Special-shaped tracked robot driven by Schatz mechanism

Abstract

According to the special-shaped track robot, a Schatz mechanism serves as a basic power unit, the Schatz mechanism and four special-shaped tracks with spatial closed curves as outer contours form a single track module, and then the four single track modules are spatially arranged to serve as a composite power system of the whole mobile robot. Wherein the Schatz mechanism is a typical single closed chain space six-bar 6R mechanism. The outer contour curve of the crawler belt is designed through a gravity compensation method for land motion, the inner contour curved surface is designed for water surface motion, and amphibious motion of the robot is achieved. Each single-track module is driven by two motors, the eight motors drive the whole robot, and the requirement for high maneuvering performance of the robot is met.

Description

Technical Field

[0001] The present invention belongs to a multifunctional amphibious robot, and relates to a special-shaped crawler robot driven by a Schatz mechanism, and specifically to a multifunctional mobile robot based on a spatial six-bar mechanism, which realizes amphibious movement of the machine through a special crawler design. Background Art

[0002] This special-shaped tracked robot utilizes the Schatz mechanism as its basic power unit. This mechanism is combined with four special-shaped tracks, each contoured by a closed spatial curve, to form a single track module. These four modules are then spatially arranged to form the combined power system of the mobile robot. The Schatz mechanism is a typical single-closed-link spatial six-bar 6R mechanism. The track's outer contour is designed for land locomotion, while the inner contour is designed for water locomotion, using gravity compensation. Each single track module is driven by two motors, and the total of eight motors drive the entire robot, meeting the robot's high mobility requirements. Summary of the Invention

[0003] The technical problems to be solved by the present invention are: 1. Solve the problem of amphibious operation of robots in the wild. 2. Improve the adaptability of robots in the wild to complex terrain.

[0004] The technical solution of the present invention:

[0005] A Schatz mechanism-driven special-shaped crawler robot, characterized by: a first crawler module, a second crawler module, a third crawler module, a fourth crawler module, an upper body, and a lower body;

[0006] The first crawler module includes: a crawler wheel, a first auxiliary shaft, a first filling shaft, a first transmission shaft, a first motor, a frame rod, a second motor, a second transmission shaft, a second filling shaft, a second auxiliary shaft, and a center shaft;

[0007] The second track module, the third track module and the fourth track module are identical in structure and size to the first track module;

[0008] The upper body is a rectangular square plate structure with a rectangular square hole in the middle and two through holes at each of the four corners of the plate, for a total of eight through holes;

[0009] The lower fuselage is a rectangular square plate structure, with two through holes at each of the four corners of the plate, for a total of eight through holes;

[0010] Connection method of track module and upper and lower fuselage:

[0011] The two through holes of the upper fuselage are respectively fixedly connected to the two through holes on the frame rod of the first crawler module; the two through holes of the upper fuselage are respectively fixedly connected to the two through holes on the frame rod of the second crawler module; the two through holes of the upper fuselage are respectively fixedly connected to the two through holes on the frame rod of the third crawler module; the two through holes of the upper fuselage are respectively fixedly connected to the two through holes on the frame rod of the fourth crawler module;

[0012] The two through holes of the lower fuselage are respectively fixedly connected to the two through holes on the frame rod of the first crawler module; the two through holes of the lower fuselage are respectively fixedly connected to the two through holes on the frame rod of the second crawler module; the two through holes of the lower fuselage are respectively fixedly connected to the two through holes on the frame rod of the third crawler module; the two through holes of the lower fuselage are respectively fixedly connected to the two through holes on the frame rod of the fourth crawler module;

[0013] The first crawler module includes: a crawler wheel, a first auxiliary shaft, a first filling shaft, a first transmission shaft, a first motor, a frame rod, a second motor, a second transmission shaft, a second filling shaft, a second auxiliary shaft, and a center shaft;

[0014] The crawler wheel comprises: crawler assembly 1, crawler assembly 2, crawler assembly 3, crawler assembly 4, and crawler center shaft;

[0015] The crawler assembly (A1-1) is formed by dividing a closed curve fitted by a center of gravity compensation method. The closed curve (A-1-1-a) is designed for land contact. A paddling surface (A-1-1-b) is provided inside the crawler for water movement. The paddling surface (A-1-1-b) is provided with two through holes (A-1-1-c) and (A-1-1-d) fixedly connected to the crawler center axis (A-1-5);

[0016] The crawler assembly 2 (A-1-2) is formed by dividing a closed curve fitted by a center of gravity compensation method. The closed curve (A-1-2-a) is designed for land contact. A paddling surface (A-1-2-b) is provided inside the crawler for water movement. The paddling surface (A-1-2-b) is provided with two through holes (A-1-2-c) and (A-1-2-d), which are fixedly connected to the crawler center axis (A-1-5);

[0017] The crawler assembly three (A-1-3) is formed by dividing the closed curve fitted by the center of gravity compensation method. The closed curve (A-1-3-a) is designed for land contact. The crawler is provided with a paddling surface (A-1-3-b) for water movement. The paddling surface (A-1-3-b) is provided with two through holes (A-1-3-c) and (A-1-3-d) fixedly connected to the crawler center axis (A-1-5);

[0018] The track assembly four (A-1-4) is a closed curve divided by the center of gravity compensation method, the closed curve (A-1-2-a) is designed for land contact, the track is internally provided with a water surface (A-1-4-b) for water surface movement, the water surface (A-1-4-b) is provided with two through holes (A-1-4-c) and (A-1-4-d) and is fixedly connected with the track center shaft (A-1-5);

[0019] The track center shaft (A-1-5) is a four-star structure, a square through hole (A-1-5-a) is arranged at the center and is connected with the center shaft (A-11), two through holes (A-1-5-h) and (A-1-5-l) are arranged on the left and right hole walls and are fixedly connected with the center shaft (A-11), two through holes (A-1-5-c) and (A-1-5-d) are arranged at the first angle (A-1-5-b) and are fixedly connected with the two through holes (A-1-3-d) and (A-1-3-c) of the track assembly three (A-1-3), two through holes (A-1-5-f) and (A-1-5-g) are arranged at the second angle (A-1-5-e) and are fixedly connected with the two through holes (A-1-4-d) and (A-1-4-c) of the track assembly four (A-1-4), two through holes (A-1-5-j) and (A-1-5-i) are arranged at the third angle (A-1-5-k) and are fixedly connected with the two through holes (A-1-1-c) and (A-1-1-d) of the track assembly one (A-1-1), and two through holes (A-1-5-n) and (A-1-5-m) are arranged at the fourth angle (A-1-5-o) and are fixedly connected with the two through holes (A-1-2-d) and (A-1-2-c) of the track assembly two (A-1-2);

[0020] The first auxiliary shaft is a square tube structure, the upper and lower sides of the left end are provided with through holes, and the front and rear sides of the right end extend two rectangular plates, and the plates are respectively provided with two through holes;

[0021] The second auxiliary shaft is completely same in structure size with the first auxiliary shaft;

[0022] The first filling shaft is a rectangular square structure, the left side of the bottom end is provided with two round holes, the left and right sides of the top end are provided with a through hole, the top surface is provided with a through hole, and the bottom surface is provided with a stepped round hole connected with the first motor;

[0023] The second filling shaft is completely same in structure size with the first filling shaft;

[0024] The first transmission shaft is a square tube structure, the left and right sides of the bottom end are provided with two round holes, the left and right sides of the top end are provided with two through holes, and the two round holes of the first filling shaft are aligned with the two round holes of the first transmission shaft;

[0025] The second transmission shaft is completely same in structure size with the first transmission shaft.

[0026] The central axis is a square tube structure, and two rectangular plates are extended from the front and rear sides of the bottom end, and through holes are respectively arranged on the plates; two rectangular plates are extended from the left and right sides of the top end, and through holes are respectively arranged on the plates; two through holes are arranged on the left and right sides, and two through holes are arranged on the front and rear sides;

[0027] The rack rod is a rectangular square tube structure, a first through hole is arranged at the bottom end of the left side, and four small through holes are arranged around the first through hole; a second through hole is arranged at the top end of the left side, and four small through holes are arranged around the second through hole; a large through hole is arranged at the bottom end of the right side and is axially aligned with the first through hole; a large through hole is arranged at the top end of the right side and is axially aligned with the second through hole; two through holes are arranged at the middle part of the front side and are used for connecting the upper and lower bodies; two through holes are arranged at the middle part of the rear side and are used for connecting the upper and lower bodies;

[0028] The first motor is provided with a crank, a fixed threaded hole on the crank, and four fixed threaded holes on the machine body;

[0029] The second motor is completely same in structure and size with the first motor;

[0030] The connection mode of each part in the first track module is as follows:

[0031] The crank of the first motor passes through the first through hole on the rack rod and is fixedly connected with the four small through holes on the rack rod through the four fixed threaded holes;

[0032] The crank of the second motor passes through the second through hole on the rack rod and is fixedly connected with the four small through holes on the rack rod through the four fixed threaded holes;

[0033] The round hole of the first filling shaft is sleeved on the crank of the first motor, and is fixedly connected with the crank of the first motor through the top surface through hole and the fixed threaded hole of the first motor; the two through holes of the first filling shaft are fixedly connected with the crank of the first motor through the top wire;

[0034] The round hole of the second filling shaft is sleeved on the crank of the second motor, and is fixedly connected with the crank of the second motor through the top surface through hole and the fixed threaded hole of the second motor; the two through holes of the second filling shaft are fixedly connected with the crank of the second motor through the top wire;

[0035] The first transmission shaft is sleeved on the first filling shaft, the two through holes on the first transmission shaft are axially aligned with the two through holes on the first filling shaft, and the through hole on the first transmission shaft is axially aligned with the through hole on the first filling shaft;

[0036] The second transmission shaft is sleeved on the second filling shaft, the two through holes on the first transmission shaft are axially aligned with the two through holes on the first filling shaft, and the through hole on the first transmission shaft is axially aligned with the through hole on the first filling shaft;

[0037] Two holes on the first auxiliary shaft are connected with the hole on the first transmission shaft by bolts; the hole on the first auxiliary shaft is connected with two holes on the center shaft by bolts;

[0038] Two holes on the second auxiliary shaft are connected with the hole on the second transmission shaft by bolts; the hole on the second auxiliary shaft is connected with two holes on the center shaft by bolts;

[0039] The track wheel is sleeved on the center shaft through the square hole of the track center shaft, and two holes on the track center shaft are fixedly connected with two holes on the center shaft by bolts;

[0040] The second track module, the third track module and the fourth track module are completely same as the first track module in structure, size and connection mode. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 Schematic diagram of the special-shaped track robot based on the Schatz mechanism

[0042] Figure 2 First track module diagram

[0043] Figure 3 Upper body diagram

[0044] Figure 4 Lower body diagram

[0045] Figure 5 Track wheel diagram

[0046] Figure 6 Track assembly diagram 1

[0047] Figure 7 Track assembly diagram 2

[0048] Figure 8 Track assembly diagram 3

[0049] Figure 9 Track assembly diagram 4

[0050] Figure 10 Track center shaft diagram

[0051] Figure 11 First auxiliary shaft diagram

[0052] Figure 12 First filling shaft diagram

[0053] Figure 13 First transmission shaft diagram

[0054] Figure 14 Center shaft diagram

[0055] Figure 15 Frame rod diagram

[0056] Figure 16 First motor diagram DETAILED DESCRIPTION

[0057] The present invention will be described in further detail below with reference to the accompanying drawings.

[0058] A Schatz mechanism driven special-shaped crawler robot, such as Figure 1 As shown, it is characterized by: a first track module (A), a second track module (B), a third track module (C), a fourth track module (D), an upper fuselage (E), and a lower fuselage (F);

[0059] The first crawler module (A), such as Figure 2 As shown, it includes: a track wheel (A-1), a first auxiliary shaft (A-2), a first filling shaft (A-3), a first transmission shaft (A-4), a first motor (A-5), a frame rod (A-6), a second motor (A-7), a second transmission shaft (A-8), a second filling shaft (A-9), a second auxiliary shaft (A-10), and a center shaft (A-11);

[0060] The second crawler module (B), the third crawler module (C) and the fourth crawler module (D) are identical in structure and size to the first crawler module (A).

[0061] The upper fuselage (E), such as Figure 3 As shown, it is a rectangular square plate structure with a rectangular square hole in the middle and two through holes (E-2), (E-3), (E-4), (E-5), (E-6), (E-7), (E-8) and (E-9) at each of the four corners of the plate, for a total of eight through holes;

[0062] The lower fuselage (F), such as Figure 4 As shown, it is a rectangular square plate structure with two through holes (F-1), (F-2), (F-3), (F-4), (F-5), (F-6), (F-7) and (F-8) at each of the four corners of the plate, for a total of eight through holes;

[0063] Connection method of track module and upper and lower fuselage:

[0064] like Figure 1As shown, the two through holes (E-2) and (E-3) of the upper body are fixedly connected with the two through holes (A-6-16) and (A-6-15) on the frame rod (A-6) in the first track module (A) respectively; the two through holes (E-4) and (E-5) of the upper body are fixedly connected with the two through holes (B-6-7) and (B-6-8) on the frame rod (B-6) in the second track module (B) respectively; the two through holes (E-6) and (E-7) of the upper body are fixedly connected with the two through holes (C-6-16) and (C-6-15) on the frame rod (C-6) in the third track module (C) respectively; the two through holes (E-8) and (E-9) of the upper body are fixedly connected with the two through holes (D-6-7) and (D-6-8) on the frame rod (D-6) in the fourth track module (D) respectively;

[0065] As shown, Figure 1 the two through holes (F-1) and (F-2) of the lower body are fixedly connected with the two through holes (A-6-7) and (A-6-8) on the frame rod (A-6) in the first track module (A) respectively; the two through holes (F-3) and (F-4) of the lower body are fixedly connected with the two through holes (B-6-16) and (B-6-15) on the frame rod (B-6) in the second track module (B) respectively; the two through holes (F-5) and (F-6) of the lower body are fixedly connected with the two through holes (C-6-7) and (C-6-8) on the frame rod (C-6) in the third track module (C) respectively; the two through holes (F-7) and (F-8) of the lower body are fixedly connected with the two through holes (D-6-16) and (D-6-15) on the frame rod (D-6) in the fourth track module (D) respectively;

[0066] The first track module (A), as shown, Figure 2 includes: a track wheel (A-1), a first auxiliary shaft (A-2), a first filling shaft (A-3), a first transmission shaft (A-4), a first motor (A-5), a frame rod (A-6), a second motor (A-7), a second transmission shaft (A-8), a second filling shaft (A-9), a second auxiliary shaft (A-10), a center shaft (A-11);

[0067] The track wheel (A-1), as shown, Figure 5 includes: a track assembly one (A-1-1), a track assembly two (A-1-2), a track assembly three (A-1-3), a track assembly four (A-1-4), a track center shaft (A-1-5);

[0068] The track assembly one (A1-1), as shown, Figure 6As shown, the closed curve formed by the segmentation of the closed curve fitted by the barycentric compensation method, the closed curve (A-1-1-a) is designed for land contact, the inside of the track is provided with a water surface (A-1-1-b) for water surface movement, the water surface (A-1-1-b) is provided with two through holes (A-1-1-c) and (A-1-1-d) fixedly connected with the track center shaft (A-1-5);

[0069] The track assembly two (A-1-2) is as shown in Figure 7 As shown, the closed curve formed by the segmentation of the closed curve fitted by the barycentric compensation method, the closed curve (A-1-2-a) is designed for land contact, the inside of the track is provided with a water surface (A-1-2-b) for water surface movement, the water surface (A-1-2-b) is provided with two through holes (A-1-2-c) and (A-1-2-d) fixedly connected with the track center shaft (A-1-5);

[0070] The track assembly three (A-1-3) is as shown in Figure 8 As shown, the closed curve formed by the segmentation of the closed curve fitted by the barycentric compensation method, the closed curve (A-1-3-a) is designed for land contact, the inside of the track is provided with a water surface (A-1-3-b) for water surface movement, the water surface (A-1-3-b) is provided with two through holes (A-1-3-c) and (A-1-3-d) fixedly connected with the track center shaft (A-1-5);

[0071] The track assembly four (A-1-4) is as shown in Figure 9 As shown, the closed curve formed by the segmentation of the closed curve fitted by the barycentric compensation method, the closed curve (A-1-2-a) is designed for land contact, the inside of the track is provided with a water surface (A-1-4-b) for water surface movement, the water surface (A-1-4-b) is provided with two through holes (A-1-4-c) and (A-1-4-d) fixedly connected with the track center shaft (A-1-5);

[0072] The track center shaft (A-1-5) is as shown in Figure 10As shown, it is a four-pointed star structure, with a square through hole (A-1-5-a) in the center connected to the central axis (A-11), and two through holes (A-1-5-h) and (A-1-5-l) on the left and right hole walls are fixed to the central axis (A-11), the first corner (A-1-5-b) is provided with two through holes (A-1-5-c) and (A-1-5-d), which are fixedly connected to the two through holes (A-1-3-d) and (A-1-3-c) on the track component three (A-1-3); the second corner (A-1-5-e) is provided with two through holes (A-1-5-f) and (A-1-5-g), which are fixed to the track component three (A-1-3). The two through holes (A-1-4-d) and (A-1-4-c) on the track component four (A-1-4) are fixedly connected; the third corner (A-1-5-k) is provided with two through holes (A-1-5-j) and (A-1-5-i), which are fixedly connected to the two through holes (A-1-1-c) and (A-1-1-d) on the track component one (A-1-1); the fourth corner (A-1-5-o) is provided with two through holes (A-1-5-n) and (A-1-5-m), which are used to be fixedly connected to the two through holes (A-1-2-d) and (A-1-2-c) on the track component two (A-1-2);

[0073] The first auxiliary axis (A-2), such as Figure 11 As shown, it is a square tube structure, with through holes (A-2-1) provided on the upper and lower sides of the left end, and two rectangular plates (A-2-3) and (A-2-4) extending from the front and rear sides of the right end, with through holes (A-2-2) and (A-2-5) provided on the plates respectively;

[0074] The second auxiliary shaft (A-10) has the same structural dimensions as the first auxiliary shaft (A-2);

[0075] The first filling axis (A-3), such as Figure 12 As shown, it is a rectangular block structure with two circular holes (A-3-4) and (A-3-5) on the left side of the bottom end, a through hole (A-3-1) on the left and right sides of the top end, a through hole (A-3-2) on the top surface, and a stepped circular hole (A-3-3) on the bottom surface connected to the first motor (A-5);

[0076] The second filling shaft (A-9) has the same structural dimensions as the first filling shaft (A-3);

[0077] The first transmission shaft (A-4), as Figure 13 As shown, it is a square tube structure, with two circular holes (A-4-3) and (A-4-4) on the left and right sides of the bottom end, aligned with the two circular holes (A-3-5) and (A-3-4) on the first filling shaft (A-3), and two through holes (A-4-1) and (A-4-2) on the left and right sides of the top end, aligned with the through hole (A-3-1) on the first filling shaft (A-3);

[0078] The second transmission shaft (A-8) has the same structural dimensions as the first transmission shaft (A-4);

[0079] The central axis (A-11) is as follows Figure 14 As shown, it is a square tube structure, with two rectangular plates (A-11-7) and (A-11-8) extending from the front and rear sides of the bottom end, and through holes (A-11-6) and (A-11-9) provided on the plates respectively; two rectangular plates (A-1-1) and (A-11-2) extending from the left and right sides of the top end, and through holes (A-11-3) and (A-11-12) provided on the plates respectively; two through holes (A-11-10) and (A-11-11) are provided on the left and right sides, and two through holes (A-11-4) and (A-11-5) are provided on the front and rear sides;

[0080] The rack rod (A-6) is a rectangular square tube structure, such as Figure 15 As shown, the bottom end of the left side is provided with a first through hole (A-6-3), and four small through holes (A-6-1), (A-6-2), (A-6-4) and (A-6-5) are provided around it; the top end of the left side is provided with a second through hole (A-6-13), and four small through holes (A-6-9), (A-6-10), (A-6-12) and (A-6-14) are provided around it; the bottom end of the right side is provided with a large through hole (A-6-13). The hole (A-6-6) is axially aligned with the first through hole (A-6-3); a large through hole (A-6-11) is provided at the top of the right side surface and is axially aligned with the second through hole (A-6-13); two through holes (A-6-7) and (A-6-8) are provided in the middle of the front side surface for connecting with the upper and lower fuselages; two through holes (A-6-15) and (A-6-16) are provided in the middle of the rear side surface for connecting with the upper and lower fuselages;

[0081] The first motor (A-5), as Figure 16 As shown, there is a crank (A-5-4), a fixed threaded hole (A-5-3) on the crank, and four fixed threaded holes (A-5-1), (A-5-2), (A-5-5) and (A-5-6) on the fuselage;

[0082] The second motor (A-7) has the same structure and size as the first motor (A-5);

[0083] The connection method of each part in the first crawler module (A) is as follows: Figure 2 As shown:

[0084] The crank (A-5-4) of the first motor (A-5) passes through the first through hole (A-6-3) on the frame rod (A-6), and is fixedly connected with the four small through holes (A-6-1), (A-6-2), (A-6-4) and (A-6-5) on the frame rod (A-6) through the four fixed threaded holes (A-5-1), (A-5-2), (A-5-5) and (A-5-6);

[0085] The crank (A-7-4) of the second motor (A-7) passes through the second through hole (A-6-13) on the frame rod (A-6), and is fixedly connected with the four small through holes (A-6-9), (A-6-10), (A-6-12) and (A-6-14) on the frame rod (A-6) through the four fixed threaded holes (A-7-1), (A-7-2), (A-7-5) and (A-7-6);

[0086] The round hole (A-3-3) of the first filling shaft (A-3) is sleeved on the crank (A-5-4) of the first motor (A-5), and is fixedly connected with the crank (A-5-4) of the first motor (A-5) through the top surface through hole (A-3-2) and the fixed threaded hole (A-5-3) of the first motor (A-5);

[0087] The round hole (A-9-3) of the second filling shaft (A-9) is sleeved on the crank (A-7-4) of the second motor (A-7), and is fixedly connected with the crank (A-7-4) of the second motor (A-7) through the top surface through hole (A-9-2) and the fixed threaded hole (A-7-3) of the second motor (A-7);

[0088] The first transmission shaft (A-4) is sleeved on the first filling shaft (A-3), the through holes (A-4-3) and (A-4-4) on the first transmission shaft (A-4) are aligned with the through holes (A-3-5) and (A-3-4) on the first filling shaft (A-3), and the through hole (A-4-2) on the first transmission shaft (A-4) is aligned with the through hole (A-3-1) on the first filling shaft (A-3);

[0089] The second transmission shaft (A-8) is sleeved on the second filling shaft (A-9), the through holes (A-8-3) and (A-8-4) on the first transmission shaft (A-8) are aligned with the through holes (A-9-5) and (A-9-4) on the first filling shaft (A-9), and the through hole (A-8-2) on the first transmission shaft (A-8) is aligned with the through hole (A-9-1) on the first filling shaft (A-9);

[0090] The through holes (A-2-2) and (A-2-5) on the first auxiliary shaft (A-2) are bolted with the through holes (A-4-1) and (A-4-2) on the first transmission shaft (A-4); the through hole (A-2-1) on the first auxiliary shaft (A-2) is bolted with the through holes (A-10-6) and (A-10-9) on the center shaft (A-11);

[0091] The through holes (A-10-2) and (A-10-5) on the second auxiliary shaft (A-10) are bolted with the through holes (A-8-1) and (A-8-2) on the second transmission shaft (A-8); the through hole (A-10-1) on the second auxiliary shaft (A-10) is bolted with the through holes (A-10-3) and (A-10-12) on the center shaft (A-11);

[0092] The track wheel (A-1) is sleeved on the center shaft through the square through hole (A-1-5-a) of the track center shaft (A-1-5); the through holes (A-1-5-h) and (A-1-5-l) on the track center shaft (A-1-5) are bolted with the through holes (A-10-4) and (A-10-5) on the center shaft (A-11);

[0093] The second track module (B), the third track module (C) and the fourth track module (D) are completely same as the first track module (A) in structure, size and connection mode.

Claims

1. A Schatz mechanism driven special-shaped crawler robot, characterized in that: First crawler module (A), second crawler module (B), third crawler module (C), fourth crawler module (D), upper fuselage (E), lower fuselage (F); The first crawler module (A) includes: a crawler wheel (A-1), a first auxiliary shaft (A-2), a first filling shaft (A-3), a first transmission shaft (A-4), a first motor (A-5), a frame rod (A-6), a second motor (A-7), a second transmission shaft (A-8), a second filling shaft (A-9), a second auxiliary shaft (A-10), and a center shaft (A-11); The second crawler module (B), the third crawler module (C) and the fourth crawler module (D) are identical in structure and size to the first crawler module (A); The upper fuselage (E) is a rectangular square plate structure with a rectangular square hole in the middle. There are two through holes (E-2), (E-3), (E-4), (E-5), (E-6), (E-7), (E-8) and (E-9) at each of the four corners of the plate, for a total of eight through holes. The lower fuselage (F) is a rectangular plate structure, with two through holes (F-1), (F-2), (F-3), (F-4), (F-5), (F-6), (F-7) and (F-8) at each of the four corners of the plate, for a total of eight through holes; Connection method of track module and upper and lower fuselage: The two through holes (E-2) and (E-3) of the upper fuselage are respectively fixedly connected to the two through holes (A-6-16) and (A-6-15) on the frame rod (A-6) in the first track module (A); the two through holes (E-4) and (E-5) of the upper fuselage are respectively fixedly connected to the two through holes (B-6-7) and (B-6-8) on the frame rod (B-6) in the second track module (B); the two through holes (E-6) and (E-7) of the upper fuselage are respectively fixedly connected to the two through holes (C-6-16) and (C-6-15) on the frame rod (C-6) in the third track module (C); the two through holes (E-8) and (E-9) of the upper fuselage are respectively fixedly connected to the two through holes (D-6-7) and (D-6-8) on the frame rod (D-6) in the fourth track module (D); The two through holes (F-1) and (F-2) of the lower fuselage are respectively fixedly connected to the two through holes (A-6-7) and (A-6-8) on the frame rod (A-6) in the first crawler module (A); the two through holes (F-3) and (F-4) of the lower fuselage are respectively fixedly connected to the two through holes (B-6-16) and (B-6-15) on the frame rod (B-6) in the second crawler module (B); the two through holes (F-5) and (F-6) of the lower fuselage are respectively fixedly connected to the two through holes (C-6-7) and (C-6-8) on the frame rod (C-6) in the third crawler module (C); the two through holes (F-7) and (F-8) of the lower fuselage are respectively fixedly connected to the two through holes (D-6-16) and (D-6-15) on the frame rod (D-6) in the fourth crawler module (D); The first crawler module (A) includes: a crawler wheel (A-1), a first auxiliary shaft (A-2), a first filling shaft (A-3), a first transmission shaft (A-4), a first motor (A-5), a frame rod (A-6), a second motor (A-7), a second transmission shaft (A-8), a second filling shaft (A-9), a second auxiliary shaft (A-10), and a center shaft (A-11); The crawler wheel (A-1) includes: crawler assembly 1 (A-1-1), crawler assembly 2 (A-1-2), crawler assembly 3 (A-1-3), crawler assembly 4 (A-1-4), and crawler center shaft (A-1-5); The crawler assembly (A1-1) is formed by dividing a closed curve fitted by a center of gravity compensation method. The closed curve (A-1-1-a) is designed for land contact. A paddling surface (A-1-1-b) is provided inside the crawler for water movement. The paddling surface (A-1-1-b) is provided with two through holes (A-1-1-c) and (A-1-1-d) fixedly connected to the crawler center axis (A-1-5); The crawler assembly 2 (A-1-2) is formed by dividing a closed curve fitted by a center of gravity compensation method. The closed curve (A-1-2-a) is designed for land contact. A paddling surface (A-1-2-b) is provided inside the crawler for water movement. The paddling surface (A-1-2-b) is provided with two through holes (A-1-2-c) and (A-1-2-d), which are fixedly connected to the crawler center axis (A-1-5); The crawler assembly three (A-1-3) is formed by dividing the closed curve fitted by the center of gravity compensation method. The closed curve (A-1-3-a) is designed for land contact. The crawler is provided with a paddling surface (A-1-3-b) for water movement. The paddling surface (A-1-3-b) is provided with two through holes (A-1-3-c) and (A-1-3-d) fixedly connected to the crawler center axis (A-1-5); The crawler assembly four (A-1-4) is formed by dividing the closed curve fitted by the center of gravity compensation method. The closed curve (A-1-2-a) is designed for land contact. A paddling surface (A-1-4-b) is provided inside the crawler for water movement. The paddling surface (A-1-4-b) is provided with two through holes (A-1-4-c) and (A-1-4-d), which are fixedly connected to the center axis (A-1-5) of the crawler. The crawler center axis (A-1-5) is a four-pointed star structure, with a square through hole (A-1-5-a) in the center connected to the center axis (A-11), and two through holes (A-1-5-h) and (A-1-5-l) on the left and right hole walls are fixed to the center axis (A-11). The first corner (A-1-5-b) is provided with two through holes (A-1-5-c) and (A-1-5-d), which are fixedly connected to the two through holes (A-1-3-d) and (A-1-3-c) on the crawler component three (A-1-3); the second corner (A-1-5-e) is provided with two through holes (A-1-5-f) and (A-1- 5-g), which is fixedly connected to the two through holes (A-1-4-d) and (A-1-4-c) on the track component four (A-1-4); the third corner (A-1-5-k) is provided with two through holes (A-1-5-j) and (A-1-5-i), which are fixedly connected to the two through holes (A-1-1-c) and (A-1-1-d) on the track component one (A-1-1); the fourth corner (A-1-5-o) is provided with two through holes (A-1-5-n) and (A-1-5-m), which are used to be fixedly connected to the two through holes (A-1-2-d) and (A-1-2-c) on the track component two (A-1-2); The first auxiliary shaft (A-2) is a square tube structure, with through holes (A-2-1) provided on the upper and lower sides of the left end, and two rectangular plates (A-2-3) and (A-2-4) extending from the front and rear sides of the right end, each of which is provided with through holes (A-2-2) and (A-2-5). The second auxiliary shaft (A-10) has the same structural dimensions as the first auxiliary shaft (A-2); The first filling shaft (A-3) is a rectangular block structure, with two circular holes (A-3-4) and (A-3-5) on the left side of the bottom end, a through hole (A-3-1) on the left and right sides of the top end, a through hole (A-3-2) on the top surface, and a stepped circular hole (A-3-3) on the bottom surface connected to the first motor (A-5); The second filling shaft (A-9) has the same structural dimensions as the first filling shaft (A-3); The first transmission shaft (A-4) is a square tube structure, with two circular holes (A-4-3) and (A-4-4) provided on the left and right sides of the bottom end, aligned with the two circular holes (A-3-5) and (A-3-4) on the first filling shaft (A-3), and two through holes (A-4-1) and (A-4-2) provided on the left and right sides of the top end, aligned with the through hole (A-3-1) on the first filling shaft (A-3); The second transmission shaft (A-8) has the same structural dimensions as the first transmission shaft (A-4); The central axis (A-11) is a square tube structure, with two rectangular plates (A-11-7) and (A-11-8) extending from the front and rear sides of the bottom end, each of which is provided with through holes (A-11-6) and (A-11-9), and two rectangular plates (A-1-1) and (A-11-2) extending from the left and right sides of the top end, each of which is provided with through holes (A-11-3) and (A-11-12), two through holes (A-11-10) and (A-11-11) on the left and right sides, and two through holes (A-11-4) and (A-11-5) on the front and rear sides. The rack rod (A-6) is a rectangular square tube structure, with a first through hole (A-6-3) at the bottom end of the left side, and four small through holes (A-6-1), (A-6-2), (A-6-4) and (A-6-5) arranged around it; a second through hole (A-6-13) is provided at the top end of the left side, and four small through holes (A-6-9), (A-6-10), (A-6-12) and (A-6-14) are arranged around it; A large through hole (A-6-6) is provided at the bottom and is aligned with the axis of the first through hole (A-6-3); a large through hole (A-6-11) is provided at the top of the right side and is aligned with the axis of the second through hole (A-6-13); two through holes (A-6-7) and (A-6-8) are provided in the middle of the front side for connecting with the upper and lower fuselages; two through holes (A-6-15) and (A-6-16) are provided in the middle of the rear side for connecting with the upper and lower fuselages; The first motor (A-5) is provided with a crank (A-5-4), a fixed threaded hole (A-5-3) on the crank, and four fixed threaded holes (A-5-1), (A-5-2), (A-5-5) and (A-5-6) on the body; The second motor (A-7) has the same structure and size as the first motor (A-5); Connection method of each part in the first crawler module (A): The crank (A-5-4) of the first motor (A-5) passes through the first through hole (A-6-3) on the frame rod (A-6) and is fixedly connected to the four small through holes (A-6-1), (A-6-2), (A-6-4) and (A-6-5) on the frame rod (A-6) through four fixing threaded holes (A-5-1), (A-5-2), (A-5-5) and (A-5-6); The crank (A-7-4) of the second motor (A-7) passes through the second through hole (A-6-13) on the frame rod (A-6) and is fixedly connected to the four small through holes (A-6-9), (A-6-10), (A-6-12) and (A-6-14) on the frame rod (A-6) through four fixing threaded holes (A-7-1), (A-7-2), (A-7-5) and (A-7-6); The circular hole (A-3-3) of the first filling shaft (A-3) is sleeved on the crank (A-5-4) of the first motor (A-5), and is screwed to the fixing threaded hole (A-5-3) of the first motor (A-5) through the top surface through hole (A-3-2); the two through holes (A-3-4) and (A-3-5) of the first filling shaft (A-3) are fixedly connected to the crank (A-5-4) of the first motor (A-5) through a top screw; The circular hole (A-9-3) of the second filling shaft (A-9) is sleeved on the crank (A-7-4) of the second motor (A-7) and is screwed to the fixing threaded hole (A-7-3) of the second motor (A-7) through the top surface through hole (A-9-2); the two through holes (A-9-4) and (A-9-5) of the second filling shaft (A-9) are fixedly connected to the crank (A-7-4) of the second motor (A-7) through the top screw; The first transmission shaft (A-4) is sleeved on the first filling shaft (A-3), the through holes (A-4-3) and (A-4-4) on the first transmission shaft (A-4) are aligned with the through holes (A-3-5) and (A-3-4) on the first filling shaft (A-3), and the through hole (A-4-2) on the first transmission shaft (A-4) is aligned with the through hole (A-3-1) on the first filling shaft (A-3); The second transmission shaft (A-8) is sleeved on the second filling shaft (A-9), the through holes (A-8-3) and (A-8-4) on the first transmission shaft (A-8) are aligned with the through holes (A-9-5) and (A-9-4) on the first filling shaft (A-9), and the through hole (A-8-2) on the first transmission shaft (A-8) is aligned with the through hole (A-9-1) on the first filling shaft (A-9); The through holes (A-2-2) and (A-2-5) on the first auxiliary shaft (A-2) are connected to the through holes (A-4-1) and (A-4-2) on the first transmission shaft (A-4) by bolts; the through hole (A-2-1) on the first auxiliary shaft (A-2) is connected to the through holes (A-10-6) and (A-10-9) on the central shaft (A-11) by bolts; The through holes (A-10-2) and (A-10-5) on the second auxiliary shaft (A-10) are connected to the through holes (A-8-1) and (A-8-2) on the second transmission shaft (A-8) by bolts; the through hole (A-10-1) on the second auxiliary shaft (A-10) is connected to the through holes (A-10-3) and (A-10-12) on the central shaft (A-11) by bolts; The track wheel (A-1) is sleeved on the center shaft (A-1-5) through the square through hole (A-1-5-a) of the track center shaft (A-1-5), and the through holes (A-1-5-h) and (A-1-5-l) on the track center shaft (A-1-5) are fixedly connected with the through holes (A-10-4) and (A-10-5) on the center shaft (A-11) by bolts; The second track module (B), the third track module (C) and the fourth track module (D) are identical in structure, size and connection method to the first track module (A).

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