Desert cooperative transport vehicle and system

Abstract

The present application relates to a kind of desert collaborative transport vehicle and system, transport vehicle includes load seat and two intelligent bodies, load seat is arc-shaped and is provided with two lengthwise grooves, the inner half of groove is provided with slide on the side wall, the side wall of groove is provided with positioning groove on the upper side position of slide, two intelligent bodies are set with the groove of load seat one to one, intelligent body includes car body and four wheel legs, car body is provided with the docking seat matched with load seat, docking seat is provided with T-shaped slide rail matched with groove and slide, the side wall of T-shaped slide rail is provided with positioning block matched with positioning groove, four wheel legs are installed in four corners of car body correspondingly, wheel leg includes leg seat, leg upper arm, leg lower arm, first electric cylinder, wheel seat, wheel steering motor, wheel frame, wheel edge motor and wheel;System includes two or more described transport vehicle, and the load seat of all transport vehicles supports load jointly.It has the advantages of good passability, strong adaptability, high safety, stable and reliable.

Description

Technical Field

[0001] This invention relates to a transport vehicle, specifically to a multi-agent collaborative transport vehicle and system suitable for desert regions. Background Technology

[0002] Desert transport vehicles frequently need to venture deep into the desert interior, which is primarily characterized by sandy gravel, barren terrain, and gravel fields. The operating environment is harsh, with rugged and undulating roads and significant temperature differences between day and night, placing higher demands on the vehicle's power, passability, maneuverability, and reliability. With the increasing demand for desert transport operations and the growing number of large, non-removable components, conventional trucks can no longer meet the needs. Therefore, achieving the suitability of ultra-heavy-duty transport vehicles for desert conditions has become an urgent problem to be solved in this field. Summary of the Invention

[0003] The purpose of this invention is to provide a desert collaborative transport vehicle and system, which has the advantages of good passability, strong adaptability, high safety, and stability and reliability.

[0004] To address the aforementioned problems in the prior art, this invention provides a desert collaborative transport vehicle, comprising a load support and two intelligent agents. The load support is arc-shaped and has two symmetrically distributed grooves along its length. The inner half of each groove has a sliding track, and the upper side wall of the groove has a positioning groove. The two intelligent agents are configured to correspond one-to-one with the two grooves of the load support. Each intelligent agent includes a vehicle body and four wheel legs. The vehicle body has a docking seat that mates with the load support. The docking seat has a T-shaped sliding rail that mates with the grooves and tracks. The side wall of the T-shaped sliding rail has a retractable positioning block that mates with the positioning groove. The four wheel legs are correspondingly installed at the four corners of the vehicle body, and each wheel leg includes a leg seat, a leg upper arm, and a leg. The vehicle comprises a lower arm, a first electric cylinder, a wheel seat, a wheel steering motor, a wheel frame, a wheel-side motor, and a wheel. The leg seat is hinged to the vehicle body via a vertical shaft. A steering gear is fixed on the leg seat. The vehicle body is equipped with a leg steering motor. A drive gear that meshes with the steering gear is fixed on the output shaft of the leg steering motor. One end of the upper and lower leg arms is hinged to the leg seat via a horizontal shaft. The other end of the upper and lower leg arms is hinged to the wheel seat via a horizontal shaft. Both ends of the first electric cylinder are respectively hinged to the middle of the lower leg arm and the leg seat via horizontal shafts. The wheel steering motor is vertically mounted on the wheel seat. The wheel frame is fixedly connected to the output shaft of the wheel steering motor. The wheel-side motor is horizontally fixed on the wheel frame. The wheel is coaxially fixed on the output shaft of the wheel-side motor.

[0005] Furthermore, the present invention provides a desert collaborative transport vehicle, wherein the vehicle body includes a chassis and a shell fixed on the chassis, a limiting groove is provided on one side of the shell, and shaft holes are respectively provided on the two end walls of the limiting groove, the docking seat is fitted in the limiting groove, and the two ends of the docking seat are respectively provided with rotating shafts in the shaft holes.

[0006] Furthermore, in this invention, a desert collaborative transport vehicle is provided, wherein arc-shaped racks are fixed on both sides of the load support, and auxiliary gears that cooperate with the arc-shaped racks are installed on both sides of the docking seat on the T-shaped slide rail. The docking seat is provided with a gear transmission mechanism that drives the auxiliary gears to rotate, and a second electric cylinder that drives the positioning block to extend and retract is also provided in the docking seat.

[0007] Furthermore, the present invention provides a desert collaborative transport vehicle, wherein the vehicle body is provided with an equipment through hole, the chassis is provided with a sand-dredging device, the sand-dredging device includes a sand-dredging motor fixed on the chassis, the inlet end of the sand-dredging motor is provided with a sand inlet pipe located on the underside of the chassis, the end of the sand inlet pipe is fixed with a cone head by a lower connecting rod distributed circumferentially, the sand inlet pipe is provided with a sand inlet spiral device, the two ends of the sand inlet spiral device are connected to the sand-dredging motor and the lower rotating block on the cone head respectively, the outlet end of the sand-dredging motor is provided with a sand outlet pipe passing through the chassis and located in the equipment through hole of the vehicle body, the end of the sand outlet pipe is fixed with an end cap by an upper connecting rod distributed circumferentially, the sand outlet pipe is provided with a sand outlet spiral device, the two ends of the sand outlet spiral device are connected to the sand-dredging motor and the upper rotating block on the end cap respectively.

[0008] Furthermore, the present invention provides a desert collaborative transport vehicle, wherein the upper and lower sides of the chassis are respectively provided with robotic arms that clamp sand outlet pipes and sand inlet pipes. The robotic arms include a base, an electrically controlled rotary table, a primary extension arm, and a secondary extension arm. The base is fixed on the chassis, the electrically controlled rotary table is mounted on the chassis, and a primary motor and a secondary motor are fixedly fixed on one end of the electrically controlled rotary table and one end of the secondary extension arm, respectively. The two ends of the primary extension arm are fixedly connected to the output shafts of the primary motor and the secondary motor, respectively. The secondary extension arm is provided with pipe through holes and pipe control ports. The sand outlet pipe passes through the pipe through holes of the upper side of the chassis robotic arm, the electrically controlled rotary table, and the secondary extension arm in sequence and is connected to the pipe control port. The sand inlet pipe passes through the pipe through holes of the lower side of the chassis robotic arm, the electrically controlled rotary table, and the secondary extension arm in sequence and is connected to the pipe control port.

[0009] Furthermore, in a desert collaborative transport vehicle of the present invention, two upper arms of the wheel legs are symmetrically provided, and the two ends of the lower arms of the wheels are respectively hinged to the leg seat and the wheel seat via U-shaped forks, and the first electric cylinder is located between the two upper arms of the legs.

[0010] Furthermore, the present invention provides a desert collaborative transport vehicle, wherein a wheel steering brake is provided between the wheel seat and the wheel frame, and a boom steering brake is provided between the base and the electrically controlled rotary table.

[0011] Furthermore, the present invention provides a desert collaborative transport vehicle, wherein the chassis is provided with a first motor slot for installing a sand-dredging motor and a chassis through hole for a sand-discharging pipe to pass through; the chassis is also provided with a second motor slot and a wheel leg slot corresponding to the wheel legs, the second motor slot being used to install a wheel leg steering motor, and the wheel leg slot being used to install a wheel leg seat.

[0012] Furthermore, the present invention provides a desert collaborative transport vehicle, wherein the chassis is provided with multiple battery slots, the battery slots are provided with batteries that provide power to the intelligent agent, the wheel legs are provided with road surface sensing devices, and the docking seat is provided with a visual sensing device.

[0013] Based on the same concept, the present invention also provides a desert collaborative transportation system, the system comprising two or more of the aforementioned transport vehicles, all of which have load seats that jointly support the load.

[0014] Compared with existing technologies, the present invention, a desert collaborative transport vehicle and system, has the following advantages: The present invention sets up a load-bearing support and two intelligent agents. The load-bearing support adopts an arc-shaped structure and has two symmetrically distributed grooves along its length. A sliding track is provided on the inner half of the groove's sidewall, and a positioning groove is provided on the upper sidewall of the groove. The two intelligent agents are positioned one-to-one with the two grooves of the load-bearing support, with each agent housing the vehicle body and four wheel legs. A docking seat that mates with the load-bearing support is provided on the vehicle body, and a T-shaped sliding rail that mates with the grooves and tracks is provided on the docking seat. A retractable positioning block that mates with the positioning groove is provided on the sidewall of the T-shaped sliding rail. The four wheel legs are correspondingly installed at the four corners of the vehicle body, with each wheel leg housing a leg seat and a... The vehicle comprises an upper leg arm, a lower leg arm, a first electric cylinder, wheel seats, a wheel steering motor, a wheel frame, a wheel-side motor, and wheels. The leg seat is hinged to the vehicle body via a vertical shaft, and a steering gear is fixed on the leg seat. The leg steering motor is mounted on the vehicle body, and a drive gear meshing with the steering gear is fixed to the output shaft of the leg steering motor. One end of each of the upper and lower leg arms is hinged to the leg seat via a horizontal shaft, and the other end is hinged to the wheel seat via a horizontal shaft. Both ends of the first electric cylinder are respectively hinged to the middle of the lower leg arm and the leg seat via horizontal shafts. The wheel steering motor is vertically mounted on the wheel seat, and the wheel frame is fixedly connected to the output shaft of the wheel steering motor. The wheel-side motor is horizontally fixed to the wheel frame, and the wheels are coaxially fixed to the output shaft of the wheel-side motor. This constitutes a desert collaborative transport vehicle with good maneuverability, strong adaptability, high safety, and stable reliability. In practical applications, the load can be placed on the load carriers of two or more transport vehicles as needed. Through the coordinated operation of all transport vehicles, the load can be transported in the desert environment. Compared with wheeled or tracked vehicles, this improves the adaptability to the desert environment and the ability to pass through rugged and undulating roads, ensuring the stability and reliability of load transportation. This invention comprises a leg support, upper leg arm, lower leg arm, first electric cylinder, wheel seat, wheel steering motor, wheel frame, wheel-side motor, and wheel. The leg steering motor and drive gear rotate the steering gear, enabling the leg to swing laterally. The extension and retraction of the first electric cylinder enables the leg to swing vertically. The rotation of the wheel steering motor causes the wheel frame, wheel-side motor, and wheel to steer together. The rotation of the wheel-side motor causes the wheel to roll. By comprehensively controlling the above actions of the four legs, the intelligent entity can perform omnidirectional posture adjustments such as lateral movement, longitudinal movement, lifting, flipping, and turning in place. With road surface sensing devices on each leg, for rugged desert terrain, controlling the wheels of each leg to undulate at different heights ensures all wheels of the intelligent entity remain attached to the ground, improving obstacle-crossing ability. By enabling all the intelligent entities of the transport vehicle to operate collaboratively, the stability and safety of load transportation can be effectively guaranteed.Meanwhile, this invention, by setting a load support and having the intelligent agent set a docking seat that cooperates with the load support, combined with the intelligent agent's omnidirectional posture adjustment function and a visual sensing device set on the docking seat, can achieve automatic assembly and automatic unloading, improving functionality and practicality. The specific process of automatic assembly and automatic unloading is as follows: During assembly, each intelligent agent adjusts its posture, and the T-shaped slide rail of its respective docking seat slides gradually from the outside to the inside into the corresponding slide groove of the load support. The upper half of the T-shaped slide rail is located on the upper side of the slide. When the T-shaped slide rail is in place, the positioning block extends and engages with the positioning groove, thus establishing a stable connection between the intelligent agent and the load support, thereby achieving the purpose of automatic assembly. The automatic unloading process is the reverse of the automatic assembly process and will not be described in detail here.

[0015] The following detailed description of a desert collaborative transport vehicle and system according to the present invention, with reference to the accompanying drawings, illustrates the specific embodiments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a desert collaborative transport vehicle according to the present invention;

[0017] Figure 2 This is a schematic diagram of the chassis structure in this invention;

[0018] Figure 3 This is a schematic diagram of the structure of the vehicle shell in this invention;

[0019] Figure 4 This is a schematic diagram of the wheel leg structure in this invention;

[0020] Figure 5 This is a schematic diagram of the load support structure in this invention;

[0021] Figure 6 This is a schematic diagram of the docking seat in this invention;

[0022] Figure 7 This is a schematic diagram of the robotic arm in this invention;

[0023] Figure 8 This is a schematic diagram of the sand-dredging device in this invention. Detailed Implementation

[0024] First, it should be noted that the directional terms such as up, down, left, right, front, and back used in this invention are merely descriptions based on the accompanying drawings for ease of understanding, and are not intended to limit the technical solution or the scope of protection claimed in this invention.

[0025] like Figures 1 to 8The embodiment of a desert collaborative transport vehicle of the present invention shown includes a load support 1 and two intelligent agents. The load support 1 adopts an arc-shaped structure, and two symmetrically distributed grooves 11 along its length are provided on the load support 1. A slide rail 12 is provided on the inner half side wall of the groove 11, and a positioning groove 13 is provided on the side wall of the groove 11 above the slide rail 12. The two intelligent agents are arranged one-to-one with the two slide rails 11 of the load support 1, and the intelligent agents are equipped with a vehicle body 2 and four wheel legs 3. A docking seat 4 that mates with the load support 1 is provided on the vehicle body 2, and a T-shaped slide rail 41 that mates with the slide rails 11 and 12 is provided on the docking seat 4. A retractable positioning block 42 that mates with the positioning groove 13 is provided on the side wall of the T-shaped slide rail 41. Four wheel legs 3 are installed at the four corners of the vehicle body 2. Each wheel leg 3 includes a leg seat 31, an upper leg arm 32, a lower leg arm 33, a first electric cylinder 34, a wheel seat 35, a wheel steering motor 36, a wheel frame 37, a wheel-side motor 38, and a wheel 39. The leg seat 31 is hinged to the vehicle body 2 via a vertical shaft. A steering gear 311 is fixed on the leg seat 31. The vehicle body 2 is equipped with a leg steering motor (not shown in the figure). A drive gear (not shown in the figure) that meshes with the steering gear 311 is fixed on the output shaft of the leg steering motor. One end of the upper leg arm 32 and the lower leg arm 33 are respectively hinged to the leg seat 31 via a horizontal shaft. The other end of the upper leg arm 32 and the lower leg arm 33 are respectively hinged to the wheel seat 35 via a horizontal shaft. The two ends of the first electric cylinder 34 are respectively hinged to the middle of the lower leg arm 33 and the leg seat 31 via a horizontal shaft. The wheel steering motor 36 is vertically mounted on the wheel seat 35. The wheel frame 37 is fixedly connected to the output shaft of the wheel steering motor 36. The wheel-side motor 38 is horizontally fixed on the wheel frame 37. The wheel 39 is coaxially fixed on the output shaft of the wheel-side motor 38.

[0026] The above structural configuration constitutes a desert collaborative transport vehicle with good passability, strong adaptability, high safety, and stable reliability. In practical applications, the load can be placed on the load carriers 1 of two or more transport vehicles as needed, and the load can be transported in the desert environment through the coordinated operation of all transport vehicles. Compared with wheeled or tracked vehicles, it improves the adaptability to the desert environment and the passability on rugged and undulating roads, ensuring the stability and reliability of load transportation. This invention configures the wheel legs 3 with a leg seat 31, upper leg arm 32, lower leg arm 33, first electric cylinder 34, wheel seat 35, wheel steering motor 36, wheel frame 37, wheel-side motor 38, and wheel 39. The wheel steering motor and drive gear drive the steering gear 311 to rotate, which allows the wheel legs 3 to swing laterally. The extension and retraction of the first electric cylinder 34 allows the wheel legs 3 to swing vertically. The rotation of the wheel steering motor 36 allows the wheel frame 37, wheel-side motor 38, and wheel 39 to turn together. The rotation of wheel 38 enables the wheels to roll and move. By comprehensively controlling the aforementioned movements of the four wheel legs 3, the intelligent entity can perform omnidirectional posture adjustments such as lateral movement, longitudinal movement, lifting, flipping, and turning in place. With road surface sensing devices installed on each wheel leg 3, for rugged desert terrain, controlling the wheels 39 of each wheel leg 3 to undulate at different heights ensures that all wheels 39 of the intelligent entity remain attached to the ground, improving obstacle-crossing ability. By enabling all the intelligent entities of the transport vehicle to operate in coordination, the stability and safety of load transportation can be effectively guaranteed. Simultaneously, by setting up a load support 1 and a docking seat 4 that mates with the intelligent entity, combined with the intelligent entity's omnidirectional posture adjustment function and the visual sensing device installed on the docking seat 4, automatic assembly and unloading can be achieved, improving functionality and practicality. The specific processes of automatic assembly and automatic unloading are as follows: During assembly, each intelligent entity adjusts its posture, and the T-shaped slide rail 41 of its respective docking seat 4 slides gradually from the outside to the inside into the corresponding slide groove 11 of the load support 1. The upper half of the T-shaped slide rail 41 is located on the upper side of the slide rail 12. After the T-shaped slide rail 41 slides into place, the positioning block 42 extends and engages with the positioning groove 13, thus establishing a stable connection between the intelligent entity and the load support 1, achieving the purpose of automatic assembly. The automatic unloading process is the reverse of the automatic assembly process and will not be described further here. It should be noted that, to ensure the stability of the structure and docking, in practical applications, the upper side of the docking seat 4 and the T-shaped slide rail 41 are set as an arc-shaped structure matching the upper 1 of the load support. Furthermore, it should be pointed out that the aforementioned road surface sensing device and visual sensing device are commonly used devices in the field. How to control the intelligent entity and transport vehicle based on the detection parameters of the sensing device and visual sensing device can be achieved through various strategies, which are well known to those skilled in the art and are not the subject of this invention, and will not be described further here.

[0027] As an optimized solution, this specific embodiment includes a chassis 21 and a car body 22 fixed on the chassis 21 to simplify the structure and manufacturing process. A limiting groove 221 is provided on one side of the car body 22, and shaft holes 222 are provided on the two end walls of the limiting groove 221. Correspondingly, the docking seat 4 is fitted into the limiting groove 221, and rotating shafts 43 located in the shaft holes 222 are provided at both ends of the docking seat 4. This structural design allows the docking seat 4 to rotate slightly in the limiting groove 221, effectively avoiding jamming during automatic assembly and unloading, and ensuring stable and reliable operation. As an optimized solution, this specific embodiment also fixes arc-shaped racks 14 on both sides of the load support 1. Correspondingly, assist gears 44 that cooperate with the arc-shaped racks 14 are installed on both sides of the T-shaped slide rail 41 of the docking seat 4, and a gear transmission mechanism that drives the assist gears 44 to rotate is provided in the docking seat 4. This structure, designed for automatic assembly and unloading, provides auxiliary propulsion through the cooperation of the assist gear 44 and the arc-shaped rack 14, enhancing the stability and reliability of the operation. It should be noted that in practical applications, the present invention typically uses thrust cylindrical roller bearings to mount the assist gear 44 to ensure smooth rotation. The gear transmission mechanism can adopt the following structure: a servo motor is installed in the docking seat 4, and a driving bevel gear is installed on the output shaft of the servo motor. Driven bevel gears meshing with the driving bevel gears are respectively installed on the central shafts of the two assist gears 44. Thus, the servo motor drives the driving bevel gear to rotate, and with the cooperation of the driven bevel gears, the two assist gears 44 can rotate synchronously. However, it should be pointed out that the gear transmission mechanism is not limited to the above-listed forms and other structures with equivalent functions can also be used. To enable the positioning block 42 to achieve its telescopic function, the present invention also provides a second electric cylinder in the docking seat 4 to drive the positioning block 42. The specific configuration of the second electric cylinder is well known to those skilled in the art and will not be described further here.

[0028] As an optimization, this specific embodiment provides an equipment through hole 223 on the car body 22 and a sand-dredging device 5 on the chassis 21. The sand-dredging device 5 is equipped with a sand-dredging motor 51 fixed on the chassis 21. A sand inlet pipe 52 is provided at the inlet end of the sand-dredging motor 51 and located on the lower side of the chassis 21. A cone head 54 is fixed at the end of the sand inlet pipe 52 by a lower connecting rod 53 distributed circumferentially. A sand-inlet spiral device 55 is provided in the sand inlet pipe 52, and the two ends of the sand inlet spiral device 55 are connected to the lower rotating block 541 on the sand-dredging motor 51 and the cone head 54, respectively. Similarly, a sand outlet pipe 56 is provided at the outlet end of the sand-dredging motor 51, passing through the chassis 21 and located in the equipment through hole 223 of the vehicle body 22. An end cap 58 is fixed at the end of the sand outlet pipe 56 by an upper connecting rod 57 distributed circumferentially. A sand outlet spiral device 59 is provided in the sand outlet pipe 56, and the two ends of the sand outlet spiral device 59 are connected to the upper rotating block 581 on the sand-dredging motor 51 and the end cap 58, respectively. This structure allows for the extraction of sand from under the transport vehicle and load via the sand inlet pipe 52, reducing their height. Once the height of the transport vehicle and load meets requirements, the sand outlet pipe 56 covers them with sand, effectively improving concealment and safety. As an optimization, to facilitate control of the sand inlet pipe 52 and the sand outlet pipe 56 and improve the efficiency of sand extraction and sand covering, the invention includes robotic arms 6 on the upper and lower sides of the chassis 21, respectively, for clamping the sand outlet pipe 56 and the sand inlet pipe 52. The robotic arm 6 specifically includes a base 61, an electrically controlled rotary table 62, a primary extension arm 63, and a secondary extension arm 64. The base 61 is fixed to the chassis 21. The electrically controlled rotary table 62 is mounted on the chassis 21. A primary motor 65 and a secondary motor 66 are fixed to one end of the electrically controlled rotary table 62 and one end of the secondary extension arm 64, respectively. The two ends of the primary extension arm 63 are fixedly connected to the output shafts of the primary motor 65 and the secondary motor 66, respectively. The secondary extension arm 64 is provided with a pipe through-hole 641 and a pipe control port 642. The sand discharge pipe 56 passes sequentially through the pipe through-hole 641 of the base 61, the electrically controlled rotary table 62, and the secondary extension arm 64 on the upper side of the chassis 21 and connects to the pipe control port 642. The sand inlet pipe 52 passes sequentially through the pipe through-hole 641 of the base 61, the electrically controlled rotary table 62, and the secondary extension arm 64 on the lower side of the chassis 21 and connects to the pipe control port 642. The robotic arm 6 of this structure is characterized by its simple structure, convenient operation, and flexible movement. The rotation of the electrically controlled rotary table 62 can turn the first-stage arm 63 and the second-stage arm 64. The rotation of the first-stage motor 65 can extend and retract the first-stage arm 63. The rotation of the second-stage motor 66 can extend and retract the second-stage arm 64. By comprehensively controlling the electrically controlled rotary table 62, the first-stage motor 65, and the second-stage motor 66 of the corresponding robotic arm 6, the position and attitude of the sand inlet pipe 52 and the sand outlet pipe 56 can be precisely controlled.

[0029] In a specific embodiment, this invention symmetrically arranges two upper arms 32 of the wheel leg 3, and hinges the two ends of the lower arms 33 of the wheel leg to the leg seat 31 and the wheel seat 35 respectively via U-shaped forks, and positions the first electric cylinder 34 between the two upper arms 32, effectively enhancing the structural stability and operational flexibility of the wheel leg 3. To facilitate braking and maintain stability, this embodiment provides a wheel steering brake 371 between the wheel seat 35 and the wheel frame 37, and a boom steering brake 621 between the base 61 and the electrically controlled rotary table 62. To improve the convenience and standardization of installation operations, this embodiment provides a first motor slot 211 for mounting the sand-dredging motor 51 and a chassis through hole 212 through which the sand discharge pipe 56 passes on the chassis 21, and a second motor slot 213 and a wheel leg slot 214 corresponding to the wheel leg 3 on the chassis 21. The second motor slot 213 is used to mount the wheel leg steering motor, and the wheel leg slot 214 is used to mount the leg seat 31. The present invention also provides a plurality of battery slots 215 on the chassis 21 so that batteries for powering the intelligent agent can be installed in the battery slots 215.

[0030] The desert collaborative transport vehicle provided by this invention can produce the following beneficial effects: a) Two intelligent agents are connected to the load support through a sliding rail and chute structure to form a transport vehicle. The transport of the load in the desert environment is completed through the coordinated operation of two or more transport vehicles, and the automatic assembly and unloading functions are realized by utilizing the sliding rail and chute structure; b) In the desert environment, the wheel legs of each intelligent agent can ensure that all wheels can touch the ground through undulations of different heights, improving obstacle crossing ability; c) The load is automatically unloaded at a designated location, and the sand pumping device controlled by the robotic arm is used to pump out the sand under the load. After the load sinks, the load is covered with sand, improving concealment and safety; d) The coordinated transport of two or more transport vehicles makes the transport state more flexible, reduces the load borne by a single intelligent agent, and lowers the grounding specific voltage of a single intelligent agent.

[0031] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications made by those skilled in the art based on the technical solutions of the present invention without departing from the design concept of the present invention should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A desert collaborative transport vehicle, characterized in that, The system includes a load support (1) and two intelligent agents. The load support (1) is arc-shaped and has two symmetrically distributed grooves (11) along its length. The inner half of the groove (11) has a slide rail (12) on its sidewall, and the upper side of the slide rail (11) has a positioning groove (13) on its sidewall. The two intelligent agents are configured one-to-one with the two slide rails (11) of the load support (1). Each intelligent agent includes a vehicle body (2) and four wheel legs (3). The upper part is provided with a docking seat (4) that cooperates with the load support (1). The docking seat (4) is provided with a T-shaped slide rail (41) that cooperates with the slide groove (11) and the slide rail (12). The side wall of the T-shaped slide rail (41) is provided with a retractable positioning block (42) that cooperates with the positioning groove (13). The four wheel legs (3) are installed at the four corners of the vehicle body (2). The wheel leg (3) includes a leg seat (31), a leg upper arm (32), a leg lower arm (33), a first electric cylinder (34), a wheel seat (35), and a wheel. The vehicle includes a steering motor (36), a wheel frame (37), a wheel-side motor (38), and a wheel (39). A leg support (31) is hinged to the vehicle body (2) via a vertical shaft. A steering gear (311) is fixed on the leg support (31). A leg steering motor is mounted on the vehicle body (2). A drive gear meshing with the steering gear (311) is fixed on the output shaft of the leg steering motor. One end of the upper leg arm (32) and the lower leg arm (33) are hinged to the leg support (31) via a horizontal shaft. The upper leg arm (32) and the lower leg arm (33) are connected to the vehicle body (2) via a vertical shaft. The other end of the lower leg arm (33) is hinged to the wheel seat (35) via a horizontal shaft. The two ends of the first electric cylinder (34) are respectively hinged to the middle of the lower leg arm (33) and the leg seat (31) via a horizontal shaft. The wheel steering motor (36) is vertically mounted on the wheel seat (35). The wheel frame (37) is fixedly connected to the output shaft of the wheel steering motor (36). The wheel-side motor (38) is horizontally fixed on the wheel frame (37). The wheel (39) is coaxially fixed on the output shaft of the wheel-side motor (38).

2. The desert collaborative transport vehicle according to claim 1, characterized in that, The vehicle body (2) includes a chassis (21) and a car shell (22) fixed on the chassis (21). A limiting groove (221) is provided on one side of the car shell (22). A shaft hole (222) is provided on both ends of the limiting groove (221). The docking seat (4) is fitted in the limiting groove (221). A rotating shaft (43) is provided at both ends of the docking seat (4) in the shaft hole (222).

3. A desert collaborative transport vehicle according to claim 2, characterized in that, The load support (1) is fixed with an arc-shaped rack (14) on both sides. The docking seat (4) is equipped with an assist gear (44) that cooperates with the arc-shaped rack (14) on both sides of the T-shaped slide rail (41). The docking seat (4) is provided with a gear transmission mechanism that drives the assist gear (44) to rotate. The docking seat (4) is also provided with a second electric cylinder that drives the positioning block (42) to extend and retract.

4. A desert collaborative transport vehicle according to claim 3, characterized in that, The vehicle body (22) is provided with an equipment through hole (223), and the chassis (21) is provided with a sand-dredging device (5). The sand-dredging device (5) includes a sand-dredging motor (51) fixed on the chassis (21). The inlet end of the sand-dredging motor (51) is provided with a sand inlet pipe (52) located on the underside of the chassis (21). The end of the sand inlet pipe (52) is fixed with a cone head (54) by a lower connecting rod (53) distributed circumferentially. A sand-dredging spiral device (55) is provided in the sand inlet pipe (52). The two ends of the sand-dredging spiral device (55) correspond to the sand-dredging motor. The lower rotating block (541) on the machine (51) and the cone (54) is connected. The outlet end of the sand pumping motor (51) is provided with a sand discharge pipe (56) that passes through the chassis (21) and is located in the equipment through hole (223) of the car body (22). The end of the sand discharge pipe (56) is fixed with an end cap (58) by an upper connecting rod (57) distributed along the circumference. A sand discharge spiral device (59) is provided in the sand discharge pipe (56). The two ends of the sand discharge spiral device (59) are connected to the upper rotating block (581) on the sand pumping motor (51) and the end cap (58).

5. A desert collaborative transport vehicle according to claim 4, characterized in that, The chassis (21) is equipped with robotic arms (6) on its upper and lower sides, respectively, for clamping the sand outlet pipe (56) and the sand inlet pipe (52). The robotic arm (6) includes a base (61), an electrically controlled rotary table (62), a primary extension arm (63), and a secondary extension arm (64). The base (61) is fixed on the chassis (21), and the electrically controlled rotary table (62) is mounted on the chassis (21). A primary motor (65) and a secondary motor (66) are fixed on the electrically controlled rotary table (62) and one end of the secondary extension arm (64), respectively. The two ends of the primary extension arm (63) correspond to the primary motor (65) and the secondary motor (66). The output shaft of the two-stage extension arm (64) is fixedly connected. The two-stage extension arm (64) is provided with a pipe through hole (641) and a pipe control port (642). The sand outlet pipe (56) passes through the base (61) of the upper mechanical arm (6) of the chassis (21), the electric control rotary table (62) and the pipe through hole (641) of the two-stage extension arm (64) in sequence and is connected to the pipe control port (642). The sand inlet pipe (52) passes through the base (61) of the lower mechanical arm (6) of the chassis (21), the electric control rotary table (62) and the pipe through hole (641) of the two-stage extension arm (64) in sequence and is connected to the pipe control port (642).

6. A desert collaborative transport vehicle according to claim 5, characterized in that, The upper arm (32) of the wheel leg (3) is symmetrically provided with two, and the two ends of the lower arm (33) of the wheel leg are respectively hinged to the leg seat (31) and the wheel seat (35) through U-shaped forks. The first electric cylinder (34) is located between the two upper arms (32).

7. A desert collaborative transport vehicle according to claim 5, characterized in that, A wheel steering brake (371) is provided between the wheel seat (35) and the wheel frame (37), and a boom steering brake (621) is provided between the base (61) and the electrically controlled rotary table (62).

8. A desert collaborative transport vehicle according to claim 5, characterized in that, The chassis (21) is provided with a first motor slot (211) for installing a sand pumping motor (51) and a chassis through hole (212) for the sand discharge pipe (56) to pass through; the chassis (21) is also provided with a second motor slot (213) and a wheel leg slot (214) corresponding to the wheel leg (3). The second motor slot (213) is used to install the wheel leg steering motor, and the wheel leg slot (214) is used to install the wheel leg seat (31).

9. A desert collaborative transport vehicle according to claim 5, characterized in that, The chassis (21) is provided with multiple battery slots (215), and the battery slots (215) are provided with batteries that provide power to the intelligent agent. The wheel legs (3) are provided with road surface sensing devices, and the docking seat (4) is provided with visual sensing devices.

10. A desert collaborative transportation system, characterized in that, The system includes two or more transport vehicles as described in claim 5, and the load supports (1) of all transport vehicles jointly support the load.

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