Crawler drive and track arrangement

Abstract

This utility model discloses a tracked transmission mechanism and a walking device, relating to the field of tracked device technology. The tracked transmission mechanism includes a track, an integrated bracket, and a drive wheel assembly. The integrated bracket has two arms. The drive wheel assembly includes a driving wheel, a driven wheel, and a driven shaft. The track is wrapped around the outer periphery of the driving wheel and the driven wheel, and the driven wheel is sleeved on the driven shaft. The two ends of the driven shaft are movably inserted through the integrated bracket, and the driven wheel is located between the two arms.

Description

Technical Field

[0001] This utility model relates to the field of tracked device technology, and in particular to a tracked transmission mechanism and a walking device. Background Technology

[0002] In existing tracked walking devices, the driven wheel system generally adopts a split bracket structure, that is, the driven shaft, bearing seat, tensioning mechanism and other components are independently installed on the chassis or side plate of the vehicle body, and then fixed by bolts, welding or riveting.

[0003] The split-type support requires multiple positioning and tightening operations. The concentricity between the driven shaft, driven wheel, and track depends on on-site commissioning experience, resulting in large cumulative errors. After a period of operation, vibration and impact can cause the driven wheel fixing parts to loosen, leading to slight displacement of the shaft system, resulting in "uneven wear," abnormal wear on the track edge and wheel rim, and shortened lifespan. Utility Model Content

[0004] The main purpose of this utility model is to propose a tracked transmission mechanism and a walking device, which aims to solve the technical problems of numerous parts, complex assembly, and poor operational stability in the walking device in related technologies.

[0005] To achieve the above objectives, the present invention proposes a tracked transmission mechanism, which includes a track and further includes: An integrated bracket having two arms; A drive wheel assembly includes a drive wheel, a driven wheel, and a driven shaft. The track is wound around the outer periphery of the drive wheel and the driven wheel, and the driven wheel is sleeved on the driven shaft. The two ends of the driven shaft are movably inserted through the integrated bracket, and the driven wheel is located between the two support arms.

[0006] In one embodiment, each of the support arms is provided with a sliding groove, and the two ends of the driven shaft are respectively slidably limited in the two sliding grooves and can be fixed when moved to any position relative to the two sliding grooves.

[0007] In one embodiment, the integrated bracket includes an integrally formed first connecting section, a second connecting section, and a third connecting section. The drive wheel is connected to the first connecting section, and the third connecting section forms two support arms. The first connecting section and the third connecting section are arranged in a staggered parallel configuration, and the first connecting section and the second connecting section are arranged at an angle.

[0008] In one embodiment, the connection between the two arms is provided with an arc-shaped transition; Alternatively, the second connecting segment may have reinforcing ribs formed along its extension direction.

[0009] In one embodiment, the tracked transmission mechanism further includes two driven wheel fixing members, each of which connects the driven wheel to the driven shaft and is movably disposed in the slide groove of each of the support arms.

[0010] In one embodiment, the tracked transmission mechanism further includes two tension bolts, which are respectively disposed on opposite sides of the integrated bracket and are respectively connected to one end of a driven wheel fixing member.

[0011] In one embodiment, the tracked transmission mechanism further includes two first fasteners, each of which connects a driven wheel fixing member to one end of the driven shaft; Alternatively, the tracked transmission mechanism may further include two second fasteners, each of which connects a tensioning bolt to one of the support arms.

[0012] In one embodiment, a limiting groove is provided at one end of each driven wheel fixing member, and the tensioning bolt is movably limited within the limiting groove.

[0013] In one embodiment, a bearing is respectively fitted at each of the opposite ends of the driven wheel, the driven shaft passes through the two bearings, the inner ring of each bearing is connected to the driven shaft, the outer ring of each bearing is connected to the hub of the driven wheel, and the driven shaft is provided with two limiting shoulders, each of the limiting shoulders being used to axially limit one of the bearings.

[0014] This utility model also proposes a walking device, the walking device comprising: Walking subject; Two tracked transmission mechanisms as described above are respectively located on opposite sides of the walking body.

[0015] The tracked transmission mechanism provided by this utility model, through its integrated bracket and drive wheel assembly structure, solves the problems of numerous parts, complex assembly, and poor operational stability in existing tracked transmission mechanisms. Specifically, the integrated bracket design makes the entire transmission mechanism more compact, reducing the number of parts and connection points, thereby lowering assembly difficulty and cost. Simultaneously, the integrated bracket provides better structural strength and stability, making the transmission mechanism more stable and reliable during operation. The driven shaft's two ends pass through and are fixed to the integrated bracket. This fixing method ensures the stability of the driven shaft during operation, preventing it from shifting or wobbling under load, thus improving the overall operational accuracy and reliability of the transmission mechanism. The driven wheel is fitted onto the driven shaft. This structure makes the connection between the driven wheel and the driven shaft tighter, effectively transmitting power, and also facilitates the installation and disassembly of the driven wheel, simplifying maintenance and replacement. Through optimized structural design, the tracked transmission mechanism of this utility model not only simplifies the assembly process and reduces production costs but also improves the operational stability and reliability of the transmission mechanism, demonstrating significant practical value and economic benefits. Attached Figure Description

[0016] 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.

[0017] Figure 1 A schematic diagram of the tracked transmission mechanism provided by this utility model from one perspective; Figure 2 A structural schematic diagram of the tracked transmission mechanism provided by this utility model from another perspective; Figure 3 A schematic diagram of the structure of the integrated bracket provided by this utility model; Figure 4 A schematic diagram of the inner side of the integrated bracket provided by this utility model; Figure 5 An exploded view of the tracked transmission mechanism provided by this utility model.

[0018] Explanation of icon numbers: 100. Tracked transmission mechanism; 1. Integrated bracket; 11. Support arm; 12. Slide groove; 13. First connecting section; 14. Second connecting section; 15. Third connecting section; 2. Drive wheel assembly; 21. Driven wheel; 22. Driven shaft; 221. First fastener; 23. Drive wheel; 3. Tensioning bolt; 31. Second fastener; 4. Driven wheel fixing component; 5. Bearing; 6. Track.

[0019] 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

[0020] 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 scope of protection of the present utility model.

[0021] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0022] 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 where both A and B are satisfied simultaneously. 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.

[0023] This utility model proposes a tracked transmission mechanism 100.

[0024] Please see Figure 1 and Figure 2In one embodiment of the present invention, the tracked transmission mechanism 100 includes a track 6, an integrated bracket 1, and a drive wheel assembly 2. The integrated bracket 1 has two arms 11. The drive wheel assembly 2 includes a drive wheel 23, a driven wheel 21, and a driven shaft 22. The track 6 is wound around the outer periphery of the drive wheel 23 and the driven wheel 21. The driven wheel 21 is sleeved on the driven shaft 22. The two ends of the driven shaft 22 are movably inserted through the integrated bracket 1, and the driven wheel 21 is located between the two arms 11.

[0025] In this embodiment, the tracked transmission mechanism 100 can be applied to tracked walking devices, tracked all-terrain vehicles, and other application scenarios. Combined with... Figure 5 The integrated bracket 1 provides support for the drive wheel assembly 2, ensuring its stability and reliability during operation. Two arms 11 are spaced apart, with the gap between them forming a movable groove for the drive wheel 23 of the drive wheel assembly 2 to move. The drive wheel assembly 2 transmits power and typically includes a drive wheel 23, a driven wheel 21, and a track 6. The drive wheel 23 is the power source for the tracked transmission mechanism 100; its rotation drives the driven wheel 21 via the track 6, thus achieving the movement of the entire mechanism. The driven wheel 21 is connected to the drive wheel 23 via the track 6, and the driven shaft 22 provides stable support for it. The two ends of the integrated bracket 1 are connected to the drive wheel 23 and the driven wheel 21, respectively. It should be noted that all other structures of the integrated bracket 1 are integrated with the bracket body as a single die-cast part, effectively improving the rigidity of the track frame and reducing the number of parts. The connection between the driven shaft 22 and the integrated bracket 1 includes, but is not limited to, the connection with the bearing 5, welding, riveting, etc. Alternatively, the integrated bracket 1 may have a through hole with a diameter slightly larger than that of the driven shaft 22, through which both ends of the driven shaft 22 pass directly. A small gap is maintained between the hole wall and the driven shaft 22 to form a sliding fit.

[0026] The tracked transmission mechanism 100 provided by this utility model, through its integrated bracket 1 and drive wheel assembly 2 structure, solves the problems of numerous parts, complex assembly, and poor operational stability in existing tracked transmission mechanisms 100. Specifically, the integrated bracket 1 design makes the entire transmission mechanism more compact, reducing the number of parts and connection points, thereby reducing assembly difficulty and cost. Simultaneously, the integrated bracket 1 provides better structural strength and stability, making the transmission mechanism more stable and reliable during operation. Both ends of the driven shaft 22 pass through and are fixed to the integrated bracket 1. This fixing method ensures the stability of the driven shaft 22 during operation, preventing it from shifting or shaking under load, thus improving the overall operational accuracy and reliability of the transmission mechanism. The driven wheel 21 is fitted onto the driven shaft 22. This structure makes the connection between the driven wheel 21 and the driven shaft 22 tighter, effectively transmitting power, and also facilitates the installation and disassembly of the driven wheel 21, making maintenance and replacement easier. The tracked transmission mechanism 100 of this utility model, through optimized structural design, not only simplifies the assembly process and reduces production costs, but also improves the operational stability and reliability of the transmission mechanism, and has significant practical value and economic benefits.

[0027] In one embodiment of this utility model, each support arm 11 is provided with a sliding groove 12, and the two ends of the driven shaft 22 are respectively slidably limited in the two sliding grooves 12, and can be fixed when moved to any position relative to the two sliding grooves 12.

[0028] In this embodiment, combined with Figure 2 and Figure 4 The slide groove 12 provides a channel for the driven shaft 22 to be installed and moved. When the driven shaft 22 is fixed to the outer wall of the slide groove 12, the driven wheel 21 is confined within the space formed by the two arms 11 and can only rotate around the axis of the driven shaft 22. In one embodiment, the driven shaft 22 and the slide groove 12 can be connected by bolts, with external threads machined at both ends of the driven shaft 22 and corresponding threaded holes provided on the outer wall of the slide groove 12. During installation, the driven shaft 22 is passed through the slide groove 12, and bolts are used to tighten and fix the driven shaft 22 to the outer wall of the slide groove 12. In another embodiment, the driven shaft 22 and the slide groove 12 can also be connected by a pin, with pin holes machined at both ends of the driven shaft 22 and a pin mounting seat provided on the outer wall of the slide groove 12. During installation, the driven shaft 22 is passed through the slide groove 12, and then the pin is inserted into the pin hole of the driven shaft 22 and the pin mounting seat on the outer wall of the slide groove 12 to fix the driven shaft 22 to the outer wall of the slide groove 12. The pin can be axially positioned using a cotter pin or other methods to prevent the pin from falling off. Neither of these methods is limited here.

[0029] In one embodiment of the present invention, the integrated bracket 1 includes an integrally formed first connecting section 13, a second connecting section 14 and a third connecting section 15. The drive wheel 23 is connected to the first connecting section 13. The third connecting section 15 has two arms 11. The first connecting section 13 and the third connecting section 15 are arranged in a staggered parallel manner. The first connecting section 13 and the second connecting section 14 are arranged at an angle.

[0030] In this embodiment, combined with Figure 3 To further optimize the integrated support frame 1, it includes an integrally formed first connecting section 13, a second connecting section 14, and a third connecting section 15. The first connecting section 13 and the third connecting section 15 are staggered and parallel, creating a lateral offset to provide independent installation space for the drive wheel 23 and the driven wheel 21, avoiding mechanical interference during movement. The first connecting section 13 and the second connecting section 14 are angled, forming a non-linear rigid frame. When the track is subjected to ground reaction force or operational resistance, the force can be transmitted in two directions through the angled structure, preventing overload at a single connection point. The angle is typically between 90° and 150°. This arrangement disperses the load, reduces stress concentration, and improves the support's bending and torsional resistance; it also increases structural rigidity, making it less prone to deformation under heavy loads. The third connecting section 15 consists of two spaced-apart support arms 11, each connected to the second connecting section 14. Figure 2 The drive wheel 23 and the first connecting section 13 of the integrated bracket 1 can be connected by bolts, welding, keying, interference fit, etc., which is not limited here. The first connecting section 13 has a connecting hole for the hub of the drive wheel 23 to connect to. Figure 2 With the drive wheel 23 and driven wheel 21 on the same horizontal plane, the meshing between the track and the drive wheel 23 and driven wheel 21 is tighter and more stable, thus effectively transmitting power. This allows the track to maintain stable tension and running trajectory during transmission, reducing track bounce and deviation, thereby ensuring smooth transmission and improving the working efficiency and service life of the equipment.

[0031] In one embodiment of this utility model, the connection between the two arms 11 is provided with an arc-shaped transition. Alternatively, the second connecting segment 14 may have reinforcing ribs formed along its extension direction.

[0032] In this embodiment, combined with Figure 3To reduce stress concentration, the connection between the two arms 11 is designed with an arc-shaped transition, which avoids sharp right angles or acute angles at the connection point, thereby reducing stress concentration. During the operation of the tracked transmission mechanism 100, the driven wheel 21 moves within the movable groove and exerts a force on the groove wall. The arc-shaped transition allows these forces to be distributed more evenly on the groove wall, reducing the risk of cracks or damage at the connection point and improving the service life of the integrated support 1.

[0033] Combination Figure 3 To improve structural strength and stability, the second connecting section 14 is provided with reinforcing ribs along its extension direction. These ribs enhance the rigidity of the second connecting section 14, making it less prone to deformation and breakage under load, thereby improving the overall structural strength and stability of the tracked transmission mechanism 100. The reinforcing ribs can be integrally formed in the second connecting section 14 using processes such as die forming, forging, or casting.

[0034] In one embodiment of the present invention, the tracked transmission mechanism 100 further includes two driven wheel fixing members 4, each driven wheel fixing member 4 connecting the driven wheel 21 and the driven shaft 22, and is movably disposed in the slide groove 12 of each support arm 11.

[0035] In this embodiment, combined with Figure 4 It should be noted that a gap is left between the driven wheel fixing part 4 and the support arm 11 to ensure that the driven shaft 22 slides smoothly within the slide groove 12. Figure 2 To enhance tension stability, the driven shaft 22 is securely connected to the integrated bracket 1 via the driven wheel fixing member 4. Simultaneously, it cooperates with the tensioning bolt 3 to effectively prevent the tensioning bolt 3 from loosening, ensuring stable track tension and avoiding problems such as track 6 slippage due to loosening of the tensioning bolt 3, thus improving the reliability of the tracked transmission mechanism 100. It is understood that, in one embodiment, the driven wheel fixing member 4 can be a connecting plate with a threaded hole, and the shaft end of the driven wheel also has external threads. The driven wheel fixing member 4 is connected to the shaft end of the driven wheel 21 by bolts or pins. In another embodiment, the driven wheel fixing member 4 has a pin hole, and the shaft end of the driven wheel 21 also has a corresponding pin hole. The driven wheel fixing member 4 is connected to the driven wheel 21 by a pin. One end of the driven wheel fixing member 4 has a long groove, through which the end of the tensioning bolt 3 passes and is fixed by a nut. No limitation is made here.

[0036] In one embodiment of the present invention, the tracked transmission mechanism 100 further includes two tension bolts 3, which are respectively disposed on opposite sides of the integrated bracket 1, and are respectively connected to one end of a driven wheel fixing member 4.

[0037] In this embodiment, combined with Figure 2To adjust the track tension, two tensioning bolts 3 are respectively installed on both sides of the integrated bracket 1. The tensioning bolts 3 are connected to the driven wheel fixing member 4 via threaded connections. When the tensioning bolts 3 are tightened, the axial force of the tensioning bolts 3 is transmitted to the driven wheel fixing member 4 through the threads, causing the driven wheel fixing member 4 to displace on the integrated bracket 1, thereby driving the driven wheel 21 to move and changing the track tension. Since the tensioning bolts 3 are symmetrically arranged on both sides, the driven wheel 21 can be kept balanced during movement, avoiding tilting or deviation, and ensuring the uniformity and stability of the track tension. In one embodiment, the driven wheel fixing member 4 is provided with threaded holes, and the tensioning bolts 3 are directly screwed into the threaded holes of the driven wheel fixing member 4. The integrated bracket 1 has through holes for the tensioning bolts 3 to pass through, and the tensioning bolts 3 are connected to the driven wheel fixing member 4 after passing through the through holes. By tightening the tensioning bolts 3, they push the driven wheel fixing member 4 to move, thereby achieving track tension. In another embodiment, an intermediate connecting member, such as a connecting block or a connecting rod, can be provided between the tensioning bolt 3 and the driven wheel fixing member 4. The tensioning bolt 3 is threadedly connected to the intermediate connecting member, and the intermediate connecting member is then connected to the driven wheel fixing member 4 by means of a pin, bolt, or other means.

[0038] In one embodiment of the present invention, the tracked transmission mechanism 100 further includes two first fasteners 221, each of which connects a driven wheel fixing member 4 to one end of the driven shaft 22. Alternatively, the tracked transmission mechanism 100 may further include two second fasteners 31, each of which is connected to a tensioning bolt 3 and one of the support arms 11.

[0039] In this embodiment, combined with Figure 2 It should be noted that the type of the first fastener 221 includes, but is not limited to, bolts, nuts, pins, keys, etc., and is not limited here.

[0040] Combination Figure 2 It should be noted that the type of the second fastener 31 includes, but is not limited to, bolts, screws, etc., and is not limited here.

[0041] Specifically, during the tensioning process, by tightening the tensioning bolts 3 from the outside of the two arms 11 of the integrated bracket 1 in the tightening direction, the driven shaft 22 can be moved away from the drive wheel 23, thus achieving track tensioning. When the tension reaches the preset position, the hole reserved in the driven wheel fixing part 4 will align with the threaded hole of the integrated bracket 1. At this time, the second fastener 31 (such as the tension fixing bolt) can be installed to ensure the stability of the tension. Even if the tensioning bolt 3 loosens, it will not affect the operation.

[0042] In one embodiment of this utility model, a limiting groove is provided at one end of each driven wheel fixing member 4, and the tensioning bolt 3 is movably limited within the limiting groove.

[0043] In this embodiment, combined with Figure 2 To further prevent the tension bolt 3 from loosening, the limiting groove acts as a guide and limiter for the tension bolt 3, effectively preventing it from rotating and moving axially during operation, thus preventing loosening, ensuring stable track tension, and improving the reliability of the track drive mechanism. It is understood that the shape and dimensions of the limiting groove are adapted to the shape of the tension bolt 3. For example, if a rectangular limiting groove is provided at one end of the driven wheel fixing member 4, and the tension bolt 3 is a flat-head bolt with a head size matching the rectangular limiting groove, the bolt head can be embedded in the limiting groove. Alternatively, if the limiting groove is circular, the tension bolt 3 can be a round-head bolt with a head diameter slightly larger than the diameter of the limiting groove; however, this is not a limitation.

[0044] In one embodiment of this utility model, a bearing 5 is respectively fitted at the opposite ends of the driven wheel 21, and the driven shaft 22 passes through the two bearings 5. The inner ring of each bearing 5 is connected to the driven shaft 22, and the outer ring of each bearing 5 is connected to the hub of the driven wheel 21. The driven shaft 22 is provided with two limiting shoulders, and each limiting shoulder is used to axially limit one bearing 5.

[0045] In this embodiment, combined with Figure 2 and Figure 4 To reduce friction and wear, bearings 5 ​​are fitted at both ends of the driven wheel 21, changing the friction between the driven wheel 21 and the driven shaft 22 from sliding friction to rolling friction, thereby reducing the frictional torque. The limiting shoulder is stepped, providing a fixed axial support surface for the bearing 5, limiting the axial displacement of the bearing 5, and thus fixing the position of the driven wheel 21. Each bearing 5 corresponds to one limiting shoulder. It can be understood that the types of bearings 5 ​​include, but are not limited to, deep groove ball bearings 5 ​​and tapered roller bearings 5. The bearing 5 is axially positioned by an interference fit between its inner ring and the driven shaft 22, and an interference fit or clearance fit between its outer ring and the inner bore of the driven wheel 21's hub. The driven shaft 22 is then mounted in the grooves 12 of the two arms 11 of the integrated bracket 1 via the bearing 5, using the limiting shoulder to axially position the bearing 5.

[0046] This utility model also proposes a walking device, which includes a walking body and two tracked transmission mechanisms 100 as described above. The specific structure of the tracked transmission mechanism 100 is as described in the above embodiments. Since this walking device 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 two tracked transmission mechanisms 100 are respectively located on opposite sides of the walking body.

[0047] In this embodiment, it is understood that the walking device is actually a tracked walking device, the type of which includes, but is not limited to, a weeding tracked walking device, a snow removal tracked walking device, etc., and the walking body can be a leaf-blowing robot, a snow removal robot, or a lawnmower robot, etc., which will not be elaborated here. The tracked transmission mechanisms 100 on both sides enable the walking body to maintain balance during travel. Even on uneven or sloping ground, the device can maintain stable movement and prevent tipping by adjusting the speed and power distribution of the tracks on both sides. The tracked transmission mechanisms 100 on both sides work independently, but are coordinated through a control system. The power source (such as a motor) provides power to the transmission mechanisms on both sides, driving the tracks to rotate. Friction is generated between the tracks and the ground, propelling the walking body forward or backward. It is understood that the two tracked transmission mechanisms 100 are symmetrically arranged on both sides of the walking body. The symmetrical arrangement of the tracked transmission mechanisms 100 enables the walking body to maintain a good balance during travel. Whether on flat ground or rugged terrain, the tracks on both sides can evenly distribute the weight of the main body and various forces generated during travel, reducing the risk of rollover.

[0048] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A tracked transmission mechanism, comprising a track, characterized in that, Also includes: An integrated bracket having two arms; A drive wheel assembly includes a drive wheel, a driven wheel, and a driven shaft. The track is wound around the outer periphery of the drive wheel and the driven wheel, and the driven wheel is sleeved on the driven shaft. The two ends of the driven shaft are movably inserted through the integrated bracket, and the driven wheel is located between the two support arms.

2. The tracked transmission mechanism as described in claim 1, characterized in that, Each of the support arms is provided with a sliding groove, and the two ends of the driven shaft are respectively slidably limited in the two sliding grooves, and can be fixed when moved to any position relative to the two sliding grooves.

3. The tracked transmission mechanism as described in claim 1, characterized in that, The integrated bracket includes an integrally formed first connecting section, a second connecting section, and a third connecting section. The drive wheel is connected to the first connecting section, and the third connecting section forms two support arms. The first connecting section and the third connecting section are arranged in a staggered parallel configuration, and the first connecting section and the second connecting section are arranged at an angle.

4. The tracked transmission mechanism as described in claim 3, characterized in that, The connection between the two arms is designed with an arc-shaped transition. Alternatively, the second connecting segment may have reinforcing ribs formed along its extension direction.

5. The tracked transmission mechanism as described in any one of claims 1 to 4, characterized in that, It also includes two driven wheel fixing members, each of which connects the driven wheel to the driven shaft and is movably disposed in the slide groove of each of the support arms.

6. The tracked transmission mechanism as described in claim 5, characterized in that, It also includes two tension bolts, which are respectively located on opposite sides of the integrated bracket and are respectively connected to one end of the driven wheel fixing member.

7. The tracked transmission mechanism as described in claim 6, characterized in that, It also includes two first fasteners, each of which connects a driven wheel fixing member to one end of the driven shaft; Alternatively, the tracked transmission mechanism may further include two second fasteners, each of which connects a tensioning bolt to one of the support arms.

8. The tracked transmission mechanism as described in claim 6, characterized in that, Each of the driven wheel fixing members has a limiting groove at one end, and the tensioning bolt is movably limited within the limiting groove.

9. The tracked transmission mechanism as described in any one of claims 1 to 4, characterized in that, A bearing is fitted at each of the opposite ends of the driven wheel. The driven shaft passes through the two bearings. The inner ring of each bearing is connected to the driven shaft, and the outer ring of each bearing is connected to the hub of the driven wheel. The driven shaft is provided with two limiting shoulders, each of which is used to axially limit one of the bearings.

10. A walking device, characterized in that, The walking device includes: Walking subject; Two tracked drive mechanisms as described in any one of claims 1 to 9, wherein the two tracked drive mechanisms are respectively disposed on opposite sides of the walking body.

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