Crawler front drive carrier with manipulator

Abstract

The application discloses a caterpillar front drive type carrying trolley with a manipulator and relates to the technical field of carrying trolleys. The caterpillar front drive type carrying trolley comprises a trolley base, a rotating support device is arranged at the upper end of the trolley base, a manipulator device is arranged on the rotating support device, a front connecting rod is connected to each side of the front end of the trolley base, a rear connecting rod is connected to each side of the rear end of the trolley base, a small front roller and a large front roller are rotatably connected to each front connecting rod, a caterpillar is arranged between the small front roller and the large front roller of each front connecting rod, a rear roller is arranged on each rear connecting rod, a roller driving motor and a speed reducer are fixed to each front connecting rod and rear connecting rod, the output shaft of the roller driving motor is in transmission connection with the input shaft of the speed reducer, a control circuit board is arranged in the trolley base, and the manipulator device and the roller driving motor are electrically connected with the control circuit board. The caterpillar walking mode is adopted, so that the trolley base can still normally travel on complex road surfaces.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of carrying trolley, in particular to a caterpillar front drive carrying trolley with a mechanical hand. BACKGROUND

[0002] When people need to carry objects in some dangerous or complex specific environment, the danger of manual carrying is high. In order to solve this problem, the carrying trolley appears in the prior art. The existing carrying trolley mostly includes a trolley body and a mechanical hand, the trolley body is used for walking on a plane, and the mechanical hand is used for clamping and carrying objects.

[0003] And the wheels at the lower end of the trolley body of the existing carrying trolley are all conventional wheel structures, which can only run on flat ground, while in dangerous or complex environment, there are usually a large number of obstacles, and there are also problems such as uneven road surface, bumping, etc. In such environment, the carrying trolley with different wheels may not be able to walk well.

[0004] Therefore, there is an urgent need in the art for a caterpillar front drive carrying trolley with a mechanical hand to solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide a caterpillar front drive carrying trolley with a mechanical hand to solve the above problems existing in the prior art, which can normally travel on uneven and bumpy road surface.

[0006] In order to achieve the above purpose, the present application provides the following scheme:

[0007] The present application discloses a caterpillar front drive carrying trolley with a mechanical hand, comprising a trolley body base, a rotating support device is arranged at the upper end of the trolley body base, and a mechanical hand device is arranged on the rotating support device;

[0008] A front connecting rod is connected to each side of the front end of the trolley body base, a rear connecting rod is connected to each side of the rear end of the trolley body base, a small front roller and a large front roller are rotatably connected to each front connecting rod, a caterpillar belt is connected between the small front roller and the large front roller on each front connecting rod, a rear roller is connected to each rear connecting rod, a roller driving motor and a speed reducer are fixed on each front connecting rod and rear connecting rod, the output shaft of the roller driving motor is in transmission connection with the input shaft of the speed reducer, the output shaft of the speed reducer on the front connecting rod is in transmission connection with the large front roller, and the output shaft of the speed reducer on the rear connecting rod is in transmission connection with the rear roller;

[0009] A control circuit board is arranged in the trolley body base, and the mechanical hand device and the roller driving motor are electrically connected with the control circuit board.

[0010] Preferably, the base cavity is arranged in the base of the vehicle body, the control circuit board is arranged in the base cavity, and a battery is further arranged in the base cavity.

[0011] Preferably, a first navigation sensing device is arranged at the front end of the base of the vehicle body.

[0012] The first navigation sensing device comprises a navigation sensing housing, a first camera, a navigation light supplementing lamp and an encoder are arranged in the navigation sensing housing, the first camera and the control circuit board are electrically connected with the encoder, and the navigation light supplementing lamp is electrically connected with the control circuit board.

[0013] Preferably, a second navigation sensing device is arranged at the front end of the base of the vehicle body.

[0014] The second navigation sensing device comprises a camera protection shell, a plurality of second cameras are arranged in the camera protection shell, the second cameras are electrically connected with the control circuit board, the camera protection shell is arranged on a camera fixing seat, the camera fixing seat is arranged on a camera supporting plate, the camera supporting plate is arranged on a first pressure bearing plate and a second supporting column, the upper end of the second supporting column is fixed to the lower surface of the camera supporting plate, the lower end of the second supporting column is fixed to the upper end of a first supporting column, the upper surface of the first supporting column is fixed with a second pressure bearing plate, and the lower surface of the first pressure bearing plate is uniformly provided with four supporting legs in the circumferential direction, and the supporting legs pass through the second pressure bearing plate.

[0015] Preferably, an abnormality alarm device is arranged on the base of the vehicle body.

[0016] The abnormality alarm device comprises an abnormality alarm mounting plate, the abnormality alarm mounting plate is an L-shaped plate, one side of the abnormality alarm mounting plate is fixed to the base of the vehicle body, the other side of the abnormality alarm mounting plate is fixed with an abnormality alarm fixing seat, a red indicator light, a yellow indicator light and a green indicator light are arranged on the abnormality alarm fixing seat, and the red indicator light, the yellow indicator light and the green indicator light are electrically connected with the control circuit board.

[0017] Preferably, the rotating supporting device comprises a supporting fixing seat, a supporting connecting seat is fixed on the supporting fixing seat, a supporting fixing plate is arranged on the supporting connecting seat, a first rotating motor is fixed on the supporting fixing plate, the first rotating motor is connected with the lower end of a first connecting arm through a first gear box, and the upper end of the first connecting arm is used for connecting a mechanical hand device.

[0018] Preferably, one limiting seat is fixed on each side of the upper end of the supporting fixing plate, and the first rotating motor is arranged between the two limiting seats.

[0019] Preferably, the mechanical arm device comprises a mechanical arm body, the mechanical arm body 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 with the output shaft of a 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 mechanical arm body comprises a double-shaft air cylinder, two telescopic ends of the double-shaft air cylinder are respectively fixed with a mechanical arm connecting plate, and the mechanical arm connecting plate is fixed with a mechanical arm clamping plate.

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

[0022] The present application has the following technical effects relative to the prior art:

[0023] The present application adopts a crawler-type running mechanism, compared with a traditional wheel mechanism, the crawler-type running mechanism can still run stably on a road surface that is bumpy, uneven or even has obstacles. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0025] Figure 1 FIG. 1 is a structural schematic view of a crawler front-drive carrying trolley with a mechanical arm according to an embodiment of the present application;

[0026] Figure 2 FIG. 2 is a bottom view of the crawler front-drive carrying trolley with a mechanical arm according to the embodiment of the present application;

[0027] Figure 3 FIG. 3 is a side view of a vehicle body base in the crawler front-drive carrying trolley with a mechanical arm according to the embodiment of the present application;

[0028] Figure 4 FIG. 4 is a structural schematic view of a first navigation sensing device in the crawler front-drive carrying trolley with a mechanical arm according to the embodiment of the present application;

[0029] Figure 5 FIG. 5 is a structural schematic view of an abnormality alarm device in the crawler front-drive carrying trolley with a mechanical arm according to the embodiment of the present application;

[0030] Figure 6 FIG. 6 is a structural schematic view of a second navigation sensing device in the crawler front-drive carrying trolley with a mechanical arm according to the embodiment of the present application;

[0031] Figure 7 Structure diagram of rotating support device in track front drive carrying trolley with mechanical arm of the embodiment of the present application;

[0032] Figure 8 Structure diagram of mechanical arm device in track front drive carrying trolley with mechanical arm of the embodiment of the present application;

[0033] In the figure: 1-car body base; 101-roller drive motor; 102-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 sensing device; 201-navigation sensing shell; 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 sensing device; 401-camera protection shell; 402-second camera; 403-camera fixing seat; 404-camera support plate; 405-first pressure bearing plate; 406-second support column; 407-second pressure bearing plate; 408-supporting leg; 409-first support column; 5-rotating support device; 501-supporting fixing seat; 502-supporting connecting seat; 503-supporting pressure bearing block; 504-supporting fixing plate; 505-first gear box; 506-first rotating motor; 507-limiting seat; 508-first connecting arm; 6-mechanical arm device; 601-fixing bolt; 602-mechanical arm connecting plate; 603-mechanical arm light; 604-second connecting arm; 605-emergency brake button; 606-mechanical arm clamping plate; 607-third camera; 608-second gear box; 609-rotating seat; 610-double shaft air cylinder; 611-mechanical arm connecting seat; 612-second rotating motor; 7-signal receiving antenna. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] The purpose of the present application is to provide a track front drive carrying trolley with mechanical arm to solve the problems existing in the prior art and enable normal driving on uneven and bumpy road surfaces.

[0036] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0037] As shown in the drawings, Figures 1-8 The present application provides a caterpillar front drive type carrying trolley with a mechanical hand, which is same as the prior art and comprises a trolley base 1, the upper end of the trolley base 1 is provided with a rotating support device 5, the rotating support device 5 is installed with a mechanical hand device 6, and the rotating support device 5 is used to drive the mechanical hand device 6 to rotate by a certain angle.

[0038] Different from the prior art, the front end of the trolley base 1 is connected with a front connecting rod on each side, and the rear end of the trolley base 1 is connected with a rear connecting rod 106 on each side. The front connecting rod is an L-shaped rod, each end of the front connecting rod is rotatably connected with 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 adopt the existing caterpillar 103 wheel, and the caterpillar 103 is 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 with a rear roller 105. In order to realize the rotation of the large front roller 110 and the rear roller 105, the roller driving motor 101 and the speed reducer 102 are fixed on each front connecting rod and rear connecting rod 106. The output shaft of the roller driving motor 101 is in transmission connection with the input shaft of the speed reducer 102, the output shaft of the speed reducer 102 located on the front connecting rod is in transmission connection with the large front roller 110, so as to drive the large front roller 110 to rotate; the output shaft of the speed reducer 102 on the rear connecting rod 106 is in transmission connection with the rear roller 105, so as to drive the rear roller 105 to rotate.

[0039] In addition, the front connecting rod and the rear connecting rod 106 are fixed on the trolley base 1 through bolts and nuts 111, that is, the bolts pass through the corresponding front connecting rod or rear connecting rod 106 and the corresponding through hole on the trolley base 1, and then the nuts 111 are tightened, so as to realize the fixation of the front connecting rod or the 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, only the nuts 111 need to be loosened, and then the angle of the front connecting rod or the rear connecting rod 106 is rotated, so as 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, the nuts 111 are tightened.

[0040] The trolley base 1 is provided with a control circuit board 108, the mechanical hand device 6 and the roller driving motor 101 are electrically connected with the control circuit board 108, the operation of the mechanical hand device 6 and the roller driving motor 101 is controlled by the control circuit board 108, and the control circuit board 108 can also be electrically connected with the computer in the background, so as to realize the remote control of the staff.

[0041] In actual use, since the track 103 is used to drive the large front roller 110 and the small front roller 104, the robot can still run smoothly on uneven and bumpy road surfaces. When reaching the expected position, the position of the manipulator device 6 is adjusted by the rotating support device 5, and the manipulator device 6 is used to clamp the object to be carried.

[0042] In the embodiment, as shown in Figure 3 The base cavity 107 is provided in the vehicle base 1, the control circuit board 108 is installed in the base cavity 107, and the battery 109 is also installed in the base cavity 107. The battery 109 is used to supply power to the control circuit board 108 and other devices that need power. The main purpose of arranging the battery 109 and the control circuit board 108 in the base cavity 107 is to protect them from damage caused by falling objects or natural disasters.

[0043] In the embodiment, the first navigation sensing device 2 is installed at the front end of the vehicle base 1. The first navigation sensing device 2 probes the road conditions in front and transmits them to the control circuit board 108 for analysis.

[0044] The specific structure of the first navigation sensor is shown in Figure 4 The first navigation sensing device 2 includes a spherical navigation sensing shell 201. One end of the spherical navigation sensing shell 201 is provided with external threads, and the corresponding position of the vehicle base 1 is provided with an internal threaded hole, so that the navigation sensing shell 201 can be detachably connected. The navigation sensing shell 201 is made of transparent plastic material. The first camera 202, navigation light and encoder 203 are installed in the navigation sensing shell 201. The transparent navigation sensing shell 201 does not affect the observation of the first camera 202. When there are flying stones on the road, the navigation sensing shell 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 electrically connected to the encoder 203. When precise investigation and data collection are needed, the first camera 202 can be used to observe more on-site conditions and transmit video data to the encoder 203. The navigation light is electrically connected to the control circuit board 108. When it is dark, the user can use the navigation light to illuminate the road surface, which is convenient for the first camera 202 to collect clear video data. In addition, the first camera 202 and the navigation light are electrically connected to the battery 109, which supplies power to them to ensure their normal operation.

[0045] In the embodiment, the second navigation sensing device 4 is installed at the front end of the vehicle body base 1. The second navigation sensing device 4 and the first navigation sensing device 2 have the same function, which is to observe the road surface condition.

[0046] The structure of the second navigation sensing device 4 is shown in Figure 6 The second navigation sensing 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 from damage caused by external force. In addition, the second cameras 402 are used to observe the road surface condition, so as to ensure the normal driving of the vehicle body base 1. The second cameras are electrically connected with a control circuit board 108 and a battery 109. The control circuit board 108 controls the operation of the second cameras, and the battery 109 supplies power for the second cameras. The camera protection shell 401 is installed on a camera fixing seat 403. The camera fixing seat 403 is installed on a camera support plate 404 by welding or screws. The camera support plate 404 is installed on a first pressure plate 405 and a second support column 406. The camera support plate 404 is a cross-shaped support structure. Four edges of the camera support plate 404 are installed on the first pressure plate 405. The upper end of the second support column 406 is fixed to the center 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 is fixed to the upper end of a first support column 409 by welding. The upper surface of the first support column 409 is fixed with a second pressure plate 407 by welding or screws. The lower surface of the first pressure plate 405 is uniformly distributed with four support legs 408. The support legs 408 pass through the second pressure plate 407, so as to be limited. The support legs 408 and the first support column 409 support the second cameras 402 and related components.

[0047] In the embodiment, the vehicle body base 1 is installed with an abnormal alarm device 3. When an abnormality occurs, the abnormal alarm device 3 will alarm to remind the user.

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

[0049] In actual use, the three indicator lights can be lit in different situations. When the vehicle base 1 is running normally and has not been damaged, the green indicator light 305 is always on. When the torque sensors on the rollers detect abnormal torque or the gyroscope detects abnormal inclination of the vehicle base 1, the green indicator light 305 is turned off and the yellow indicator light 304 is turned on. When the torque sensors on the manipulator device 6 show abnormal increase in torque under working conditions or the third camera 607 shows abnormal identification under execution of actions, the green indicator light 305 is turned off and the red indicator light 303 is turned on. The torque is used to monitor the torque of the rollers of the vehicle base 1 and the torque of the servo drive of the manipulator device 6, the gyroscope on the control circuit board 108 is used to monitor the inclination of the vehicle body, and the third camera 607 on the vehicle base 1 is used to identify whether the actions of the manipulator device 6 are abnormal. The abnormality alarm device 3 can help the operator to judge the overall situation of the vehicle base 1 in real time, and ensure that the special work is carried out safely and smoothly.

[0050] In the embodiment, as shown in Figure 7As shown, the rotating supporting device 5 comprises a supporting fixed seat 501, and a supporting pressure block 503 is outwardly protruded at the lower end of the supporting fixed seat 501. The supporting pressure block 503 is used for ensuring the stability of the whole mechanism and assisting the supporting fixed seat 501 in bearing the pressure of the whole structure. The supporting fixed seat 501 is fixed with a supporting connecting seat 502 through screws, and the supporting connecting seat 502 is installed with a supporting fixed plate 504 through screws at the upper end. The supporting fixed plate 504 is fixed with a first rotating motor 506, which is electrically connected with the control circuit board 108 and controlled to operate through the control circuit board 108. The first rotating motor 506 is connected with the lower end of a first connecting arm 508 through a first gear box 505. The first gear box 505 is a conventional gear box, which is internally provided with two intermeshing bevel gears, so as to change the transmission direction of the first rotating motor 506. The upper end of the first connecting arm 508 is used for connecting the mechanical hand device 6. In actual use, when the first rotating motor 506 is started, the first rotating motor 506 drives the first connecting arm 508 to rotate through the first gear box 505.

[0051] In the embodiment, the upper end of the supporting fixed plate 504 is fixed with a limiting seat 507 at each side. The limiting seat 507 and the supporting fixed plate 504 are of an integrated structure, and the first rotating motor 506 is installed between the two limiting seats 507 and limited by the two limiting seats 507. Of course, the first rotating motor 506 can also be fixed with the limiting seat 507 through screws, so as to further ensure the stability of the first rotating motor 506.

[0052] In the embodiment, as shown in the figure, Figure 8 The mechanical hand device 6 comprises a mechanical hand body, which is installed at one end of a second connecting arm 604. The other end of the second connecting arm 604 is fixed to a rotating seat 609 through a fixing bolt 601. The rotating seat 609 is connected with the output shaft of a second rotating motor 612 through a second gear box 608. The second gear box 608 is the same as the first gear box 505, and both are internally provided with two intermeshing bevel gears to change the transmission direction of the second rotating motor 612. The second rotating motor 612 is installed at the upper end of the first connecting arm 508. In actual use, the rotation of the output shaft of the second rotating motor 612 drives the rotating seat 609 to rotate through the second gear box 608, so as to further drive the second connecting arm 604 to rotate relative to the first connecting arm 508, so as to further adjust the position of the mechanical hand body.

[0053] In addition, the rotating seat 609 is further provided with an emergency brake button 605, and the scroll wheel driving motor 101 is electrically connected with the emergency brake button 605, so that when a special situation is encountered, the emergency brake button 605 can be manually pressed to stop the operation of each scroll wheel driving motor 101, thereby achieving the braking of the vehicle body base 1.

[0054] In the embodiment, the manipulator body includes a double-shaft air cylinder 610, which is a prior art, and is electrically connected with the control circuit board 108, and the two telescopic ends of the double-shaft air cylinder 610 are controlled to be simultaneously extended or retracted by the control circuit board 108. In addition, the two telescopic ends of the double-shaft air 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, so that when the two telescopic ends of the double-shaft air cylinder 610 are simultaneously retracted, the spacing between the two manipulator clamping plates 606 is reduced, thereby being used for clamping an object to be clamped; conversely, if the clamped object is to be placed down, the two telescopic ends of the double-shaft air cylinder 610 only need to be controlled to be extended.

[0055] In the embodiment, the manipulator body is fixedly connected with the second connecting arm 604 through a manipulator connecting seat 611, and the manipulator body is provided with a third camera 607 for observing the position of an object to be carried, and the manipulator connecting seat 611 and the second connecting arm 604 are respectively provided with a manipulator light supplementing lamp 603 for illuminating the third camera 607.

[0056] In the embodiment, the vehicle body base 1 is provided with a signal receiving antenna 7, and the signal receiving antenna 7 is electrically connected with the control circuit board 108. When a control instruction is issued by an operator from a computer, an electric signal is first transmitted to the signal receiving antenna 7, and then transmitted to the control circuit board 108, and finally each electric element is controlled to operate by the control circuit board 108.

[0057] The principles and implementation manners of the present application are described by using specific examples, and the above embodiment is only used to help understand the method and core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range can be changed. In conclusion, the content of the present application should not be understood as a limitation of the present application.

Claims

1. A tracked front-drive transport vehicle with a robotic arm, comprising a vehicle base, wherein a rotating support device is provided at the upper end of the vehicle base, and a robotic arm device is mounted on the rotating support device; characterized in that: A front connecting rod is connected to each of the front two sides of the vehicle body base, and a rear connecting rod is connected to each of the rear two sides of the vehicle body base. Each front connecting rod is rotatably connected to a small front roller and a large front roller. A track connects the small front roller and the large front roller on each front connecting rod. Each rear connecting rod is connected to a rear roller. A roller drive motor and a reducer are fixed on each front connecting rod and rear connecting rod. The output shaft of the roller drive motor is driven by the input shaft of the reducer. The output shaft of the reducer on the front connecting rod is driven by the large front roller. The output shaft of the reducer on the rear connecting rod is driven by the rear roller. The height of the large front roller, the small front roller, and the rear roller is adjustable. The vehicle body base is equipped with a control circuit board, and the robotic arm device and the roller drive motor are both electrically connected to the control circuit board. An abnormal alarm device is installed on the vehicle body base. The abnormal alarm device includes an abnormal alarm mounting plate, which is L-shaped. One side of the mounting plate is fixed to the vehicle body base, and the other side is fixed to an abnormal alarm mounting bracket. A red, yellow, and green indicator light are installed on the mounting bracket, and all three are electrically connected to the control circuit board. Torque sensors are installed on the central shafts of the small front roller, the large front roller, and the rear roller to detect the torque experienced by the vehicle body base during movement. Torque sensors are also installed on the output shafts of the first and second gearboxes in the robotic arm device to detect the torque experienced by the robotic arm. The control circuit board is equipped with a gyroscope to monitor the torque applied to the device and the tilt angle of the vehicle base. Each torque sensor and the gyroscope is electrically connected to the control circuit board. When the vehicle base is operating normally without damage, the green indicator light remains constantly on. When the torque detected by the torque sensor on the small front roller, the large front roller, or the rear roller is abnormal, or when the gyroscope detects an abnormal tilt angle of the vehicle base, the green indicator light turns off, and the yellow indicator light illuminates. The robotic arm device includes a third camera. When the torque sensor on the robotic arm device displays an abnormally increased torque during operation, or when the third camera image recognition is abnormal during action execution, the green indicator light turns off, and the red indicator light illuminates.

2. The tracked front-drive transport trolley with a robotic arm according to claim 1, characterized in that: The vehicle body base has a base cavity, the control circuit board is installed in the base cavity, and a battery is also installed in the base cavity.

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

4. The tracked front-drive transport trolley with a robotic arm according to claim 1, characterized in that: A second navigation sensor is installed at the front end of the vehicle body base; The second navigation sensing device includes a camera protective housing, within which are disposed a plurality of second cameras. The second cameras are electrically connected to the control circuit board. The camera protective housing is mounted on a camera mounting base, which 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, and the lower end of the second support column is fixed to the upper end of the first support column. A second pressure plate is fixed to the upper surface of the first support column. Four support legs are evenly distributed circumferentially on the lower surface of the first pressure plate, and the support legs pass through the second pressure plate.

5. The tracked front-drive transport trolley with a robotic arm according to claim 1, characterized in that: The rotating support device includes a support base, a support connecting base fixed on the support base, a support fixing plate mounted on the support connecting base, a first rotating motor fixed on the support fixing plate, the first rotating motor being connected to the lower end of the first connecting arm via a first gearbox, and the upper end of the first connecting arm being used to connect to a robotic arm device.

6. The tracked front-drive transport trolley with a robotic arm according to claim 5, characterized in that: A limiting seat is fixed on each of the two upper ends of the support fixing plate, and the first rotating motor is installed between the two limiting seats.

7. The tracked front-drive transport trolley with a robotic arm according to claim 5, characterized in that: The robotic arm device includes a robotic arm body, which is mounted on one end of a second connecting arm. The other end of the second connecting arm is fixed to a rotating base. The rotating base is connected to the output shaft of a second rotating motor through a second gearbox. The second rotating motor is mounted on the upper end of the first connecting arm.

8. The tracked front-drive transport trolley with a robotic arm according to claim 7, characterized in that: The robotic arm body includes a dual-axis cylinder, and a robotic arm connecting plate is fixed to each of the two telescopic ends of the dual-axis cylinder. A robotic arm clamping plate is fixed to the robotic arm connecting plate.

9. The tracked front-drive transport trolley with a robotic arm 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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