Tracked walking devices, chassis, tracked vehicles and photovoltaic cleaning robots

Abstract

The utility model relates to the field of vehicle tracks, and provides a tracked walking device, a chassis, a tracked vehicle and a photovoltaic cleaning robot. The tracked walking device includes a first hub, a second hub, a track and a connecting piece. The second hub is spaced apart from the first hub. The track includes a plurality of through holes, which are arranged on the track, and the track is sleeved on the first hub and the second hub. The connecting piece has an air flow channel that runs through the connecting piece, and the connecting piece is at least partially arranged in the track. The first end of the air flow channel is attached to the lower inner surface of the track and is connected to the through hole on the lower inner surface of the track. The second end of the air flow channel is used to connect an exhaust device. In this way, when the tracked walking device travels to or is placed on a working surface, the air between the lower surface of the track and the working surface is continuously extracted through the air flow channel, so that the track is firmly adsorbed on the working surface, effectively avoiding slipping, ensuring its reliable operation, and improving its working efficiency.

Description

Technical Field

[0001] The utility model relates to the field of vehicle crawlers, in particular to a crawler walking device, a chassis, a crawler vehicle and a photovoltaic cleaning robot. Background Art

[0002] Since it is inconvenient to manually clean the photovoltaic panels of photovoltaic power stations, automatic cleaning robots have attracted more and more attention. At present, most cleaning robots use crawler walking devices, which use crawlers to enhance the friction between the cleaning robot and the cleaning work surface.

[0003] However, the applicant has found that the cleaning robots in the prior art have at least the following defects:

[0004] Since the cleaning working surfaces such as photovoltaic panels are mostly inclined or vertical, the crawler walking device is prone to slipping, affecting the cleaning efficiency and even causing it to fail to work normally. Utility Model Content

[0005] The utility model aims to provide a crawler walking device, a chassis, a crawler vehicle and a photovoltaic cleaning robot, so as to solve the problem that the crawler walking device in the prior art is prone to slipping.

[0006] In order to achieve the above object, the utility model provides a crawler walking device, the crawler walking device comprising:

[0007] First hub;

[0008] a second hub, spaced apart from the first hub;

[0009] A crawler belt, comprising a plurality of through holes, wherein the plurality of through holes are arranged on the crawler belt, and the crawler belt is sleeved on the first wheel hub and the second wheel hub;

[0010] A connecting member having an air flow channel passing through the connecting member, wherein the connecting member is at least partially disposed inside the track, wherein a first end of the air flow channel is affixed to a lower inner surface of the track, and the first end of the air flow channel is connected to a through hole on the lower inner surface of the track, and a second end of the air flow channel is used for connecting to an air extraction device.

[0011] According to the crawler walking device provided by the utility model, the crawler comprises:

[0012] A plurality of grooves are arranged on the track, and at least one through hole is provided in the groove.

[0013] According to the crawler walking device provided by the utility model, the connecting piece also includes:

[0014] a ventilation groove, a first end of which is in communication with the airflow channel, and a second end of which is in communication with the through hole;

[0015] A sealing ring is arranged in the ventilation groove, and the sealing ring is sealingly arranged between the connecting member and the crawler belt.

[0016] According to the crawler walking device provided by the utility model, the connecting piece also includes:

[0017] A first connecting portion, the first hub being rotatably connected to the first connecting portion, and the number of the first hubs being two and respectively located on two sides of the first connecting portion;

[0018] A second connecting portion, the second hub being rotatably connected to the second connecting portion, and the number of the second hubs being two and respectively located on two sides of the second connecting portion;

[0019] A connecting body is connected to the first connecting part and the second connecting part respectively, and the air flow channel is arranged in the connecting body.

[0020] According to the crawler walking device provided by the utility model, the crawler walking device also includes:

[0021] Multiple tensioners;

[0022] The connecting piece also includes:

[0023] A plurality of third connection parts are located between the first connection part and the second connection part. The tension wheel is rotatably connected to the third connection part and fits with the lower inner surface of the crawler.

[0024] According to the crawler walking device provided by the utility model, the first end of the connecting member has a contact portion that fits with the lower inner surface of the crawler, and the width of the contact portion is greater than the cross-sectional width of the through hole.

[0025] According to the crawler walking device provided by the utility model, the crawler walking device also includes:

[0026] A tensioning connector has a first end connected to the first hub and a second end connected to the second hub.

[0027] A second aspect of the utility model provides a chassis, the chassis comprising:

[0028] chassis frame;

[0029] An air extraction device, arranged on the chassis frame;

[0030] The crawler walking device as described in any one of the above items, wherein the crawler walking device is arranged on the chassis frame, and the air extraction device is connected to the second end of the connecting member of the crawler walking device.

[0031] According to the chassis provided by the utility model, the crawler walking device is detachably connected to the air extraction device, and is detachably connected to the chassis frame.

[0032] According to the chassis provided by the utility model, the exhaust device is provided with a first joint, the second end of the connecting member is provided with a second joint, and the first joint is plug-connected or threadedly connected to the second joint; and / or,

[0033] The chassis also includes:

[0034] a first wheel hub bracket, a first end of which is hinged to the chassis frame and a second end of which is detachably connected to the first wheel hub;

[0035] A second wheel hub bracket has a first end connected to the first wheel hub bracket and a second end detachably connected to the second wheel hub.

[0036] According to the chassis provided by the utility model, the air extraction device includes:

[0037] An air pump, comprising an air suction port, wherein the air pump is arranged on the chassis frame;

[0038] A pipeline has a first end connected to the air extraction port and a second end connected to the second end of the air flow channel.

[0039] According to the chassis provided by the utility model, the pipeline is a flexible pipeline.

[0040] A third aspect of the utility model provides a tracked vehicle, comprising a chassis as described in any one of the above items.

[0041] A fourth aspect of the utility model provides a photovoltaic cleaning robot, the photovoltaic cleaning robot comprising:

[0042] A chassis as described in any one of the above items;

[0043] A cleaning member is arranged on the chassis.

[0044] The crawler walking device provided by the utility model comprises a first wheel hub, a second wheel hub, a crawler and a connecting member. The second wheel hub is spaced apart from the first wheel hub. The crawler comprises a plurality of through holes, the plurality of through holes are arranged on the crawler, and the crawler is sleeved on the first wheel hub and the second wheel hub. The connecting member has an air flow channel penetrating the connecting member, the connecting member is at least partially arranged in the crawler, the first end of the air flow channel is attached to the lower inner surface of the crawler, and the first end of the air flow channel is connected to the through hole on the lower inner surface of the crawler, and the second end of the air flow channel is used to connect the exhaust device. With such an arrangement, when the crawler walking device travels to or is placed on the working surface, the air between the lower surface of the crawler and the working surface is continuously extracted through the air flow channel, so that the crawler is firmly adsorbed on the working surface, effectively avoiding slipping, ensuring its reliable operation, and improving its working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 It is a schematic diagram of the chassis structure provided by the utility model;

[0047] Figure 2 It is a schematic diagram of the assembly of the crawler walking device provided by the utility model;

[0048] Figure 3 It is one of the exploded structural diagrams of the crawler and the connecting piece provided by the utility model;

[0049] Figure 4 This is the second schematic diagram of the exploded structure of the crawler and the connecting piece provided by the utility model;

[0050] Figure 5 This is the third schematic diagram of the exploded structure of the crawler and the connecting piece provided by the utility model;

[0051] Figure 6 This is the fourth schematic diagram of the exploded structure of the crawler and the connecting piece provided by the utility model;

[0052] Figure 7 It is a schematic diagram of the internal structure of the crawler and the connecting member provided by the utility model;

[0053] Figure 8 This is a schematic diagram of the coordination between the tensioner wheel and the crawler track provided by the utility model;

[0054] Reference numerals:

[0055] 11: first wheel hub; 12: second wheel hub; 13: crawler track; 131: through hole; 132: lower inner surface; 133: groove; 134: tooth groove; 14: connecting piece; 141: air flow channel; 142: ventilation groove; 143: sealing ring; 144: contact part; 145: first connecting part; 146: second connecting part; 147: third connecting part; 148: second joint; 149: connecting body; 15: tension wheel; 16: tension connecting piece; 17: first gear tooth; 18: second gear tooth;

[0056] 21: chassis frame; 22: exhaust device; 221: exhaust pump; 222: connecting frame; 23: first hub bracket; 24: second hub bracket; 25: first wheel axle; 26: second wheel axle; 27: pipeline; 28: driving device. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0058] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "horizontal", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0059] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0060] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0061] Please refer to Figures 1 to 8 The present utility model embodiment provides a crawler walking device, the crawler walking device comprises a first wheel hub 11, a second wheel hub 12, a crawler 13 and a connecting member 14. Specifically, as Figure 2As shown, the first hub 11 and the second hub 12 are spaced apart, and the track 13 is sleeved on the first hub 11 and the second hub 12. Figure 5 As shown, the crawler 13 includes a plurality of through holes 131, and the plurality of through holes 131 are circumferentially distributed on the crawler 13. The connecting member 14 has an airflow channel 141 penetrating the connecting member 14, and the connecting member 14 is at least partially disposed in the crawler 13. The first end of the airflow channel 141 is attached to the lower inner surface 132 of the crawler 13, and the first end of the airflow channel 141 is communicated with the through holes 131 of the lower inner surface 132 of the crawler 13, and the second end of the airflow channel 141 is used to connect the air extraction device 22.

[0062] With such arrangement, when the crawler walking device travels to or is placed on the working surface, the air between the lower surface of the crawler 13 and the working surface is continuously extracted through the air flow channel 141, so that the crawler 13 is firmly adsorbed on the working surface, effectively avoiding slippage, ensuring reliable operation of the device, and improving the working efficiency of the device. In addition, by providing the through hole 131 on the crawler 13, the dust on the surface of the working surface can be sucked away together with the dust under the suction action of the exhaust device 22, thereby cleaning the working surface, protecting the crawler walking device, and extending the service life of the device.

[0063] It should be noted that Figure 2 As for the placement position of the crawler walking device shown, the up and down directions in the figure are the up and down directions. It can be understood that during the running process of the crawler walking device, the rotational position relationship of the crawler 13 will continue to change, but there is always a part of the crawler 13 that rotates to the lower end and contacts the working surface. At this time, the surface of the crawler 13 in contact with the working surface is the mentioned lower surface of the crawler 13. And the air flow channel 141 is always connected to the lower inner surface 132 of the crawler 13. By changing the air pressure relationship in the channel through the air extraction device 22, the lower surface of the crawler 13 can always be firmly adsorbed on the working surface, so that the crawler walking device can stably walk on the working surface.

[0064] Further, in the embodiment of the present utility model, the crawler 13 includes a plurality of grooves 133, such as Figure 4 As shown, a plurality of grooves 133 are arranged on the crawler 13, and at least one through hole 131 is provided in the groove 133. Specifically, the groove 133 can be designed as a circular runway structure, forming a suction cup form. With such a configuration, when the air extraction device 22 is working, the air between the groove 133 on the lower surface of the crawler 13 and the working surface can be discharged, so that the crawler 13 is firmly adsorbed on the working surface. It should be noted that the specific form of the groove 133 includes but is not limited to the above structure, and can also be any other shape to meet the adsorption function requirements of the crawler 13. In addition, parameters such as the number and size of the through holes 131 can be specifically determined according to actual use requirements.

[0065] In a specific embodiment of the present invention, the connecting member 14 further includes a venting groove 142 and a sealing ring 143. Figure 3 As shown, the first end of the vent groove 142 is connected to the air flow channel 141, and the second end is connected to the through hole 131, so that a gas passage is constructed between the lower surface of the crawler 13 and the air extraction device 22, thereby realizing the adsorption function of the crawler 13. Specifically, the vent groove 142 is arranged along the circumference of the first end of the connecting member 14, and can be connected to at least one through hole 131.

[0066] The sealing ring 143, for example, a rubber sealing ring, is disposed in the vent groove 142, and the sealing ring 143 is sealed between the connecting member 14 and the crawler 13. Thus, a closed connection can be achieved, so that the lower inner surface 132 of the crawler 13 and the connecting member 14 are closely matched to prevent air leakage.

[0067] In an optional embodiment of the present utility model, the connecting member 14 further includes a connecting body 149, a first connecting portion 145 and a second connecting portion 146. Figure 3 As shown, the air flow channel 141 is disposed in the connecting body 149, and the connecting body 149 is connected to the first connecting portion 145 and the second connecting portion 146 respectively, and can be integrally disposed or assembled separately. Figure 6 As shown, the first hub 11 is rotatably connected to the first connecting portion 145, for example, it can be disposed on the first connecting portion 145 via the first axle 25 and the bearing assembly. There are two first hubs 11, and they are located on both sides of the first connecting portion 145 respectively.

[0068] The second hub 12 is rotatably connected to the second connection portion 146, for example, it can be disposed on the second connection portion 146 through the second axle 26 and the bearing assembly. There are two second hubs 12, and they are respectively located on both sides of the second connection portion 146. Figure 5 As shown, the crawler 13 is provided with a plurality of tooth grooves 134, and the first hub 11 and the second hub 12 are respectively provided with a plurality of first gear teeth 17, and the first gear teeth 17 are meshed with the tooth grooves 134. Thus, the crawler 13 is driven to rotate by the rotation of the hub, and the crawler 13 is realized to move.

[0069] Furthermore, in the embodiment of the present utility model, the crawler walking device further includes a plurality of tensioning wheels 15, specifically, Figure 8 As shown, the tension wheel 15 is provided with a plurality of second gear teeth 18, and the second gear teeth 18 mesh with the tooth grooves 134. Figure 4As shown, the connecting member 14 further includes a plurality of third connecting portions 147, and the plurality of third connecting portions 147 are located between the first connecting portion 145 and the second connecting portion 146. The tensioner 15 is rotatably connected to the third connecting portion 147, for example, it can be disposed on the third connecting portion 147 via a third wheel shaft and a bearing assembly, and the tensioner 15 is in contact with the lower inner surface 132 of the crawler 13.

[0070] Such a configuration, by arranging a plurality of tensioning wheels 15, can play the role of tightening the track 13, so that the connecting member 14 and the track 13, and the track 13 and the working surface are in close contact, preventing the track 13 from loosening and causing failures such as deflation, thereby ensuring reliable realization of the adsorption function of the track 13.

[0071] As an optional embodiment of the present utility model, Figure 7 As shown, the first end of the connecting member 14 has a contact portion 144 that fits with the lower inner surface 132 of the crawler 13, and the width W1 of the contact portion 144 is greater than the cross-sectional width W2 of the through hole 131. Figure 7 As for the placement position of the crawler walking device shown in the figure, the left and right direction in the figure refers to the width direction.

[0072] With such arrangement, during driving, the track 13 rotates continuously. When the through hole 131 on the track 13 happens to move to the contact portion 144, since the width W1 of the contact portion 144 is greater than the cross-sectional width W2 of the through hole 131, the through hole 131 can be closed by the contact portion 144, thereby effectively preventing gas leakage from occurring when the positions of the through holes 131 on the track 13 are alternately changed, thereby avoiding failure of the adsorption function.

[0073] In an optional embodiment of the present invention, the crawler walking device further includes a tensioning connecting member 16, such as Figure 2 As shown, the first end of the tensioning connector 16 is connected to the first hub 11, and the second end is connected to the second hub 12. In this way, the first hub 11 and the second hub 12 are connected through the tensioning connector 16, thereby improving the overall stability of the crawler 13 and ensuring the reliable realization of the walking function of the crawler 13.

[0074] The chassis provided by the utility model is described below. The chassis described below and the crawler walking device described above can be referred to each other.

[0075] The utility model embodiment also provides a chassis, such as Figure 1As shown, the chassis includes a chassis frame 21, an air extraction device 22 and a crawler walking device. The crawler walking device is configured as the crawler walking device in the above-mentioned embodiments, the air extraction device 22 and the crawler walking device are arranged on the chassis frame 21, and the air extraction device 22 is connected to the second end of the connecting member 14 of the crawler walking device. With such a configuration, the chassis provided in this embodiment can effectively solve the problem that the crawler walking device is prone to slipping. The derivation process of this beneficial effect is roughly similar to the derivation process of the beneficial effect of the above-mentioned crawler walking device, so it will not be repeated here.

[0076] Furthermore, in the embodiment of the utility model, the crawler walking device is detachably connected to the air extraction device 22, and the crawler walking device is detachably connected to the chassis frame 21. Such a configuration can achieve rapid assembly and disassembly, so that the crawler walking device can be replaced or repaired as needed without disassembling the entire device, thereby improving the maintenance efficiency of the equipment and reducing the maintenance cost. At the same time, it is also convenient to match different types of chassis frames 21 and air extraction devices 22, making the replacement process simpler and faster.

[0077] In addition, if Figure 1 As shown, there can be multiple crawler walking devices, and they are detachably connected to the chassis frame 21. The number and position of the exhaust device 22 can be specifically determined according to actual use requirements. It should be noted that when the chassis is turning or rotating in place, there will be a speed difference between the crawler walking devices on both sides. At this time, the crawler walking device needs to perform radial movement or a combination of rotation and radial movement. When performing this action, the crawler adsorption force needs to be adjusted to an appropriate size to prevent the above action from being unable to be completed due to excessive friction caused by excessive crawler adsorption force.

[0078] In an optional embodiment of the utility model, the exhaust device 22 is provided with a first joint, and the second end of the connecting member 14 is provided with a second joint 148. The first joint and the second joint 148 are plug-connected or threadedly connected, so that the exhaust device 22 and the connecting member 14 are detachably connected, thereby facilitating the installation and disassembly of the exhaust device 22 and the crawler walking device.

[0079] The chassis also includes a first hub bracket 23 and a second hub bracket 24. Specifically, Figure 1 As shown, the first end of the first wheel hub bracket 23 is hinged to the chassis frame 21, for example, the hinged connection between the two can be achieved through a rotating shaft and a bearing assembly, so that the first wheel hub bracket 23 can generate relative rotation around the axis of the rotating shaft with the chassis frame 21. The second end of the first wheel hub bracket 23 is detachably connected to the first wheel hub 11, for example, it can be detachably connected to the first wheel hub 11 through a first wheel axle 25.

[0080] The first end of the second wheel hub bracket 24 is connected to the first wheel hub bracket 23, for example, it can be designed as an integrated structure, or connected by bolts, welding, etc. The second end of the second wheel hub bracket 24 is detachably connected to the second wheel hub 12, for example, it can be detachably connected to the second wheel hub 12 through the second wheel axle 26.

[0081] In addition, the chassis also includes a driving device 28, which is arranged on the chassis frame 21. The driving device 28 is connected to the crawler walking device and is used to drive the crawler walking device to move. For example, the driving device can use a motor with a belt drive or a chain drive to drive the wheel hub to rotate, thereby driving the crawler 13 to rotate. Of course, in other embodiments, the driving device 28 includes but is not limited to the above structure, and other existing commonly used driving mechanisms can also be used to achieve driving the crawler walking device to move.

[0082] As an optional embodiment of the present utility model, the air extraction device 22 includes an air extraction pump 221 and a pipeline 27. Figure 1 As shown, the air pump 221 is arranged on the chassis frame 21. Specifically, as Figure 2 As shown, the chassis further includes a connecting frame 222 , which is respectively connected to the chassis frame 21 and the air pump 221 , for example, by bolt connection, etc., so that the air pump 221 is fixedly mounted on the chassis frame 21 .

[0083] The vacuum pump 221 includes a vacuum port, the first end of the pipe 27 is connected to the vacuum port, and the second end is connected to the second end of the air flow channel 141, thereby forming a gas passage connected to the vacuum pump 221. The air between the track 13 and the working surface can be discharged through the vacuum pump 221, thereby enhancing the stability and adhesion of the equipment during operation.

[0084] Furthermore, in the embodiment of the utility model, the pipeline 27 is a flexible pipeline, for example, including but not limited to a hose, a bellows, etc. Such a configuration improves the flexibility and adaptability of the entire device, can better meet various complex operating environments and equipment movement states, and ensures the stability and reliability of the gas passage.

[0085] The tracked vehicle provided by the present invention is described below. The tracked vehicle described below and the chassis described above can be referred to each other.

[0086] The present utility model also provides a tracked vehicle, including the chassis in the above-mentioned embodiments. With such a configuration, the tracked vehicle provided by the present embodiment can effectively solve the problem that the tracked walking device on the chassis is prone to slipping. The derivation process of this beneficial effect is roughly similar to the derivation process of the beneficial effect of the above-mentioned chassis, so it will not be repeated here.

[0087] The photovoltaic cleaning robot provided by the present invention is described below. The photovoltaic cleaning robot described below and the chassis described above can be referenced to each other.

[0088] The embodiment of the utility model further provides a photovoltaic cleaning robot, which includes a chassis and a cleaning member. The chassis is configured as the chassis in the above-mentioned embodiments, and the cleaning member is disposed on the chassis for cleaning the photovoltaic panel. With such a configuration, the photovoltaic cleaning robot provided in this embodiment can effectively solve the problem that the crawler walking device on the chassis is prone to slipping. The derivation process of this beneficial effect is roughly similar to the derivation process of the beneficial effect of the above-mentioned chassis, so it will not be repeated here.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A crawler walking device, characterized in that: The crawler walking device comprises: a first hub (11); A second hub (12) spaced apart from the first hub (11); A crawler (13) comprising a plurality of through holes (131), wherein the plurality of through holes (131) are arranged in a ring pattern on the crawler (13), and the crawler (13) is sleeved on the first wheel hub (11) and the second wheel hub (12); A connecting member (14) having an air flow channel (141) penetrating the connecting member (14); the connecting member (14) is at least partially disposed in the crawler (13); a first end of the air flow channel (141) is attached to a lower inner surface (132) of the crawler (13); and the first end of the air flow channel (141) is connected to a through hole (131) of the lower inner surface (132) of the crawler (13); and a second end of the air flow channel (141) is used for connecting to an air extraction device (22).

2. The crawler walking device according to claim 1, characterized in that: The crawler (13) comprises: A plurality of grooves (133) are arranged in a ring on the crawler (13), and at least one through hole (131) is provided in the groove (133).

3. The crawler walking device according to claim 1 or 2, characterized in that: The connecting member (14) further comprises: A ventilation groove (142), a first end of which is in communication with the air flow channel (141), and a second end of which is in communication with the through hole (131); A sealing ring (143) is arranged in the ventilation groove (142), and the sealing ring (143) is sealingly arranged between the connecting member (14) and the crawler (13).

4. The crawler walking device according to claim 1 or 2, characterized in that: The connecting member (14) further comprises: A first connecting portion (145), the first hub (11) being rotatably connected to the first connecting portion (145), and the first hub (11) being two and respectively located on two sides of the first connecting portion (145); A second connecting portion (146), the second wheel hub (12) being rotatably connected to the second connecting portion (146), and the number of the second wheel hubs (12) being two, and being respectively located on two sides of the second connecting portion (146); The connecting body (149) is connected to the first connecting portion (145) and the second connecting portion (146) respectively, and the air flow channel (141) is arranged in the connecting body (149).

5. The crawler walking device according to claim 4, characterized in that: The crawler walking device also includes: A plurality of tensioning wheels (15); The connecting member (14) further comprises: A plurality of third connection parts (147) are located between the first connection part (145) and the second connection part (146); the tension wheel (15) is rotatably connected to the third connection part (147) and is in contact with the lower inner surface (132) of the crawler (13).

6. The crawler walking device according to claim 1 or 2, characterized in that: The first end of the connecting member (14) has a contact portion (144) that fits with the lower inner surface (132) of the crawler (13), and the width of the contact portion (144) is greater than the cross-sectional width of the through hole (131).

7. The crawler walking device according to claim 5, characterized in that: The crawler walking device also includes: A tensioning connector (16) has a first end connected to the first wheel hub (11) and a second end connected to the second wheel hub (12).

8. A chassis, characterized in that: The chassis comprises: Chassis frame (21); An air extraction device (22) is arranged on the chassis frame (21); The crawler walking device according to any one of claims 1 to 7, wherein the crawler walking device is arranged on the chassis frame (21), and the air extraction device (22) is connected to the second end of the connecting member (14) of the crawler walking device.

9. The chassis according to claim 8, characterized in that The crawler walking device is detachably connected to the air extraction device (22) and is also detachably connected to the chassis frame (21).

10. The chassis according to claim 9, characterized in that The air extraction device (22) is provided with a first joint, the second end of the connecting member (14) is provided with a second joint (148), the first joint and the second joint (148) are plug-connected or threadedly connected; and / or, The chassis also includes: A first wheel hub bracket (23), a first end of which is hinged to the chassis frame (21), and a second end of which is detachably connected to the first wheel hub (11); A second wheel hub bracket (24) has a first end connected to the first wheel hub bracket (23) and a second end detachably connected to the second wheel hub (12).

11. The chassis according to any one of claims 8 to 10, characterized in that: The air extraction device (22) comprises: An air pump (221) comprising an air suction port, wherein the air pump (221) is arranged on the chassis frame (21); A pipe (27) has a first end connected to the air extraction port and a second end connected to the second end of the air flow channel (141).

12. The chassis according to claim 11, characterized in that The pipeline (27) is a flexible pipeline.

13. A tracked vehicle, characterized in that: Comprising a chassis as claimed in any one of claims 8 to 12.

14. A photovoltaic cleaning robot, characterized in that: The photovoltaic cleaning robot comprises: A chassis as claimed in any one of claims 8 to 12; A cleaning member is arranged on the chassis.

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