A small-wheel-supported robotic arm and tracked platform

Abstract

The utility model discloses a kind of end small wheel supporting type mechanical arm and tracked driving platform, belong to mechanical arm technical field.The mechanical arm includes: mechanical arm base, joint arm and small wheel auxiliary support module;The joint arm is sequentially connected by rotating joint, first pitch joint, intermediate section, second pitch joint and end section;The rotating joint is arranged in the upper end surface of the mechanical arm base, relative the mechanical arm base rotates;The end section is equipped with at least one mechanical installation interface, one of which is used to install small wheel auxiliary support module to make the small wheel auxiliary support module move with joint arm;The small wheel auxiliary support module includes: support rod, small wheel and wheel shaft;One end of the support rod is machined with outwardly extending mounting base for connecting the joint arm, the other end is provided with recess;The small wheel is installed in the recess;The wheel shaft is sequentially fixed after passing through recess side, small wheel inner ring and recess other side.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, and in particular relates to an end-wheel-supported robotic arm and a tracked travel platform. Background Technology

[0002] Traditional robotic arms typically consist of multiple joints and an end effector module, usually a gripper. In practical applications, the robotic arm is mounted on a tracked platform to perform grasping tasks. During this task, the tracked platform's primary function is to transport the robotic arm to the task location, while the robotic arm's primary function is to complete the grasping task. Functionally, the robotic arm and the tracked platform are independent, with no functional connection between them. As a complete system for executing tasks, the collaborative and integrated design capabilities between the tracked platform and the robotic arm are insufficient. Furthermore, mounting the robotic arm on the tracked platform increases the overall center of gravity of the system, increasing the risk of rollover when the tracked platform is at an angle of elevation during obstacle crossing, thus limiting its obstacle-crossing and other maneuverability. Utility Model Content

[0003] To solve the above-mentioned technical problems, this utility model provides an end-wheel-supported robotic arm and a tracked driving platform. The robotic arm retains multi-degree-of-freedom joints and conventional functions, and an auxiliary support module for small wheels is added to the end of the robotic arm. The linkage between the auxiliary support module for small wheels and the tracked driving platform greatly improves the overall mobility of the unmanned platform system.

[0004] The first aspect of this utility model provides a robotic arm supported by an end effector wheel, the robotic arm comprising: a robotic arm base, an articulated arm, and an auxiliary support module for the end effector wheel;

[0005] The articulated arm is composed of a rotational joint, a first pitch joint, an intermediate section, a second pitch joint, and a distal section connected in sequence.

[0006] The rotary joint is disposed on the upper end face of the robotic arm base and rotates relative to the robotic arm base; the end section is provided with at least one mechanical mounting interface, one of which is used to install a small wheel auxiliary support module so that the small wheel auxiliary support module moves together with the joint arm;

[0007] The small wheel auxiliary support module includes: a support rod, a small wheel, and a wheel axle;

[0008] One end of the support rod is machined with an outwardly extending mounting base for connecting the articulated arm, and the other end is provided with a groove; the small wheel is installed in the groove; the wheel axle passes through one side of the groove, the inner ring of the small wheel and the other side of the groove in sequence and is then fixed so that the small wheel can rotate continuously around the wheel axle.

[0009] According to the end-wheel-supported robotic arm of the first aspect of the utility model, the wheel auxiliary support module further includes: a bearing and a retaining ring;

[0010] The bearings are of two types, and are coaxially mounted on the two side end faces of the small wheel respectively; the wheel axle passes through one side of the groove, the left bearing, the inner ring of the small wheel, the right bearing and the other side of the groove in sequence and is then fixed with a retaining ring.

[0011] According to the end-wheel-supported robotic arm described in the first aspect of the utility model, the mounting base is provided with mounting holes around its perimeter, and screws are used to detachably fix the mounting base to the mechanical mounting interface through the mounting holes.

[0012] According to the end-wheel-supported robotic arm described in the first aspect of the utility model, there are multiple mechanical mounting interfaces, and the remaining mechanical mounting interfaces are used to mount functional modules.

[0013] According to the first aspect of the utility model, in the end-wheel-supported robotic arm, one of the mechanical mounting interfaces is used to mount a gripper functional module.

[0014] The hand claw module has a wrist joint in the middle for rotating the hand claw end of the hand claw module backward toward the direction of the second pitch joint.

[0015] According to the first aspect of the utility model, in the end-wheel-supported robotic arm, the distance between the wrist joint and the second pitch joint is less than the distance between the wheel and the second pitch joint, so that the wheel is located at the foremost end of the robotic arm.

[0016] According to the first aspect of the utility model, in the end-wheel-supported robotic arm, one of the mechanical mounting interfaces is used for a reconnaissance and detection function module. The distance between the end of the reconnaissance and detection function module and the second pitch joint is less than the distance between the wheel and the second pitch joint, so that the wheel is located at the foremost end of the robotic arm.

[0017] According to the first aspect of the utility model, the end-wheel-supported robotic arm has at least one electrical connection interface at the end section for realizing the electrical connection and functional debugging of functional modules.

[0018] The second aspect of this utility model provides a tracked driving platform, which includes: the aforementioned end wheel-supported robotic arm and chassis body;

[0019] The robotic arm is mounted on the upper surface of the chassis body via a robotic arm base.

[0020] According to the tracked driving platform described in the second aspect of this utility model, the tracked driving platform further includes: a main track module and a swing arm track module; wherein, the main track module includes two sets of main tracks, left and right, and the swing arm track module includes two sets of swing arm tracks, left and right.

[0021] With the longitudinal centerline of the chassis body as the axis of symmetry, two sets of left and right main tracks are symmetrically installed on both sides of the chassis body, and two sets of left and right swing arm tracks are symmetrically installed on the front end of the outer side of the two sets of main tracks.

[0022] The solution proposed in this utility model has the following technical effects:

[0023] (1) This utility model provides an end-wheel-supported robotic arm. While retaining multiple joint degrees of freedom and functional modules of the traditional robotic arm, a small wheel auxiliary support module is added to the end of the robotic arm. The small wheel auxiliary support module is linked with the tracked driving platform to greatly improve the overall mobility of the unmanned platform system. The jointed robotic arm has three joint degrees of freedom, including a rotation joint, a first pitch joint and a second pitch joint. Through joint movement, the small wheel auxiliary support module can be located in front of, behind or to the side of the tracked driving platform, so as to better play the auxiliary support role of the small wheel auxiliary support module.

[0024] (2) The robotic arm of this utility model has multiple mechanical installation interfaces. In practical applications, the design and installation of the support wheel structure module does not affect the function of the functional modules carried by the robotic arm. That is, after the auxiliary support module of the small wheel is installed at the end of the robotic arm, the mechanical and electrical interfaces for the installation of conventional functional modules such as mechanical claws are still retained. For example, a mechanical claw can be added to perform the grasping function, and a reconnaissance module can be added to perform the target reconnaissance function.

[0025] (3) This utility model provides a tracked driving platform equipped with the aforementioned end wheel support robotic arm. By adjusting the posture of the robotic arm, the end wheel contacts the ground to provide support. In conjunction with the movement of the tracked driving platform, the system's mobility can be effectively improved in complex terrain environments such as vertical obstacles and ditches. The end wheel can rotate continuously around the wheel axle. In application scenarios such as overcoming obstacles, the end wheel is in a ground-supporting state. During the process of overcoming obstacles, the end wheel auxiliary support module rotates synchronously with the movement of the tracked driving platform while the end wheel is in contact with the ground. This can greatly reduce frictional resistance, reduce the force on the robotic arm, and improve the reliability of the robotic arm.

[0026] (4) The small wheel auxiliary support module of this utility model has little impact on the overall weight and volume of the unmanned platform system after being added to the end of the robotic arm. Moreover, the structural components of the added small wheel auxiliary support module are made of general materials and standard parts, and have little impact on the system cost. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of an end-wheel-supported robotic arm (equipped with a gripper module) in one embodiment of the present invention.

[0029] Figure 2 for Figure 1 A schematic diagram of the auxiliary support module for small and medium-sized wheels.

[0030] Figure 3 This is a schematic diagram of a tracked driving platform with an end-wheel-supported robotic arm, according to another embodiment of the present invention.

[0031] Figure 4 This is a schematic diagram of an obstacle crossing of a tracked driving platform equipped with an end-wheel-supported robotic arm, according to another embodiment of the present invention.

[0032] Figure 5(a) is a schematic diagram of the tracked platform in Comparative Example 1 crossing a ditch without the end-wheel support robotic arm installed.

[0033] Figure 5(b) is a schematic diagram of a tracked platform with an end-wheel-supported robotic arm (equipped with a reconnaissance and detection module) crossing a ditch in another embodiment of the present invention.

[0034] Among them, 1-chassis body, 2-main track module, 3-swing arm track module, 4-robotic arm, 41-robotic arm base, 42-articular arm, 421-rotation joint, 422-first pitch joint, 423-second pitch joint, 424-mechanical mounting interface, 425-electrical connection interface, 5-small wheel auxiliary support module, 51-support rod, 52-small wheel, 53-wheel axle, 55-clamp ring, 6-gripper function module, 61-wrist joint. Detailed Implementation

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

[0036] Example 1

[0037] One embodiment of this utility model proposes a robotic arm supported by an end effector wheel, such as... Figure 1 and Figure 2 As shown. The robotic arm includes: a robotic arm base 41, an articulated arm 42, and a small wheel auxiliary support module 5.

[0038] The articulated arm 42 is composed of a rotational joint 421, a first pitch joint 422, an intermediate section, a second pitch joint 422, and a distal section connected in sequence.

[0039] The rotary joint 421 is disposed on the upper end face of the robotic arm base 41 and rotates relative to the robotic arm base 41; the end section is provided with at least one mechanical mounting interface 424, one of which is used to mount the small wheel auxiliary support module 5 so that the small wheel auxiliary support module 5 moves together with the joint arm 42.

[0040] like Figure 2 As shown, the small wheel auxiliary support module 5 includes: support rod 51, small wheel 52 and wheel axle 53.

[0041] One end of the support rod 51 is machined with an outwardly extending mounting base for connecting the articulated arm 42, and the other end is provided with a groove; the small wheel 52 is installed in the groove; the wheel axle 53 passes through one side of the groove, the inner ring of the small wheel 52 and the other side of the groove in sequence and is then fixed so that the small wheel 52 can rotate continuously around the wheel axle 53.

[0042] The articulated arm 42 in this embodiment has three degrees of freedom: a rotational joint 421, a first pitch joint 422, and a second pitch joint 422. This allows the small wheel auxiliary support module of the robotic arm to be positioned in any area of ​​the carrier (such as a tracked platform). When the carrier is maneuvering over complex road conditions such as vertical obstacles, the movement of the main track module of the carrier and the rotation of the swing arm track module, combined with the joint movement of the robotic arm, drives the small wheel auxiliary support module to support the carrier in a suitable position, thus enabling the unmanned platform system containing the carrier to successfully overcome obstacles.

[0043] In some embodiments, the small wheel auxiliary support module 5 further includes: bearings and retaining rings 55; the number of bearings is two, which are coaxially installed on the two side end faces of the small wheel 52 respectively; the wheel axle 53 passes through one side of the groove, the left bearing, the inner ring of the small wheel 52, the right bearing and the other side of the groove in sequence and is then fixed by retaining rings 55.

[0044] In some embodiments, mounting holes are machined around the mounting base, and screws are used to detachably fix the mounting base to the mechanical mounting interface 424 through the mounting holes.

[0045] In some embodiments, there are multiple mechanical mounting interfaces 424, and the remaining mechanical mounting interfaces 424 are used to mount functional modules. The small wheel auxiliary support module 5 does not affect the installation of other functional modules and the realization of their corresponding functions.

[0046] In some embodiments, one of the mechanical mounting interfaces 424 is used to mount the gripper function module 6;

[0047] The hand claw function module 6 has a wrist joint 61 in the middle for rotating the hand claw end of the hand claw function module 6 backward toward the direction of the second pitch joint 422.

[0048] In some embodiments, the distance between the wrist joint 61 and the second pitch joint 422 is less than the distance between the pinion 52 and the second pitch joint 422, so that the pinion 52 is at the foremost point of the robotic arm, and the gripper function module 6 does not affect the auxiliary support function of the pinion auxiliary support module 5, such as... Figure 4 The state shown.

[0049] Preferably, when the gripper module 6 is extended, the distance between the gripper tip of the gripper module 6 and the second pitch joint 422 is greater than the distance between the small wheel 52 and the second pitch joint 422, so that the gripper tip of the gripper module 6 is at the foremost point of the robotic arm, and the small wheel auxiliary support module 5 does not affect the gripping function of the gripper module 6. Figure 1 The state shown.

[0050] When the gripper module needs to be in working condition, the gripper module 6 is extended via the wrist joint 61. When the small wheel auxiliary support module 5 needs to be in working condition, the gripper end of the gripper module 6 is rotated backward via the wrist joint 61 to fold the gripper module 6.

[0051] In some embodiments, one of the mechanical mounting interfaces 424 is used for a reconnaissance and detection function module. The distance between the end of the reconnaissance and detection function module and the second pitch joint 422 is less than the distance between the small wheel 52 and the second pitch joint 422, so that the small wheel 52 is at the foremost end of the robotic arm. The reconnaissance and detection function module does not affect the auxiliary support function of the small wheel auxiliary support module 5, as shown in Figure 5.

[0052] In some embodiments, the terminal segment is provided with at least one electrical connection interface 425 for realizing electrical connection and functional debugging of functional modules.

[0053] Example 2

[0054] Another embodiment of this utility model proposes a tracked driving platform, such as... Figure 3As shown. The tracked travel platform includes: the aforementioned end-wheel-supported robotic arm and chassis body 1; the robotic arm is mounted on the upper surface of the chassis body 1 via a robotic arm base 41.

[0055] In some embodiments, the tracked driving platform further includes: a main track module 2 and a swing arm track module 3; wherein, the main track module 2 includes two sets of main tracks, left and right, and the swing arm track module 3 includes two sets of swing arm tracks, left and right.

[0056] With the longitudinal centerline of the chassis body 1 as the axis of symmetry, two sets of left and right main tracks are symmetrically installed on both sides of the chassis body 1, and two sets of left and right swing arm tracks are symmetrically installed on the front end of the outer side of the two sets of main tracks.

[0057] After the robotic arm 4 is installed on the tracked platform, the movement of the rotary joint and two pitch joints of the robotic arm 4 allows the small wheel auxiliary support module 5 to be positioned in any area of ​​the tracked platform, in front, behind, left, or right. When maneuvering over complex road conditions such as vertical obstacles, the movement of the main track module of the tracked platform, the rotation of the swing arm track module, and the movement of the robotic arm joints drive the support of the small wheel auxiliary support module, enabling the unmanned platform system to smoothly overcome obstacles.

[0058] The specific process of an obstacle-crossing platform in this embodiment is as follows:

[0059] The process involves controlling the joints of robotic arm 4 to move the small wheels 52 of the auxiliary support module 5 to contact the upper surface of the obstacle; controlling the first pitch joint 422 of robotic arm 4 to move downwards, causing the front end of the tracked platform to lift off the ground and move upwards until the front end of the swing arm track module 3 exceeds the edge of the obstacle in the vertical direction; controlling the tracked platform to move towards the obstacle until the front end of the swing arm track module 3 contacts the edge line of the upper surface of the obstacle; controlling the joints of robotic arm 4 to move the small wheels 52 of the auxiliary support module 5 to contact the ground at the rear end of the tracked platform; controlling the tracked platform to move forward, with the small wheels 52 of the auxiliary support module 5 moving accordingly, until the center of gravity of the tracked platform crosses the edge line of the upper surface of the obstacle; and controlling the joints of robotic arm 4 to retract robotic arm 4, completing the obstacle climbing action. A similar operation can be used to leave the obstacle.

[0060] Comparative Example 1

[0061] Comparative Example 1 provides a tracked driving platform, which is based on Example 2 except that the small wheel auxiliary support module 5 is removed, while the other structures remain unchanged.

[0062] like Figure 4As shown, when traversing obstacles, the tracked platform can first cross the edge of the obstacle's upper surface. Without the small wheel auxiliary support module 5 (comparative example 1), the maximum obstacle-crossing height is determined by the tracked platform's center of gravity and the height at which the swing arm track module can touch the obstacle's edge, which is 180mm. With the small wheel auxiliary support module 5 applied (example 2), the support provided by the end wheels of the module assists the tracked platform in successfully traversing higher obstacles. The overall obstacle-crossing height of the tracked platform in example 2 can reach 370mm, more than doubling.

[0063] As shown in Figure 5(a), when the small wheel auxiliary support module 5 is not installed, in order to ensure that the tracked travel platform can cross the ditch smoothly (without falling into the ditch), the swing arm track needs to touch the opposite edge of the ditch before the center of gravity of the tracked travel platform exceeds the edge of the ditch. At this time, the width of the ditch is 400mm. As shown in Figure 5(b), after installing the small wheel auxiliary support module, before the center of gravity of the tracked platform exceeds the edge of the trench, the robotic arm extends forward to make the small wheel 52 contact the opposite plane of the trench. At this time, the tracked platform continues to move forward, and the small wheel 52 rolls forward on the ground. When the center of gravity of the tracked platform is within the trench range and the swing arm track has not yet touched the opposite edge of the trench, the small wheel 52 acts as a fulcrum for the tracked platform, allowing the swing arm track module of the tracked platform to smoothly touch the opposite plane of the trench. Then, it continues to move forward. Before the rear main track module of the tracked platform leaves the edge of the trench, the joints of the robotic arm 4 are controlled to rotate the small wheel auxiliary support module 5 to the rear of the tracked platform, and the small wheel 52 contacts the ground to provide support. The tracked platform is then controlled to move forward. After the center of gravity of the tracked platform crosses the opposite edge of the trench, the robotic arm 4 is controlled to retract, realizing the crossing of a wider trench, with a trench width of up to 600mm. It can be seen that using the small wheel 52 as a fulcrum can increase the trench crossing width by more than 50%.

[0064] The above applications demonstrate that, in addition to fulfilling the functions of traditional robotic arms such as carrying grippers and reconnaissance modules, the end-effector-supported robotic arm of this invention expands the application range of the robotic arm through coordinated cooperation with the tracked driving platform it is mounted on. At the same time, it provides an application approach for the integrated design capability of unmanned systems using tracked driving platforms.

[0065] In summary, the solution proposed in this utility model has the following technical effects:

[0066] (1) This utility model provides an end-wheel-supported robotic arm. While retaining multiple joint degrees of freedom and functional modules of the traditional robotic arm, a small wheel auxiliary support module is added to the end of the robotic arm. The small wheel auxiliary support module is linked with the tracked driving platform to greatly improve the overall mobility of the unmanned platform system. The jointed robotic arm has three joint degrees of freedom, including a rotation joint, a first pitch joint and a second pitch joint. Through joint movement, the small wheel auxiliary support module can be located in front of, behind or to the side of the tracked driving platform, so as to better play the auxiliary support role of the small wheel auxiliary support module.

[0067] (2) The robotic arm of this utility model has multiple mechanical installation interfaces. In practical applications, the design and installation of the support wheel structure module does not affect the function of the functional modules carried by the robotic arm. That is, after the auxiliary support module of the small wheel is installed at the end of the robotic arm, the mechanical and electrical interfaces for the installation of conventional functional modules such as mechanical claws are still retained. For example, a mechanical claw can be added to perform the grasping function, and a reconnaissance module can be added to perform the target reconnaissance function.

[0068] (3) This utility model provides a tracked driving platform equipped with the aforementioned end wheel support robotic arm. By adjusting the posture of the robotic arm, the end wheel contacts the ground to provide support. In conjunction with the movement of the tracked driving platform, the system's mobility can be effectively improved in complex terrain environments such as vertical obstacles and ditches. The end wheel can rotate continuously around the wheel axle. In application scenarios such as overcoming obstacles, the end wheel is in a ground-supporting state. During the process of overcoming obstacles, the end wheel auxiliary support module rotates synchronously with the movement of the tracked driving platform while the end wheel is in contact with the ground. This can greatly reduce frictional resistance, reduce the force on the robotic arm, and improve the reliability of the robotic arm.

[0069] (4) The small wheel auxiliary support module of this utility model has little impact on the overall weight and volume of the unmanned platform system after being added to the end of the robotic arm. Moreover, the structural components of the added small wheel auxiliary support module are made of general materials and standard parts, and have little impact on the system cost.

[0070] In the description of this utility model, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of simplifying the description of this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0071] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A small-wheel supported end effector, characterized by, The robotic arm includes: a robotic arm base, an articulated arm, and a small wheel auxiliary support module; The articulated arm is composed of a rotational joint, a first pitch joint, an intermediate section, a second pitch joint, and a distal section connected in sequence. The rotary joint is disposed on the upper end face of the robotic arm base and rotates relative to the robotic arm base; the end section is provided with at least one mechanical mounting interface, one of which is used to install a small wheel auxiliary support module so that the small wheel auxiliary support module moves together with the joint arm; The small wheel auxiliary support module includes: a support rod, a small wheel, and a wheel axle; One end of the support rod is machined with an outwardly extending mounting base for connecting the articulated arm, and the other end is provided with a groove; the small wheel is installed in the groove; the wheel axle passes through one side of the groove, the inner ring of the small wheel and the other side of the groove in sequence and is then fixed so that the small wheel can rotate continuously around the wheel axle.

2. The end-castor supported robotic arm of claim 1, wherein, The auxiliary support module for the small wheel also includes: a bearing and a retaining ring; The bearings are two in number and are coaxially mounted on the two side ends of the small wheel respectively; the wheel axle passes through one side of the groove, the left bearing, the inner ring of the small wheel, the right bearing and the other side of the groove in sequence and is then fixed with a retaining ring.

3. The end-castor supported robotic arm of claim 1, wherein, The mounting base is machined with mounting holes around its perimeter. Screws are used to pass through the mounting holes to detachably fix the mounting base to the mechanical mounting interface.

4. The caster-supported robotic arm of claim 1, wherein, There are multiple mechanical mounting interfaces, and the remaining mechanical mounting interfaces are used to mount functional modules.

5. The caster supported robotic arm of claim 4, wherein, One of the mechanical mounting interfaces is used to mount the gripper function module; The hand claw function module has a wrist joint in the middle for rotating the hand claw end of the hand claw function module backward toward the direction of the second pitch joint.

6. The caster supported robotic arm of claim 5, wherein, The distance between the wrist joint and the second pitch joint is less than the distance between the small wheel and the second pitch joint, so that the small wheel is at the foremost point of the robotic arm.

7. The caster supported robotic arm of claim 4, wherein, One of the mechanical mounting interfaces is used for the reconnaissance and detection function module. The distance between the end of the reconnaissance and detection function module and the second pitch joint is less than the distance between the small wheel and the second pitch joint, so that the small wheel is at the foremost point of the robotic arm.

8. The caster-supported robotic arm of claim 4, wherein, The terminal section is provided with at least one electrical connection interface for realizing the electrical connection and functional debugging of the functional modules.

9. A track mobile platform characterized by, The tracked driving platform includes: the end-wheel-supported robotic arm and chassis body as described in any one of claims 1-8; The robotic arm is mounted on the upper surface of the chassis body via a robotic arm base.

10. The track mobile of claim 9, characterized in that, The tracked driving platform further includes: a main track module and a swing arm track module; wherein, the main track module includes two sets of main tracks, left and right, and the swing arm track module includes two sets of swing arm tracks, left and right. With the longitudinal centerline of the chassis body as the axis of symmetry, two sets of left and right main tracks are symmetrically installed on both sides of the chassis body, and two sets of left and right swing arm tracks are symmetrically installed on the front end of the outer side of the two sets of main tracks.

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