Diameter-variable Mecanum wheel, walking structure and chassis structure

The invention relates to the technical field of moving wheels, in particular to a diameter-variable Mecanum wheel, a walking structure and a chassis structure. The diameter-variable Mecanum wheel comprises single Mecanum wheel bodies, a guide mechanism and connecting rod mechanisms, wherein the single multiple Mecanum wheel bodies are sequentially arranged to form the Mecanum wheel, the guide mechanism is arranged at the axis position of the Mecanum wheel, the connecting rod mechanisms are arranged on the two sides of the Mecanum wheel, one ends of the connecting rod mechanisms are hinged to the end of the guide mechanism, and the other ends of the connecting rod mechanisms are movably connected with the side walls of the two ends of the Mecanum wheel, and one end of the guide mechanism is connected with a power unit. The Mecanum wheel has the beneficial effects that the Mecanum wheel is simple in structure, reliable in performance and convenient to control, and the diameter of the Mecanum wheel can be change