Crawler-type walking mechanism and air-ground robot

Abstract

The utility model discloses a crawler-type walking mechanism which comprises a driving wheel, a driven wheel, a driving wheel, a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are rotationally arranged on a rack; the tensioning units comprise upper suspensions, lower suspensions and elastic connecting pieces, the upper suspensions and the lower suspensions are separately arranged and connected through the elastic connecting pieces, and tensioning wheels are hinged to the upper suspensions and the lower suspensions respectively; the crawler belt is installed on the outer walls of the driving wheel, the driven wheel and each tensioning wheel in a meshed mode, the upper suspension is rotationally arranged on the machine frame through a first rotating shaft, the lower suspension is rotationally arranged on the machine frame through a second rotating shaft, and the crawler belt compresses any tensioning wheel towards the inner side in a normal state. The upper suspension, the lower suspension and the elastic connecting piece are arranged to form a linkage structure, in the obstacle crossing operation process, when the tensioning wheel making contact with an obstacle is compressed, the lower suspension can be driven to rotate, the elastic connecting piece drives the upper suspension to rotate so as to tightly support the crawler belt, and the falling risk of the crawler belt is reduced. The utility model further discloses an air-ground robot.

Description

Technical Field

[0001] The utility model relates to the technical field of crawler walking equipment, in particular to a crawler type walking mechanism and a land-air robot. Background Art

[0002] The crawler-type walking mechanism has good stability during walking and can be applied to more complex terrain environments, such as muddy, slippery, rugged mountains, etc. For remote-controlled detection vehicles, land and air robots and other vehicles that need to operate in complex terrain environments, light crawler structures are generally used as walking mechanisms. However, the current crawler-type structures are mostly structures in which the tracks are set on the outer wall of the wheel system. On the basis of saving wheel system materials, the inner wall of the track cannot be completely filled, but the track is tensioned at several positions. Therefore, there is a common problem of poor track tensioning performance. When the track circumference is certain, Under normal circumstances, when the wheel suspension inside the track is compressed to a certain extent, especially when lifted up by obstacles during obstacle-crossing movement, the track will be at risk of losing the source of tension and falling off; at the same time, for remote-controlled detection vehicles and land-air robots that need to operate in a variety of venues, the tracked walking mechanism performs well in complex terrain, but when walking on flat ground, the contact area between the track and the ground is large and the walking resistance is large, which not only reduces the operating efficiency, but also causes track wear due to long-term friction with the ground, increases the maintenance frequency of the track, and increases the cost of track use.

[0003] Therefore, how to improve the tensioning effect and service life of the crawler walking mechanism is a problem that technical personnel in this field need to solve urgently. Utility Model Content

[0004] In view of this, the purpose of the utility model is to provide a crawler-type walking mechanism with good tensioning effect and long service life.

[0005] Another object of the present utility model is to provide a land-air robot comprising the above-mentioned crawler-type walking mechanism.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A crawler type walking mechanism, comprising:

[0008] The driving wheel and the driven wheel are both rotatably arranged on the frame;

[0009] At least two sets of tensioning units, the tensioning units comprising an upper suspension, a lower suspension and an elastic connecting piece, the upper suspension and the lower suspension are separately arranged, and the first end of the upper suspension is tautly connected with the first end of the lower suspension through the elastic connecting piece, and the upper suspension and the lower suspension are respectively hingedly mounted with tension wheels;

[0010] The crawler track is meshed and mounted on the outer walls of the driving wheel, the driven wheel and each of the tensioning wheels. The upper suspension is rotatably arranged on the frame in an area between the first end and the second end thereof via a first rotating shaft. The lower suspension is rotatably arranged on the frame in an area between the first end and the second end thereof via a second rotating shaft. Under normal circumstances, the crawler track presses any of the tensioning wheels inward.

[0011] Preferably, in the above-mentioned crawler walking mechanism, the bending degree of the upper suspension is greater than that of the lower suspension, and a rotational torque is applied to the upper suspension and the lower suspension when the crawler is tensioned, and the rotational force arm of the lower suspension is smaller than the rotational force arm of the upper suspension.

[0012] Preferably, in the above-mentioned crawler-type walking mechanism, the wheel surface of the tensioning wheel is a structure with a concave middle area, and the crawler track is embedded in the concave area of ​​the wheel surface of the tensioning wheel.

[0013] Preferably, in the above-mentioned crawler-type walking mechanism, the wheel edge height of the tensioning wheel is higher than the thickness of the crawler track.

[0014] Preferably, in the above-mentioned crawler walking mechanism, the upper suspension is a bending rod structure, the tensioning wheel is arranged at any position on the upper suspension through a connecting rod, and the first rotating shaft is arranged at the bending point of the upper suspension.

[0015] Preferably, in the above-mentioned crawler walking mechanism, the lower suspension is a bending rod structure, the tensioning wheel is arranged at any position on the lower suspension through another connecting rod, and the second rotating shaft is arranged at the bending point of the lower suspension.

[0016] Preferably, in the above-mentioned crawler-type walking mechanism, the connecting rod is fixedly arranged on the second ends of the upper suspension and the lower suspension.

[0017] Preferably, in the above-mentioned crawler-type walking mechanism, the driving wheel is arranged at the rear end of the crawler-type walking mechanism in the traveling direction.

[0018] Preferably, in the above-mentioned crawler walking mechanism, the frame includes a mounting base plate and an outer support plate, and the outer support plate and the mounting base plate are connected to form an integral structure via at least three limit pins distributed at the vertices of a triangle.

[0019] A land-air robot comprises a crawler-type walking mechanism and a main body provided in any one of the above-mentioned embodiments, wherein the crawler-type walking mechanism is arranged on both sides of the main body, and the crawler can contact the ground.

[0020] It can be seen from the above technical scheme that the crawler type walking mechanism provided by the utility model includes a frame, a driving wheel, a driven wheel, a tensioning unit, a tensioning wheel and a crawler. Specifically, the driving wheel is used to drive the crawler to rotate, and the driving wheel and the driven wheel are both rotatably arranged on the frame for carrying. The tensioning unit is provided with at least two groups, and the tensioning unit specifically includes an upper suspension, a lower suspension and an elastic connecting piece. The horizontal setting height of the upper suspension is higher than the lower suspension, and the upper suspension and the lower suspension are separately arranged, and the first end of the upper suspension is connected with the first end of the lower suspension through an elastic connecting piece, so that the upper suspension, the lower suspension and the elastic connecting piece are connected as an integrated linkage structure; on this basis, the upper suspension and the lower suspension are also respectively hingedly installed with tensioning wheels. It should be noted that the first end of the upper suspension and the first end of the lower suspension are ends close to each other, and the second end of the upper suspension and the second end of the lower suspension are ends far away from each other. The tensioning wheel arranged on the upper suspension is used to tension the crawler, and the tensioning wheel arranged on the lower suspension is also used to contact the ground on the basis of tensioning the crawler. to perform crawler-type movement; the crawler is meshed and installed on the outer walls of the driving wheel, the driven wheel and each tensioning wheel to move under the driving action of the driving wheel. The purpose of the meshing cooperation is to ensure the installation effect of the crawler and the transmission effect of the driving wheel on the crawler, and at the same time, the area between the first end and the second end of the upper suspension is rotatably arranged on the frame through the first rotating shaft, and the area between the first end and the second end of the lower suspension is rotatably arranged on the frame through the second rotating shaft, so that one end of the tensioning wheel installed on the upper suspension and the lower suspension has the freedom of rotation as the movable end, and the crawler is installed in a tensioned state, that is, the crawler presses any tensioning wheel inwardly under normal conditions. It should be noted that the normal state here specifically refers to the state of the crawler of the crawler-type walking mechanism without external force. After installation, the crawler generates inward pressure on the tensioning wheel, thereby generating a torque that drives the upper suspension and the lower suspension in the single tensioning unit to rotate in the needle direction at the same time, and the upper suspension and the lower suspension will prevent the rotation trend under the action of the elastic connecting member to keep the crawler in a tensioned state. Based on the above structure, the crawler-type walking mechanism provided by the utility model has a good tensioning effect under normal conditions, thereby meeting the normal operating requirements. In the process of obstacle surmounting movement, when the tensioning wheel arranged on the lower suspension is subjected to the lifting force of the obstacle, it will drive the lower suspension to move upward. Due to the setting of the second rotating shaft, the lower suspension will generate a rotational movement around the second rotating shaft. At this time, the first end of the lower suspension will apply a pulling force to the first end of the upper suspension through the elastic connecting member, thereby driving the upper suspension to rotate along the first rotating shaft, and driving the tensioning wheel at the second end of the upper suspension to rotate in the direction away from the elastic connecting member, thereby applying a tensioning force to the crawler track, and preventing the crawler track from being detached at the tensioning wheel position at the second end of the lower suspension, so that the crawler track has a dynamic tensioning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in 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 only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the structure of a crawler-type walking mechanism provided in an embodiment of the utility model;

[0023] Figure 2 This is a schematic diagram of the crawler-type walking mechanism structure after the installation base plate is removed;

[0024] Figure 3 It is a schematic diagram of the internal linkage structure of the crawler walking mechanism;

[0025] Figure 4 It is a structural schematic diagram of the crawler-type walking mechanism when the driving wheel is overcoming obstacles;

[0026] Figure 5 It is a schematic diagram of the upper suspension and lower suspension connection structure at the driven wheel of the crawler walking mechanism;

[0027] Figure 6 It is a schematic diagram of the coordination structure between the tension wheel and the crawler track at the lower suspension end;

[0028] Among them, 10 is a driving wheel; 20 is a driven wheel; 310 is an upper suspension; 320 is a lower suspension; 330 is an elastic connector; 340 is a tensioning wheel; 350 is a first rotating shaft; 360 is a second rotating shaft; 40 is a crawler track; 510 is a mounting base plate; 520 is an outer support plate; and 530 is a limit pin. DETAILED DESCRIPTION

[0029] The core of the utility model is to disclose a crawler type walking mechanism with good tensioning effect and long service life.

[0030] Another object of the utility model is to disclose a land-air robot comprising the above-mentioned crawler-type walking mechanism.

[0031] In order to make the technical personnel in this field better understand the present invention, the embodiments of the present invention are described below with reference to the accompanying drawings. In addition, the embodiments shown below do not limit the contents of the utility model described in the claims. In addition, the entire contents of the structures represented by the following embodiments are not limited to those necessary for the solutions of the utility model described in the claims.

[0032] like Figure 1-6As shown, the crawler-type walking mechanism provided by the embodiment of the utility model includes a frame, a driving wheel 10, a driven wheel 20, a tensioning unit, a tensioning wheel 340 and a crawler 40. Specifically, the driving wheel 10 is used to connect a power output mechanism such as a motor to drive the crawler 40 to rotate. The driving wheel 10 and the driven wheel 20 are both rotatably arranged on the frame for carrying. At least two sets of tensioning units are provided, and the two sets of tensioning units are arranged between the driving wheel 10 and the driven wheel 20. Figure 2 and Figure 3 As shown, a single tensioning unit includes at least an upper suspension 310, a lower suspension 320 and an elastic connector 330. The horizontal setting height of the upper suspension 310 is higher than that of the lower suspension 320, and the upper suspension 310 and the lower suspension 320 are separately set. The first end of the upper suspension 310 is connected to the first end of the lower suspension 320 through the elastic connector 330, so that the upper suspension 310, the lower suspension 320 and the elastic connector 330 are connected as an integrated linkage structure.

[0033] On the basis of the above structure, tensioning wheels 340 are hingedly installed on the upper suspension 310 and the lower suspension 320 respectively. It should be noted that the first end of the upper suspension 310 and the first end of the lower suspension 320 are ends close to each other, while the second end of the upper suspension 310 and the second end of the lower suspension 320 are ends away from each other. The tensioning wheel 340 arranged on the upper suspension 310 is used to tension the track 40 to maintain the shape of the track 40, and the tensioning wheel 340 arranged on the lower suspension 320 is used to contact the ground to cooperate with the track 40 for movement on the basis of tensioning the track 40.

[0034] The track 40 is meshed and installed on the outer wall of the driving wheel 10, the driven wheel 20 and each tensioning wheel 340 to move under the driving action of the driving wheel 10. The purpose of the meshing is to ensure the installation effect of the track 40 and the transmission effect of the driving wheel 10 on the track 40. At the same time, the upper suspension 310 is rotatably set on the frame in the area between its first end and the second end through the first rotating shaft 350, and the lower suspension 320 is rotatably set on the frame in the area between its first end and the second end through the second rotating shaft 360, so that the upper suspension 310 and the lower suspension 320 have rotational freedom. Since the first end of the upper suspension 310 is connected to the first end of the lower suspension 320 by the elastic connecting member 330, the end of the upper suspension 310 and the lower suspension 320 on which the tensioning wheel 340 is installed can be used as a movable end and have the freedom of rotational movement.

[0035] On the basis of the above structure, the track 40 is installed in a tensioned state. Specifically, the track 40 presses any tensioning wheel 340 inwardly under normal conditions. It should be noted that the normal state here refers to the state of the track 40 of the crawler-type walking mechanism without the action of external force. After installation, the track 40 generates inward pressure on the tensioning wheel 340, thereby generating a rotational torque that drives the upper suspension 310 and the lower suspension 320 in the single-group tensioning unit to rotate in the same clockwise direction. The upper suspension 310 and the lower suspension 320 will prevent this rotation trend under the action of the elastic connecting member 330, so that the track 40 remains in a tensioned state.

[0036] Furthermore, the crawler-type walking mechanism provided in the embodiment of the utility model has a good tensioning effect under normal conditions, thereby meeting the normal operation requirements. At the same time, the crawler-type walking mechanism is used as an example to illustrate the tensioning unit on one side during the obstacle-crossing movement. Figure 4 As shown, in the single-side tensioning unit, when the tensioning wheel 340 at the second end of the lower suspension 320 is lifted by the obstacle, it will drive the lower suspension 320 to move upward, that is, Figure 4 The lower suspension 320 at the lower right side of the middle part will rotate around the second rotating shaft 360 due to the setting of the second rotating shaft 360. At this time, the first end of the lower suspension 320 will apply a pulling force to the first end of the upper suspension 310 through the elastic connecting member 330, thereby driving the upper suspension 310 to rotate along the first rotating shaft 350, and driving the tensioning wheel 340 at the second end of the upper suspension 310 to rotate in a direction away from the elastic connecting member 330, that is, Figure 4 The upper suspension 310 on the upper right side of the middle part applies a tensioning force to the track 40, thereby preventing the track 40 from being detached from the tensioning wheel 340 at the second end of the lower suspension 320, so that the track 40 has a dynamic tensioning effect, that is, when the lower suspension 320 is subjected to a lifting force, the upper suspension 310 will simultaneously tension the track 40 to prevent the track 40 from falling off during the obstacle surmounting process.

[0037] When the upper suspension 310 is in a dead position, due to the presence of the elastic connector 330, the lower suspension 320 can continue to move a certain distance within the stretching range of the elastic connector 330. On the one hand, it can facilitate the installation of the crawler 40, and on the other hand, it can prevent the lower suspension 320 from being subjected to excessive impact, which may cause the overall structure to be damaged when the lower suspension 320 is compressed to the limit.

[0038] For ease of understanding, in the above embodiment, the dead point position of the upper suspension 310 is described in detail. During the process of the upper suspension 310 rotating around the first rotating shaft 350, when the upper suspension 310 moves to a certain angle, the elastic connecting member 330 continues to be pulled, and the upper suspension 310 cannot continue to rotate upward. Since the connection between the upper suspension 310 and the lower suspension 320 is achieved through the elastic connecting member 330, the lower suspension 320 can continue to pull the elastic connecting member 330 to achieve shock absorption. When the upper suspension 310 is at the dead point position, continuing to rotate the lower suspension 320 can provide a margin for the installation of the track 40, so that the track 40 can be smoothly installed. After the track 40 is installed, the lower suspension 320 can be released to achieve the tensioning of the track 40. Therefore, the purpose of designing the dead point is to compress the upper suspension 310 to the dead point position, and then install the track 40. Otherwise, the track 40 will be unable to be put on the tensioning wheel 340 due to length limitations.

[0039] In the crawler-type walking mechanism provided in the embodiment of the utility model, the crawler 40 will apply a rotational torque to the upper suspension 310 and the lower suspension 320 when in a tensioned state, so that the upper suspension 310 has a tendency to move around the first rotation axis 350, and the lower suspension 320 has a tendency to rotate around the second rotation axis 360. In order to further optimize the above technical solution, in a preferred embodiment of the utility model, the rotational force arm of the lower suspension 320 is smaller than the rotational force arm of the upper suspension 310, which can be achieved by increasing the bending degree of the upper suspension 310, so that the direction of the force of the crawler 40 on the upper suspension 310 is further deviated from the first rotation axis. Axis 350, and the direction of the force of the track 40 on the lower suspension 320 is close to the second rotating shaft 360, and correspondingly, the shorter force arm of the lower suspension 320 will cause the upper suspension 310 to produce a larger rotational displacement due to the longer force arm when the lower suspension 320 is lifted by an obstacle and rotates. That is, when the lower suspension 320 moves upward due to the impact, the track 40 will become loose, but because the upper suspension 310 will have a larger displacement, the upper suspension 310 will move upward to support the deformation of this part of the track 40, so that during the whole process, the track 40 is always under tension and maintains a stable tension state.

[0040] It should be noted that the shorter force arm of the lower suspension 320 can also make the tensioning force at the position of the lower suspension 320 greater, thereby improving the structural stability of the body.

[0041] In order to avoid the problem that the crawler 40 is worn and the service life is shortened due to the long-term friction between the crawler 40 and the ground during the operation of the crawler-type walking mechanism provided in the embodiment of the utility model on the flat ground, in the embodiment of the utility model, Figure 3 and Figure 6 As shown, the wheel surface of the tensioning wheel 340 is a concave structure in the middle in its axial direction, that is, in the thickness direction, and the track 40 is embedded in the concave area of ​​the wheel surface of the tensioning wheel 340, so that the installation and operation of the track 40 are more stable.

[0042] At the same time, the thickness of the track 40 does not exceed the wheel edge height of the tensioning wheel 340, that is, it can be flush with or lower than the wheel edge height of the tensioning wheel 340. In a preferred embodiment of the utility model, the wheel edge height of the tensioning wheel 340 is higher than the thickness of the track 40. When the track 40 is fully embedded in the recessed area of ​​the tensioning wheel 340, it is blocked by the wheel edge of the tensioning wheel 340. During operation on flat ground, the wheel edge of the tensioning wheel 340 used to contact the ground will exceed the track 40 and contact the ground, so that the crawler-type walking mechanism provided by the embodiment of the utility model realizes wheeled motion through two tensioning wheels 340 in contact with the ground, with low loss and smooth operation. When operating in harsh ground environments or performing obstacle-crossing operation, the tensioning wheel 340 in contact with the ground is subjected to the lifting force, which will drive the lower suspension 320 to rotate upward, so that the track 40 begins to contact the ground, and the crawler-type walking mechanism switches from wheeled motion to crawler motion to adapt to different venues.

[0043] It should be noted that the movement mode of the crawler walking mechanism in the above embodiment is switched automatically according to the operating environment, which is convenient and efficient and does not require manual adjustment. While ensuring that the crawler walking mechanism has the ability to operate in complex environments, it improves the operating efficiency on flat ground with good road conditions, reduces the wear degree and maintenance frequency of the crawler 40, and increases the service life of the crawler walking mechanism.

[0044] Furthermore, in a specific embodiment of the utility model, the upper suspension 310 is a bending structure in the form of a bending rod or a bending plate. At the same time, the tensioning wheel 340 is arranged at any position on the upper suspension 310 through a connecting rod to support the track 40, and the first rotating shaft 350 is arranged at the bending point position on the upper suspension 310, so that the upper suspension 310 can rotate with its bending point as the rotation center to avoid motion interference as much as possible, and at the same time facilitate the design of the limiting structure.

[0045] Correspondingly, the lower suspension 320 is preferably also a bending structure in the form of a bending rod or a bending plate. At the same time, the tensioning wheel 340 is set at any position on the lower suspension 320 through a connecting rod, and the second rotating shaft 350 is set at the bending point on the lower suspension 320 to ensure smooth rotation of the lower suspension 320. It should be noted that a section of the rod structure close to the ground in the lower suspension 320 is preferably as perpendicular to the track 40 as possible in its length direction, so that when the track 40 is under pressure, the pressure can be directly transmitted along the rod to other areas of the lower suspension 320, thereby enhancing the lifting effect of the track 40 on the lower suspension 320.

[0046] It should be further explained that in order to make the force of the walking mechanism structure more stable, it is preferred that in the upper suspension 310 and the lower suspension 320, the connecting rods are arranged at the second ends corresponding to the upper suspension 310 and the lower suspension 320, so that the elastic connecting member 330 and the tensioning wheel 340 can act from the two ends of the suspension structure to drive the movement of the suspension structure.

[0047] Furthermore, the driving wheel 10 is arranged at the rear end of the crawler walking mechanism in the traveling direction. The rear-drive form can make it easy to lift the front end mechanism when encountering an obstacle, thereby reducing the risk of the moving end of the crawler 40 getting stuck during the obstacle crossing process.

[0048] The frame is used to carry other components in the crawler walking mechanism. In a specific embodiment of the utility model, the frame includes a mounting base plate 510 and an outer support plate 520 to cooperate with clamping the driving wheel 10, the driven wheel 20, the upper suspension 310 and the lower suspension 320. At the same time, the outer support plate 520 and the mounting base plate 510 are connected to form an integrated structure through a limit pin 530 with a threaded structure. At least three limit pins 530 are arranged and distributed in the vertices of a triangle. Preferably, the triangle with three limit pins 530 as vertices is an isosceles triangle.

[0049] An embodiment of the utility model further provides a land-to-air robot, which includes a tracked walking mechanism provided by any of the above embodiments, and two groups of the tracked walking mechanisms are symmetrically arranged in the width direction of the land-to-air robot.

[0050] The terms "first", "second", "left side" and "right side" in the specification and claims of the utility model and the above drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may include steps or units that are not listed.

[0051] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A crawler-type walking mechanism, characterized in that: include: The driving wheel and the driven wheel are both rotatably arranged on the frame; At least two sets of tensioning units, the tensioning units comprising an upper suspension, a lower suspension and an elastic connecting piece, the upper suspension and the lower suspension are separately arranged, and the first end of the upper suspension is tautly connected with the first end of the lower suspension through the elastic connecting piece, and the upper suspension and the lower suspension are respectively hingedly mounted with tension wheels; The crawler track is meshed and mounted on the outer walls of the driving wheel, the driven wheel and each of the tensioning wheels. The upper suspension is rotatably arranged on the frame in an area between the first end and the second end thereof via a first rotating shaft. The lower suspension is rotatably arranged on the frame in an area between the first end and the second end thereof via a second rotating shaft. Under normal circumstances, the crawler track presses any of the tensioning wheels inward.

2. The crawler-type walking mechanism according to claim 1, characterized in that: The bending degree of the upper suspension is greater than that of the lower suspension, and a rotational torque is applied to the upper suspension and the lower suspension when the track is tensioned, and a rotational force arm of the lower suspension is smaller than that of the upper suspension.

3. The crawler-type walking mechanism according to claim 1, characterized in that: The wheel surface of the tensioning wheel is a structure with a concave middle area, and the track is embedded in the concave area of ​​the wheel surface of the tensioning wheel.

4. The crawler-type walking mechanism according to claim 3, characterized in that: The wheel edge height of the tension wheel is higher than the thickness of the crawler track.

5. The crawler-type walking mechanism according to claim 1, characterized in that: The upper suspension is a bending rod structure, the tensioning wheel is arranged at any position on the upper suspension through a connecting rod, and the first rotating shaft is arranged at the bending point of the upper suspension.

6. The crawler-type walking mechanism according to claim 5, characterized in that: The lower suspension is a bending rod structure, the tensioning wheel is arranged at any position on the lower suspension through another connecting rod, and the second rotating shaft is arranged at the bending point of the lower suspension.

7. The crawler-type walking mechanism according to claim 6, characterized in that: The connecting rod is fixedly disposed on the second ends of the upper suspension and the lower suspension.

8. The crawler-type walking mechanism according to claim 1, characterized in that: The driving wheel is arranged at the rear end of the crawler-type walking mechanism in the traveling direction.

9. The crawler-type walking mechanism according to claim 1, characterized in that: The frame comprises a mounting base plate and an outer support plate, and the outer support plate and the mounting base plate are connected to form an integral structure via at least three limiting pins distributed at the vertices of a triangle.

10. A land-air robot, characterized in that: It comprises the crawler-type walking mechanism and a main body as described in any one of claims 1 to 9, wherein the crawler-type walking mechanism is arranged on both sides of the main body, and the crawler can contact the ground.

Images