Crawler-type chassis and walking robot

Abstract

The utility model discloses a crawler-type chassis and a walking robot, and relates to the technical field of crawler-type structures, and the crawler-type chassis comprises a supporting structure, a wheel set, a driving assembly and a crawler belt. According to the technical scheme, the overall stability of the chassis is improved through the inserted connection design of the main beam supports and the supporting beams; the driving wheel, the guide wheel set, the tensioning wheel set and the walking supporting arm assembly are beneficial for improving the stability and steering performance of the crawler belt and reducing deviation and falling of the crawler belt, meanwhile, the crawler belt is arranged on the outer side of the wheel set, the contact area between the crawler belt and the ground is increased, and the road holding force and stability of the crawler belt are improved. According to the arrangement mode, good stability and bearing capacity are provided, and the crawler-type chassis can adapt to various complex terrains.

Description

Technical Field

[0001] This utility model relates to the field of tracked structure technology, and in particular to a tracked chassis and a walking robot. Background Technology

[0002] A tracked chassis is a chassis structure used for tracked vehicles. It typically consists of components such as tracks, track wheels, support wheels, and guide wheels. It uses the friction of the tracks on the ground to drive the vehicle forward, while the track wheels, support wheels, and guide wheels maintain the stability and directionality of the tracks.

[0003] With the development of industry and engineering, the demand for tracked chassis capable of transporting heavy loads in complex road conditions is increasing. These chassis need to possess strong load-bearing capacity, superior off-road performance, and good shock absorption. However, in complex road conditions such as sand and gravel, tracked chassis exhibit poor stability when carrying heavy loads, thus affecting vehicle stability. Utility Model Content

[0004] The main purpose of this invention is to propose a tracked chassis and a walking robot, which aims to solve the technical problem of poor stability of existing tracked chassis when carrying heavy loads.

[0005] To achieve the above objectives, this utility model proposes a tracked chassis, the tracked chassis comprising:

[0006] The support structure includes a main beam bracket and a support beam. The main beam bracket has a plurality of mounting protrusions on the side facing the support beam, and the support beam has a plurality of mounting holes on the side facing the main beam bracket. Each mounting protrusion is inserted into a mounting hole.

[0007] The wheel assembly includes a drive wheel, a guide wheel assembly, a tension wheel assembly, and a travel arm assembly. The drive wheel and the tension wheel assembly are rotatably disposed at opposite ends of the support beam. The guide wheel assembly is rotatably disposed at the end of the support beam near the tension wheel assembly. The travel arm assembly is rotatably disposed on the bottom side of the support beam.

[0008] A drive assembly is provided on the main beam support, and the drive end of the drive assembly is connected to the drive wheel via a transmission.

[0009] Tracks, which are located on the outside of the wheel assembly.

[0010] In one embodiment, the guide wheel assembly includes two guide wheels rotatably sleeved on a rotating shaft, a first connecting bracket, a first shock-absorbing column, and two first tensioning wheels rotatably sleeved on a first tensioning shaft. The two ends of the first connecting bracket are respectively sleeved on the rotating shaft and the tensioning shaft.

[0011] In one embodiment, the first damping column is fitted with an oil-free bushing; and / or

[0012] Each of the guide wheels is provided with a sealing ring between itself and the rotating shaft, and a dust cover is fitted onto the end of each guide wheel away from the rotating shaft.

[0013] In one embodiment, the support beam includes a first support beam and a second support beam. The tensioning wheel assembly includes two second tensioning wheels sleeved on a second tensioning shaft and a tensioning bolt. The second tensioning wheels are located between the first support beam and the second support beam and are disposed close to the guide wheel assembly. The second tensioning shaft is sleeved with a bracket, which is located around the tensioning bolt. One end of the tensioning bolt is connected to an adjusting nut and a fixing block, and the fixing block is connected to the support beam.

[0014] In one embodiment, the tensioning wheel assembly further includes fasteners and bolt fixing blocks. The fasteners are inserted through the bracket and sequentially pass through the first support beam, the bracket, the second support beam, and are connected to the bolt fixing blocks.

[0015] In one embodiment, the traveling arm assembly includes two support rollers sleeved on the support shaft, the support shaft being sleeved with a second connecting bracket, one end of the second connecting bracket being provided with a second shock-absorbing column, the second shock-absorbing column being sleeved with a shock absorber, and both ends of the second connecting bracket being connected to the support beam.

[0016] In one embodiment, the wheel assembly further includes a plurality of upper support wheels, each of which has its axle passing through the support beam.

[0017] In one embodiment, the drive assembly includes a motor and a reducer mounted on the main beam support. The output shaft of the motor is drivenly connected to the input shaft of the reducer, and the output shaft of the reducer is drivenly connected to the drive wheel. A fixed flange is provided between the reducer and the support structure.

[0018] In one embodiment, the tracked chassis further includes a support frame, which is disposed above the main beam support and detachably connected to the main beam support. The main beam support is also provided with an operation panel, an electronic control component, and a road light. The operation panel is electrically connected to the electronic control component and the road light, respectively.

[0019] This utility model also proposes a walking robot, the walking robot comprising:

[0020] The robot itself;

[0021] In the tracked chassis described above, the robot body is positioned above the tracked chassis and connected to the tracked chassis.

[0022] The technical solution of this utility model improves the overall stability of the chassis through the interlocking design of the main beam support and the support beam. The drive wheels, guide wheel sets, tension wheel sets, and travel boom assembly help improve the stability and steering performance of the tracks, reducing track deviation and slippage. Simultaneously, the tracks are located on the outside of the wheel sets, increasing the contact area with the ground and improving the track's grip and stability. This arrangement provides excellent stability and load-bearing capacity, enabling the tracked chassis to adapt to various complex terrains. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the tracked chassis provided by the present invention;

[0025] Figure 2 A side view of the tracked chassis provided by this utility model;

[0026] Figure 3 A schematic diagram of the guide wheel assembly provided by this utility model;

[0027] Figure 4 This is a schematic diagram of the tensioning wheel assembly provided by this utility model;

[0028] Figure 5 This is a schematic diagram of the structure of the walking arm assembly provided by this utility model;

[0029] Figure 6 A cross-sectional schematic diagram of the tracked chassis provided by this utility model;

[0030] Figure 7 A schematic diagram of the supporting structure provided by this utility model;

[0031] Figure 8 A cross-sectional view of the support structure provided by this utility model on a tracked chassis.

[0032] Explanation of icon numbers:

[0033] 1000. Tracked chassis; 1. Support structure; 11. Main beam bracket; 11a. Mounting protrusion; 12. Support beam; 12a. Mounting hole; 121. First support beam; 122. Second support beam; 2. Wheel set; 21. Drive wheel; 22. Guide wheel set; 221. Guide wheel; 222. First connecting bracket; 223. First shock absorber column; 224. First tensioning wheel; 225. Oil-free bushing; 226. Sealing ring; 227. Dust cover; 228. First spacer; 23. 1. Tensioner assembly; 231. Second tensioner; 232. Tensioner bolt; 233. Fixing block; 234. Bracket; 235. Fastener; 236. Bolt fixing block; 237. Cotter pin; 24. Traveling boom assembly; 241. Track roller; 242. Second connecting bracket; 243. Second shock absorber column; 244. Shock absorber; 245. Second spacer; 25. Upper support wheel; 3. Track; 4. Drive assembly; 41. Motor; 42. Reducer; 5. Support frame; 6. Spotlight.

[0034] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0036] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0037] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0038] This utility model proposes a tracked chassis 1000.

[0039] Please see Figures 1 to 7 In one embodiment of this utility model, the tracked chassis includes a support structure 1, a wheel set 2, a drive assembly 4, and a track 3. The support structure 1 includes a main beam support 11 and a support beam 12. The main beam support 11 has multiple mounting protrusions 11a on the side facing the support beam 12, and the support beam 12 has multiple mounting holes 12a on the side facing the main beam support 11. Each mounting protrusion 11a is inserted into a mounting hole 12a. The wheel set includes a drive wheel 21, a guide wheel set 22, a tension wheel set 23, and a travel arm assembly 24. The drive wheel 21 and the tension wheel set 23 are rotatably disposed at opposite ends of the support beam 12. The guide wheel set 22 is rotatably disposed at the end of the support beam 12 near the tension wheel set 23. The travel arm assembly 24 is rotatably disposed on the bottom side of the support beam 12. The drive assembly 4 is disposed on the main beam support 11, and the drive end of the drive assembly 4 is connected to the drive wheel 21. The track 3 is disposed on the outside of the wheel set 2.

[0040] Combination Figure 2In this embodiment, the tracked chassis can be applied to complex road conditions and can transport heavy goods. The chassis has a rated load capacity of 800 kg, a travel speed of up to 12 km / h, and can provide an additional AC220V, 6kW power output. Correspondingly, the support structure 1 supports the entire tracked chassis. A support beam 12 is provided at each end of the main beam support 11. The main beam support 11 uses welding technology to connect the light steel keel together, providing a very strong connection force, making the entire support structure 1 more stable and durable. The support beam 12 consists of a first support beam 121 and a second support beam 122, with the wheel set 2 installed between the first support beam 121 and the second support beam 122. Furthermore, the first support beam 121 and the second support beam 122 have multiple through holes for connecting wheel sets 2. The traveling arm assembly 24 is connected to the first support beam 121 and the second support beam 122 respectively through the second spacer 245, the tension wheel set 23 through the fixing block 233, and the guide wheel set 22 through the first spacer 228. The spacer is used to isolate two objects or components to reduce friction or wear. The mounting protrusion 11a cooperates with the mounting hole 12a for a stable connection between the main beam bracket 11 and the support beam 12. It is understood that, combined with... Figure 7 and Figure 8 The main beam support 11 and the support beam 12 are connected by mounting protrusions 11a. Mounting protrusions 11a further connect the first support beam 121 and the second support beam 122, and are fixed between the first support beam 121 and the second support beam 122 by bushings. The guide wheel assembly 22 is used to guide, tension, and support the track 3. The tensioning wheel assembly 23 is used to adjust the tension of the track 3, reduce vibration during track operation, and prevent track slippage to a certain extent. The travel boom assembly 24 provides good shock absorption performance when passing obstacles, reducing the impact and vibration of obstacles on the vehicle body, and also bears weight. Preferably, the track 3 has a relatively wide dimension. It is understood that the main beam support 11 also houses components such as batteries and electronic control components, and a maintenance cover is provided on the main beam support 11 to protect the internal components, reduce wear and corrosion, and facilitate maintenance.

[0041] The technical solution of this utility model improves the overall stability of the chassis through the plug-in design of the main beam bracket 11 and the support beam 12. The drive wheel 21, guide wheel set 22, tension wheel set 23, and travel boom assembly 24 help improve the stability and steering performance of the track 3, reducing track 3 deviation and slippage. Simultaneously, the track 3 is located on the outside of the wheel set 2, increasing the contact area with the ground and improving the track 3's grip and stability. This arrangement provides excellent stability and load-bearing capacity, enabling the tracked chassis to adapt to various complex terrains.

[0042] In one embodiment of the present invention, the guide wheel assembly 22 includes two guide wheels 221 rotatably sleeved on a rotating shaft, a first connecting bracket 222, a first shock-absorbing column 223, and two first tensioning wheels 224 rotatably sleeved on a first tensioning shaft. The two ends of the first connecting bracket 222 are respectively sleeved on the rotating shaft and the tensioning shaft.

[0043] Combination Figure 2 and Figure 3 In this embodiment, to achieve better shock absorption, a shock absorber 243 is provided between the two guide wheels. One end of the shock absorber 243 is fixed to the support beam 12 of the support structure 1, and the other end is fixed to the first shock absorber column 223 of the guide wheel. The arrangement of the two guide wheels allows them to rotate flexibly to adapt to the movement and steering requirements of the track 3. The two ends of the first connecting bracket 222 are respectively sleeved on the rotating shaft and the tensioning shaft. This structure can absorb vibration, reduce the impact of the track 3 during travel, and improve the stability of travel. Further, the guide wheel assembly 22 is connected to the first support beam 121 and the second support beam 122 respectively through the first spacer 228. The two first tensioning wheels 224, which are rotatably sleeved on the first tensioning shaft, cooperate with the two guide wheels 221, which are rotatably sleeved on the rotating shaft, to tension the track 3, maintain the appropriate tension of the track 3, and prevent the track 3 from sagging or loosening, thereby improving the stability and travel efficiency of the track 3.

[0044] In one embodiment of this utility model, the first shock absorber 223 is fitted with an oil-free bushing 225; and / or each guide wheel 221 is provided with a sealing ring 226 between it and the rotating shaft, and a dust cover 227 is fitted onto the end of each guide wheel 221 away from the first shock absorber 223.

[0045] Combination Figure 3 In this embodiment, it is understood that, to maintain low friction and long-term durability, the oil-free bushing 225 can be made of materials such as copper alloy and is positioned close to the first damping column 223. To retain lubricating grease, the sealing ring 226 is preferably lip-shaped and fitted onto the rotating shaft. Correspondingly, the sealing ring 226 can be made of an elastic material, capable of tightly fitting the rotating shaft and the guide wheel 221 to form an effective seal. To further protect the guide wheel 221 and reduce wear, a dust cover 227 is fitted onto one end of the guide wheel and securely fixed to the outside of the guide wheel 221 by bolts. The above-described configuration helps ensure the reliability and stability of the guide wheel assembly 22 under various environmental conditions.

[0046] In one embodiment of the present invention, the tensioning wheel assembly 23 includes two second tensioning wheels 231 and a tensioning bolt 232 sleeved on the second tensioning shaft. The second tensioning wheels 231 are located between the first support beam 121 and the second support beam 122 and are arranged close to the guide wheel assembly 22. The second tensioning shaft is sleeved with a bracket 234, which is located around the tensioning bolt 232. One end of the tensioning bolt 232 is connected to an adjusting nut and a fixing block 233, and the fixing block 233 is connected to the support beam 12.

[0047] Combination Figure 4 In this embodiment, it is understood that the bracket 234 is a welded component, and the tensioning bolt 232 passes through the bracket 234 and connects to the fixing block 233. The fixing block 233 is connected to the support beam 12 by bolts. Correspondingly, the fixing block 233 has an opening for the tensioning bolt 232 to pass through. An oil-free gasket is also fitted between the tensioning bolt 232 and the fixing block 233 to reduce wear, reduce friction between components, and improve service life. The adjusting nut is threaded together with the tensioning bolt 232. The adjusting nut has a connecting flange and is fixedly connected to the bracket 234 by fasteners, including but not limited to bolts. Furthermore, when the tensioning bolt 232 is turned, the adjusting nut will move linearly as the tensioning bolt 232 rotates, thereby driving the tensioning wheel assembly 23 on the bracket to move left and right. The tension of the track 3 can be adjusted by adjusting the position of the guide wheel assembly 22. The above-mentioned configuration facilitates precise control of the rotation of the tension bolt 232, allowing the tightness of the track 3 to be precisely adjusted, maintaining appropriate tension in the track 3, and preventing deviation and derailment caused by the looseness of the track 3.

[0048] In one embodiment of the present invention, the tensioning wheel assembly 23 further includes a fastener 235, a bolt fixing block 236, and a cotter pin 237. The fastener 235 passes through the first support beam 121, the bracket 234, and the second support beam 122 in sequence and is connected to the bolt fixing block 236. The fastener 235 has a through hole for the cotter pin 237 to pass through and lock.

[0049] Combination Figure 4In this embodiment, to further improve the stability of the tension wheel assembly 23, a fastener 235 is provided to pass through the bracket 234 and is locked in place by a bolt fixing block 236 and a cotter pin 237 for secondary locking, ensuring that the fastener 235 will not loosen or fall off under vibration or impact. Accordingly, the fastener 235 is preferably a bolt with a pin hole so that the cotter pin 237 can pass through for secondary locking. Further, in the previous embodiment, after the track 3 is properly tensioned, the tension wheel assembly 23 is fixed to the support beam 12 by the fastener 235 and secured by the bolt fixing block 236 and the cotter pin 237 for secondary locking, thereby preventing the tension wheel assembly 23 from moving. The above-mentioned arrangement, through the fixation of the fastener 235, the bolt fixing block 236, and the cotter pin 237, effectively prevents the tension wheel assembly 23 from moving after the track 3 is properly tensioned, ensuring the durability and consistency of the track 3 tension.

[0050] In one embodiment of the present invention, the walking arm assembly 24 includes two support wheels 241 sleeved on the support shaft, the support shaft is sleeved with a second connecting bracket 242, one end of the second connecting bracket 242 is provided with a second shock absorber 243, the second shock absorber 243 is sleeved with a shock absorber 244, and both ends of the second connecting bracket 242 are connected to the support beam 12.

[0051] Combination Figure 5 In this embodiment, it is understood that the support beam 12 is provided with multiple traveling arm assemblies 24. Correspondingly, a second connecting bracket 242 is sleeved on the support shaft, and a second shock absorber 243 passes through the middle of the second connecting bracket 242, with an oil-free bushing fitted on it. The second shock absorber 243 is fixed to the second connecting bracket 242 by screws, and a tapered countersunk washer is provided between the second connecting bracket 242 and the second shock absorber 243 to prevent the screw head from protruding and causing snagging or scratching. Here, the screw is a countersunk hex head screw. Further, one end of the second connecting bracket 242 is connected to the first support beam 121 and the second support beam 122 through a second spacer 245. The above arrangement can better support the weight of the tracked chassis, improve driving stability, and the second shock absorber 243 and shock absorber 244 can effectively absorb and reduce vibrations during driving.

[0052] In one embodiment of the present invention, the wheel set further includes a plurality of upper support wheels 25, and the axle of each upper support wheel 25 passes through the support beam 12.

[0053] Combination Figure 2In this embodiment, to further improve the stability of the tracked chassis, multiple upper support wheels 25 are provided to distribute the load. Correspondingly, the end of the support beam 12 near the upper support wheel protrudes to form a convex portion, and the axle of the upper support wheel 25 passes through the support beam 12, while the upper support wheel 25 is sleeved on the axle. Combined with... Figure 2 Furthermore, to facilitate the installation of the upper support wheel 25, the axle of one of the upper support wheels 25 near the tension wheel assembly 23 is fitted onto a tripod. The tripod is movably connected to the support beam 12. This movable connection can be made in ways including, but not limited to, threaded connections or riveted connections, to facilitate adjustment of the track tension and the appropriate support position. This arrangement reduces the pressure on individual support points, thereby improving the overall stability and durability of the structure.

[0054] In one embodiment of the present invention, the drive assembly 4 includes a motor 41 and a reducer 42 disposed on the main beam support 11. The output shaft of the motor 41 is connected to the input hole of the reducer 42, the output shaft of the reducer 42 is connected to the drive wheel 21, and a fixed flange is provided between the reducer and the support structure.

[0055] Combination Figure 2 and Figure 6 In this embodiment, the output shaft of the motor 41 is connected to the input port of the reducer 42 via a specific locking device, and is locked by a shrink sleeve fitted onto the output shaft. Furthermore, the reducer is fixed to the chassis via a fixed flange and secured with bolts and washers. This configuration, through the combination of the motor 41 and the reducer 42, significantly increases the torque of the output shaft. While the torque is relatively small when the motor is directly driven, the torque is increased according to the reduction ratio after gear reduction via the reducer 42.

[0056] In one embodiment of this utility model, the tracked chassis 3 also includes a support frame 5, which is located above the main beam support 11 and is detachably connected to the main beam support 11. The main beam support 11 is also provided with an operation panel, an electronic control component and a road light 6, and the operation panel is electrically connected to the electronic control component and the road light 6 respectively.

[0057] Combination Figure 1 In this embodiment, to further enhance the ease of operation of the tracked chassis 1000, the support frame 5 is used to carry goods. It is understood that the support frame 5 is connected to the main beam support 11 via snap-fit, bolt connection, pin connection, or other methods. An electronic control assembly and a road light 5 are installed on the main beam support 11. The electronic control assembly includes components such as a power supply, and the road light 5 is electrically connected to the power supply assembly, improving the lighting efficiency and brightness for nighttime use of the tracked chassis and enhancing its ease of use.

[0058] This utility model also proposes a walking robot, which includes a robot body and the tracked chassis 1000 mentioned above. The specific structure of the tracked chassis 1000 is as described in the above embodiments. Since this walking robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here. The robot body is located above the tracked chassis 1000 and connected to it. The walking robot also includes a remote control device, etc. The robot body is mounted on the support structure 1, i.e., the main beam support 11. Accordingly, the robot body can be fixed to the main beam support 11 by bolt connection, snap-fit, or other methods. It is understood that when using the robot body, the support frame 5 in the previous embodiment needs to be disassembled to install the robot body.

[0059] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A tracked chassis, characterized in that, The tracked chassis includes: A support structure (1) includes a main beam bracket (11) and a support beam (12). The main beam bracket (11) has a plurality of mounting protrusions (11a) on the side facing the support beam (12), and the support beam (12) has a plurality of mounting holes (12a) on the side facing the main beam bracket (11). Each mounting protrusion (11a) is inserted into a mounting hole (12a). The wheel assembly includes a drive wheel (21), a guide wheel assembly (22), a tension wheel assembly (23), and a travel arm assembly (24). The drive wheel (21) and the tension wheel assembly (23) are rotatably disposed at opposite ends of the support beam (12). The guide wheel assembly (22) is rotatably disposed at one end of the support beam (12) near the tension wheel assembly (23). The travel arm assembly (24) is rotatably disposed on the bottom side of the support beam (12). A drive assembly (4) is provided on the main beam support (11), and the drive end of the drive assembly (4) is connected to the drive wheel (21) for transmission. Track (3), which is located on the outside of the wheel assembly (2).

2. The tracked chassis as described in claim 1, characterized in that, The guide wheel assembly (22) includes two guide wheels (221) rotatably sleeved on the rotating shaft, a first connecting bracket (222), a first shock-absorbing column (223), and two first tensioning wheels (224) rotatably sleeved on the first tensioning shaft. The two ends of the first connecting bracket (222) are respectively sleeved on the rotating shaft and the tensioning shaft.

3. The tracked chassis as described in claim 2, characterized in that, The first damping column (223) is fitted with an oil-free bushing (225); and / or Each of the guide wheels (221) is provided with a sealing ring (226) between it and the rotating shaft, and a dust cover (227) is fitted onto the end of each guide wheel away from the rotating shaft.

4. The tracked chassis as described in claim 1, characterized in that, The support beam (12) includes a first support beam (121) and a second support beam (122). The tensioning wheel assembly (23) includes two second tensioning wheels (231) sleeved on the second tensioning shaft and a tensioning bolt (232). The second tensioning wheels (231) are located between the first support beam (121) and the second support beam (122) and are set close to the guide wheel assembly (22). The second tensioning shaft is sleeved with a bracket (234). The bracket (234) is located around the tensioning bolt (232). One end of the tensioning bolt (232) is connected to an adjusting nut and a fixing block (233). The fixing block (233) is connected to the support beam (12).

5. The tracked chassis as described in claim 4, characterized in that, The tensioning wheel assembly (23) also includes a fastener (235), a bolt fixing block (236), and a cotter pin (237). The fastener (235) passes through the first support beam (121), the bracket (234), and the second support beam (122) in sequence and is connected to the bolt fixing block (236). The fastener (235) has a through hole for locking the cotter pin (237).

6. The tracked chassis as described in claim 1, characterized in that, The traveling arm assembly (24) includes two support wheels (241) sleeved on the support shaft. The support shaft is sleeved with a second connecting bracket (242). One end of the second connecting bracket (242) is provided with a second shock absorber (243). The second shock absorber (243) is sleeved with a shock absorber (244). Both ends of the second connecting bracket (242) are connected to the support beam (12).

7. The tracked chassis as described in claim 1, characterized in that, The wheel set also includes multiple upper support wheels (25), and the axle of each upper support wheel (25) passes through the support beam (12).

8. The tracked chassis as described in any one of claims 1 to 6, characterized in that, The drive assembly (4) includes a motor (41) and a reducer (42) mounted on the main beam support (11). The output shaft of the motor (41) is connected to the input shaft of the reducer (42). The output shaft of the reducer (42) is connected to the drive wheel (21). A fixed flange is provided between the reducer (42) and the support structure (1).

9. The tracked chassis as described in any one of claims 1 to 6, characterized in that, The tracked chassis also includes a support frame (5), which is located above the main beam support (11) and is detachably connected to the main beam support (11). The main beam support (11) is also provided with an operation panel, an electronic control component and a road light (6). The operation panel is electrically connected to the electronic control component and the road light (6) respectively.

10. A walking robot, characterized in that, The walking robot includes: The robot itself; According to any one of claims 1 to 9, the robot body is disposed above the tracked chassis and connected to the tracked chassis.

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