Parallel three-platform six-wheel carrier
By connecting the transport vehicles through a parallel mechanism, the active adjustment of each part of the transport vehicle is realized, which solves the problems of the transport equipment's passability and stability in complex terrain, and improves the adaptability of the transport vehicle in harsh terrain and the stability of cargo transportation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHONGBEI UNIV
- Filing Date
- 2026-04-15
- Publication Date
- 2026-07-21
AI Technical Summary
Existing transport equipment struggles to balance high mobility, active attitude adjustment, and stable transport in complex terrain, making it difficult to adapt to operational scenarios in harsh terrains such as steep slopes, trenches, steps, rubble, and bushes.
The upper cargo compartment, front module, and rear module are connected by a parallel mechanism. Through the coordinated control of the upper and lower parallel mechanisms, the relative position and attitude of each part of the vehicle can be actively adjusted, thereby enhancing terrain adaptability and transport stability.
It significantly improves the vehicle's ability to pass through complex and unstructured terrain and its stability during transport, enabling it to adapt to harsh road conditions and maintain stable cargo transportation. It is particularly suitable for scenarios such as field exploration, material transportation, and emergency rescue.
Smart Images
Figure CN122426328A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of ground transportation equipment technology, specifically relating to a parallel three-platform six-wheeled transport vehicle. Background Technology
[0002] With the increasing demand for unstructured terrain transport equipment in scenarios such as field exploration, emergency rescue, engineering construction, and material transfer, traditional wheeled and tracked transport equipment and other conventional ground mobile equipment have limitations in terms of adaptability to complex terrain, stability of driving posture, and smoothness of cargo transport. These types of equipment cannot meet the comprehensive requirements of high passability, active attitude adjustment, and stable transport, and are not suitable for operation scenarios with complex and harsh terrain such as steep slopes, trenches, steps, rubble, and bushes.
[0003] Therefore, developing a parallel multi-platform transport vehicle with a compact structure, strong adjustability, wide terrain adaptability, and excellent transport stability is of great engineering value. It breaks through the functional limitations of existing mobile transport equipment in unstructured terrain and improves the practicality of equipment in field and emergency scenarios, as well as expands the application boundaries of transport equipment.
[0004] Chinese patent CN117601985A discloses a "multi-attitude variable-cell vehicle based on a four-degree-of-freedom parallel mechanism," which uses four parallel mechanisms to independently adjust the position and attitude of four wheel-foot mechanisms, actively adapting to terrain changes on rugged roads. The vehicle designed in this invention comprises three parts: an upper cargo compartment, a front module, and a rear module. These three parts are connected by parallel mechanisms, allowing for modular adjustment of position and attitude. This reduces the number of required parallel mechanisms, achieves efficient adjustment, and improves the efficiency of attitude adjustment and movement pattern generation.
[0005] Chinese patent CN202037603U discloses a "wheeled suspension mobile parallel manipulator mechanism," which expands the manipulator's workspace through active movement of the parallel mechanism and utilizes the parallel mechanism to achieve suspension functionality, ensuring the stability of the mechanism's movement. This invention employs a parallel mechanism to connect the upper cargo compartment, front module, and rear module. The overall transport vehicle is a hybrid structure with two sets of parallel mechanisms connecting the three modules. It can simultaneously achieve posture control of the transport module and the movement module, and simultaneously realize two functions: gait switching and cargo compartment smoothness compensation. It has a large workspace and active compensation capability for movement fluctuations, enabling multi-gait obstacle crossing and stable transport. Summary of the Invention
[0006] The problem to be solved by the present invention is to provide a transport vehicle that, compared with existing transport equipment, can actively adjust the relative position and attitude of each part of the transport vehicle through a parallel mechanism and compensate for motion fluctuations, thereby enriching the movement modes of the transport equipment and improving the stability of transport operations.
[0007] The technical solution of this invention: A parallel three-platform six-wheeled transport vehicle consists of an upper cargo compartment, an upper parallel mechanism, a front module, a lower parallel mechanism, and a rear module.
[0008] The front module is fixedly connected to the front platform of the lower parallel mechanism, thus connecting the front module and the lower parallel mechanism. The rear module is fixedly connected to the rear platform of the lower parallel mechanism, thus connecting the rear module and the lower parallel mechanism. The lower parallel mechanism actively adjusts the relative position and attitude of the front and rear modules, forming movement forms such as pitch, turn, and vertical movement, actively adapting to changes in terrain to achieve stable walking.
[0009] The upper cargo hold is fixedly connected to the upper platform of the upper parallel mechanism, thus connecting the upper cargo hold and the upper parallel mechanism. The front module is fixedly connected to the first lower platform of the upper parallel mechanism, thus connecting the front module and the upper parallel mechanism. The rear module is fixedly connected to the second lower platform of the upper parallel mechanism, thus connecting the rear module and the upper parallel mechanism. The front module, rear module, and upper cargo hold are connected through the upper parallel mechanism. The upper parallel mechanism actively adjusts the relative position and attitude of the upper cargo hold, maintaining its horizontal attitude and reducing vibration of the upper platform during movement. Stable movement of the upper cargo hold is achieved through the active motion compensation of the upper parallel mechanism, making it suitable for transporting vibration-sensitive goods.
[0010] The front module includes: a left front wheel, a front module connector, and a right front wheel.
[0011] The lower parallel mechanism includes: a rear platform of the lower parallel mechanism, a middle connecting rod of the lower parallel mechanism, a first push rod of the lower parallel mechanism, a second push rod of the lower parallel mechanism, a third push rod of the lower parallel mechanism, a fourth push rod of the lower parallel mechanism, and a front platform of the lower parallel mechanism.
[0012] The rear platform and the front platform of the lower parallel mechanism are connected by the middle connecting rod, the first push rod, the second push rod, the third push rod, and the fourth push rod of the lower parallel mechanism. The relative position and attitude of the rear platform and the front platform of the lower parallel mechanism are adjusted by the linear motion of the first push rod, the second push rod, the third push rod, and the fourth push rod of the lower parallel mechanism.
[0013] The rear module includes: a rear module cargo compartment, a left center wheel, a right center wheel, a left rear wheel, and a right rear wheel.
[0014] The aforementioned upper parallel mechanism includes: an upper platform of the upper parallel mechanism, a first push rod of the upper parallel mechanism, a second push rod of the upper parallel mechanism, a third push rod of the upper parallel mechanism, a fourth push rod of the upper parallel mechanism, a second lower platform of the upper parallel mechanism, and a first lower platform of the upper parallel mechanism.
[0015] The first lower platform, the second lower platform, and the upper platform of the upper parallel mechanism are connected by the first push rod, the second push rod, the third push rod, and the fourth push rod of the upper parallel mechanism. The relative position and attitude of the first lower platform, the second lower platform, and the upper platform of the upper parallel mechanism are adjusted by the linear motion of the first push rod, the second push rod, the third push rod, and the fourth push rod of the upper parallel mechanism.
[0016] The upper cargo hold and the rear modular cargo hold are both constructed as buckets with structural load-bearing capacity. The buckets have open cargo troughs to bear cargo loads and form the overall transport foundation of the vehicle.
[0017] The beneficial effects of this invention are: This invention discloses a parallel three-platform six-wheeled transport vehicle. Through coordinated control of upper and lower parallel mechanisms, it achieves active adjustment of the relative position and attitude between the upper cargo compartment, front module, and rear module. It can flexibly switch between various movement and attitude modes, significantly improving its ability to traverse complex unstructured terrain and enhancing transport stability. The transport vehicle relies on the lower parallel mechanism to achieve adaptive adjustment of the pitch, steering, and height of the front and rear modules, while the upper parallel mechanism compensates for road bumps and attitude fluctuations in real time, maintaining stable transport in the upper cargo compartment and effectively reducing load sway and impact. It can be used to transport vibration-sensitive goods. This enhances the transport vehicle's adaptability to harsh road conditions such as steep slopes, ditches, steps, rubble, and bushes, making it applicable to scenarios such as field exploration, material transportation, engineering construction, and emergency rescue. Overall, it possesses outstanding advantages such as compact structure, simple control, stable transport, and strong practicality. Attached Figure Description
[0018] Figure 1 This is an overall three-dimensional view of a parallel three-platform six-wheeled transport vehicle according to an embodiment of the present invention; Figure 2 This is a three-dimensional view of the front module described in an embodiment of the present invention; Figure 3 This is a three-dimensional diagram of the lower parallel mechanism described in an embodiment of the present invention; Figure 4 This is a three-dimensional view of the rear module described in an embodiment of the present invention; Figure 5 This is a three-dimensional diagram of the parallel mechanism described in an embodiment of the present invention; Figure 6 This is a three-dimensional schematic diagram of the steering mode of a parallel three-platform six-wheeled transport vehicle according to an embodiment of the present invention; Figure 7 This is a three-dimensional schematic diagram of the lifting mode of a parallel three-platform six-wheeled transport vehicle according to an embodiment of the present invention; Figure 8This is a three-dimensional schematic diagram of the downward-facing mode of a parallel three-platform six-wheeled transport vehicle according to an embodiment of the present invention; Figure 9 This is a three-dimensional schematic diagram of the head-up mode of a parallel three-platform six-wheeled transport vehicle according to an embodiment of the present invention; Figure 10 This is a three-dimensional schematic diagram of the head-down mode of a parallel three-platform six-wheeled transport vehicle according to an embodiment of the present invention.
[0019] In the diagram: A: Upper cargo hold; B: Upper parallel mechanism; C: Front module; D: Lower parallel mechanism; E: Rear module; B-1: Upper platform of the upper parallel mechanism; B-2: First push rod of the upper parallel mechanism; B-3: Second push rod of the upper parallel mechanism; B-4: Third push rod of the upper parallel mechanism; B-5: Fourth push rod of the upper parallel mechanism; B-6: Second lower platform of the upper parallel mechanism; B-7: First lower platform of the upper parallel mechanism; C-1: Left front wheel; C-2: Front module connector C-3: Right front wheel; D-1: Rear platform of lower parallel mechanism; D-2: Middle connecting rod of lower parallel mechanism; D-3: First push rod of lower parallel mechanism; D-4: Second push rod of lower parallel mechanism; D-5: Third push rod of lower parallel mechanism; D-6: Fourth push rod of lower parallel mechanism; D-7: Front platform of lower parallel mechanism; E-1: Rear module cargo compartment; E-2: Rear chassis; E-3: Left middle wheel; E-4: Right middle wheel; E-5: Left rear wheel; E-6: Right rear wheel. Detailed Implementation
[0020] The invention will now be further described with reference to the accompanying drawings.
[0021] Reference Figure 1 As shown, a parallel three-platform six-wheeled transport vehicle consists of an upper cargo compartment A, an upper parallel mechanism B, a front module C, a lower parallel mechanism D, and a rear module E; Reference Figure 2 , 3 As shown in Figure 4, the front module C is fixedly connected to the front platform D-7 of the lower parallel mechanism, realizing the connection between the front module C and the lower parallel mechanism D; the rear module E is fixedly connected to the rear platform D-1 of the lower parallel mechanism, realizing the connection between the rear module E and the lower parallel mechanism D; the lower parallel mechanism D actively moves to adjust the relative position and attitude of the front and rear modules C and E, forming pitch, turn, and up and down movement forms, actively adapting to terrain changes to achieve stable walking; Reference Figure 1 , 5As shown, the upper cargo hold A is fixedly connected to the upper platform B-1 of the upper parallel mechanism, realizing the connection between the upper cargo hold A and the upper parallel mechanism B; the front module C is fixedly connected to the first lower platform B-7 of the upper parallel mechanism, realizing the connection between the front module C and the upper parallel mechanism B; the rear module E is fixedly connected to the second lower platform B-6 of the upper parallel mechanism, realizing the connection between the rear module E and the upper parallel mechanism B; the front module C, the rear module E, and the upper cargo hold A are connected through the upper parallel mechanism B. The upper parallel mechanism B actively adjusts the relative position and attitude of the upper cargo hold A to maintain the horizontal attitude of the upper cargo hold A and reduce the vibration of the upper cargo hold A during movement. The stable movement of the upper cargo hold A is achieved through the active movement compensation of the upper parallel mechanism B, which can be used to transport goods that are sensitive to vibration.
[0022] Reference Figure 2 As shown, the front module C includes: a left front wheel C-1, a front module connector C-2, and a right front wheel C-3; The connection method of the components in front module C is as follows: The front module connector C-2 has mounting holes with the left front wheel C-1 and is rotatably connected via an assembly shaft; the front module connector C-2 has mounting holes with the right front wheel C-3 and is rotatably connected via an assembly shaft; motors are installed on both sides of the front module connector C-2 to drive the left front wheel C-1 and the right front wheel C-3 to rotate a full circle, thus achieving wheeled movement.
[0023] Reference Figure 3 As shown, the lower parallel mechanism D includes: a rear platform D-1, a middle connecting rod D-2, a first push rod D-3, a second push rod D-4, a third push rod D-5, a fourth push rod D-6, and a front platform D-7. The first push rod D-3, the second push rod D-4, the third push rod D-5, and the fourth push rod D-6 of the lower parallel mechanism are modular linear motion actuators that can actively output controllable linear thrust and displacement under the drive of external control signals. The connection method of the components in the lower parallel mechanism D is as follows: The rear platform D-1 and the middle connecting rod D-2 of the lower parallel mechanism are connected by a revolute joint; the front platform D-7 and the middle connecting rod D-2 of the lower parallel mechanism are connected by a ball joint; the rear platform D-1 and the first push rod D-3 of the lower parallel mechanism are connected by a ball joint; the front platform D-7 and the first push rod D-3 of the lower parallel mechanism are connected by a ball joint; the rear platform D-1 and the second push rod D-4 of the lower parallel mechanism are connected by a ball joint. The lower parallel mechanism's front platform D-7 and the lower parallel mechanism's second push rod D-4 are connected via a ball joint; the lower parallel mechanism's rear platform D-1 and the lower parallel mechanism's third push rod D-5 are connected via a ball joint; the lower parallel mechanism's front platform D-7 and the lower parallel mechanism's third push rod D-5 are connected via a ball joint; the lower parallel mechanism's rear platform D-1 and the lower parallel mechanism's fourth push rod D-6 are connected via a ball joint; the lower parallel mechanism's front platform D-7 and the lower parallel mechanism's fourth push rod D-6 are connected via a ball joint. The rear platform D-1 and the front platform D-7 of the lower parallel mechanism are connected by the middle connecting rod D-2, the first push rod D-3, the second push rod D-4, the third push rod D-5, and the fourth push rod D-6 of the lower parallel mechanism. The relative position and attitude of the rear platform D-1 and the front platform D-7 of the lower parallel mechanism are adjusted by the linear motion of the first push rod D-3, the second push rod D-4, the third push rod D-5, and the fourth push rod D-6 of the lower parallel mechanism.
[0024] Reference Figure 4 As shown, the rear module E includes: rear module cargo compartment E-1, rear chassis E-2, left center wheel E-3, right center wheel E-4, left rear wheel E-5, and right rear wheel E-6; The connection method of the components in the rear module E is as follows: The rear module cargo compartment E-1 is fixedly connected to the rear chassis E-2. The left center wheel E-3, right center wheel E-4, left rear wheel E-5, and right rear wheel E-6 are respectively provided with mounting holes and are rotatably connected to the rear chassis E-2 through the assembly shaft. The rear chassis E-2 is equipped with four motors to drive the left center wheel E-3, right center wheel E-4, left rear wheel E-5, and right rear wheel E-6 to rotate a full circle, realizing the wheeled movement function.
[0025] Reference Figure 5 As shown, the upper parallel mechanism B includes: upper platform B-1 of the upper parallel mechanism, first push rod B-2 of the upper parallel mechanism, second push rod B-3 of the upper parallel mechanism, third push rod B-4 of the upper parallel mechanism, fourth push rod B-5 of the upper parallel mechanism, second lower platform B-6 of the upper parallel mechanism, and first lower platform B-7 of the upper parallel mechanism. The first push rod B-2, the second push rod B-3, the third push rod B-4, and the fourth push rod B-5 of the upper parallel mechanism are modular linear motion actuators that can actively output controllable linear thrust and displacement under the drive of external control signals. The connection method of the components in the upper parallel mechanism B is as follows: The upper platform B-1 and the first push rod B-2 of the upper parallel mechanism are connected by a ball joint; the upper platform B-1 and the second push rod B-3 of the upper parallel mechanism are connected by a ball joint; the upper platform B-1 and the third push rod B-4 of the upper parallel mechanism are connected by a ball joint; the upper platform B-1 and the fourth push rod B-5 of the upper parallel mechanism are connected by a ball joint; the first lower platform B-7 of the upper parallel mechanism is a rectangular plate-shaped part with ball joint mounting holes at both ends, and the first lower platform B-7 of the upper parallel mechanism is connected to the third push rod B-4 and the fourth push rod B-5 of the upper parallel mechanism through ball joint mounting holes; the second lower platform B-6 of the upper parallel mechanism is a rectangular plate-shaped part with rotating joint mounting holes at both ends, and the second lower platform B-6 of the upper parallel mechanism is connected to the first push rod B-2 and the second push rod B-3 of the upper parallel mechanism through rotating joint mounting holes. The first lower platform B-7, the second lower platform B-6, and the upper platform B-1 of the upper parallel mechanism are connected by the first push rod B-2, the second push rod B-3, the third push rod B-4, and the fourth push rod B-5 of the upper parallel mechanism. The relative position and attitude of the first lower platform B-7, the second lower platform B-6, and the upper platform B-1 of the upper parallel mechanism are adjusted by the linear movement of the first push rod B-2, the second push rod B-3, the third push rod B-4, and the fourth push rod B-5 of the upper parallel mechanism.
[0026] Both the upper cargo hold A and the rear module cargo hold E-1 are constructed as buckets with structural load-bearing capacity. The buckets have open cargo slots to bear cargo loads and form the overall transport foundation of the platform.
[0027] Reference Figure 6 As shown, the lower parallel mechanism D controls the yaw angle of the front module C to actively change, adjust the driving direction, and enter the steering mode.
[0028] Reference Figure 7 As shown, the lower parallel mechanism D controls the front module C to form an upward posture and enter the upward mode, which can complete obstacle crossing actions such as climbing vertical walls and longitudinal slopes.
[0029] Reference Figure 8As shown, the lower parallel mechanism D controls the front module C to form a downward posture and enter the downward mode, which can complete obstacle crossing actions such as vertical walls and longitudinal slopes.
[0030] Reference Figure 9 As shown, the lower parallel mechanism D controls the front module C to form a head-up posture and enter the head-up mode, which can control the front module C to climb terrain obstacles with increasing height.
[0031] Reference Figure 10 As shown, the lower parallel mechanism D controls the front module C to assume a head-down posture and enter the head-down mode, which can control the front module C to pass through terrain environments with reduced altitude.
Claims
1. A parallel three-platform six-wheeled transport vehicle, characterized in that: A parallel three-platform six-wheeled transport vehicle consists of an upper cargo compartment (A), an upper parallel mechanism (B), a front module (C), a lower parallel mechanism (D), and a rear module (E); The front module (C) is fixedly connected to the front platform (D-7) of the lower parallel mechanism, realizing the connection between the front module (C) and the lower parallel mechanism (D); the rear module (E) is fixedly connected to the rear platform (D-1) of the lower parallel mechanism, realizing the connection between the rear module (E) and the lower parallel mechanism (D); the lower parallel mechanism (D) actively adjusts the relative position and attitude of the front and rear modules (C, E) to form pitch, turn, and up and down movement, actively adapting to terrain changes to achieve stable walking; The upper cargo hold (A) is fixedly connected to the upper platform (B-1) of the upper parallel mechanism, realizing the connection between the upper cargo hold (A) and the upper parallel mechanism (B); the front module (C) is fixedly connected to the first lower platform (B-7) of the upper parallel mechanism, realizing the connection between the front module (C) and the upper parallel mechanism (B); the rear module (E) is fixedly connected to the second lower platform (B-6) of the upper parallel mechanism, realizing the connection between the rear module (E) and the upper parallel mechanism (B); the front module (C), the rear module (E) and the upper cargo hold (A) are connected through the upper parallel mechanism (B), the upper parallel mechanism (B) actively moves to adjust the relative position and attitude of the upper cargo hold (A), maintain the horizontal attitude of the upper cargo hold (A), reduce the vibration of the upper cargo hold (A) during movement, and realize the stable movement of the upper cargo hold (A) through the active movement compensation of the upper parallel mechanism (B), which can be used to transport goods that are sensitive to vibration.
2. The parallel three-platform six-wheeled transport vehicle according to claim 1, characterized in that: The front module (C) includes: a left front wheel (C-1), a front module connector (C-2), and a right front wheel (C-3). The connection method of the components in the front module (C) is as follows: The front module connector (C-2) has mounting holes with the left front wheel (C-1) and is rotatably connected via an assembly shaft; the front module connector (C-2) has mounting holes with the right front wheel (C-3) and is rotatably connected via an assembly shaft; motors are installed on both sides of the front module connector (C-2) to drive the left front wheel (C-1) and the right front wheel (C-3) to rotate a full circle, thus realizing the wheeled movement function.
3. The parallel three-platform six-wheeled transport vehicle according to claim 1, characterized in that: The lower parallel mechanism (D) includes: a rear platform (D-1) of the lower parallel mechanism, a middle connecting rod (D-2) of the lower parallel mechanism, a first push rod (D-3) of the lower parallel mechanism, a second push rod (D-4) of the lower parallel mechanism, a third push rod (D-5) of the lower parallel mechanism, a fourth push rod (D-6) of the lower parallel mechanism, and a front platform (D-7) of the lower parallel mechanism. The first push rod (D-3), the second push rod (D-4), the third push rod (D-5), and the fourth push rod (D-6) of the lower parallel mechanism are modular linear motion actuators that can actively output controllable linear thrust and displacement under the drive of external control signals. The connection method of the components in the lower parallel mechanism (D) is as follows: The lower parallel mechanism's rear platform (D-1) and middle connecting rod (D-2) are connected by a revolute joint; the lower parallel mechanism's front platform (D-7) and middle connecting rod (D-2) are connected by a ball joint; the lower parallel mechanism's rear platform (D-1) and first push rod (D-3) are connected by a ball joint; the lower parallel mechanism's front platform (D-7) and first push rod (D-3) are connected by a ball joint; the lower parallel mechanism's rear platform (D-1) and second push rod (D-4) are connected by a ball joint. The lower parallel mechanism's front platform (D-7) and the lower parallel mechanism's second push rod (D-4) are connected by a ball joint; the lower parallel mechanism's rear platform (D-1) and the lower parallel mechanism's third push rod (D-5) are connected by a ball joint; the lower parallel mechanism's front platform (D-7) and the lower parallel mechanism's third push rod (D-5) are connected by a ball joint; the lower parallel mechanism's rear platform (D-1) and the lower parallel mechanism's fourth push rod (D-6) are connected by a ball joint; the lower parallel mechanism's front platform (D-7) and the lower parallel mechanism's fourth push rod (D-6) are connected by a ball joint. The rear platform (D-1) and the front platform (D-7) of the lower parallel mechanism are connected by the middle connecting rod (D-2), the first push rod (D-3), the second push rod (D-4), the third push rod (D-5), and the fourth push rod (D-6) of the lower parallel mechanism. The relative position and attitude of the rear platform (D-1) and the front platform (D-7) of the lower parallel mechanism are adjusted by the linear motion of the first push rod (D-3), the second push rod (D-4), the third push rod (D-5), and the fourth push rod (D-6) of the lower parallel mechanism.
4. A parallel three-platform six-wheeled transport vehicle according to claim 1, characterized in that: The rear module (E) includes: rear module cargo hold (E-1), rear chassis (E-2), left center wheel (E-3), right center wheel (E-4), left rear wheel (E-5), and right rear wheel (E-6). The connection method of the components in the rear module (E) is as follows: The rear modular cargo compartment (E-1) is fixedly connected to the rear chassis (E-2). Mounting holes are opened on the left middle wheel (E-3), right middle wheel (E-4), left rear wheel (E-5), and right rear wheel (E-6), and they are rotatably connected to the rear chassis (E-2) through the assembly shaft. The rear chassis (E-2) is equipped with four motors to drive the left middle wheel (E-3), right middle wheel (E-4), left rear wheel (E-5), and right rear wheel (E-6) to rotate a full circle, realizing the wheeled movement function.
5. A parallel three-platform six-wheeled transport vehicle according to claim 1, characterized in that: The upper parallel mechanism (B) includes: upper platform (B-1), first push rod (B-2), second push rod (B-3), third push rod (B-4), fourth push rod (B-5), second lower platform (B-6), and first lower platform (B-7). The first push rod (B-2), the second push rod (B-3), the third push rod (B-4), and the fourth push rod (B-5) of the upper parallel mechanism are modular linear motion actuators that can actively output controllable linear thrust and displacement under the drive of external control signals. The connection method of the components in the upper parallel mechanism (B) is as follows: The upper platform (B-1) and the first push rod (B-2) of the upper parallel mechanism are connected by a ball joint; the upper platform (B-1) and the second push rod (B-3) of the upper parallel mechanism are connected by a ball joint; the upper platform (B-1) and the third push rod (B-4) of the upper parallel mechanism are connected by a ball joint; the upper platform (B-1) and the fourth push rod (B-5) of the upper parallel mechanism are connected by a ball joint; the first lower platform (B-7) of the upper parallel mechanism is a rectangular plate-shaped part with open ends. The upper parallel mechanism has ball joint mounting holes. The first lower platform (B-7) of the upper parallel mechanism is connected to the third push rod (B-4) and the fourth push rod (B-5) of the upper parallel mechanism through the ball joint mounting holes. The second lower platform (B-6) of the upper parallel mechanism is a rectangular plate-shaped part with rotating joint mounting holes at both ends. The second lower platform (B-6) of the upper parallel mechanism is connected to the first push rod (B-2) and the second push rod (B-3) of the upper parallel mechanism through the rotating joint mounting holes. The first lower platform (B-7), the second lower platform (B-6), and the upper platform (B-1) of the upper parallel mechanism are connected by the first push rod (B-2), the second push rod (B-3), the third push rod (B-4), and the fourth push rod (B-5) of the upper parallel mechanism. The relative position and attitude of the first lower platform (B-7), the second lower platform (B-6), and the upper platform (B-1) of the upper parallel mechanism are adjusted by the linear movement of the first push rod (B-2), the second push rod (B-3), the third push rod (B-4), and the fourth push rod (B-5) of the upper parallel mechanism.
6. A parallel three-platform six-wheeled transport vehicle according to claim 1, characterized in that: The upper cargo compartment (A) and the rear modular cargo compartment (E-1) are both constructed as buckets with structural load-bearing capacity. The buckets have open cargo slots to bear cargo loads and form the overall transport foundation of the vehicle.