Track assembly, track chassis and robot

Abstract

The utility model provides a track assembly, a track chassis and a robot, and relates to the technical field of robots. The crawler belt assembly comprises a crawler belt, a guide wheel set and at least one thrust wheel set, the guide wheel set comprises a main wheel frame and two guide wheels, the two guide wheels are rotationally arranged on the main wheel frame, the crawler belt is arranged on the two guide wheels in a sleeving mode, and the part, located between the lower sides of all the guide wheels, of the crawler belt is a grounding section; the thrust wheel set comprises an auxiliary wheel carrier and two thrust wheels, the two thrust wheels are rotationally arranged on the auxiliary wheel carrier and located between the two guide wheels, the crawler belt is further arranged on the two thrust wheels in a sleeving mode, the wheel faces of the thrust wheels abut against the grounding section, the auxiliary wheel carrier and the main wheel carrier are hinged, and a rotating axis is formed. And the rotating axis is parallel to the axis of the thrust wheel. On the basis of miniaturization, the stability and the operation precision of the robot can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a track assembly, a track chassis and a robot. BACKGROUND

[0002] Generally, in order to ensure the passability and miniaturization of the robot, the moving chassis of the robot adopts a small track chassis. However, because the size of the track of the small track chassis is short, there are problems of poor stability and poor operation precision of the robot. CONTENT

[0003] Therefore, the present application aims to overcome the deficiencies in the prior art, and provides a track assembly, a track chassis and a robot, which can improve the stability and operation precision of the robot on the basis of miniaturization.

[0004] The present application provides the following technical solutions:

[0005] In a first aspect, the present application provides a track assembly, which comprises:

[0006] a track;

[0007] a guide wheel set, the guide wheel set comprising a main wheel frame and two guide wheels, the two guide wheels being rotationally arranged on the main wheel frame, the track being sleeved on the two guide wheels, and a portion of the track between the lower sides of all the guide wheels being a ground contact section;

[0008] at least one supporting wheel set, the supporting wheel set comprising an auxiliary wheel frame and two supporting wheels, the two supporting wheels being rotationally arranged on the auxiliary wheel frame, the two supporting wheels being located between the two guide wheels, the track being further sleeved on the two supporting wheels, the wheel surface of the supporting wheel abutting against the ground contact section, the auxiliary wheel frame and the main wheel frame being hingedly connected and forming a rotation axis, and the rotation axis and the axis of the supporting wheel being arranged in parallel.

[0009] In some embodiments of the first aspect, the track assembly further comprises a power wheel set, the power wheel set being arranged on the main wheel frame, the power wheel set comprising a driving wheel and a power member, the driving wheel and the power member being located above the guide wheels, the track being sleeved on the driving wheel, the power member being connected with the driving wheel, and the power member being configured to drive the driving wheel to rotate.

[0010] In some embodiments of the first aspect, the positions of the driving wheel and the two guide wheels are arranged in a triangular configuration, so that the track is in a triangular shape.

[0011] In some embodiments of the first aspect, the driving wheel is located above the region between the two guide wheels.

[0012] In some embodiments of the first aspect, the guide wheel set further comprises an adjusting member, the wheel shaft of the guide wheel is rotatably connected with the adjusting member, the main wheel frame has at least two mounting portions, and the adjusting member is detachably connected with different mounting portions, so that the distance between the two guide wheels can be adjusted.

[0013] In some embodiments of the first aspect, the main wheel frame has a limiting slot, the at least two mounting portions are sequentially arranged along a preset direction, the limiting slot is arranged along the preset direction, and the wheel shaft of the guide wheel is rotatably arranged in the limiting slot.

[0014] In some embodiments of the first aspect, the preset direction is perpendicular to the axis of a pair of guide wheels, respectively.

[0015] In some embodiments of the first aspect, the wheel shaft of the guide wheel is sleeved with a rotating bearing, and the rotating bearing is arranged in the limiting slot.

[0016] In some embodiments of the first aspect, the size of the supporting wheel is the same as that of the guide wheel.

[0017] In the second aspect, the application further provides a track chassis, which comprises a chassis body and a track assembly as described in any one of the above embodiments, and the track assembly is arranged on the chassis body.

[0018] In some embodiments of the second aspect, the track chassis further comprises at least one auxiliary supporting assembly, the auxiliary supporting assembly is arranged on the chassis body, the auxiliary supporting assembly comprises a supporting member and a driving member, the driving member is connected with the supporting member, and the driving member is used to drive the supporting member away from or close to the ground.

[0019] In some embodiments of the second aspect, the front end and / or the rear end of the chassis body is provided with the auxiliary supporting assembly.

[0020] In some embodiments of the second aspect, the driving member comprises:

[0021] a parallelogram linkage mechanism, the parallelogram linkage mechanism has a fixed linkage, a driving linkage and a driven linkage, and the fixed linkage is connected with the chassis body;

[0022] an adapter, one end of the adapter is connected with the driven linkage, and the other end of the adapter is hingedly connected with the supporting member;

[0023] a telescopic portion, the telescopic portion has a fixed end and a telescopic end, the telescopic end is hingedly connected with the driving linkage, the fixed end is hingedly connected with the chassis body, and the telescopic end can perform a telescopic action, so that the driving linkage can swing.

[0024] In a third aspect, the present application provides a robot, comprising the tracked chassis according to any one of the above embodiments.

[0025] In some embodiments of the third aspect, the robot further comprises a spraying assembly disposed on the chassis body, the spraying assembly comprising a position adjusting member and a spray gun, the position adjusting member is disposed on the chassis body, the position adjusting member and the spray gun are connected, and the position adjusting member is capable of adjusting at least the position and the spraying direction of the spray gun.

[0026] In some embodiments of the third aspect, the position adjusting member comprises a multi-axis robot arm and a linear motion module, the linear motion module is disposed on the chassis body, and the linear motion module and the multi-axis robot arm are connected, the linear motion module is used to drive the multi-axis robot arm to move up and down, the end of the multi-axis robot arm is connected with the spray gun, and the multi-axis robot arm has a plurality of working positions on its moving path, and among any two adjacent working positions, the higher working position is closer to the middle part of the tracked chassis.

[0027] In some embodiments of the third aspect, the spraying assembly comprises a storage member and a pumping member, the storage member is disposed on the chassis body, the storage member has a storage cavity and a discharge port, the discharge port and the storage cavity are in communication, the pumping member has an inlet and an outlet, the discharge port and the inlet are in communication, the outlet and the inlet of the spray gun are in communication, and the pumping member is used to pump the material in the storage cavity to the spray gun.

[0028] In some embodiments of the third aspect, the robot further comprises a controller and a remote controller, the remote controller and the controller are electrically connected, and the controller is electrically connected with the tracked chassis and the spraying assembly respectively.

[0029] The embodiments of the present application have the following advantages:

[0030] The tracked assembly provided by the present application can ensure the stable movement of the robot when the robot moves on flat ground, as the supporting wheel set and the guide wheel set jointly support the track. When obstacles or uneven ground are encountered, the supporting wheel set can float up and down with the change of the terrain, maintaining good contact between the track and the ground, and improving the obstacle crossing ability and stability of the robot. Due to the articulation between the supporting wheel set and the guide wheel set, the whole system is more flexible, and can automatically adjust the posture to a certain extent, ensuring good performance of the robot on different terrains.

[0031] In addition, since the pair of guide wheels directly contact the ground through the track, the inclination angle of the entire track assembly is very small, which is beneficial to increase the contact length of the track and the ground, that is, beneficial to increase the length of the ground contact section, and further increase the stability of the track chassis. Not only improves the stability and operation precision of the robot, but also helps to maintain the compactness of the robot, that is, miniaturization, making it easier to deploy and operate.

[0032] In order to make the above-mentioned purposes, characteristics and advantages of the utility model more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0034] Figure 1 A perspective view of the structure of a track assembly provided by the embodiments of the present application is shown;

[0035] Figure 2 A perspective view of the structure of a guide wheel set provided by the embodiments of the present application is shown;

[0036] Figure 3 A perspective view of the structure of a track chassis provided by the embodiments of the present application is shown;

[0037] Figure 4 A perspective view of the structure of a robot provided by the embodiments of the present application is shown;

[0038] Figure 5 Another perspective view of the structure of a robot provided by the embodiments of the present application is shown.

[0039] Main element symbol explanation:

[0040] 10-track assembly; 100-guide wheel set; 110-main wheel frame; 111-mounting part; 112-limiting groove; 120-guide wheel;

[0041] 200-track; 210-ground contact section;

[0042] 300-support wheel set; 310-assistant wheel frame; 320-support wheel;

[0043] 400-power wheel set; 410-power member; 420-driving wheel;

[0044] 500 - adjustment member;

[0045] 20 - track chassis;

[0046] 600 - chassis body;

[0047] 700 - auxiliary support assembly; 710 - telescopic part; 720 - parallelogram linkage; 721 - driving link; 722 - parallel link; 723 - fixed link; 724 - driven link; 730 - support member; 740 - adapter;

[0048] 800 - position adjustment member; 810 - multi-axis robot arm; 820 - linear movement module;

[0049] 900 - storage member;

[0050] 1000 - remote controller. DETAILED DESCRIPTION

[0051] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like reference numerals are used throughout the figures to refer to same or like elements or elements with same or similar function. The embodiments described below are exemplary and are not intended to be limiting of the present application.

[0052] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. Like reference numerals refer to like elements throughout the specification and no additional structures are described herewith for like reference numerals already described.

[0053] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0054] In addition, the terms "first", "second", etc. are used herein only to describe different instances, and are not used to indicate or imply relative importance or a number of indicated technical features. Thus, features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the template herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0056] In the related art, in order to ensure the passability and miniaturization of the robot, the moving chassis of the robot adopts a small track chassis 20. However, because the size of the track 200 of the small track chassis 20 is short, there are problems of poor stability and poor operation precision of the robot.

[0057] As shown in Figure 1 To solve the above technical problems, the track assembly 10 provided by the embodiments of the present application includes a track 200, a guide wheel set 100, and at least one supporting wheel set 300. The guide wheel set 100 includes a main wheel frame 110 and two guide wheels 120, the two guide wheels 120 are rotatably arranged on the main wheel frame 110, the track 200 is sleeved on the two guide wheels 120, and the part of the track 200 between the lower sides of all the guide wheels 120 is a ground contact section 210. The supporting wheel set 300 includes an auxiliary wheel frame 310 and two supporting wheels 320, the two supporting wheels 320 are rotatably arranged on the auxiliary wheel frame 310, the two supporting wheels 320 are located between the two guide wheels 120, the track 200 is also sleeved on the two supporting wheels 320, and the wheel surface of the supporting wheel 320 and the ground contact section 210 abut. The auxiliary wheel frame 310 and the main wheel frame 110 are hinged and form a rotation axis, and the rotation axis and the axis of the supporting wheel 320 are arranged in parallel.

[0058] In these embodiments, the track assembly 10 of the present application aims to solve the stability and operation precision problems encountered when a small robot uses a small track chassis 20. The main components of the track assembly 10 are as follows:

[0059] The track 200, as the part directly contacting the ground, is responsible for providing traction and mobility. The idler assembly 100 includes a main frame 110 and two idlers 120. The idlers 120 are mounted on the main frame 110, and the track 200 passes around the two idlers 120. The part of the track 200 between all the idlers 120 is called the ground-engaging section 210, which is the part of the track 200 actually contacting the ground and generating friction. Generally, the ground-engaging section 210 is in a straight state.

[0060] Each of the support wheel assemblies 300 includes an auxiliary frame 310 and two support wheels 320. The support wheels 320 are mounted on the auxiliary frame 310 and are located between the two idlers 120. The track 200 also passes around the support wheels 320, and the tread of the support wheels 320 contacts the ground-engaging section 210 of the track 200, which can increase the pressure of the track 200 on the ground and improve the grip. The auxiliary frame 310 and the main frame 110 are hinged together to form a rotation axis, which is parallel to the rotation axis of the support wheels 320. This structure allows the support wheel assembly 300 to float up and down relative to the idler assembly 100 to adapt to uneven terrain, thereby improving the stability and passability of the robot.

[0061] Exemplarily, in the present embodiment, the number of support wheel assemblies 300 is one. Of course, in other embodiments, the number of support wheel assemblies 300 can also be two, three, four, five, six, or seven, etc., which is not specifically limited here, and the specific number is set according to the distance between a pair of idlers 120.

[0062] Obviously, when the robot moves on flat ground, the support wheel assembly 300 and the idler assembly 100 jointly support the track 200, ensuring the smooth running of the robot. When encountering obstacles or uneven ground, the support wheel assembly 300 can float up and down with the terrain to maintain good contact of the track 200 with the ground, improving the obstacle-crossing ability and stability of the robot. Due to the hinge between the support wheel assembly 300 and the idler assembly 100, the whole system is more flexible and can automatically adjust the posture to a certain extent to ensure good performance of the robot on different terrains.

[0063] In addition, since a pair of idlers 120 directly contact the ground through the track 200, the inclination angle of the whole track assembly 10 is very small, which is beneficial to increase the contact length of the track 200 and the ground, that is, to increase the length of the ground-engaging section 210, thereby increasing the stability of the track chassis 20. Not only does it improve the stability and operation precision of the robot, but it also helps to maintain the compactness of the robot, that is, miniaturization, making it easier to deploy and operate.

[0064] As Figure 1 and Figure 2As shown, in some embodiments, the track assembly 10 further comprises a power wheel set 400, which is arranged on the main wheel frame 110. The power wheel set 400 comprises a driving wheel 420 and a power member 410, both of which are located above the guide wheel 120. The track 200 is sleeved on the driving wheel 420. The power member 410 is connected with the driving wheel 420, and is used to drive the driving wheel 420 to rotate.

[0065] In these embodiments, the track assembly 10 not only comprises the guide wheel set 100 and the supporting wheel set 300, but also is equipped with the driving wheel 420 and the power member 410. The addition of these components enables the track 200 system to realize active movement, and is the core power source of the entire mobile platform.

[0066] The driving wheel 420 is located above the guide wheel 120, and is a key component directly responsible for driving the movement of the track 200. When the driving wheel 420 rotates, the track 200 is driven to move, thereby pushing the entire robot to move forward or backward. Exemplarily, the driving wheel 420 is engaged with the track 200.

[0067] The power member 410 is connected with the driving wheel 420, usually through a gear, a chain or other forms of transmission device. Exemplarily, the power member 410 provides rotational power for the driving wheel 420, such as an electric motor, a hydraulic motor or the like. According to specific requirements, the power member 410 can be an electric drive, a hydraulic drive or other types of drive system. It should be noted that, in the present embodiment, the power member 410 is arranged as an electric motor, and the main shaft of the electric motor is directly connected with the driving wheel 420, which is beneficial to the transmission of torque and the miniaturization of the track assembly 10.

[0068] In actual work, the power member 410 generates power and transmits it to the driving wheel 420 through a transmission mechanism. When the driving wheel 420 rotates, the track 200 sleeved thereon will rotate together with the driving wheel 420. The friction between the track 200 and the ground enables the robot to move. By adjusting the speed difference of the tracks 200 on both sides of the track chassis 20, the turning of the robot can be realized. For example, increasing the speed on one side and reducing or stopping on the other side can make the robot turn.

[0069] Furthermore, since the power member 410 and the driving wheel 420 are arranged at a relatively high position, the ground clearance of the following chassis body 600 is further increased, which is beneficial to adapt to various complex road conditions. In particular, in the present application, by increasing the ground clearance of the chassis body 600, the problem that the track 200 has poor obstacle crossing ability due to the small front inclination angle of the track 200 is eliminated.

[0070] As Figure 1As shown, in some embodiments, the drive wheel 420 and the two guide wheels 120 are positioned in a triangular configuration, making the track 200 triangular.

[0071] In these embodiments, the drive wheel 420 and the two guide wheels 120 are arranged in a triangular configuration. This structure offers advantages, particularly for miniaturized robots that require high stability and operational precision.

[0072] In this configuration, the drive wheel 420 is located on top, while the two guide wheels 120 are located on the lower sides. This creates a stable triangular structure. Due to the positional relationship between the drive wheel 420 and the guide wheels 120, the track 200 will exhibit a roughly triangular outline when it passes around these three wheels.

[0073] A triangle is a very stable geometric shape with good resistance to deformation. By arranging the drive wheel 420 and guide wheel 120 in a triangular layout, the stability of the entire track 200 system can be improved, especially on uneven or complex terrain.

[0074] This layout helps optimize the robot's center of gravity distribution, bringing it closer to the ground, thereby reducing the risk of tipping over and improving its grip and climbing ability on slopes.

[0075] The drive wheel 420 is located on top, which means that the speed and direction of the track 200 can be better controlled, enabling the robot to execute commands more precisely. At the same time, the support roller 320 can flexibly adjust its position under different terrain conditions to ensure optimal grounding performance.

[0076] Compared to traditional rectangular or straight configurations, triangular configurations may reduce excessive stretching or compression in certain parts of track 200, thereby reducing wear and extending the service life of track 200.

[0077] For small robots, the triangular configuration allows designers to integrate the necessary mechanical components in a smaller space while maintaining the overall miniaturization. This configuration is particularly suitable for robots that need to work in confined spaces or complex environments.

[0078] like Figure 1 As shown, in some embodiments, the drive wheel 420 is located above the area between the two guide wheels 120.

[0079] In these embodiments, in this configuration, the drive wheel 420 is not located at the very top of the entire track 200 system, but rather in the area above the two guide wheels 120. This means that, viewed from the side, the drive wheel 420 is in a relatively low position, but still above the ground contact section 210 (i.e., the portion of the track 200 that contacts the ground).

[0080] As the position of the drive wheel 420 is relatively low, the overall center of gravity of the robot is also lowered, which helps to improve its stability on various terrains, especially when the robot needs to climb slopes or traverse uneven terrain.

[0081] This layout allows designers to arrange all the necessary mechanical components in a more compact space, making the entire track 200 system more compact and suitable for application in environments with limited space.

[0082] And by placing the drive wheel 420 between the two guide wheels 120, the driving force can be more evenly distributed on the track 200, thereby improving traction and grip, ensuring smooth movement of the robot under different terrain conditions.

[0083] As shown in Figure 1 and Figure 2 In some embodiments, the guide wheel set 100 further comprises an adjusting member 500, the wheel shaft of the guide wheel 120 is rotationally connected with the adjusting member 500, and the main wheel frame 110 has at least two mounting portions 111. The adjusting member 500 can be detachably connected with different mounting portions 111, so that the spacing between the two guide wheels 120 can be adjusted.

[0084] In these embodiments, the adjusting member 500 is introduced into the design of the guide wheel set 100, so that the spacing between the two guide wheels 120 can be adjusted. This feature provides greater flexibility for the adaptability and maintenance of the track 200 system.

[0085] The adjusting member 500 is a component for adjusting the position of the guide wheel 120, which is rotationally connected with the wheel shaft of the guide wheel 120, allowing the guide wheel 120 to rotate around its axis. The main wheel frame 110 is provided with at least two mounting portions 111, which can be holes or other forms of fixing points, and these mounting portions 111 are connection points prepared for the adjusting member 500. The adjusting member 500 can be detachably connected with different mounting portions 111, which means that users or technicians can choose different mounting positions to change the spacing of the guide wheels 120 according to needs.

[0086] Obviously, by adjusting the distance between the guide wheels 120, different widths of the track 200 can be adapted, increasing the application range and compatibility of the track assembly 10. Moreover, adjusting the distance between the guide wheels 120 can help precisely control the tension of the track 200, ensuring that the track 200 neither slips due to being too loose nor increases wear or affects driving efficiency due to being too tight. In addition, appropriate distance between the guide wheels 120 helps optimize the contact area of the track 200 with the ground, thereby improving the traction and stability of the robot, especially in complex terrain conditions. For example, on flat roads, by reducing the distance between a pair of guide wheels 120, an appropriate track 200 can be replaced to reduce the length of the track 200, thereby reducing energy consumption. On poor road sections, the distance between a pair of guide wheels 120 can be increased, and an appropriate track 200 can be replaced to increase the length of the track 200, accordingly, increasing the contact area of the track 200 with the road and increasing stability.

[0087] Furthermore, when maintenance or replacement of the track 200 or the guide wheels 120 is required, the parts 111 can be more easily disassembled and installed by adjusting the distance between the guide wheels 120, simplifying the maintenance process.

[0088] For example, in the present embodiment, the number of mounting parts 111 is three. Of course, in other embodiments, the number of mounting parts 111 can also be two, four, five, six, etc.

[0089] As shown in FIG. 1, in some embodiments, the main wheel frame 110 is provided with a limiting slot 112, and at least two mounting parts 111 are sequentially arranged along a predetermined direction. The limiting slot 112 is arranged along the predetermined direction, and the wheel shaft of the guide wheel 120 is rotatably arranged in the limiting slot 112. Figure 2

[0090] In these embodiments, the main wheel frame 110 is configured with a specific structure to achieve flexible adjustment of the distance between the guide wheels 120 while ensuring the stability and reliability of the system. Specifically, the main wheel frame 110 is provided with a limiting slot 112 and at least two mounting parts 111 sequentially arranged along a predetermined direction.

[0091] The main wheel frame 110 is provided with a limiting slot 112 extending along a predetermined direction. The function of this limiting slot 112 is to provide a fixed movement path for the wheel shaft of the guide wheel 120, ensuring that it can only slide or adjust position in the predetermined direction, usually horizontally. On one side or both sides of the limiting slot 112, at least two mounting parts 111 are sequentially arranged according to the predetermined direction. These mounting parts 111 can be holes, grooves or other forms of fixing points, used to connect with the adjusting part 500 to fix the position of the guide wheel 120. The wheel shaft of the guide wheel 120 is rotatably arranged in the limiting slot 112, which means that the wheel shaft can freely rotate within the limiting slot 112, but its transverse movement is restricted by the limiting slot 112.​

[0092] By connecting the adjusting member 500 with different mounting portions 111, the distance between the guide wheels 120 can be precisely controlled to adapt to different widths of the track 200 or optimize the tension of the track 200. Moreover, the presence of the limiting grooves 112 ensures that the guide wheels 120 will not be unnecessarily deviated laterally, and can provide support for the guide wheels 120, improving the stability and reliability of the entire track 200 system. Furthermore, the technician only needs to insert the wheel shaft into the limiting groove 112 and select the appropriate mounting portion 111 for fixation to complete the adjustment work, which is simple and quick to operate.

[0093] As shown in Figure 2 some embodiments, the preset direction is perpendicular to the axis of the pair of guide wheels 120.

[0094] In these embodiments, the limiting grooves 112 and the mounting portions 111 on the main wheel frame 110 are arranged along a preset direction, which is perpendicular to the axis of the pair of guide wheels 120. This means that when the adjusting member 500 is connected with different mounting portions 111, the guide wheels 120 can move in a direction parallel to the ground, but will not change the direction of their axis. The limiting grooves 112 extend in a direction perpendicular to the axis of the guide wheels 120, ensuring that the guide wheels 120 can only move laterally in this direction. These mounting portions 111 are also arranged in a direction perpendicular to the axis of the guide wheels 120, allowing the technician to adjust the distance between the guide wheels 120 by selecting different mounting portions 111.

[0095] The wheel shaft of the guide wheel 120 is rotatably arranged in the limiting groove 112, maintaining its rotational freedom while limiting the lateral movement path, ensuring that the movement only occurs in the preset direction.

[0096] Obviously, since the adjustment direction is strictly perpendicular to the axis of the guide wheels 120, very precise distance adjustment can be achieved, avoiding any unnecessary angular deviation or inclination, ensuring the consistency of the tension of the track 200.

[0097] In some embodiments, the wheel shaft of the guide wheel 120 is sleeved with a rotating bearing, and the rotating bearing is arranged in the limiting groove 112.

[0098] In these embodiments, this configuration further optimizes the performance of the track 200 system, improving the rotational efficiency of the guide wheels 120 and the overall stability of the system.

[0099] The wheel axle of the guide wheel 120 is externally fitted with a rotating bearing. A rotating bearing is a mechanical component designed to reduce friction between rotating parts, providing smoother rotational motion. The rotating bearing is directly fitted into the limiting groove 112 on the main wheel frame 110. This means that the rotating bearing is responsible not only for the rotation of the wheel axle, but also for the lateral support of the guide wheel 120 when it moves along the limiting groove 112.

[0100] Obviously, the rotating bearing significantly reduces the friction between the wheel axle and the limiting groove 112, allowing the guide wheel 120 to rotate more smoothly, reducing energy loss and improving driving efficiency. The precise rotational support provided by the rotating bearing ensures that the guide wheel 120 maintains high accuracy during rotation, avoiding deviations or vibrations caused by friction or wear, thereby improving the smooth operation of the entire track 200 system.

[0101] Moreover, by using a rotating bearing, direct contact and wear between the wheel axle and the limiting groove 112 can be effectively reduced, prolonging the service life of the components and reducing maintenance frequency. In addition, when adjusting the distance between the guide wheels 120, the presence of the rotating bearing allows the wheel axle to slide more easily within the limiting groove 112, and technicians only need to move the rotating bearing to the desired position along the limiting groove 112 and secure it, making the operation simple and quick.

[0102] For example, some types of rotating bearings, such as ball bearings, can also absorb part of the vibration, helping to reduce the amount of vibration transmitted to the robot body.

[0103] As shown in Figure 1 In some embodiments, the idler wheels 320 and the guide wheels 120 have the same size specifications.

[0104] In these embodiments, the idler wheels 320 and the guide wheels 120 adopt the same size specifications, including diameter, width, and other key parameters. This means that they have similar structural and functional characteristics. Due to the consistent size, the idler wheels 320 and the guide wheels 120 can be interchanged when necessary, simplifying inventory management and maintenance work. Using idler wheels 320 and guide wheels 120 of the same size can simplify the design process of the robot, reduce the need for different specifications of parts, and thus reduce manufacturing costs and complexity.

[0105] The unified size allows the idler wheels 320 and the guide wheels 120 to be used interchangeably, which not only facilitates on-site repair and technical support, but also reduces the number of different spare parts that need to be carried, improving maintenance efficiency.

[0106] Furthermore, the same size of the idler wheels 320 and the guide wheels 120 helps to ensure that the track 200 receives uniform pressure distribution throughout its operation, avoiding local excessive wear or stress concentration caused by size differences, thereby improving the durability and reliability of the overall system.

[0107] As Figure 3 shown, in some embodiments, the present application also provides a tracked chassis 20, which comprises a chassis body 600 and a tracked assembly 10 as in any of the above embodiments, the tracked assembly 10 being arranged on the chassis body 600.

[0108] In these embodiments, the present application also provides a tracked chassis 20, which comprises a chassis body 600 and a tracked assembly 10 as in any of the above embodiments, the tracked assembly 10 being arranged on the chassis body 600. This integration of the optimized tracked system 200 with the chassis structure provides higher stability and operational precision for small tracked robots.

[0109] The chassis body 600 is the basic framework of the entire robot, carrying all other components such as the power system, control system, sensors, etc. It is usually made of strong and lightweight materials to ensure strength while reducing overall weight.

[0110] According to the design in the above embodiments, the tracked assembly 10 contains key components such as the guide wheel set 100, the supporting wheel set 300, the drive wheel 420, and the rotating bearing, and these components have been optimized to improve performance and adaptability. The tracked assembly 10 is firmly mounted on the chassis body 600, ensuring a tight connection throughout the entire operation, avoiding loosening or displacement, thereby ensuring the reliability and stability of the system.

[0111] Obviously, by adopting the optimized tracked assembly 10, the tracked chassis 20 can significantly improve the stability and operational precision of the robot on the basis of miniaturization, making it more adaptable to complex and variable environments. The adjustable spacing design of the guide wheels 120 allows the robot to quickly adjust its configuration according to different task requirements, enhancing its flexibility and adaptability. Moreover, the miniaturization of the tracked assembly 10 makes the entire tracked chassis 20 more compact, helping to reduce volume and weight while not affecting functionality and performance.

[0112] As Figure 4 shown, in some embodiments, the tracked chassis 20 further comprises at least one auxiliary support assembly 700, the auxiliary support assembly 700 being arranged on the chassis body 600, the auxiliary support assembly 700 comprising a support member 730 and a driving member, the driving member and the support member 730 being connected, the driving member being used to drive the support member 730 away from or close to the ground; wherein the front end and / or the rear end of the chassis body 600 is provided with the auxiliary support assembly 700.

[0113] In these embodiments, this design further enhances the functionality and adaptability of the tracked chassis 20, especially in situations where the robot's posture needs to be adjusted or the stability of a specific operation needs to be improved.

[0114] The support 730 is the part that directly contacts the ground and is used to provide additional support force, which can be a simple foot, a wheel, or other forms of support structure.

[0115] The drive is connected to the support 730 and is responsible for driving the support 730 away from or close to the ground. The drive can be an electric motor, a hydraulic cylinder, a pneumatic cylinder, or other types of actuators, depending on the application requirements and design choices.

[0116] The auxiliary support assembly 700 can be installed at the front and / or rear end of the chassis body 600, depending on the actual application scenario requirements to determine the specific installation location. For example, when climbing a slope, it may be more inclined to install the auxiliary support assembly 700 at the rear end to increase the traction; while performing fine operations, it is set at the front end to stabilize the head part of the robot. In particular, the spray gun of the spraying robot is set at the front end of the tracked chassis 20.

[0117] Obviously, when working on uneven or inclined ground, the auxiliary support assembly 700 can help maintain the horizontal posture of the robot and prevent it from overturning, which is particularly important when performing high-precision tasks. And when encountering obstacles or needing to cross large gaps, the auxiliary support assembly 700 can help the robot pass through complex terrain more easily by lifting the chassis body 600. By adjusting the height of the auxiliary support assembly 700, the center of gravity of the robot can be dynamically adjusted to better suit the current operating environment or task requirements.

[0118] For example, in some cases, such as when the robot needs to stay in a fixed position and perform specific tasks such as shooting, spraying, detection, etc., the auxiliary support assembly 700 can ensure that the robot is more stable, thereby improving the accuracy of the operation.

[0119] In a non-working state, the auxiliary support assembly 700 can slightly lift the chassis body 600 off the ground, reducing the wear and tear of the tracked 200 and other bottom components, and prolonging the service life.

[0120] As shown in FIGS. Figure 4 and Figure 5 In some embodiments, the drive includes a parallelogram linkage 720, an adapter 740, and an extension 710. The parallelogram linkage 720 has a fixed link 723, a drive link 721, and a driven link 724, the fixed link 723 being connected to the chassis body 600; one end of the adapter 740 is connected to the driven link 724, and the other end of the adapter 740 is hinged to the support 730; the extension 710 has a fixed end and an extension end, the extension end being hinged to the drive link 721, and the fixed end being hinged to the chassis body 600, the extension end being capable of performing an extension and retraction action, so that the drive link 721 can swing.

[0121] In these embodiments, the driving member adopts a complex mechanical structure, including a parallelogram linkage 720, an adapter 740, and an extension section 710. This design not only improves the functionality and reliability of the auxiliary support assembly 700, but also provides the robot with more precise ground contact control capabilities.

[0122] The parallelogram linkage 720 has a driving link 721, a fixed link 723, a driven link 724, and an intermediate link. Among them, the fixed link 723 serves as the foundation of the entire mechanism, is usually fixed on the device body and does not participate in relative motion, and is the connection basis of other links. Exemplarily, the fixed link 723 is integrally arranged with the chassis body 600.

[0123] The driving link 721 is driven by an external power source (such as a hydraulic cylinder, a motor, etc.), drives the entire mechanism to move, is directly connected with the power source, and is responsible for transmitting power to other links.

[0124] The driven link 724 moves following the movement of the driving link 721, is usually connected to a working component (such as a support 730 lifting, etc.) that needs to perform a specific task, is directly connected with the working component, and realizes the expected mechanical action.

[0125] The intermediate link connects the driving link 721 and the driven link 724, ensures that the relative movement between them conforms to the parallelogram rule, has no direct power input or output, and mainly plays a role in connecting and transmitting motion.

[0126] As can be easily understood, the fixed link 723 is connected with the chassis body 600, one end is hinged with the driving link 721, and the other end is hinged with one end of the driven link 724. The other end of the driving link 721 is hinged with one end of the parallelogram link 722, and the other end of the parallelogram link 722 is hinged with the other end of the driven link 724.

[0127] The driving link 721 is hinged with the extension end of the extension section 710, and swings through the extension action. The driven link 724 is opposite to the fixed link 723, is connected with the support 730 through the adapter 740, and is responsible for transmitting the movement of the driving link 721 to the support 730. One end of the adapter 740 is connected with the driven link 724, and the other end is hinged with the support 730. The adapter 740 ensures that the support 730 can perform corresponding lifting action according to the swing of the driving link 721, and maintains appropriate posture.

[0128] The extension section 710 includes a fixed end and an extension end, wherein the fixed end is hinged with the chassis body 600, and the extension end is hinged with the driving link 721. The extension section 710 can perform extension action, so that the driving link 721 can swing, and in turn drive the movement of the entire parallelogram linkage 720.

[0129] When the telescopic part 710 performs the telescopic action (e.g. elongation or shortening), the driving link 721 can be driven to swing around the hinge point with the fixed link 723. The swing of the driving link 721 will affect the position of the driven link 724 through the parallelogram linkage 720. Since the driven link 724 is connected with the adapter 740, and the adapter 740 is hinged with the support 730, the support 730 will move away from or approach the ground with the movement of the driven link 724. The design of the parallelogram linkage 720 ensures that the support 730 maintains a posture parallel to the ground during the entire movement, avoiding tilting or distortion, ensuring the stability and reliability of the support.

[0130] As shown in Figure 4 and Figure 5 , in some embodiments, the application also provides a robot, which comprises the tracked chassis 20 as in any of the above embodiments.

[0131] In these embodiments, by integrating these optimally designed tracked chassis 20 components, the robot can significantly improve its stability and operation precision while maintaining miniaturization, and adapt to various complex working environments.

[0132] The robot adopts all the optimally designed tracked chassis 20 described above, and the entire robot design is compact, ensuring miniaturization without sacrificing functionality and performance. The tracked chassis 20 and other key components adopt a modular design, facilitating maintenance and upgrading, and also allowing quick configuration adjustment according to specific task requirements.

[0133] By using the optimally designed tracked system 200, the robot can significantly improve its stability and operation precision while maintaining miniaturization, making it suitable for performing high-precision tasks. The optimized design of the tracked system 200 enables the robot to better adapt to various complex terrains, such as climbing slopes and crossing obstacles, improving the success rate of task completion. The introduction of the auxiliary support assembly 700 enhances the stability and posture control ability of the robot, especially suitable for tasks that require long-term stay at a fixed position or perform delicate operations.

[0134] As shown in Figure 4 and Figure 5 , in some embodiments, the robot also comprises a spraying assembly, which is arranged on the chassis body 600, and the spraying assembly comprises a position adjusting member 800 and a spray gun. The position adjusting member 800 is arranged on the chassis body 600, and the position adjusting member 800 and the spray gun are connected. The position adjusting member 800 can at least adjust the position and spraying direction of the spray gun.

[0135] In these embodiments, the robot can perform mobile tasks and precise spraying operations, suitable for various applications that require automated spraying, replacing manual spraying and allowing workers to be outside the spraying environment, thereby protecting the health of workers.

[0136] The position adjustment member 800 is arranged on the chassis body 600, ensuring its close integration with the overall structure of the robot. The position adjustment member 800 is responsible for connecting and controlling the position and spraying direction of the spray gun, usually including a mechanical arm, joint or other forms of motion mechanism, capable of achieving multi-degree-of-freedom adjustment.

[0137] The spray gun is connected to the chassis body 600 through the position adjustment member 800, ensuring that the spray gun can work at different positions and angles. The spray gun can be equipped with an electronic control system to adjust parameters such as spraying volume, spraying mode (such as point spraying, line spraying, and surface spraying) to meet different spraying needs.

[0138] The position adjustment member 800 can at least adjust the spatial position of the spray gun, allowing it to reach different parts of the target surface. The position adjustment member 800 can also adjust the spraying direction of the spray gun to ensure that the spraying angle meets the requirements, improving the uniformity and coverage of the spraying effect.

[0139] It is worth emphasizing that automated spraying reduces manual intervention, improves work efficiency, and can operate in dangerous or hard-to-reach places, reducing labor costs and risks. This configuration allows the robot to configure different types of spray guns, such as paint spray guns, anticorrosive coating spray guns, and pesticide spraying spray guns, according to specific application scenarios, expanding the application range.

[0140] As shown in Figure 4 and Figure 5 , in some embodiments, the position adjustment member 800 includes a multi-axis mechanical arm 810 and a linear motion module 820. The linear motion module 820 is arranged on the chassis body 600, and the linear motion module 820 and the multi-axis mechanical arm 810 are connected. The linear motion module 820 is used to drive the multi-axis mechanical arm 810 to move up and down. The end of the multi-axis mechanical arm 810 is connected to the spray gun. The multi-axis mechanical arm 810 has multiple working positions on its movement path. Among any two adjacent working positions, the higher working position is closer to the middle of the tracked chassis 20.

[0141] In these embodiments, the position adjustment member 800 includes a multi-axis mechanical arm 810 and a linear motion module 820. This configuration allows the spray gun to achieve complex spatial motion and can be precisely adjusted to multiple working positions as needed.

[0142] The linear motion module 820 is mounted on the chassis body 600, serving as the vertical movement drive component of the entire spraying system. The linear motion module 820 drives the multi-axis robotic arm 810 to perform lifting and lowering movements, ensuring the spray gun can operate at different heights. The multi-axis robotic arm 810 is connected to the linear motion module 820, achieving vertical movement through the drive of the linear motion module 820. The multi-axis robotic arm 810 has multiple rotary joints or axes, allowing free adjustment of the spray gun's position and angle in the horizontal plane, enabling complex three-dimensional movements.

[0143] The multi-axis robotic arm 810 has multiple preset working positions along its movement path, which are pre-set according to task requirements. Of any two adjacent working positions, the higher one is closer to the center of the tracked chassis 20. This means that as the height increases, the spray gun gradually moves towards the center of the robot to adapt to different spraying needs and maintain the optimal operating posture, effectively preventing tipping.

[0144] For example, the position adjustment component 800 is disposed at the front end of the chassis body 600.

[0145] For example, the multi-axis robotic arm 810 can be a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm, a six-axis robotic arm, or a seven-axis robotic arm, etc.

[0146] Clearly, the combination of the linear motion module 820 and the multi-axis robotic arm 810 provides extremely high spatial flexibility, allowing the spray gun to reach almost any desired position and angle, adapting to complex shapes or large-area spraying tasks. Automated spraying reduces human intervention, improves work efficiency, and can operate in dangerous or hard-to-reach locations, reducing labor costs and risks.

[0147] like Figure 4 and Figure 5 As shown, in some embodiments, the spraying assembly includes a material storage unit 900 and a pumping unit. The material storage unit 900 is disposed on the chassis body 600 and has a material storage cavity and a material outlet. The material outlet is connected to the material storage cavity. The pumping unit has a liquid inlet and a liquid outlet. The liquid outlet is connected to the liquid inlet and the liquid outlet is connected to the inlet of the spray gun. The pumping unit is used to pump the material in the material storage cavity to the spray gun.

[0148] In these embodiments, the spraying assembly includes not only a position adjustment unit 800 and a spray gun, but also a material storage unit 900 and a pumping unit. This design ensures automation of the entire process from material storage to spraying, and allows for precise control of the spraying process.

[0149] The storage part 900 is arranged on the chassis body 600, ensuring its close integration with the overall structure of the robot. The storage part 900 has a storage cavity for storing the material to be sprayed (such as paint, coating, pesticide, etc.), and a discharge port communicating with the storage cavity as a channel for material output.

[0150] The pumping and draining part has a liquid inlet and a liquid outlet, wherein the liquid inlet communicates with the discharge port of the storage part 900, and the liquid outlet communicates with the inlet of the spray gun. The pumping and draining part is responsible for pumping the material in the storage cavity to the spray gun through the pipeline. It usually contains a pump or other forms of conveying device, which can adjust the flow and pressure of the material as needed.

[0151] Material flow path: the material flows from the storage cavity through the discharge port into the liquid inlet of the pumping and draining part, and then is sent to the inlet of the spray gun through the liquid outlet of the pumping and draining part, and finally is sprayed out through the spray gun.

[0152] Obviously, integrating the storage part 900 and the pumping and draining part on the chassis body 600 reduces the need for external connections and improves the compactness and reliability of the system. The pumping and draining part can stably deliver the material from the storage cavity to the spray gun, ensuring continuous and uniform supply of material during spraying and avoiding problems caused by insufficient or excessive supply. Through the electronic control system, the working parameters (such as flow and pressure) of the pumping and draining part can be accurately adjusted, thereby achieving precise control of the spraying amount and spraying mode. This design allows the robot to be configured with different combinations of storage parts 900 and pumping and draining parts to adapt to various types of material spraying needs, such as liquid coating, powder coating, pesticide, etc.

[0153] As shown in FIG. 1, Figure 4 In some embodiments, the robot further includes a controller and a remote controller 1000, the remote controller 1000 is electrically connected with the controller, and the controller is electrically connected with the tracked chassis 20 and the spraying assembly respectively.

[0154] In these embodiments, the robot not only includes the aforementioned tracked chassis 20 and spraying assembly, but also integrates the controller and remote controller 1000. This design allows the robot to perform complex movement and spraying tasks through remote control, greatly improving the flexibility and applicability of operation.

[0155] The controller is the core control unit of the robot, responsible for receiving instructions from the remote controller 1000 and converting them into specific action commands, which are sent to the tracked chassis 20 and the spraying assembly respectively. The controller is electrically connected with the tracked chassis 20, the spraying assembly (including the storage part 900, the pumping and draining part, the position adjusting part 800, and the spray gun), ensuring that it can monitor and control the status and operation of each component in real time.

[0156] The remote controller 1000 serves as a human-machine interface, allowing the operator to send instructions to the controller via wireless or wired means, enabling remote control of the robot. The remote controller 1000 establishes an electrical connection with the controller, typically a wireless communication protocol such as Wi-Fi, Bluetooth, or a dedicated radio frequency, ensuring the safety and stability of instruction transmission.

[0157] The controller not only manages the movement and steering of the tracked chassis 20, but also controls various functions of the spraying assembly, such as material delivery, spray gun position adjustment, and spray parameter settings. Through the remote controller 1000, the operator can control the robot to perform tasks from a safe distance, especially suitable for dangerous environments. The controller can adjust the speed and direction of the tracked chassis 20 and various parameters of the spraying assembly according to pre-set programs or real-time feedback, ensuring high-quality operation results.

[0158] The operator can select different working modes or configurations through the remote controller 1000 to adapt to different task requirements, such as fast movement, fine spraying, etc. The controller can integrate sensor data such as cameras, distance sensors, etc., providing real-time feedback to the operator, helping them better understand the status of the robot and the surrounding environment.

[0159] In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as limiting, and thus other examples of the example embodiments can have different values.

[0160] It should be noted that like reference numerals and letters refer to like items in the several views of the drawings, and as such once an item is defined in one view, it is not necessary to further define and explain it in a subsequent view.

[0161] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but it should not be understood as limiting the scope of the present application. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application.

Claims

1. A track assembly characterized by, The track assembly comprises: a track; a guide wheel set, the guide wheel set comprising a main wheel frame and two guide wheels, the two guide wheels being rotatably arranged on the main wheel frame, the track being sleeved on the two guide wheels, and a part of the track between the lower sides of all the guide wheels being a ground contact section; at least one supporting wheel set, the supporting wheel set comprising an auxiliary wheel frame and two supporting wheels, the two supporting wheels being rotatably arranged on the auxiliary wheel frame, the two supporting wheels being located between the two guide wheels, the track being further sleeved on the two supporting wheels, and the wheel surface of the supporting wheel and the ground contact section being in abutment, the auxiliary wheel frame and the main wheel frame being hingedly connected and being formed with a rotation axis, the rotation axis and the axis of the supporting wheel being arranged in parallel.

2. The track assembly of claim 1, wherein, The track assembly further comprises a power wheel set, the power wheel set being arranged on the main wheel frame, the power wheel set comprising a driving wheel and a power member, the driving wheel and the power member both being located above the guide wheels, the track being sleeved on the driving wheel, the power member and the driving wheel being connected, and the power member being used for driving the driving wheel to rotate.

3. The track assembly of claim 2, wherein, The positions of the driving wheel and the two guide wheels are in a triangular configuration, so that the track is in a triangular shape.

4. The track assembly of claim 3, wherein, The driving wheel is located above the region between the two guide wheels.

5. The track assembly of claim 1, wherein, The guide wheel set further comprises an adjusting member, the wheel shaft of the guide wheel and the adjusting member being rotatably connected, the main wheel frame having at least two mounting portions, the adjusting member being capable of being detachably connected with different mounting portions, so that the distance between the two guide wheels can be adjusted.

6. The track assembly of claim 5, wherein, The main wheel frame is provided with a limiting groove, the at least two mounting portions being arranged in sequence along a preset direction, the limiting groove being arranged in extension along the preset direction, and the wheel shaft of the guide wheel being rotatably penetrated in the limiting groove.

7. The track assembly of claim 6, wherein, The preset direction is perpendicular to the axes of a pair of guide wheels.

8. The track assembly of claim 6, wherein, The wheel shaft of the guide wheel is sleeved with a rotating bearing, the rotating bearing being penetrated in the limiting groove.

9. The track assembly of claim 1, wherein, The supporting wheel and the guide wheel are of the same size.

10. A tracked undercarriage characterised in that, The track chassis comprises a chassis main body and the track assembly as claimed in any one of claims 1 to 9, the track assembly being arranged on the chassis main body.

11. The track undercarriage of claim 10, wherein, The track chassis further comprises at least one auxiliary supporting assembly, the auxiliary supporting assembly being arranged on the chassis main body, the auxiliary supporting assembly comprising a supporting member and a driving member, the driving member and the supporting member being connected, and the driving member being used for driving the supporting member to move away from or close to the ground. The front end and / or the rear end of the chassis main body is provided with the auxiliary supporting assembly.

12. The track undercarriage of claim 11, wherein, The driving member comprises: a parallelogram linkage mechanism, the parallelogram linkage mechanism having a fixed linkage, a driving linkage and a driven linkage, the fixed linkage and the chassis main body being connected; an adapter, one end of the adapter and the driven linkage being connected, and the other end of the adapter and the supporting member being hingedly connected; a telescopic part, the telescopic part having a fixed end and a telescopic end, the telescopic end and the driving linkage being hingedly connected, and the fixed end and the chassis main body being hingedly connected, the telescopic end being capable of performing a telescopic action, so that the driving linkage can swing.

13. A robot, characterized in that The robot comprises the tracked chassis as claimed in any one of claims 10 to 12.

14. The robot of claim 13, wherein, The robot further comprises a spraying assembly arranged on the chassis body, the spraying assembly comprising a position adjusting member arranged on the chassis body and a spray gun connected with the position adjusting member, the position adjusting member being capable of adjusting at least the position and the spraying direction of the spray gun.

15. The robot of claim 14, wherein, The position adjusting member comprises a multi-axis robot arm and a linear movement module arranged on the chassis body and connected with the multi-axis robot arm, the linear movement module being used to drive the multi-axis robot arm to move up and down, an execution end of the multi-axis robot arm being connected with the spray gun, the multi-axis robot arm having a plurality of working positions on a movement path thereof, any two adjacent working positions being closer to the middle of the tracked chassis in the higher working position.

16. The robot of claim 14, wherein, The spraying assembly comprises a storage member arranged on the chassis body and having a storage cavity and a discharge port in communication with the storage cavity, and a pumping member having a liquid inlet port and a liquid outlet port in communication with the discharge port and the liquid inlet port, the liquid outlet port being in communication with an inlet of the spray gun, the pumping member being used to pump the material in the storage cavity to the spray gun.

17. The robot of claim 14, wherein, The robot further comprises a controller and a remote controller, the remote controller being electrically connected with the controller, the controller being electrically connected with the tracked chassis and the spraying assembly respectively.

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