CN212423324U

CN212423324U - Deformation wheel device, wheel-track leg walking device and wheel-track leg robot

Info

Publication number: CN212423324U
Application number: CN202020432461.7U
Authority: CN
Inventors: 罗霄; 杨磊; 陈胜玥; 牛荣; 罗士超; 刘思辰; 张帆
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2020-03-30
Filing date: 2020-03-30
Publication date: 2021-01-29
Anticipated expiration: 2030-03-30

Abstract

The utility model provides a deformation wheel device, which comprises a support frame component and a deformation mechanism component, wherein the deformation mechanism component comprises a deformation power module which is arranged on one side of the support frame component; the deformation power module comprises a first fixed plate, a first actuator, a screw transmission device and a first sliding plate; the first fixing plate is connected with the support frame assembly; the first actuator is disposed on the first fixed plate and causes the first sliding plate to move by the screw transmission; the first sliding plate is connected with the supporting frame component. The utility model provides a deformation wheel device can carry out fast switch-over between wheeled motion mode and crawler-type motion mode, and is small, simple structure, and the configuration retentivity that warp gained mechanism is good. The utility model also provides a wheel-track leg running gear and wheel-track leg robot, with the advantage of wheeled, crawler-type, three kinds of motion pattern of leg type integrated, load capacity is strong, the rate of motion is fast, hinder the level height more.

Description

Deformation wheel device, wheel-track leg walking device and wheel-track leg robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a warp round device, wheel-track leg running gear and wheel-track leg robot.

Background

Currently, existing mobile robots can be classified into three types of mobile robots according to motion mechanisms and configuration forms, namely: wheeled robots, tracked robots, and legged robots. The wheel type robot has the characteristics of simple structure, stable operation and convenient control, is the best in the aspects of speed and energy consumption, but is not suitable for complex and variable environments, and has poor obstacle crossing capability and low passing rate. The legged robot has the characteristics of flexible movement and good adaptability, but the legged robot has a complex mechanical structure, is difficult to control gait, and has unsatisfactory performance in speed and energy consumption. The crawler-type robot has better obstacle-crossing capability and capability of adapting to complex terrains, but has the defects of high energy consumption and low speed and efficiency.

SUMMERY OF THE UTILITY MODEL

In order to solve one of the above-mentioned technical problem at least, the utility model aims to provide a simple structure, flexible movement, reliable and stable deformation wheel device still provides a wheel-tracked leg running gear and wheel-tracked leg robot, integrates the advantage of wheeled, tracked, three kinds of motion modes of leg type into one whole, realizes that fast, obstacle-surmounting ability is strong, the purpose that the energy consumption is low.

In order to at least achieve one of the above purposes, the technical solution adopted in the embodiment of the present invention is: the deformation wheel device comprises a support frame assembly and a deformation mechanism assembly, wherein the deformation mechanism assembly comprises a deformation power module which is arranged on one side of the support frame assembly; the deformation power module comprises a first fixed plate, a first actuator, a screw transmission device and a first sliding plate; the first fixing plate is connected with the support frame assembly; the first actuator is disposed on the first fixed plate and causes the first sliding plate to move by the screw transmission; the first sliding plate is connected with the supporting frame component.

The first actuator is a motor, the motor is mounted on the motor mounting plate, and the motor mounting plate is fixedly connected with the first fixing plate; the screw transmission device comprises a screw rod and a nut sliding block; the screw rod is fixedly connected with an output shaft of the motor; the nut sliding block is fixedly connected with the first fixing plate.

Further, the deformation mechanism assembly further comprises a deformation driven module, and the deformation driven module is arranged on the other side of the support frame assembly; the deformation driven module comprises a second fixed plate, a sliding rail, a sliding block and a second sliding plate; the second fixing plate is connected with the support frame assembly; the sliding rail is fixedly arranged on the second fixing plate, the sliding block is arranged on the sliding rail, and the second sliding plate is fixedly connected to the sliding block; the second sliding plate is connected with the supporting frame component.

Furthermore, the support frame assembly comprises a support frame, and a plurality of support frames are sequentially hinged end to form a circle; the support frame comprises two arc-shaped plates which are connected through ribs.

Further, the support frame comprises a first support frame, a second support frame, a third support frame and a fourth support frame; the joints between the first support frame and the fourth support frame and between the second support frame and the third support frame are hinged through connecting shafts; respectively forming a first hinge joint and a third hinge joint; the first support frame and the second support frame are hinged through a short shaft I to form a second hinge joint; the third support frame and the fourth support frame are hinged through a short shaft II to form a fourth hinge joint; the first sliding plate and the second sliding plate are connected with the supporting frame assembly at the second hinge joint; the first and second retaining plates are connected to the support frame assembly at the fourth hinge.

The driving device comprises a motor shaft, a motor rotor, a driving synchronous pulley and a Hall motor, wherein two ends of the motor shaft are fixedly supported on the first sliding plate and the second sliding plate respectively, and the Hall motor, the motor rotor and the synchronous pulley are coaxially arranged outside the motor shaft in sequence; the motor rotor is fixedly connected with the driving synchronous belt pulley.

Furthermore, a driven wheel assembly and a synchronous belt are further arranged on the support frame assembly, the driven wheel assembly comprises a plurality of driven wheels, and the driven wheels are arranged on the support frame assembly at intervals; the synchronous belt is wrapped on the outer sides of the driving synchronous belt wheel and the driven wheel and is in meshing transmission.

Further, an in-wheel suspension device is further arranged on the support frame assembly and comprises a suspension support piece, an elastic device, a wheel carrier and a suspension wheel, and the suspension support piece is arranged between the first fixing plate and the second fixing plate; one end of the elastic device is hinged with the supporting shaft of the suspension wheel, and the other end of the elastic device is connected with the suspension supporting piece; one end of the wheel carrier is connected with the supporting shaft, and the other end of the wheel carrier is connected with the suspension supporting piece; the suspension wheel is rotatably supported on the supporting shaft and is in meshing transmission with the synchronous belt.

The utility model also provides a wheel-track leg walking device, which comprises the above deformation wheel device and a leg driving part, wherein the leg driving part comprises a leg connecting piece and a leg actuator; one end of the leg connector is mounted on the deformation wheel device, and the other end of the leg connector is mounted on the output end of the leg actuator.

The utility model also provides a wheel-tracked leg robot, including above-mentioned wheel-tracked leg running gear, wheel-tracked leg robot includes the chassis, leg actuator fixed mounting be in on the chassis.

Compared with the prior art, the utility model provides a deformation wheel device, beneficial effect lies in:

the deformation wheel device of the utility model has simple and compact structure, high reliability, stable operation and low noise; the guide is carried out through screw rod transmission and a miniature guide rail, the rapid switching can be carried out between a wheel type motion mode and a crawler type motion mode, the size is smaller, the structure is simple, the driving force is large, and the durability is realized; because the screw rod transmission has certain self-locking capacity, the deformation wheel device is more stable after deformation switching, and the configuration retentivity of the mechanism obtained after deformation is good.

The utility model provides a wheel-track leg running gear and wheel-track leg robot has fused the characteristics of wheeled, crawler-type and leg robot, integrates the advantage of wheeled, crawler-type, three kinds of motion modes of leg type into one, and load capacity is strong, the rate of motion is fast, hinder more that the level is high, the flexibility ratio is good, turning radius is little.

In a word, the utility model provides a simple structure, high, the with low costs deformation wheel device of reliability, wheel-track leg running gear and wheel-track leg robot, it has extensive application prospect in the robot field.

Drawings

Fig. 1 is a schematic structural view of a deformation wheel device provided by the present invention in a wheel shape;

fig. 2 is a schematic structural view of a support frame assembly provided by the present invention;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

fig. 4 is a schematic structural view of another perspective of the support frame assembly provided by the present invention;

fig. 5 is a schematic structural diagram of a driving device provided by the present invention;

fig. 6 is a schematic partial structural view of a deforming wheel device provided by the present invention;

fig. 7 is a schematic structural diagram of a deformation power module provided by the present invention;

fig. 8 is a schematic structural diagram of a deformation driven module provided by the present invention;

fig. 9 is a schematic structural diagram of a deformation mechanism assembly provided by the present invention;

fig. 10 is a schematic structural view of an in-wheel suspension device provided by the present invention;

fig. 11 is a schematic view of the deformation wheel device provided by the present invention deforming from a wheel shape to a track shape;

fig. 12 is a schematic structural view of the deformation wheel device provided by the present invention in a caterpillar shape;

fig. 13 is a schematic structural view of a driving assembly of a mounting leg of the transformable wheel apparatus provided by the present invention;

fig. 14 is a schematic structural view of a leg driving assembly provided by the present invention;

fig. 15 is a wheel-shaped structural schematic view of the wheel-track leg robot provided by the present invention;

fig. 16 is a schematic structural view of the wheel-track leg robot deforming from a wheel shape to a track shape;

fig. 17 is a schematic structural view of the wheel-track leg robot provided by the present invention in a track shape;

fig. 18 is a schematic structural view of the wheel-tracked leg robot provided by the present invention crossing an obstacle through a leg.

Wherein the reference numerals are as follows:

1-1 first support frame, 1-2 second support frame, 1-3 third support frame, 1-4 fourth support frame, 1-11 ribs, 1-12 hinge grooves, 1-5 connecting shafts, 2 driving devices, 2-1 motor shaft, 2-2 motor rotor, 2-3 driving synchronous belt wheel, 2-4 flanges, 2-5 Hall motor, 2-6 motor wire, 3 deformation power module, 3-1 first fixed plate, 3-2 motor mounting plate, 3-3 motor, 3-4 nut slider, 3-5 first sliding plate, 4 deformation driven module, 4-1 second fixed plate, 4-2 sliding rail, 4-3 slider, 4-4 second sliding plate, 5 connecting piece, 6 suspension support piece, 7 in-wheel suspension device, 7-1 shock-absorbing cylinder, 7-2 guide rod, 7-3 wheel carrier, 7-4 suspension wheel, 8 driven wheel component, 9 synchronous belt, 10-1 leg connecting piece, 10-2 leg actuator and 11 chassis.

Detailed Description

In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the following specific embodiments. It should be noted that the following described embodiments are exemplary only, and are not to be construed as limiting the invention. The examples, where specific techniques or conditions are not indicated, are to be construed according to the techniques or conditions described in the literature in the art or according to the product specifications.

In the description of the present invention, it is to be understood that the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Hereinafter, the deformation wheel device of the present invention will be described in detail by way of specific embodiments:

as shown in fig. 1-12, the deformation wheel device of the present invention comprises a support frame assembly, a driving device 2, a deformation mechanism assembly, a connecting member 5, a suspension support member 6, an in-wheel suspension device 7, a driven wheel assembly 8, a synchronous belt 9, and other parts.

The support frame assembly is used as a support framework of the deformation wheel device and comprises a plurality of support frames, and the plurality of support frames can be sequentially hinged end to form a circle. The quantity of support frame can rationally set up according to operating condition, and this embodiment is preferred 4. The support frame assembly shown in fig. 2 includes a first support frame 1-1, a second support frame 1-2, a third support frame 1-3 and a fourth support frame 1-4. Each support frame comprises two arc-shaped plates, and the two arc-shaped plates are connected through ribs 1-11.

As shown in fig. 2-3, the joints between the first support frame 1-1 and the fourth support frame 1-4, and between the second support frame 1-2 and the third support frame 1-3 are hinged by a connecting shaft 1-5, which can rotate with each other, to form a first hinge and a third hinge, respectively. One end of the arc-shaped plate of the first support frame 1-1 and the second support frame 1-2 is provided with a hinge groove 1-12, one end of the arc-shaped plate of the third support frame 1-3 and the fourth support frame 1-4 is provided with an arc-shaped bulge matched with the hinge groove 1-12, and the arc-shaped bulge and the hinge groove 1-12 are matched with each other to realize a larger rotation range. The other ends of the arc-shaped plates of the first support frame 1-1 and the second support frame 1-2 are hinged through a short shaft I on the second support frame to form a second hinge; and the other ends of the arc-shaped plates of the third support frame 1-3 and the fourth support frame 1-4 are hinged and connected through a short shaft II on the third support frame to form a fourth hinged part. As shown in fig. 4, the support frame assembly may be rotationally deformed when the support frame assembly is stretched outwardly at the second hinge and the fourth hinge.

As shown in fig. 6, the deformation mechanism assembly is provided in the middle of the support frame assembly. The deformation mechanism assembly comprises a deformation power module 3 and a deformation driven module 4 which are respectively arranged at two sides of the middle part of the support frame assembly.

The deformation power module 3 comprises a first fixing plate 3-1, a motor mounting plate 3-2, a motor 3-3, a nut sliding block 3-4, a first sliding plate 3-5 and other parts. The motor mounting plate 3-2 is mounted on the first fixing plate 3-1, the motor 3-3 is fixedly arranged at one end of the motor mounting plate 3-2, an output shaft of the motor 3-3 is a screw rod 3-31, and the nut sliding block 3-4 is arranged on the screw rod 3-31. When the motor 3-3 actuates the screw rod 3-31 to rotate, the nut sliding block 3-4 can be driven to move back and forth. Because the first sliding plate 3-5 is fixedly connected with the nut sliding block 3-4, the first sliding plate 3-5 can move under the driving of the nut sliding block 3-4.

The deformation driven module 4 comprises parts such as a second fixed plate 4-1, a slide rail 4-2, a slide block 4-3, a second slide plate 4-4 and the like. The slide rail 4-2 is fixedly arranged on the second fixing plate 4-1, a slide block 4-3 is arranged on the slide rail 4-2, and the slide block 4-3 can freely slide on the slide rail 4-2. The second sliding plate 4-4 is fixedly connected to the sliding block 4-3 and can move on the sliding rail 4-2 through the sliding block 4-3.

One end of the same side of the deformation power module 3 and the deformation driven module 4 is arranged at the second hinge joint of the support frame assembly, and the other end of the same side of the deformation power module is arranged at the fourth hinge joint of the support frame assembly. The first sliding plate 3-5 and the second sliding plate 4-4 are fixedly connected together through a connecting piece 5, and the first fixing plate 3-1 and the second fixing plate 4-1 are fixedly connected together through a suspension supporting piece 6. The deformation power module 3 and the deformation driven module 4 are respectively positioned at two sides of the support frame assembly. When the motor in the deformation power module 3 rotates, the first sliding plate 3-5 and the second sliding plate 4-4 are driven to move away from or close to the first fixing plate 3-1 and the second fixing plate 4-1, so that the deformation wheel device is switched between the wheel shape and the track shape, as shown in fig. 11.

Between the first sliding plate 3-5 and the second sliding plate 4-4 there is also a drive means 2. The driving device 2 comprises a motor shaft 2-1, a motor rotor 2-2, a driving synchronous belt wheel 2-3, a flange 2-4, a Hall motor 2-5, a motor wire 2-6 and other parts. Two ends of the motor shaft 2-1 are respectively and fixedly supported on the first sliding plate 3-5 and the second sliding plate 4-4, and the Hall motor 2-5, the motor rotor 2-2 and the synchronous pulley 2-3 are sequentially and coaxially supported on the outer side of the motor shaft 2-1. The motor rotor 2-2 is fixedly connected with or integrally arranged with the synchronous belt wheel 2-3 and is actuated to rotate by the Hall motor 2-5; the Hall motors 2-5 are provided with motor wires 2-6, and the motor wires are connected with the controller to provide power and control commands. The flanges 2-4 are arranged on two sides of the driving synchronous belt wheel.

A driven wheel assembly 8 is arranged on the support frame assembly, the driven wheel assembly 8 comprises a plurality of driven wheels, and the plurality of driven wheels are arranged on the support frame assembly at intervals. The driven wheel is preferably a synchronous belt wheel and is arranged on a driven shaft fixed on the support frame component in an empty sleeve mode; the driven wheel can be subjected to weight reduction treatment according to actual working conditions so as to reduce the weight. The driving synchronous belt wheel 2-3 and the driven wheel in the driving device 2 are both in meshed transmission with the synchronous belt 9, and the synchronous belt 9 is wrapped on the outer sides of the driving synchronous belt wheel 2-3 and the driven wheel. The Hall motor 2-5 drives the driving synchronous belt pulley 2-3 to rotate, and further drives the synchronous belt 9 to rotate, and when the deformation wheel device is in contact with the ground, the deformation wheel device can move.

An in-wheel suspension device 7 is further arranged on the support frame assembly, and the in-wheel suspension device 7 is fixed between the first fixing plate 3-1 and the second fixing plate 4-1 through two suspension support parts 6. The in-wheel suspension device 7 comprises a shock absorption cylinder 7-1, a guide rod 7-2, a wheel frame 7-3, a suspension wheel 7-4 and other parts. The damping cylinder 7-1 and the guide rod 7-2 form an elastic device which can provide elastic force. One end of the shock absorption cylinder 7-1 is hinged with a supporting shaft of the suspension wheel 7-4, and the other end is provided with the guide rod 7-2. One end of the guide rod 7-2 is fixed to a suspension support. The wheel carrier 7-3 is fork-shaped, one end of the fork-shaped opening part is fixedly connected to the supporting shaft, the other end of the fork-shaped opening part is fixed to the other suspension supporting part, and the suspension wheel 7-4 is supported on the supporting shaft in an empty sleeved mode. The supporting shaft and the two suspension supporting pieces 6 form a triangle shape, the suspension wheels 7-4 are supported by the shock-absorbing cylinder 7-1 and the wheel carrier 7-3 to be meshed with the synchronous belt 9 and are supported outwards, the tension force of the synchronous belt is increased, and internal transmission slip is prevented.

When the deformation wheel device provided by the utility model carries out state shearing, the length of the belt required in the shearing process is not constant; the suspension wheel 7-4 can be swung due to a certain spring force provided by the damper cylinder 7-1, so that the belt is kept in tension during and after the shearing.

The deformation wheel device provided by the utility model has simple and compact structure, high reliability, stable operation and low noise; the guide is carried out through screw rod transmission and a miniature guide rail, so that the quick switching can be carried out between a wheel type motion mode and a crawler type motion mode, the size is smaller, the structure is simple, the driving force is large, and the durability is realized; because the screw rod transmission has certain self-locking capacity, the deformation wheel device is more stable in state after deformation switching is carried out, and the deformation retentivity is better.

The utility model also provides a wheel crawler leg robot, wheel crawler leg robot includes a plurality of wheel crawler leg running gear, wheel crawler leg running gear includes above-mentioned deformation wheel device and leg driving part, deformation wheel device passes through leg driving part and installs on robot chassis 11. As shown in fig. 13-16, the leg drive component includes a leg link 10-1 and a leg actuator 10-2. One end of the leg link 10-1 is mounted on the second sliding plate 4-4 and the other end is mounted on the output end of the leg actuator 10-2; the leg actuators 10 are fixedly mounted on a cross beam of the chassis 11. The leg actuator 10-2 can drive the deformation wheel device to swing through a leg connecting piece 10-1, and the leg actuator can perform a leg lifting action. The leg actuator 10-2 may be selected from actuators commonly used in the art, preferably a high torque steering engine.

The utility model provides a wheel-track leg running gear, the wheel device that warp forms 20 degrees inclinations with ground respectively around the wheel device that warp when switching into the track mode. The leg actuator 10-2 provides a maximum swing amplitude of + -20 degrees, and the design of the leg driving part swinging back and forth improves the obstacle crossing capability under the condition that the wheel height and the front and back inclination angle are not changed. For example, when the wheel-track leg walking device with a certain size has only two movement modes of wheel type and track type, the device can maximally span a barrier with the height of 50 mm; with the addition of the leg drive members, obstacles 96mm high can be spanned.

The utility model provides a wheel-tracked leg robot, wheel-tracked leg running gear's quantity can carry out the rational selection according to actual need, like four, six etc. four-footed wheel-tracked leg robot, six-footed wheel-tracked leg robot promptly.

As shown in fig. 16, the wheel-tracked leg robot provided by the present invention can be switched between a wheel type traveling mode, a crawler traveling mode, and a leg movement mode. When the wheel-track leg robot is in a wheel-type traveling mode, the ground contact area is small, the traveling speed is high, the wheel-track leg robot is more flexible, the wheel-track leg traveling device is in approximate line contact with the ground, the friction torque is small, and the cruising ability is higher when the battery is the same. When the wheel-tracked leg robot is in a crawler type advancing mode, the gravity center of the robot is low, the robot is not prone to toppling, the ground contact area is large, the obstacle crossing capability is strong, the traction force is large, and the deep-overturning load bearing operation advantage is obvious. When the wheel-track leg robot is in a leg movement mode, steps, stones and other discrete objects can span, and the obstacle crossing capability of the robot is further enhanced.

The utility model provides a wheel-track leg running gear and wheel-track leg robot has fused the characteristics of wheeled, crawler-type and leg robot, integrates the advantage of wheeled, crawler-type, three kinds of motion modes of leg type into one, and load capacity is strong, the rate of motion is fast, hinder ability reinforce, the flexibility ratio is high, turning radius is little more.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Claims

1. The utility model provides a deformation wheel device, includes carriage assembly and deformation mechanism subassembly, its characterized in that: the deformation mechanism assembly comprises a deformation power module which is arranged on one side of the support frame assembly; the deformation power module comprises a first fixed plate, a first actuator, a screw transmission device and a first sliding plate; the first fixing plate is connected with the support frame assembly; the first actuator is disposed on the first fixed plate and causes the first sliding plate to move by the screw transmission; the first sliding plate is connected with the supporting frame component.

2. The morphing wheel assembly of claim 1, wherein: the first actuator is a motor, the motor is mounted on the motor mounting plate, and the motor mounting plate is fixedly connected with the first fixing plate; the screw transmission device comprises a screw rod and a nut sliding block, and the screw rod is fixedly connected with an output shaft of the motor; the nut sliding block is fixedly connected with the first fixing plate.

3. The morphing wheel assembly of claim 2, wherein: the deformation mechanism assembly further comprises a deformation driven module, and the deformation driven module is arranged on the other side of the support frame assembly; the deformation driven module comprises a second fixed plate, a sliding rail, a sliding block and a second sliding plate; the second fixing plate is connected with the support frame assembly; the slide rail is fixedly arranged on the second fixing plate; the sliding block is arranged on the sliding rail, and the second sliding plate is fixedly connected to the sliding block; the second sliding plate is connected with the supporting frame component.

4. The morphing wheel assembly of claim 3, wherein: the support frame assembly comprises a support frame, and a plurality of support frames are sequentially hinged end to form a circle; the support frame comprises two arc-shaped plates which are connected through ribs.

5. The morphing wheel assembly of claim 4, wherein: the support frames comprise a first support frame, a second support frame, a third support frame and a fourth support frame; the joints between the first support frame and the fourth support frame and between the second support frame and the third support frame are hinged through connecting shafts to respectively form a first hinge joint and a third hinge joint; the first support frame and the second support frame are hinged through a short shaft I to form a second hinge joint; the third support frame and the fourth support frame are hinged through a short shaft II to form a fourth hinge joint; the first sliding plate and the second sliding plate are connected with the supporting frame assembly at the second hinge joint; the first and second retaining plates are connected to the support frame assembly at the fourth hinge.

6. The morphing wheel assembly of claim 5, wherein: the driving device comprises a motor shaft, a motor rotor, a driving synchronous belt wheel and a Hall motor; two ends of the motor shaft are respectively and fixedly supported on the first sliding plate and the second sliding plate; the Hall motor, the motor rotor and the synchronous belt pulley are coaxially arranged outside the motor shaft in sequence; the motor rotor is fixedly connected with the driving synchronous belt pulley.

7. The apparatus of claim 6, wherein: the support frame assembly is also provided with a driven wheel assembly and a synchronous belt; the driven wheel assembly comprises a plurality of driven wheels, and the driven wheels are arranged on the support frame assembly at intervals; the synchronous belt is wrapped on the outer sides of the driving synchronous belt wheel and the driven wheel and is in meshing transmission.

8. The apparatus of claim 7, wherein: the support frame assembly is also provided with an in-wheel suspension device; the in-wheel suspension device comprises a suspension support piece, an elastic device, a wheel frame and a suspension wheel; the suspension support is disposed between the first and second fixed plates; one end of the elastic device is hinged with the supporting shaft of the suspension wheel, and the other end of the elastic device is connected with the suspension supporting piece; one end of the wheel carrier is connected with the supporting shaft, and the other end of the wheel carrier is connected with the suspension supporting piece; the suspension wheel is rotatably supported on the supporting shaft and is in meshing transmission with the synchronous belt.

9. A wheel-track leg walking device comprising the deformed wheel device according to any one of claims 1 to 8, characterized in that: further comprising a leg drive component comprising a leg connector and a leg actuator; one end of the leg connector is mounted on the deformation wheel device, and the other end of the leg connector is mounted on the output end of the leg actuator.

10. A wheel-tracked leg robot comprising the wheel-tracked leg walking device as claimed in claim 9, characterized in that: the wheel-tracked leg robot comprises a chassis, and the leg actuator is fixedly mounted on the chassis.