrude out of the outer side surfaces of the two deformation support pages 9, the middle section of the inner side of the crawler 4 is provided with a circle of inner teeth 14 meshed with the power gear 8, the inner teeth 14 of the crawler 4 are positioned in a gap between the two support limit rings, the two ends of the inner teeth 14 of the crawler 4 are limited by the two supporting limiting rings 13, so that the crawler 4 is prevented from deviating and even falling off, and the inner side surface of the crawler 4 is supported by the supporting limiting rings 13.

In each group of reconstruction units, a connecting shaft 15 is arranged on the connecting block 6, two first lugs 16 for rotatably supporting the power shaft 7 are arranged on the connecting shaft 15, the end parts of two groups of deformation supporting parts are respectively rotatably connected with the connecting block 6 through rotating shafts 17, the two rotating shafts 17 are respectively arranged on two sides of the power shaft 7, the two rotating shafts 17, the power shaft 7 and the connecting shaft 15 are parallel to each other, two second lugs 18 for rotatably supporting the two rotating shafts 17 are also arranged on the connecting shaft 15, and each second lug 18 is of a V-shaped structure. The two ends of the connecting shaft 15 are provided with sliding blocks 19, the end cover 1 is fixedly provided with guide rails 20 which are in sliding fit with the sliding blocks 19, and the guide rails 20 extend along the radial direction and guide the movement of the connecting block 6 through the guide rails 20.

And a second driving mechanism for driving the power shafts 7 of the three groups of reconstruction units to synchronously rotate is further arranged on the supporting frame, and the three power shafts 7 are driven to rotate through the second driving mechanism, so that the three power gears 8 are driven to rotate, and the crawler 4 in a crawler 4 type working mode is driven to operate.

Specifically, the second driving mechanism includes a driving gear 22, a driving source for driving the driving gear 22 to rotate, and three sets of transmission mechanisms uniformly distributed along the circumferential direction of the driving gear 22, the driving source is a motor 21 installed on the end cover 1, and power is transmitted to the power shafts 7 of the three sets of reconstruction units in a one-to-one correspondence manner through the three sets of transmission mechanisms.

Each set of transmission mechanism comprises at least one transmission unit, in this embodiment two transmission units, the two timing belts 23 of which are axially spaced apart. Each transmission unit comprises a first belt wheel 28, a second belt wheel 28, a third belt wheel 28, a fourth belt wheel 27, a third belt wheel 34, a third belt wheel 26, a fourth belt wheel 28, a third belt wheel 34, a fourth belt wheel 27, a pressing wheel 33, a fixed pressing wheel 34 and a pressing wheel 34, wherein the first belt wheel 28, the second belt wheel 25, the third belt wheel 25, the fourth belt wheel 32, the first belt wheel 28, the second belt wheel 32, the third belt wheel 25, the fifth belt wheel 28, the fourth belt wheel 27, the pressing wheel 28 and the pressing wheel 34 are connected in sequence in a transmission mode through a synchronous belt 23, wherein, the fixed pinch roller 34 arranged between the first belt pulley 24 and the second belt pulley 25 can increase the wrap angle between the synchronous belt 23 and the first belt pulley 24 and the second belt pulley 25, and effectively prevent the wrap angle from slipping too little. The movable pressing wheel 33 is installed on an automatic pressing device, the automatic pressing device comprises a moving rod 40, a guide rod 36, a limiting rod 37 and a pressure spring 38, the movable pressing wheel 33 is rotatably sleeved on the moving rod 40, the end part of the moving rod 40 extends into a sliding groove 39 formed in the end cover 1 and can slide back and forth in the sliding groove 39, the middle section of the moving rod 40 is sleeved on the guide rod 36 vertical to the moving rod 40 in an empty mode, the guide rod 36 is parallel to the sliding groove 39, one end of the guide rod 36 is provided with the limiting rod 37, the limiting rod 37 is fixed on the end cover 1, the pressure spring 38 is sleeved on the guide rod 36 at a position between the limiting rod 37 and the moving rod 40, the moving rod 40 is automatically pressed to the synchronous belt 23 through the pressure spring 38, and therefore the movable pressure wheel on the moving rod 40 can always press the. The limiting rods 37 of two adjacent groups of reconstruction units can share one limiting rod 37, so that the space is saved.

The fixed pinch roller 34 is sleeved on the fixed rod 35, and two ends of the fixed rod 35, the first transmission shaft 29 and the second transmission shaft 31 are respectively and rotatably connected with the inner sides of the two end covers 1; the two ends of the moving rod 40 respectively extend into the sliding grooves 39 formed in the inner sides of the two end covers 1.

Specifically, the fixed base 2 is of an annular structure and covers the first driven gear 30 and the second driven gear 32 of the three sets of transmission mechanisms, three mounting planes 41 are arranged on the periphery of the fixed base 2 and are respectively used for mounting the oil cylinders 5 of the three sets of reconstruction units, and the fixed base 2 is further provided with through holes 42 through which the synchronous belts 23 of the three sets of transmission mechanisms penetrate.

The working principle of the second driving mechanism is as follows:

the motor 21 drives the driving gear 22 to rotate, and the driving gear 22 drives each driven gear around the driving gear to rotate, so that power is transmitted to the three groups of transmission mechanisms. In each set of transmission mechanism, the first driven gear 30 and the second driven gear 32 drive the first transmission shaft 29 and the second transmission shaft 31 to rotate, so as to drive the first belt wheel 24 and the second belt wheel 25 to rotate, further drive the synchronous belt 23 to run, drive the fourth belt wheel 27 to rotate by the synchronous belt 23, drive the power shaft 7 to rotate by the fourth belt wheel 27, and further drive the power gear 8 on the power shaft 7 to rotate. Three power gears 8 drive the caterpillar track 4 to run.

When not needing track 4 motion, the output shaft of the hydro-cylinder 5 of three restructuring units of group retracts, three power gear 8 retracts, two sets of deformation supporting parts of every restructuring unit of group all open simultaneously, track 4 is circular this moment, the wheel is in wheeled mode, control motor 21 does not rotate this moment, thereby make hold-in range 23 motionless, then three power gear 8 do not rotate, do not have relative operation between track 4 and the end cover 1, track 4 links as an organic whole with end cover 1 promptly, the operation of wheel is realized to the drive shaft through the external robot of end cover 1.

When the movement of the crawler 4 is required, the wheels are not connected to the driving shaft of the robot. The output shafts of the oil cylinders 5 of the three groups of reconstruction units extend out, the crawler belt 4 is ejected out by the three power gears 8, meanwhile, the two groups of deformation supporting parts of each group of reconstruction units are retracted, the crawler belt 4 is in a regular triangle shape, the wheels are in a crawler belt 4 type working mode, the motor 21 is started at the moment, the crawler belt 4 is driven to run through the second driving mechanism, and in the working mode, the crawler belt 4 and the end cover 1 move relatively.

The wheel that this embodiment provided, can carry out the fast switch over under 4 formulas of track and wheeled two kinds of modes, make this wheel no matter be on hard road surface or homoenergetic use on soft road surface, it is rapid to have the removal during wheeled mode, steady advantage, can have good performance when needing to hinder more on soft ground or uneven road surface during 4 formulas of track, can effectively reduce the condition that the wheel skidded, thereby make this wheel can deal with various complicated road conditions in a flexible way, the application range of wheel has been improved greatly. And the change can be directly carried out without stopping in the process of switching the wheel type working mode and the 4-type working mode of the crawler belt, so that the running continuity of the robot can be ensured, and the running efficiency of the robot is higher.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A reconfigurable wheel comprises a support frame and is characterized in that three groups of reconfigurable units are uniformly distributed on the support frame along the circumferential direction, and a crawler belt (4) is wrapped on the peripheries of the three groups of reconfigurable units;

each group of reconstruction units comprises a first driving mechanism, a connecting block (6), a power shaft (7), a power gear (8) and two groups of deformation supporting parts, wherein the first driving mechanism is installed on a supporting frame, an output shaft of the first driving mechanism extends outwards along the radial direction and is fixedly connected with the connecting block (6), the power shaft (7) is rotatably installed on the connecting block (6), the power gear (8) is fixed on the power shaft (7), the power gear (8) is meshed with the inner side of a crawler belt (4), the two groups of deformation supporting parts are respectively arranged on two sides of the power shaft (7), one end part of each deformation supporting part is rotatably connected with the connecting block (6), the middle part of each deformation supporting part is rotatably connected with a pull rod (10), and the other end of each pull rod (10) is rotatably connected with the supporting frame; the output shaft of the first driving mechanism is driven to stretch and retract, so that the connecting block (6) is driven to move along the radial direction, the power shaft (7) and the power gear (8) are driven to move along the radial direction on one hand, and the track (4) is ejected out or retracted through the power gear (8) when the connecting block (6) moves; on the other hand, the two groups of deformation supporting parts are driven to retract or expand so as to support the deformed crawler belt (4);

when the output shaft of the first driving mechanism of the three groups of reconstruction units extends out, the crawler belt (4) is ejected out by the three power gears (8), meanwhile, the two groups of deformation supporting parts of each group of reconstruction units are retracted, the crawler belt (4) is in a regular triangle shape, and the wheels are in a crawler belt (4) type working mode; when the output shaft of the first driving mechanism of the three groups of reconstruction units retracts, the three power gears (8) retract, meanwhile, the two groups of deformation supporting parts of each group of reconstruction units are opened, the crawler belt (4) is circular, the wheels are in a wheel type working mode, and the wheels are operated by the aid of the driving shaft externally connected with the supporting frame;

and the support frame is also provided with a second driving mechanism for driving the power shafts (7) of the three groups of reconstruction units to synchronously rotate, and the second driving mechanism drives the three power shafts (7) to rotate so as to drive the three power gears (8) to rotate and further drive the crawler (4) in a crawler (4) type working mode to operate.

2. The reconfigurable wheel of claim 1, wherein: the second driving mechanism comprises a driving gear (22), a driving source for driving the driving gear (22) to rotate and three groups of transmission mechanisms which are uniformly distributed along the circumferential direction of the driving gear (22), and power is transmitted to the power shafts (7) of the three groups of reconstruction units in a one-to-one correspondence mode through the three groups of transmission mechanisms;

each group of transmission mechanisms comprises at least one transmission unit, each transmission unit comprises a first belt wheel, a second belt wheel, a third belt wheel, a fourth belt wheel, a fifth belt wheel, a third belt wheel, a fourth belt wheel, a third belt wheel, a fifth belt wheel, a third belt wheel, a fourth belt wheel, a third belt wheel, a fourth belt wheel, the pressing wheel between the second belt wheel (25) and the third belt wheel (26) and the pressing wheel between the first belt wheel (24) and the fifth belt wheel (28) are movable pressing wheels (33), the rest pressing wheels are fixed pressing wheels (34), the movable pressing wheels (33) are installed on an automatic pressing device, the automatic pressing device comprises a moving rod (40), a guide rod (36), a limiting rod (37) and a pressure spring (38), the movable pressing wheels (33) are rotatably sleeved on the moving rod (40), the end part of the moving rod (40) extends into a sliding groove (39) formed in the support frame and can slide back and forth in the sliding groove (39), the middle section of the moving rod (40) is sleeved on the guide rod (36) vertical to the moving rod (40), the guide rod (36) is fixedly installed on the support frame and is parallel to the sliding groove (39), guide bar (36) one end is equipped with gag lever post (37), the position cover that is located between gag lever post (37) and carriage release lever (40) on guide bar (36) is equipped with pressure spring (38), presses hold-in range (23) with carriage release lever (40) is automatic through pressure spring (38) to make the activity pinch roller on carriage release lever (40) compress tightly hold-in range (23) all the time.

3. The reconfigurable wheel of claim 2, wherein: support frame includes two end covers (1), a fixed baseplate (2), including fixed baseplate (2) are the annular structure and all coat three transmission mechanism's of group first driven gear (30) and second driven gear (32), two end covers (1) set up relatively and fix respectively at the both ends of fixed baseplate (2), fixed baseplate (2) periphery is equipped with three mounting surface (41), is used for installing the first actuating mechanism of three group reconsitution units respectively, still open perforation (42) that hold-in range (23) that supply three transmission mechanism of group worn out on fixed baseplate (2).

4. A reconfigurable wheel according to claim 3, wherein: the fixed pinch roller (34) is sleeved on the fixed rod (35), and two ends of the fixed rod (35), the first transmission shaft (29) and the second transmission shaft (31) are respectively in rotating connection with the inner sides of the two end covers (1); two ends of the movable rod (40) respectively extend into the sliding grooves (39) formed in the inner sides of the two end covers (1).

5. A reconfigurable wheel according to claim 3, wherein: the driving source is a motor (21) arranged on the end cover (1), and the first driving mechanism is an oil cylinder (5) arranged on the fixed base (2).

6. A reconfigurable wheel according to claim 3, wherein: every group among the reconsitution unit, every group the deformation support portion includes two deformation support page or leaf (9) that set up relatively, and two deformation support page or leaf (9) are even as an organic whole through a plurality of bracing pieces (12), and a plurality of bracing pieces (12) are close to the outside interval setting that two deformation support page or leaf (9) and arrange into an arc line, bracing piece (12) both ends rotate with two deformation support page or leaf (9) respectively and are connected, bracing piece (12) both ends are overlapped respectively and are supported spacing ring (13), support spacing ring (13) protrusion in the lateral surface of two deformation support page or leaf (9), the inboard middle section of track (4) is equipped with round and power gear (8) engaged with internal tooth (14), internal tooth (14) of track (4) are located two and support the clearance between spacing ring (13), carry on spacingly through two internal tooth (14) both ends that support spacing ring (13) to track (4), and the inner side surface of the crawler belt (4) is supported by each supporting limit ring (13).

7. The reconfigurable wheel of claim 6, wherein: in each group of the deformation supporting parts, two ends of the pull rod (10) are respectively provided with a connecting rod (11) which is perpendicular to the pull rod (10), two ends of one connecting rod (11) are respectively rotatably connected with the two deformation supporting pages (9), and two ends of the other connecting rod (11) are respectively rotatably connected with the two end covers (1).

8. The reconfigurable wheel of claim 1, wherein: every group among the reconstruction unit, be equipped with a connecting axle (15) on connecting block (6), be equipped with two first lugs (16) that are used for rotating supporting power shaft (7) on connecting axle (15), the tip of two sets of deformation supporting parts is rotated with connecting block (6) through pivot (17) respectively and is connected, and two pivot (17) are listed as in the both sides of power shaft (7) respectively, and are parallel to each other between two pivot (17), power shaft (7), the connecting axle (15), still be equipped with two second lugs (18) that are used for rotating supporting two pivot (17) on connecting axle (15), every second lug (18) are the V-arrangement structure.

9. The reconfigurable wheel of claim 8, wherein: the connecting shaft (15) both ends are equipped with slider (19), fixed being equipped with on the braced frame with slider (19) looks sliding fit's guide rail (20), guide rail (20) are along radially extending, lead to the removal of connecting block (6) through guide rail (20).

10. The reconfigurable wheel of claim 2, wherein: each group of transmission mechanism comprises two transmission units, and two synchronous belts (23) of the two transmission units are distributed at intervals along the axial direction.