Crawler walking mechanism

Abstract

The invention aims at providing a crawler walking mechanism which comprises a suspension mechanism and two crawler units, and the crawler units are installed on the two sides of the suspension mechanism respectively. Each crawler unit comprises a cross beam, a crawler, a driving gear, a thrust wheel, a guide gear, a motor, a tensioning gear and a suspension mechanism; the beam is horizontally arranged in the front-back direction, and a supporting base is arranged on the rear portion of the top face of the beam. A driving gear is mounted at the top of the supporting seat, a tensioning gear is mounted at the front end of the cross beam, a guide gear is mounted at the rear end of the cross beam, and more than two groups of thrust wheels are uniformly arranged on the cross beam between the guide gear and the tensioning gear at intervals; the crawler belt is assembled on the driving gear, the guide gear and the tensioning gear in a surrounding and meshing mode, and each set of thrust wheels make contact with the inner surface of the crawler belt. The trafficability, the control flexibility and the riding comfort of the crawler belt on a non-structural road surface of a complex terrain can be improved; the modular design is adopted, different agricultural implements can be replaced at high speed and high efficiency, and the maintenance efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a tracked walking mechanism. Background Technology

[0002] In complex and unstructured terrains such as mountains, traditional light wheeled chassis are prone to slippage and getting stuck due to their small ground contact area and insufficient grip, making it difficult to meet the needs of carrying people. While conventional tracked chassis have better passability, they have drawbacks such as large turning radius, complex structure, high energy consumption, and limited operational functions.

[0003] Meanwhile, existing fuel-powered chassis suffer from problems such as high noise, severe pollution, and high maintenance costs. With the development of electrification technology, electric chassis have gradually become a research hotspot. However, existing small electric tracked chassis still have shortcomings in power distribution, terrain adaptation, and ride comfort, failing to provide a stable and efficient solution for manned operations. Therefore, designing a small tracked electric drive chassis that is compact, powerful, adaptable, has high passability, provides a comfortable driving experience, and allows for high-speed and efficient vehicle swapping, with a modular design to achieve "one machine, multiple uses," is of great significance. Summary of the Invention

[0004] In view of the technical problems existing in the background art, the present invention aims to provide a tracked walking mechanism. This device solves the problems of the prior art and can not only improve the passability, operation flexibility and riding comfort of tracked machinery on complex terrain and unstructured road surfaces, and solve the technical problems of existing chassis in carrying people on unstructured road surfaces, but also adopts a modular design, which can quickly and efficiently replace different agricultural implements and greatly improve maintenance efficiency.

[0005] To solve the above problems, the technical solution of the present invention is as follows: a tracked walking mechanism, comprising a suspension mechanism and two sets of track units, wherein a set of track units is installed on each side of the suspension mechanism; The track unit includes a crossbeam, tracks, a drive gear, track rollers, guide gears, a motor, a tension gear, and a suspension mechanism. The crossbeam is horizontally arranged in the front-rear direction, with a support base at the rear of its top surface. The drive gear is mounted on the top of the support base. The tension gear is mounted on the front end of the crossbeam, and the guide gear is mounted on the rear end. Two or more sets of track rollers are evenly spaced between the guide gear and the tension gear on the crossbeam. The tracks are meshed around the drive gear, guide gear, and tension gear, with each set of track rollers contacting the inner surface of the tracks. The motor is mounted on the support base and drives the drive gear through a transmission device. A tensioning mechanism is provided on the front of the top surface of the crossbeam, and the tensioning mechanism is connected to the tension gear. The position of the tension gear is adjusted to tension the tracks.

[0006] A motor is installed in the middle of the support base. Motor support rods are provided on the front and rear sides of the crossbeam, and the motor support rods support the outer walls of the two sides of the motor respectively. A drive shaft is installed on the support base through a drive gear bearing. The drive gear is fixedly set on both ends of the drive shaft and located on the left and right sides of the crossbeam. The output shaft of the motor and the drive shaft are connected by a gear transmission mechanism.

[0007] The tensioning mechanism includes a slide rod, a fixed seat, a tensioning plate, and a fixing plate. The fixed seat is fixedly installed on the front end of the top surface of the crossbeam. The fixed seat is provided with a sliding sleeve in the front-back direction. The slide rod is fitted onto the sliding sleeve with a clearance fit and can slide along the sliding sleeve in the front-back direction. The front end of the slide rod extends out of the crossbeam, and a fixing plate is provided at the bottom of its front end. A tension bearing is provided at the lower part of the fixing plate. A tension shaft is installed on the tension bearing. Tension gears are fixedly installed on both ends of the tension shaft and located on the left and right sides of the crossbeam. The rear end of the slide rod is provided with a tensioning plate, and the tensioning plate has a through hole A; the fixed base is provided with a guide plate, and the guide plate has a through hole B corresponding to the through hole A. A tensioning nut is fixed on one side of the through hole B; the rear end of the sliding screw is provided with a bolt head, the front end passes through the through hole A and the through hole B, and passes through the tensioning nut through the threaded engagement; a limit block is provided on the front end of the sliding screw.

[0008] The crossbeam is provided with a support bearing seat in the middle, and a support bearing and a support shaft are installed on the support bearing seat. The support wheels are fixedly installed on both ends of the support shaft and located on the left and right sides of the crossbeam. The rear end of the crossbeam is provided with a guide bearing seat, on which a guide bearing and a guide shaft are installed. The guide gear is fixedly installed on both ends of the guide shaft, located on the left and right sides of the crossbeam.

[0009] The suspension mechanism includes a base plate, a chassis, a shock absorber, a lower control arm, and an upper control arm. The base plate is located between the two sets of track units. The chassis is located in the middle of the base plate. Two or more sets of spaced-apart hinge seats A are provided on the left and right sides of the base plate. The lower part of the track unit close to the base plate is provided with hinge seats B corresponding to the hinge seats A. The number of lower control arms is set according to the number of hinge seats A. The two ends of each set of lower control arms are respectively hinged to the corresponding hinge seats A and hinge seats B. The upper part of the left and right sides of the chassis is provided with two or more sets of hinge seats C spaced apart. The upper part of the side of the track unit close to the bottom plate is provided with hinge seats D corresponding to the hinge seats C. The number of upper swing arms is set according to the number of hinge seats C. The two ends of each set of upper swing arms are respectively hinged to the corresponding hinge seats C and hinge seats D. The middle parts of each set of lower swing arms are fixedly connected by a horizontal crossbar. Two or more sets of hinge seats E are arranged at intervals on the crossbar. The top of the left and right sides of the chassis are respectively provided with hinge seats F corresponding to the hinge seats E. The number of vibration damping devices is arranged according to the number of hinge seats E. The two ends of each set of vibration damping devices are respectively hinged to the corresponding hinge seats E and hinge seats F.

[0010] The base plate has an upwardly inclined riding plate on the front side and a quick-connect plate on the rear side. The chassis has a square box structure; a driver's seat is provided on the chassis; The upper swing arm and the lower swing arm are each provided with 2 sets; Rubber damping is provided at the hinge joints of hinge seats A, B, C, D, E, and F.

[0011] The vibration damping device includes a spring, a hydraulic cylinder, and a piston; the piston rod of the hydraulic cylinder is fixedly connected to the piston, and a limiting ring is provided at the tail of the outer wall of the hydraulic cylinder; The spring is arranged coaxially with the hydraulic cylinder, and the spring is sleeved outside the damper. The two ends of the spring contact the front side of the limiting ring and the rear side of the piston, respectively, so as to be installed between the limiting ring and the piston. The tail of the hydraulic cylinder and the piston are respectively hinged to the hinge seat E and the hinge seat F.

[0012] The vibration damping device is equipped with an IMU inertial sensor for real-time monitoring of road conditions and vehicle status.

[0013] Locking rods are provided between the top of the left and right sides of the chassis and their corresponding crossbars. The locking rods can become rigid to fix the chassis and crossbars in place.

[0014] The locking rod is a telescopic rod. The front part of the sleeve and the rear part of the rod body are respectively provided with corresponding limiting holes. A cylindrical pin is inserted into the limiting holes of both. The bottom end of the cylindrical pin is provided with a through hole along its axial direction. By inserting a cotter pin into the through hole, the cylindrical pin cannot be disengaged from the limiting hole, thereby achieving the locking of the sleeve and the rod body.

[0015] The beneficial effects of this invention are as follows: This invention effectively improves the passability and ride comfort of the track mechanism in complex terrain and unstructured road surfaces through the triangular ring structure track design, combined with crossbeam support, and the interaction of drive gear, support roller and guide gear.

[0016] This invention uses an electric motor as the driving power source, which solves the problems of high noise, serious pollution, and high maintenance costs associated with chassis powered by fuel in the prior art.

[0017] The quick-connect plate design of this invention allows for convenient replacement of different agricultural implements according to agricultural operation needs, greatly improving maintenance efficiency.

[0018] This invention, through the articulated structure design of the lower and upper control arms and the integration of a shock-absorbing device, significantly improves the passability and driving comfort of the tracked vehicle. Furthermore, the springs and hydraulic cylinders of the shock-absorbing device enable height adjustment, allowing the chassis height to be adjusted according to different terrain conditions, further enhancing the vehicle's passability and facilitating its daily movement to work sites.

[0019] The rubber damping design of this invention can effectively reduce the vibration and impact at the hinge of the swing arm during commuting.

[0020] The shock absorption device of the present invention effectively enhances the vibration reduction performance by coaxially nesting the damper inside the spring, effectively absorbing the impact force of the ground, reducing the vibration of the vehicle body, and improving the ride comfort.

[0021] The locking rod of the present invention uses a mechanical locking method to form a fixed structure for the tracked chassis, while simultaneously locking the shock absorption device to ensure the stability of the tracked chassis under specific working conditions.

[0022] This invention has a simple structure, few parts, is easy to maintain, reduces maintenance costs, and improves the reliability and service life of the system. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 2 This is a schematic diagram of the track device structure of the present invention. Figure 3 This is a schematic diagram of the drive gear structure of the present invention. Figure 4 This is a schematic diagram of the tensioning structure of the present invention. Figure 5 This is a schematic diagram of the chassis structure of the present invention. Figure 6 This is a schematic diagram of the hinge structure of the present invention. Figure 7 This is a front view of the chassis structure of the present invention. Figure 8 This is a schematic diagram illustrating the adjustable structure of the chassis of the present invention in the presence of obstacles.

[0024] The names and numbers of the parts in the diagram are as follows: 1 is the crossbeam, 2 is the track, 3 is the drive gear, 4 is the track roller, 5 is the guide gear, 6 is the motor, 7 is the support base, 8 is the drive shaft, 9 is the guide plate, 10 is the drive gear bearing, 11 is the tension gear, 12 is the slide rod, 13 is the fixed base, 14 is the tension plate, 15 is the sliding screw, 16 is the fixed plate, 17 is the motor support rod, 18 is the tension bearing, 19 is the tension nut, 20 is the bolt head, 21 is the limit block, 22 is the base plate, 23 is the chassis, 24 is... Shock absorber: 25 is lower control arm, 26 is upper control arm, 27 is hinge A, 28 is hinge B, 29 is hinge C, 30 is hinge D, 31 is crossbar, 32 is hinge E, 33 is hinge F, 34 is platform, 35 is quick-connect plate, 36 is driver's seat, 37 is rubber damper, 38 is spring, 39 is hydraulic cylinder, 40 is piston, 41 is limit ring, 42 is damper, 43 is locking rod, 44 is sleeve, 45 is rod body, and 46 is cylindrical pin. Detailed Implementation

[0025] The following description, in conjunction with the accompanying drawings, details the embodiments and working process of the present invention.

[0026] Referring to the accompanying drawings, a tracked walking mechanism in this embodiment includes a suspension mechanism and two sets of track units, with one set of track units installed on each side of the suspension mechanism; The track unit includes a crossbeam 1, a track 2, a drive gear 3, support rollers 4, guide gears 5, a motor 6, a tension gear 11, and a suspension mechanism. The crossbeam 1 is horizontally arranged in the front-rear direction, and a support seat 7 is provided at the rear of its top surface. The drive gear 3 is installed on the top of the support seat 7. The tension gear 11 is installed at the front end of the crossbeam 1, and the guide gear 5 is installed at the rear end. Two or more sets of support rollers 4 are evenly spaced between the guide gear 5 and the tension gear 11 on the crossbeam 1. The track 2 is meshed around the drive gear 3, guide gear 5, and tension gear 11, and each set of support rollers 4 is in contact with the inner surface of the track 2. The motor 6 is located on the support seat 7 and drives the drive gear 3 through a transmission device. A tensioning mechanism is provided on the front of the top surface of the crossbeam 1. The tensioning mechanism is connected to the tension gear 11, and the position of the tension gear 11 is adjusted to tension the track 2.

[0027] The motor 6 is installed in the middle of the support base 7. The crossbeam 1 is provided with motor support rods 17 on the front and rear sides of the motor 6, and the motor support rods 17 support the outer walls of the two sides of the motor 6 respectively. The drive shaft 8 is installed on the support base 7 through the drive gear bearing 10. The drive gear 3 is fixedly set on both ends of the drive shaft 8, located on the left and right sides of the crossbeam 1. The output shaft of the motor 6 and the drive shaft 8 are connected by a gear transmission mechanism.

[0028] The tensioning mechanism includes a slide rod 12, a fixed seat 13, a tensioning plate 14, and a fixing plate 16. The fixed seat 13 is fixedly installed on the front end of the top surface of the crossbeam 1. The fixed seat 13 is provided with a sliding sleeve in the front-back direction. The slide rod 12 is fitted onto the sliding sleeve with a clearance fit and can slide along the sliding sleeve in the front-back direction. The front end of the slide rod 12 extends out of the crossbeam 1, and a fixing plate 16 is provided at the bottom of its front end. A tension bearing 18 is provided at the lower part of the fixing plate 16. A tensioning shaft is installed on the tension bearing 18. Tensioning gears 11 are fixedly installed on both ends of the tensioning shaft and located on the left and right sides of the crossbeam 1. The rear end of the slide rod 12 is provided with a tensioning plate 14, and the tensioning plate 14 is provided with a through hole A; the fixed base 13 is provided with a guide plate 9, and the guide plate 9 is provided with a through hole B corresponding to the through hole A. A tensioning nut 19 is fixedly provided on one side of the through hole B; the rear end of the sliding screw 15 is provided with a bolt head 20, the front end passes through the through hole A and the through hole B, and passes through the tensioning nut 19 through threaded engagement. A limiting block 21 is provided on the front end of the sliding screw 15.

[0029] The crossbeam 1 is provided with a support bearing seat in the middle, and a support bearing and a support shaft are installed on the support bearing seat. The support wheel 4 is fixedly installed on both ends of the support shaft and located on the left and right sides of the crossbeam 1. The rear end of the crossbeam 1 is provided with a guide bearing seat, on which a guide bearing and a guide shaft are installed. The guide gear 5 is fixedly installed on both ends of the guide shaft, located on the left and right sides of the crossbeam 1.

[0030] The suspension mechanism includes a base plate 22, a chassis 23, a shock absorption device 24, a lower control arm 25, and an upper control arm 26. The base plate 22 is provided between the two sets of track units. The chassis 23 is provided in the middle of the base plate 22. Two or more sets of hinge seats A27 are provided on the left and right sides of the base plate 22 at intervals. The lower part of the track unit close to the side of the base plate 22 is provided with a hinge seat B28 corresponding to the hinge seat A27. The number of lower control arms 25 is arranged to correspond to the number of hinge seats A27. The two ends of each set of lower control arms 25 are respectively hinged to the corresponding hinge seat A27 and hinge seat B28. The upper part of the left and right sides of the chassis 23 is provided with two or more sets of hinge seats C29 spaced apart. The upper part of the side of the track unit close to the bottom plate 22 is provided with hinge seat D30 corresponding to the hinge seat C29. The number of upper swing arms 26 is arranged according to the number of hinge seats C29. The two ends of each set of upper swing arms 26 are respectively hinged to the corresponding hinge seat C29 and hinge seat D30. The middle of each set of lower swing arms 25 is fixedly connected by a horizontal crossbar 31. Two or more sets of hinge seats E32 are arranged at intervals on the crossbar 31. The top of the left and right sides of the chassis 23 are respectively provided with hinge seats F33 corresponding to the hinge seats E32. The vibration damping devices 24 are arranged according to the number of hinge seats E32. The two ends of each set of vibration damping devices 24 are respectively hinged to the corresponding hinge seats E32 and hinge seats F33.

[0031] The base plate 22 is provided with an upwardly inclined riding plate 34 on the front side and a quick-connect plate 35 on the rear side of the base plate 22. The chassis 23 has a square box structure; a driver's seat 36 is provided on the chassis 23; The upper swing arm 26 and the lower swing arm 25 are each provided in 2 sets; The hinge joints of hinge seats A27, B28, C29, D30, E32, and F33 are all equipped with rubber damping 37.

[0032] The vibration damping device 24 includes a spring 38, a hydraulic cylinder 39, and a piston 40; the piston rod of the hydraulic cylinder 39 is fixedly connected to the piston 40, and a limiting ring 41 is provided at the tail of the outer wall of the hydraulic cylinder 39. The spring 38 is coaxially arranged with the hydraulic cylinder 39. The spring 38 is sleeved outside the damper 42. The two ends of the spring 38 contact the front side of the limiting ring 41 and the rear side of the piston 40 respectively, thus being installed between the limiting ring 41 and the piston 40. The tail of the hydraulic cylinder 39 and the piston 40 are respectively hinged to the hinge seat E32 and the hinge seat F33.

[0033] The vibration damping device 24 is equipped with an IMU inertial sensor for real-time monitoring of road conditions and vehicle status.

[0034] Locking rods 43 are provided between the top of the left and right sides of the chassis 23 and their corresponding crossbars 31. The locking rods 43 can become rigid to fix the chassis 23 and the crossbars 31.

[0035] The locking rod 43 is a telescopic rod. The front part of the sleeve 44 and the rear part of the rod body 45 of the telescopic rod are respectively provided with corresponding limiting holes. A cylindrical pin 46 is inserted into the limiting holes of both. The bottom end of the cylindrical pin 46 is provided with a through hole along its axial direction. By inserting a cotter pin into the through hole, the cylindrical pin 46 cannot be disengaged from the limiting hole, thereby locking the sleeve 44 and the rod body 45.

[0036] The working process of this embodiment is as follows: When the driver is in the seat, the control system sends a signal to adjust the damping force of the damper in the shock absorber, which plays a buffering role. At this time, the suspension is in a soft state, which has a shock absorption effect. The spring provides elastic support and reduces the sway of the vehicle body. The IMU inertial sensor built into the shock absorber monitors the road conditions and vehicle status in real time and automatically adjusts the suspension stiffness. The suspension stiffness is adjusted by adjusting the cross-sectional area of ​​the control channel. Under specific working conditions, a cylindrical pin is inserted into the limiting ring by means of a locking rod. The cylindrical pin and the cotter pin work together to lock the sleeve and the rod body, so that the locking rod, the lower control arm and the frame form a triangular structure. At this time, the suspension device is locked and a fixed structure is formed. In this state, the chassis can be used to carry implements such as three-point suspension for rotary tillage and other operations.

Claims

1. A tracked traveling mechanism, comprising a suspension mechanism and two sets of track units, characterized in that: A set of track units is installed on each side of the suspension mechanism; The track unit includes a crossbeam (1), a track (2), a drive gear (3), a track roller (4), a guide gear (5), a motor (6), a tension gear (11), and a suspension mechanism; the crossbeam (1) is horizontally arranged in the front-rear direction, and a support seat (7) is provided on the rear of its top surface; the drive gear (3) is installed on the top of the support seat (7), the tension gear (11) is installed at the front end of the crossbeam (1), and the guide gear (5) is installed at the rear end; the crossbeam (1) is located between the guide gear (5) and the tension gear (11). Two or more sets of support rollers (4) are evenly spaced apart; the track (2) is meshed around the drive gear (3), guide gear (5) and tension gear (11), and each set of support rollers (4) is in contact with the inner surface of the track (2); the motor (6) is mounted on the support base (7) and drives the drive gear (3) through the transmission device; a tensioning mechanism is provided on the front part of the top surface of the crossbeam (1), and the tensioning mechanism is connected to the tension gear (11). The position of the tension gear (11) is adjusted to tension the track (2).

2. The tracked walking mechanism according to claim 1, characterized in that: The motor (6) is installed in the middle of the support base (7). The crossbeam (1) is located on the front and rear sides of the motor (6) and motor support rods (17) are respectively provided. The motor support rods (17) support the outer walls of the two sides of the motor (6). The drive shaft (8) is installed on the support base (7) through the drive gear bearing (10). The drive gear (3) is fixedly set on both ends of the drive shaft (8) and located on the left and right sides of the crossbeam (1). The output shaft of the motor (6) and the drive shaft (8) are connected by a gear transmission mechanism.

3. The tracked walking mechanism according to claim 1, characterized in that: The tensioning mechanism includes a slide rod (12), a fixed seat (13), a tensioning plate (14), and a fixing plate (16). The fixed seat (13) is fixedly installed on the front end of the top surface of the crossbeam (1). The fixed seat (13) is provided with a sliding sleeve along the front-back direction. The slide rod (12) is fitted onto the sliding sleeve with a clearance fit and can slide along the sliding sleeve in the front-back direction. The front end of the slide rod (12) extends out of the crossbeam (1), and a fixing plate (16) is provided at the bottom of its front end. The lower part of the fixing plate (16) is provided with a tension bearing (18). A tensioning shaft is installed on the tension bearing (18), and a tensioning gear (11) is fixedly installed on both ends of the tensioning shaft, located on the left and right sides of the crossbeam (1). The rear end of the slide rod (12) is provided with a tensioning plate (14), and the tensioning plate (14) is provided with a through hole A; the fixed seat (13) is provided with a guide plate (9), and the guide plate (9) is provided with a through hole B corresponding to the through hole A, and a tensioning nut (19) is fixedly provided on one side of the through hole B; the rear end of the sliding screw (15) is provided with a bolt head (20), the front end passes through the through hole A and the through hole B, and passes through the tensioning nut (19) through threaded engagement, and a limiting block (21) is provided on the front end of the sliding screw (15).

4. The tracked walking mechanism according to claim 1, characterized in that: The crossbeam (1) is provided with a support bearing seat in the middle, and a support bearing and a support shaft are installed on the support bearing seat. The support wheel (4) is fixedly installed on both ends of the support shaft and located on the left and right sides of the crossbeam (1). The crossbeam (1) has a guide bearing seat at its rear end. A guide bearing and a guide shaft are installed on the guide bearing seat. The guide gear (5) is fixedly installed on both ends of the guide shaft and located on the left and right sides of the crossbeam (1).

5. The tracked walking mechanism according to claim 1, characterized in that: The suspension mechanism includes a base plate (22), a chassis (23), a shock absorber (24), a lower swing arm (25), and an upper swing arm (26). The base plate (22) is provided between the two sets of track units. The chassis (23) is provided in the middle of the base plate (22). Two or more sets of hinge seats A (27) are provided on the left and right sides of the base plate (22). The lower part of the track unit close to the side of the base plate (22) is provided with hinge seats B (28) corresponding to the hinge seats A (27). The number of lower swing arms (25) is provided corresponding to the number of hinge seats A (27). The two ends of each set of lower swing arms (25) are respectively hinged to the corresponding hinge seats A (27) and hinge seats B (28). The upper part of the left and right sides of the chassis (23) is provided with two or more sets of hinge seats C (29) spaced apart. The upper part of the side of the track unit close to the bottom plate (22) is provided with hinge seats D (30) corresponding to the hinge seats C (29). The number of upper swing arms (26) is arranged according to the number of hinge seats C (29). The two ends of each set of upper swing arms (26) are respectively hinged to the corresponding hinge seats C (29) and hinge seats D (30). The middle part of each set of lower swing arms (25) is fixedly connected by a horizontal crossbar (31). Two or more sets of hinge seats E (32) are arranged at intervals on the crossbar (31). The top of the left and right sides of the chassis (23) are respectively provided with hinge seats F (33) corresponding to the hinge seats E (32). The vibration damping devices (24) are arranged according to the number of hinge seats E (32). The two ends of each set of vibration damping devices (24) are respectively hinged to the corresponding hinge seats E (32) and hinge seats F (33).

6. The tracked walking mechanism according to claim 5, characterized in that: The base plate (22) has an upwardly inclined riding board (34) on the front side and a quick-connect plate (35) on the rear side. The chassis (23) has a square box structure; a driver's seat (36) is provided on the chassis (23); The upper swing arm (26) and the lower swing arm (25) are each provided in 2 sets; Rubber damping (37) is provided at the hinge joints of hinge seat A (27), hinge seat B (28), hinge seat C (29), hinge seat D (30), hinge seat E (32), and hinge seat F (33).

7. The tracked walking mechanism according to claim 5, characterized in that: The vibration damping device (24) includes a spring (38), a hydraulic cylinder (39), and a piston (40); the piston rod of the hydraulic cylinder (39) is fixedly connected to the piston (40), and a limiting ring (41) is provided at the tail of the outer wall of the hydraulic cylinder (39). The spring (38) is arranged coaxially with the hydraulic cylinder (39). The spring (38) is sleeved outside the damper (42). The two ends of the spring (38) contact the front side of the limiting ring (41) and the rear side of the piston (40) respectively, thus being installed between the limiting ring (41) and the piston (40). The tail of the hydraulic cylinder (39) and the piston (40) are respectively hinged to the hinge seat E (32) and the hinge seat F (33).

8. The tracked walking mechanism according to claim 5, characterized in that: The vibration damping device (24) is equipped with an IMU inertial sensor for real-time monitoring of road conditions and vehicle status.

9. The tracked walking mechanism according to claim 5, characterized in that: A locking rod (43) is provided between the top of the left and right sides of the chassis (23) and its corresponding crossbar (31). The locking rod (43) can become rigid to fix the chassis (23) and the crossbar (31) in place.

10. The tracked walking mechanism according to claim 8, characterized in that: The locking rod (43) is a telescopic rod. The front part of the sleeve (44) and the rear part of the rod body (45) of the telescopic rod are respectively provided with corresponding limiting holes. A cylindrical pin (46) is inserted into the limiting holes of both. The bottom end of the cylindrical pin (46) is provided with a through hole along its axial direction. By inserting a cotter pin into the through hole, the cylindrical pin (46) cannot be disengaged from the limiting hole, thereby locking the sleeve (44) and the rod body (45).

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