Spherical robot with deformable obstacle crossing impeller structure

The invention discloses a spherical robot with a deformable obstacle crossing impeller structure, which comprises a middle driving mechanism, a tail rod supporting mechanism and deformation mechanisms oppositely arranged on the two sides of the middle driving mechanism, the tail rod supporting mechanism is fixedly connected to the middle driving mechanism, and each deformation mechanism comprises a second driving unit and a plurality of impellers. The impeller can be driven by the second driving unit to be unfolded or contracted into a wheel shape, a first driving unit is arranged in the middle driving mechanism, and the deformation mechanism is connected with the first driving unit and driven by the first driving unit to rotate. The robot can realize multi-form conversion, has the advantages of round wheels and leg wheels, not only can quickly move on the flat ground, but also can adapt to complex environments and multi-terrain obstacle crossing, and has better stability and simpler structure compared with a