Crawler front-driving type carrying trolley with mechanical arm

Abstract

The invention discloses a crawler belt front-driving type carrying trolley with a mechanical arm, and relates to the technical field of carrying trolleys, the crawler belt front-driving type carrying trolley comprises a trolley body base, a rotating supporting device is arranged at the upper end of the trolley body base, a mechanical arm device is installed on the rotating supporting device, and the two sides of the front end of the trolley body base are each connected with a front connecting rod; the two sides of the rear end of the vehicle body base are each connected with a rear connecting rod, each front connecting rod is rotationally connected with a small front rolling wheel and a large front rolling wheel, a crawler belt is connected between the small front rolling wheel and the large front rolling wheel on each front connecting rod, and each rear connecting rod is connected with a rear rolling wheel. Roller driving motors and speed reducers are fixed on the front connecting rods and the rear connecting rods; output shafts of the roller driving motors are in transmission connection with input shafts of the speed reducers; a control circuit board is arranged in the vehicle body base, and the mechanical arm device and the rolling wheel driving motor are both electrically connected with the control circuit board. A crawler walking mode is adopted, so that the vehicle body base can still run normally even on a complex road surface.

Description

Technical Field

[0001] The invention relates to the technical field of transport trolleys, in particular to a crawler front-drive transport trolley with a manipulator. Background Art

[0002] When people need to carry objects in some dangerous or complex specific environments, manual handling is very dangerous. To solve this problem, a transport trolley has appeared in the prior art. Most of the existing transport trolleys include a body and a manipulator, wherein the body is used to walk on a plane, and the manipulator is used to clamp and carry objects.

[0003] The wheels at the lower end of the existing transport carts are all conventional wheel structures, which can only run on flat ground. Dangerous environments or complex environments are usually accompanied by a large number of obstacles, and there may also be problems such as uneven and bumpy roads. In such environments, transport carts equipped with different wheels may not be able to move well.

[0004] Therefore, there is an urgent need in the art for a crawler front-drive transport vehicle with a manipulator to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a crawler front-drive transport vehicle with a manipulator to solve the problems existing in the above-mentioned prior art and enable normal driving on uneven and bumpy roads.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention discloses a crawler front-drive transport vehicle with a manipulator, comprising a vehicle body base, a rotation support device is provided at the upper end of the vehicle body base, and a manipulator device is installed on the rotation support device;

[0008] The front ends of the vehicle body base are respectively connected to a front connecting rod on both sides, and the rear ends of the vehicle body base are respectively connected to a rear connecting rod on both sides, each of the front connecting rods is rotatably connected to a small front roller and a large front roller, a crawler is connected between the small front roller and the large front roller on each of the front connecting rods, and each of the rear connecting rods is connected to a rear roller, and each of the front connecting rods and the rear connecting rods is fixed with a roller driving motor and a reducer, the output shaft of the roller driving motor is drivingly connected to the input shaft of the reducer, the output shaft of the reducer on the front connecting rod is drivingly connected to the large front roller, and the output shaft of the reducer on the rear connecting rod is drivingly connected to the rear roller;

[0009] A control circuit board is arranged in the vehicle body base, and the manipulator device and the roller drive motor are both electrically connected to the control circuit board.

[0010] Preferably, a base cavity is provided in the vehicle body base, the control circuit board is installed in the base cavity, and a battery is also installed in the base cavity.

[0011] Preferably, a first navigation sensor device is installed at the front end of the vehicle body base;

[0012] The first navigation sensor device comprises a navigation sensor housing, in which a first camera, a navigation fill light and an encoder are installed. The first camera and the control circuit board are electrically connected to the encoder, and the navigation fill light is electrically connected to the control circuit board.

[0013] Preferably, a second navigation sensor device is installed at the front end of the vehicle body base;

[0014] The second navigation sensor device includes a camera protective shell, in which a plurality of second cameras are arranged, the second cameras are electrically connected to the control circuit board, the camera protective shell is mounted on a camera fixing seat, the camera fixing seat is mounted on a camera support plate, the camera support plate is mounted on a first pressure plate and a second support column, the upper end of the second support column is fixed to the lower surface of the camera support plate, the lower end of the second support column is fixed to the upper end of the first support column, the upper surface of the first support column is fixed with a second pressure plate, the lower surface of the first pressure plate is evenly distributed with four support legs in the circumferential direction, and the support legs pass through the second pressure plate.

[0015] Preferably, an abnormality alarm device is installed on the vehicle body base;

[0016] The abnormal alarm device includes an abnormal alarm mounting plate, which is an L-shaped plate. One side of the abnormal alarm mounting plate is fixed to the vehicle body base, and the other side of the abnormal alarm mounting plate is fixed with an abnormal alarm fixing seat. A red indicator light, a yellow indicator light and a green indicator light are installed on the abnormal alarm fixing seat. The red indicator light, the yellow indicator light and the green indicator light are all electrically connected to the control circuit board.

[0017] Preferably, the rotating support device includes a support fixing seat, a support connecting seat is fixed on the support fixing seat, a support fixing plate is installed on the support connecting seat, a first rotating motor is fixed on the support fixing plate, the first rotating motor is connected to the lower end of the first connecting arm through a first gear box, and the upper end of the first connecting arm is used to connect to a manipulator device.

[0018] Preferably, a limit seat is fixed to both sides of the upper end of the supporting fixing plate, and the first rotating motor is installed between the two limit seats.

[0019] Preferably, the manipulator device includes a manipulator body, which is installed at one end of a second connecting arm, the other end of the second connecting arm is fixed on a rotating seat, the rotating seat is connected to the output shaft of the second rotating motor through a second gear box, and the second rotating motor is installed at the upper end of the first connecting arm.

[0020] Preferably, the manipulator body comprises a double-axis cylinder, and two telescopic ends of the double-axis cylinder are respectively fixed with a manipulator connecting plate, and a manipulator clamping plate is fixed on the manipulator connecting plate.

[0021] Preferably, a signal receiving antenna is installed on the vehicle body base, and the signal receiving antenna is electrically connected to the control circuit board.

[0022] Compared with the prior art, the present invention has achieved the following technical effects:

[0023] The present invention adopts a crawler-type walking mechanism. Compared with a traditional wheel mechanism, the crawler-type walking mechanism can still run smoothly even on a bumpy, uneven or even obstacle-filled road surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a structural schematic diagram of a crawler front-drive transport vehicle with a manipulator according to an embodiment of the present invention;

[0026] Figure 2 A bottom view of a crawler front-drive transport vehicle with a manipulator according to an embodiment of the present invention;

[0027] Figure 3 It is a side view of a vehicle body base in a crawler front-drive transport vehicle with a manipulator according to an embodiment of the present invention;

[0028] Figure 4 It is a structural schematic diagram of a first navigation sensor device in a crawler front-drive transport vehicle with a manipulator according to an embodiment of the present invention;

[0029] Figure 5 It is a schematic structural diagram of an abnormality alarm device in a crawler front-drive transport vehicle with a manipulator according to an embodiment of the present invention;

[0030] Figure 6 It is a structural schematic diagram of a second navigation sensor device in a crawler front-drive transport vehicle with a manipulator according to an embodiment of the present invention;

[0031] Figure 7 It is a schematic structural diagram of a rotating support device in a crawler front-drive transport vehicle with a manipulator according to an embodiment of the present invention;

[0032] Figure 8 It is a schematic structural diagram of a manipulator device in a crawler front-drive transport vehicle with a manipulator according to an embodiment of the present invention;

[0033] In the figure: 1-body base; 101-roller drive motor; 102-speed reducer; 103-track; 104-small front roller; 105-rear roller; 106-rear connecting rod; 107-base cavity; 108-control circuit board; 109-battery; 110-large front roller; 111-nut; 2-first navigation sensor device; 201-navigation sensor housing; 202-first camera; 203-encoder; 3-abnormal alarm device; 301-abnormal alarm mounting plate; 302-abnormal alarm fixing seat; 303-red indicator light; 304-yellow indicator light; 305-green indicator light; 4-second navigation sensor device; 401-camera protective shell; 402-second camera; 403-camera fixing seat; 404-camera support plate; 405-first bearing Pressure plate; 406-second support column; 407-second pressure plate; 408-support leg; 409-first support column; 5-rotating support device; 501-support fixing seat; 502-support connecting seat; 503-support pressure block; 504-support fixing plate; 505-first gear box; 506-first rotating motor; 507-limiting seat; 508-first connecting arm; 6-manipulator device; 601-fixing bolt; 602-manipulator connecting plate; 603-manipulator fill light; 604-second connecting arm; 605-emergency brake button; 606-manipulator clamp; 607-third camera; 608-second gear box; 609-rotating seat; 610-dual-axis cylinder; 611-manipulator connecting seat; 612-second rotating motor; 7-signal receiving antenna. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The purpose of the present invention is to provide a crawler front-drive transport vehicle with a manipulator to solve the problems existing in the above-mentioned prior art and enable normal driving on uneven and bumpy roads.

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] like Figure 1-Figure 8 As shown, the present invention provides a tracked front-drive transport vehicle with a manipulator, which is the same as the prior art in that it includes a vehicle body base 1, a rotating support device 5 is provided at the upper end of the vehicle body base 1, a manipulator device 6 is installed on the rotating support device 5, and the rotating support device 5 is used to drive the manipulator device 6 to rotate at a certain angle.

[0038] Different from the prior art, a front connecting rod is connected to both sides of the front end of the vehicle body base 1, and a rear connecting rod 106 is connected to both sides of the rear end of the vehicle body base 1. The front connecting rod is an L-shaped rod, and the two ends of each front connecting rod are rotatably connected to a small front roller 104 and a large front roller 110, and the large front roller 110 is located in front of the small front roller 104. The small front roller 104 and the large front roller 110 both use existing crawler tracks 103, and the crawler tracks 103 are connected between the small front roller 104 and the large front roller 110 on each front connecting rod. The rear connecting rod 106 is a long connecting rod, and each rear connecting rod 106 is rotatably connected to a rear roller 105. In order to realize the rotation of the large front roller 110 and the rear roller 105, each front connecting rod and the rear connecting rod 106 are fixed with a roller driving motor 101 and a reducer 102, the output shaft of the roller driving motor 101 is transmission connected with the input shaft of the reducer 102, the output shaft of the reducer 102 located on the front connecting rod is transmission connected with the large front roller 110, thereby driving the large front roller 110 to rotate; the output shaft of the reducer 102 on the rear connecting rod 106 is transmission connected with the rear roller 105, thereby driving the rear roller 105 to rotate.

[0039] In addition, the front connecting rod and the rear connecting rod 106 are fixed to the vehicle body base 1 by bolts and nuts 111, that is, the bolts pass through the corresponding front connecting rod or rear connecting rod 106 and the corresponding through holes on the vehicle body base 1, and then tighten the nuts 111 to achieve the fixing of the front connecting rod or rear connecting rod 106. If it is necessary to adjust the height of the large front roller 110, the small front roller 104 or the rear roller 105, it is only necessary to loosen the nuts 111, and then rotate the angle of the front connecting rod or rear connecting rod 106 to adjust the height of the large front roller 110, the small front roller 104 or the rear roller 105. After the angle is adjusted, tighten the nuts 111.

[0040] A control circuit board 108 is provided in the vehicle body base 1, and the manipulator device 6 and the roller drive motor 101 are electrically connected to the control circuit board 108. The control circuit board 108 controls the operation of the manipulator device 6 and the roller drive motor 101, and the control circuit board 108 can also be electrically connected to the background computer to realize remote control by the staff.

[0041] In actual use, since the large front roller 110 and the small front roller 104 are driven by the crawler 103, the robot can still run smoothly on uneven and bumpy roads. When the expected position is reached, the position of the manipulator 6 is adjusted by the rotating support device 5, and the manipulator 6 is used to clamp the object to be transported.

[0042] In this embodiment, if Figure 3 As shown, a base cavity 107 is provided in the vehicle body base 1, a control circuit board 108 is installed in the base cavity 107, and a battery 109 is also installed in the base cavity 107, and the battery 109 is used to power the control circuit board 108 and other devices that need electricity. The main purpose of arranging the battery 109 and the control circuit board 108 in the base cavity 107 is to protect them and prevent them from being damaged by external objects falling or natural disasters.

[0043] In this embodiment, a first navigation sensor device 2 is installed at the front end of the vehicle body base 1. The first navigation sensor device 2 detects the road condition ahead and transmits it to the control circuit board 108 for analysis.

[0044] For the specific structure of the first navigation sensor, such as Figure 4 As shown, the first navigation sensor device 2 includes a spherical navigation sensor housing 201, one end of the spherical navigation sensor housing 201 is provided with an external thread, and the corresponding position of the vehicle body base 1 is provided with an internal thread hole, so as to realize the detachable connection of the navigation sensor housing 201. The navigation sensor housing 201 can be made of transparent plastic material, and the first camera 202, navigation fill light and encoder 203 are installed in the navigation sensor housing 201. The navigation sensor housing 201 made of transparent material will not affect the observation of the first camera 202, and when there are splashing stones on the road surface, the navigation sensor housing 201 can prevent the stones from damaging the first camera 202 and the encoder 203. The first camera 202 and the control circuit board 108 are both electrically connected to the encoder 203. When it is necessary to conduct precise inspection and collect data, the first camera 202 can be used to observe more on-site conditions, and the video data can be transmitted to the encoder 203, and then the video data can be transmitted back to the controller's computer in real time through the encoder 203. The navigation fill light is electrically connected to the control circuit board 108. When it is dark, the user can use the navigation fill light to illuminate the road conditions, so that the first camera 202 can collect clear video data. In addition, the first camera 202 and the navigation fill light are both electrically connected to the battery 109, and the battery 109 is used to power them to ensure their normal operation.

[0045] In this embodiment, a second navigation sensor device 4 is installed at the front end of the vehicle body base 1. The second navigation sensor device 4 has the same function as the first navigation sensor device 2, and both are used to observe road conditions.

[0046] The structure of the second navigation sensor device 4 is as follows Figure 6 As shown, the second navigation sensor device 4 includes a camera protection shell 401, and a plurality of second cameras 402 are arranged in the camera protection shell 401. The camera protection shell 401 can protect the second cameras 402 and prevent them from being damaged by external forces. In addition, the road conditions are observed by the second cameras 402 to ensure the normal driving of the vehicle body base 1. The second cameras are electrically connected to the control circuit board 108 and the battery 109 respectively. The control circuit board 108 controls its operation, and the battery 109 can power it. The camera protective shell 401 is installed on the camera fixing base 403, and the camera fixing base 403 is installed on the camera support plate 404 by welding or screws. The camera support plate 404 is installed on the first pressure plate 405 and the second support column 406. The camera support plate 404 is a cross-shaped bracket structure. The four sides of the camera support plate 404 are respectively installed on the first pressure plate 405, and the upper end of the second support column 406 is fixed at the center position of the lower surface of the camera support plate 404, so as to support the camera support plate 404. The lower end of the second support column 406 can be fixed to the upper end of the first support column 409 by welding, and the second pressure plate 407 is fixed to the upper surface of the first support column 409 by welding or screws, and four support legs 408 are evenly distributed in the circumferential direction of the lower surface of the first pressure plate 405. The support legs 408 pass through the second pressure plate 407 to limit the support legs 408. The second camera 402 and related components above are supported by the support legs 408 and the first support column 409.

[0047] In this embodiment, an abnormality alarm device 3 is installed on the vehicle body base 1, which will sound an alarm when an abnormality occurs to remind the user.

[0048] The specific structure of the abnormal alarm device 3 is as follows Figure 5As shown, the abnormal alarm device 3 includes an abnormal alarm mounting plate 301, which is an L-shaped plate. One side (i.e., the vertical side) of the abnormal alarm mounting plate 301 is fixed to the side wall of the vehicle body base 1 by screws, and the other side (i.e., the horizontal side) of the abnormal alarm mounting plate 301 is fixed with an abnormal alarm fixing seat 302. A red indicator light 303, a yellow indicator light 304, and a green indicator light 305 are installed on the abnormal alarm fixing seat 302. The red indicator light 303, the yellow indicator light 304, and the green indicator light 305 are all electrically connected to the control circuit board 108 and the battery 109. The control circuit board 108 controls the operation of each indicator light, and the battery 109 supplies power to it. In addition, in order to detect whether the vehicle body base 1 is abnormal, a torque sensor is set on the central axis of the small front roller 104, the large front roller 110, and the rear roller 105 to detect the torque received by the vehicle body base 1 when walking. Similarly, torque sensors are also provided on the output shafts of the first gearbox 505 and the second gearbox 608 to detect the torque applied to the manipulator device 6. In addition, a gyroscope is also provided on the control circuit board 108 to monitor the inclination of the vehicle body base 1, and each torque sensor and gyroscope are electrically connected to the control circuit board 108.

[0049] In actual use, the three indicator lights can light up in different situations. When the vehicle body base 1 is operating normally and is not damaged, the green indicator light 305 is always on; when the torque sensor on the roller monitors an abnormal torque or the gyroscope monitors an abnormal tilt angle of the vehicle body base 1, the green indicator light 305 goes out and the yellow indicator light 304 lights up; when the torque sensor on the manipulator device 6 shows an abnormal increase in torque under working conditions or the third camera 607 recognizes an abnormal image when performing an action, the green indicator light 305 goes out and the red indicator light 303 lights up. The torque is used to monitor the roller torque of the vehicle body base 1 and the torque of the servo drive of the manipulator device 6, and the gyroscope on the control circuit board 108 is combined to monitor the tilt angle of the vehicle body, and the third camera 607 on the vehicle body base 1 is used to identify whether there is an abnormality in the action rhythm of the manipulator device 6. This abnormal alarm device 3 can help the operator to judge the overall situation of the vehicle body base 1 in real time and ensure the safe and smooth progress of special work.

[0050] In this embodiment, if Figure 7As shown, the rotating support device 5 includes a supporting fixed seat 501, and a supporting pressure block 503 protrudes outward at the four corners of the lower end of the supporting fixed seat 501. The function of the supporting pressure block 503 is to ensure the stability of the entire mechanism and assist the supporting fixed seat 501 in bearing pressure on the entire structure. A supporting connection seat 502 is fixed to the supporting fixed seat 501 by screws, and a supporting fixing plate 504 is installed on the upper end of the supporting connection seat 502 by screws. A first rotating motor 506 is fixed to the supporting fixing plate 504, and the first rotating motor 506 is electrically connected to the control circuit board 108, and its operation is controlled by the control circuit board 108. The first rotating motor 506 is connected to the lower end of the first connecting arm 508 through a first gear box 505. The first gear box 505 can use an existing gear box, and two mutually meshing bevel gears are arranged inside it, so that the transmission direction of the first rotating motor 506 can be changed. The upper end of the first connecting arm 508 is used to connect the manipulator device 6. In actual use, when the first rotating motor 506 is started, the first rotating motor 506 will drive the first connecting arm 508 to rotate through the first gear box 505 .

[0051] In this embodiment, a limiting seat 507 is fixed to both sides of the upper end of the support fixing plate 504, the limiting seat 507 and the support fixing plate 504 are an integrated structure, and the first rotating motor 506 is installed between the two limiting seats 507, and the two limiting seats 507 are used to limit the first rotating motor 506. Of course, the first rotating motor 506 and the limiting seat 507 can also be fixed by screws, thereby further ensuring the stability of the first rotating motor 506.

[0052] In this embodiment, if Figure 8 As shown, the manipulator device 6 includes a manipulator body, which is mounted on one end of the second connecting arm 604, and the other end of the second connecting arm 604 is fixed to the rotating seat 609 by a fixing bolt 601. The rotating seat 609 is connected to the output shaft of the second rotating motor 612 through a second gear box 608. The second gear box 608 has the same structure as the first gear box 505, and both change the transmission direction of the second rotating motor 612 through two bevel gears meshing with each other inside. The second rotating motor 612 is mounted on the upper end of the first connecting arm 508. In actual use, the rotation of the output shaft of the second rotating motor 612 will drive the rotating seat 609 to rotate through the second gear box 608, thereby driving the second connecting arm 604 to further rotate relative to the first connecting arm 508, so as to further adjust the position of the manipulator body.

[0053] In addition, an emergency brake button 605 is also provided on the rotating seat 609, and the roller drive motor 101 is electrically connected to the emergency brake button 605. When encountering special circumstances, the emergency brake button 605 can be manually pressed to stop the operation of each roller drive motor 101, thereby achieving braking of the vehicle body base 1.

[0054] In this embodiment, the manipulator body includes a double-axis cylinder 610, which is a prior art. The double-axis cylinder 610 is electrically connected to the control circuit board 108, and the control circuit board 108 controls its two telescopic ends to extend or retract simultaneously. In addition, the two telescopic ends of the double-axis cylinder 610 are respectively fixed with a manipulator connecting plate 602, and the manipulator connecting plate 602 is fixed with a manipulator clamping plate 606. When the two telescopic ends of the double-axis cylinder 610 are retracted at the same time, the distance between the two manipulator clamping plates 606 is reduced, so as to clamp the object to be clamped; conversely, if the clamped object is put down, it is only necessary to control the two telescopic ends of the double-axis cylinder 610 to extend.

[0055] In this embodiment, the manipulator body is fixedly connected to the second connecting arm 604 via a manipulator connecting seat 611. A third camera 607 is provided on the manipulator body for observing the position of the object to be transported. A manipulator fill light 603 is provided on the manipulator connecting seat 611 and the second connecting arm 604 respectively for illuminating the third camera 607.

[0056] In this embodiment, a signal receiving antenna 7 is installed on the vehicle body base 1, and the signal receiving antenna 7 is electrically connected to the control circuit board 108. When the operator issues a control command from the computer, the electrical signal is first transmitted to the signal receiving antenna 7, and then to the control circuit board 108, and finally the control circuit board 108 controls the operation of various electrical components.

[0057] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A crawler front-drive transport vehicle with a manipulator, comprising a vehicle body base, a rotation support device is provided at the upper end of the vehicle body base, and a manipulator device is installed on the rotation support device; characterized in that: The front ends of the vehicle body base are respectively connected to a front connecting rod on both sides, and the rear ends of the vehicle body base are respectively connected to a rear connecting rod on both sides, each of the front connecting rods is rotatably connected to a small front roller and a large front roller, a crawler is connected between the small front roller and the large front roller on each of the front connecting rods, and each of the rear connecting rods is connected to a rear roller, and each of the front connecting rods and the rear connecting rods is fixed with a roller driving motor and a reducer, the output shaft of the roller driving motor is drivingly connected to the input shaft of the reducer, the output shaft of the reducer on the front connecting rod is drivingly connected to the large front roller, and the output shaft of the reducer on the rear connecting rod is drivingly connected to the rear roller; A control circuit board is arranged in the vehicle body base, and the manipulator device and the roller drive motor are both electrically connected to the control circuit board.

2. The crawler front-drive transport vehicle with a manipulator according to claim 1, characterized in that: A base cavity is arranged in the vehicle body base, the control circuit board is installed in the base cavity, and a battery is also installed in the base cavity.

3. The crawler front-drive transport vehicle with a manipulator according to claim 1, characterized in that: A first navigation sensor device is installed at the front end of the vehicle body base; The first navigation sensor device comprises a navigation sensor housing, in which a first camera, a navigation fill light and an encoder are installed. The first camera and the control circuit board are electrically connected to the encoder, and the navigation fill light is electrically connected to the control circuit board.

4. The crawler front-drive transport vehicle with a manipulator according to claim 1, characterized in that: A second navigation sensor device is installed at the front end of the vehicle body base; The second navigation sensor device includes a camera protective shell, in which a plurality of second cameras are arranged, the second cameras are electrically connected to the control circuit board, the camera protective shell is mounted on a camera fixing seat, the camera fixing seat is mounted on a camera support plate, the camera support plate is mounted on a first pressure plate and a second support column, the upper end of the second support column is fixed to the lower surface of the camera support plate, the lower end of the second support column is fixed to the upper end of the first support column, the upper surface of the first support column is fixed with a second pressure plate, the lower surface of the first pressure plate is evenly distributed with four support legs in the circumferential direction, and the support legs pass through the second pressure plate.

5. The crawler front-drive transport vehicle with a manipulator according to claim 1, characterized in that: An abnormality alarm device is installed on the vehicle body base; The abnormal alarm device includes an abnormal alarm mounting plate, which is an L-shaped plate. One side of the abnormal alarm mounting plate is fixed to the vehicle body base, and the other side of the abnormal alarm mounting plate is fixed with an abnormal alarm fixing seat. A red indicator light, a yellow indicator light and a green indicator light are installed on the abnormal alarm fixing seat. The red indicator light, the yellow indicator light and the green indicator light are all electrically connected to the control circuit board.

6. The crawler front-drive transport vehicle with a manipulator according to claim 1, characterized in that: The rotating support device includes a supporting fixing seat, a supporting connecting seat is fixed on the supporting fixing seat, a supporting fixing plate is installed on the supporting connecting seat, a first rotating motor is fixed on the supporting fixing plate, the first rotating motor is connected to the lower end of the first connecting arm through a first gear box, and the upper end of the first connecting arm is used to connect to the manipulator device.

7. The crawler front-drive transport vehicle with a manipulator according to claim 6, characterized in that: A limiting seat is fixed on both sides of the upper end of the supporting fixing plate, and the first rotating motor is installed between the two limiting seats.

8. The crawler front-drive transport vehicle with a manipulator according to claim 6, characterized in that: The manipulator device includes a manipulator body, which is installed at one end of a second connecting arm. The other end of the second connecting arm is fixed on a rotating seat. The rotating seat is connected to the output shaft of a second rotating motor through a second gear box. The second rotating motor is installed at the upper end of the first connecting arm.

9. The crawler front-drive transport vehicle with a manipulator according to claim 8, characterized in that: The manipulator body comprises a double-axis cylinder, and two telescopic ends of the double-axis cylinder are respectively fixed with a manipulator connecting plate, and a manipulator clamping plate is fixed on the manipulator connecting plate.

10. The crawler front-drive transport vehicle with a manipulator according to claim 1, characterized in that: A signal receiving antenna is installed on the vehicle body base, and the signal receiving antenna is electrically connected to the control circuit board.

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