A semi tracked tractor walking device has been developed to address the issues of poor climbing ability and low efficiency of wheeled tractors in hilly areas during field operations. The device is mainly composed of walking brackets, reduction mechanisms, track drive wheels, guide wheels, several supporting wheels, rubber shoes, and tensioning wheel mechanisms. It has good adaptability to mountainous areas with certain slopes and is not easy to slip. Field driving performance tests have shown that the relative error between the linear speed of the tractor's front wheel and the linear speed of the track drive wheels is controlled, which meets the performance requirements of power machinery in field operations. The successful development of this tracked walking device is of great significance for promoting the development of agricultural mechanization in hilly and mountainous areas