All-terrain transport vehicle

Abstract

The utility model discloses an all-terrain transport vehicle, which relates to the technical field of transport vehicles and comprises a vehicle body and an objective table support. The objective table bracket is positioned on the vehicle body; the vehicle body comprises a front four-wheel mechanism, a rear two-wheel mechanism and two swing connecting plates; the front four-wheel mechanism comprises a front frame and four front wheel mechanisms; the four front wheel mechanisms are respectively arranged at four corners of the lower end of the front frame; the front wheel mechanism is provided with a rotatable front wheel; the rear two-wheel mechanism comprises a rear frame and two rear wheel mechanisms; the two rear wheel mechanisms are arranged on the two sides of the lower end of the rear frame respectively. The rear wheel mechanism is provided with a rotatable rear wheel; the two rear wheels are in one-to-one correspondence with the front wheels on the corresponding sides; the two swing connecting plates are located on the two sides of the front frame and the two sides of the rear frame respectively, one ends of the swing connecting plates are rotationally connected with the front frame around a first axis, the first axis is parallel to the horizontal plane and perpendicular to the advancing direction, and the other ends of the swing connecting plates are fixedly connected with the rear frame. And the ground gripping capacity and the transportation stability are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of transport vehicles, in particular to an all-terrain transport vehicle. Background Art

[0002] At the present stage, the transport vehicle combines a four-wheel structure with a fixed body. The load platform bracket on the transport vehicle uses a damping system for shock absorption, or some even do not have a damping system. Among them, the damping system is used to eliminate vibration, shock and impact, so as to complete the transportation of goods.

[0003] However, for this traditional transport vehicle, due to the use of a fixed body structure, when driving on rough roads, problems such as vehicle body tilt and wheel slipping are likely to occur, affecting the stability of transportation. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an all-terrain transport vehicle to solve the problems existing in the above-mentioned prior art and improve the grip ability and transportation stability.

[0005] To achieve the above purpose, the utility model provides the following scheme:

[0006] The utility model provides an all-terrain transport vehicle, including a vehicle body and a load platform bracket; the load platform bracket is located on the vehicle body; the vehicle body includes a front four-wheel mechanism, a rear two-wheel mechanism and two swing connecting plates; in the traveling direction, the rear two-wheel mechanism is located at the rear end of the front four-wheel mechanism; the front four-wheel mechanism includes a front frame and four front-wheel mechanisms; the four front-wheel mechanisms are respectively arranged at the four corner positions at the lower end of the front frame; the front-wheel mechanism has a front wheel that can rotate; the rear two-wheel mechanism includes a rear frame and two rear-wheel mechanisms; the two rear-wheel mechanisms are respectively arranged on both sides at the lower end of the rear frame; the rear-wheel mechanism has a rear wheel that can rotate; and the two rear wheels correspond to the front wheels on the corresponding side one by one; the two swing connecting plates are respectively located on both sides of the front frame and the rear frame, and one end of the swing connecting plate is rotatably connected to the front frame around a first axis, the first axis is parallel to the horizontal plane and perpendicular to the traveling direction, and the other end of the swing connecting plate is fixedly connected to the rear frame.

[0007] Preferably, a limit bracket is fixedly arranged at the connection position of the front frame corresponding to the swing connecting plate, and the limit bracket has a limit part for restricting the upward swing of the swing connecting plate.

[0008] Preferably, at one end of the front frame away from the rear frame in the traveling direction, an obstacle-crossing assembly is provided; the obstacle-crossing assembly includes an obstacle-crossing servo, an obstacle-crossing robotic arm, and an auxiliary wheel; the obstacle-crossing servo is fixedly arranged on the front frame; the obstacle-crossing robotic arm is fixedly arranged at the output end of the obstacle-crossing servo, and the output end of the obstacle-crossing servo can drive the obstacle-crossing robotic arm to rotate around a second axis, and the second axis is parallel to the first axis; the auxiliary wheel is rotatably arranged at one end of the obstacle-crossing robotic arm away from the obstacle-crossing servo around a third axis, and the third axis is parallel to the second axis.

[0009] Preferably, a controller is further included, and the controller is arranged on the vehicle body; the controller is communicatively connected to each of the front wheel mechanisms and each of the rear wheel mechanisms.

[0010] Preferably, a gyroscope sensor and a load servo are further included; the gyroscope sensor is arranged on the vehicle body or the load platform bracket; the load servo is arranged on the vehicle body, the load platform bracket is fixedly arranged at the output end of the load servo, and the output end of the load servo can drive the load platform bracket to rotate around a fourth axis, and the fourth axis is parallel to the horizontal plane; the controller is communicatively connected to the gyroscope sensor and the load servo.

[0011] Preferably, a load rotation servo is fixedly arranged on the front frame; a load robotic arm is fixedly arranged at the output end of the load rotation servo, and the output end of the load rotation servo can drive the load robotic arm to rotate around a fifth axis, and the fifth axis is a vertical axis; the load servo is fixedly arranged at one end of the load robotic arm away from the load rotation servo; the controller is communicatively connected to the load rotation servo.

[0012] Preferably, crawlers are fixedly arranged on each of the front wheels and each of the rear wheels.

[0013] Preferably, the front wheel mechanism further includes a first drive motor for driving the corresponding front wheel to rotate; the rear wheel mechanism includes a second drive motor for driving the corresponding rear wheel to rotate; the controller is communicatively connected to each of the first drive motors and each of the second drive motors.

[0014] Preferably, the rear frame includes a middle U-shaped plate, a left connecting component, a right connecting component, a left wheel bracket and a right wheel bracket; the left wheel bracket is located on one side of the middle U-shaped plate, and the right wheel bracket is located on the other side of the middle U-shaped plate; one end of the left wheel bracket is fixedly connected to one end of the left connecting component, and the other end of the left connecting component is fixedly connected to the middle U-shaped plate; one end of the right wheel bracket is fixedly connected to one end of the right connecting component, and the other end of the right connecting component is fixedly connected to the middle U-shaped plate; the lower end of the left wheel bracket is used for installing one of the rear wheel mechanisms, and the upper end of the left wheel bracket is fixedly connected to one end of the swing connecting plate on the corresponding side; the lower end of the right wheel bracket is used for installing the other rear wheel mechanism, and the upper end of the right wheel bracket is fixedly connected to one end of the swing connecting plate on the corresponding side.

[0015] Preferably, an installation fixing plate is fixedly arranged at one end of the front frame away from the rear frame; a connecting support plate is fixedly arranged on the installation fixing plate, and the connecting support plate is fixedly connected to the load-carrying rotating servo.

[0016] The utility model has achieved the following technical effects compared with the prior art:

[0017] The all-terrain vehicle provided by the utility model realizes the swing connection between the front four-wheel mechanism and the rear two-wheel mechanism by adopting two swing connecting plates, so as to realize the non-fixed structure between the front four-wheel mechanism and the rear two-wheel mechanism. When crossing an obstacle, the swing connecting plate can make the front and rear wheels better adapt to the undulation of the ground, ensure that each wheel can be in close contact with the ground, maintain the synchronization of the front and rear wheels, and improve the grip; moreover, the combination of the front four wheels and the rear two wheels provides more support points for the vehicle, increases the stability of the vehicle. During the transportation process, even when encountering bumpy or inclined terrain, multiple wheels can share the weight of the vehicle together, reduce the load on a single wheel, and reduce the risk of vehicle rollover; during the driving process, the swing connecting plate can transfer part of the force and torque, enabling the front and rear frames to work together and improving the overall stability of the vehicle; due to the rotational connection design of the swing connecting plate, the vehicle can automatically adjust the relative position of the front and rear frames according to the change of the terrain, achieve dynamic balance, and improve the safety and reliability of transportation.

[0018] Furthermore, the limiting part of the limiting bracket can effectively limit the upward swing amplitude of the swing connecting plate, making the change of the vehicle's center of gravity relatively small, thereby improving the driving stability; the limiting effect of the limiting bracket can keep the vehicle in a relatively stable body posture during the driving process.

[0019] Furthermore, the obstacle crossing component can improve the vehicle's obstacle crossing and transportation capabilities, enable the vehicle to carry out transportation tasks in the field, increase the operating range of the transport vehicle, and control the lifting and lowering of the auxiliary wheels by the obstacle crossing servo; making the vehicle more stable when passing through obstacles and greatly reducing the risk of cargo falling. For example, when passing through stairs, by raising and lowering the auxiliary wheels and continuously adjusting the obstacle crossing mechanical arm, the front wheels can move up and down the stairs more smoothly, thereby achieving stable passage through obstacles.

[0020] Furthermore, the setting of the controller enables the front wheel mechanisms and rear wheel mechanisms of the all-terrain transport vehicle to be centrally controlled, uniformly dispatched and managed, thereby improving the efficiency and accuracy of vehicle control; the controller can coordinate the movements between the wheels to ensure the stability and reliability of the vehicle in various complex terrains.

[0021] Furthermore, the three-dimensional angle of the vehicle is sensed by a gyro sensor, and the controller controls the load-carrying servo to adjust the horizontal state of the loading platform bracket, thereby providing a smoother transportation effect when driving on rough roads.

[0022] Furthermore, by setting up a cargo rotating servo, the cargo platform bracket can be rotated around the vertical axis, and then the cargo servo drives the cargo platform bracket to rotate around the fourth axis, so as to achieve the purpose of self-dumping and unloading of the cargo on the cargo platform bracket.

[0023] Furthermore, the setting of the crawler track can reduce the wear of the tire, extend the service life, and increase the driving friction between the front and rear wheels and the ground, thereby improving the grip effect.

[0024] Furthermore, the controller cooperates with each first drive motor and each second drive motor to drive each front wheel and each rear wheel. The synchronous controller can also realize the steering of the vehicle by controlling the different speed differences of each wheel.

[0025] Furthermore, the rear frame adopts a split design, so that each component can independently bear a part of the force and load, dispersing the various stresses to which the vehicle is subjected during driving; for example, when the vehicle is driving on rugged terrain, the impact force of different parts can be shared by the left wheel bracket, the right wheel bracket and the middle U-shaped plate respectively, avoiding the concentration of stress in a single part, thereby improving the structural stability of the entire rear frame; the split design makes maintenance and replacement more convenient and quick.

[0026] Furthermore, an installation fixing plate is provided at one end of the front frame away from the rear frame, providing a firm installation foundation for the connecting support plate. The connecting support plate is fixed to the installation fixing plate, providing stable support for the load-carrying rotating servo. The connecting support plate can disperse the forces and torques generated during the operation of the load-carrying rotating servo, preventing these forces from directly acting on a single part of the front frame, thereby reducing the risk of deformation and damage to the front frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 FIG. is a schematic diagram of the overall structure of the all-terrain vehicle provided by the present invention;

[0029] Figure 2 FIG. is a schematic diagram of the all-terrain vehicle provided by the present invention after removing the relevant connection structures of the obstacle-crossing assembly and the load-carrying platform bracket;

[0030] Figure 3 FIG. is a schematic diagram of the structure of the front four-wheel mechanism and the rear two-wheel mechanism of the all-terrain vehicle provided by the present invention;

[0031] Figure 4 FIG. is a schematic diagram of the structure of the obstacle-crossing assembly of the all-terrain vehicle provided by the present invention;

[0032] Figure 5 FIG. is a schematic diagram of the structure of the load-carrying platform bracket and related connecting parts of the all-terrain vehicle provided by the present invention;

[0033] Figure 6 FIG. is a schematic diagram of the control method of the gyroscope sensor installed on the load-carrying platform bracket;

[0034] Figure 7 FIG. is a schematic diagram of the control method of the gyroscope sensor installed on the vehicle body.

[0035] In the figure:

[0036] 100 - All-terrain vehicle;

[0037] 10 - Front four-wheel mechanism; 11 - Front frame; 12 - First drive motor;

[0038] 20 - Rear two - wheel mechanism; 21 - Rear frame; 211 - Middle U - shaped plate; 212 - Left - side connection component; 213 - Right - side connection component; 214 - Left - wheel bracket; 215 - Right - wheel bracket; 22 - Second driving motor; 23 - Mounting fixed plate; 24 - Connection support plate;

[0039] 30 - Swing connection plate; 31 - Limit bracket; 311 - Limiting part;

[0040] 40 - Obstacle - crossing component; 41 - Obstacle - crossing servo; 42 - Obstacle - crossing robotic arm; 43 - Auxiliary wheel;

[0041] 50 - Cargo - carrying platform bracket; 51 - Cargo - carrying servo; 52 - Cargo - carrying robotic arm; 53 - Cargo - carrying rotating servo;

[0042] 60 - Crawler belt. Specific implementation mode

[0043] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0044] The purpose of the present utility model is to provide an all - terrain transport vehicle to solve the problems existing in the prior art and improve the ground - gripping ability and transportation stability.

[0045] To make the above - mentioned objects, features, and advantages of the present utility model more obvious and understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and specific implementation modes.

[0046] Embodiment 1

[0047] This embodiment provides an all - terrain transport vehicle 100, as Figures 1 to 7As shown, it includes a vehicle body and a load platform bracket 50; the load platform bracket 50 is located on the vehicle body; the vehicle body includes a front four-wheel mechanism 10, a rear two-wheel mechanism 20 and two swing connection plates 30; in the traveling direction, the rear two-wheel mechanism 20 is located at the rear end of the front four-wheel mechanism 10; the front four-wheel mechanism 10 includes a front vehicle frame 11 and four front-wheel mechanisms; the four front-wheel mechanisms are respectively arranged at the four corner positions at the lower end of the front vehicle frame 11; the front-wheel mechanism has rotatable front wheels; the rear two-wheel mechanism 20 includes a rear vehicle frame 21 and two rear-wheel mechanisms; the two rear-wheel mechanisms are respectively arranged on both sides at the lower end of the rear vehicle frame 21; the rear-wheel mechanism has rotatable rear wheels; and the two rear wheels correspond to the front wheels on the corresponding side one by one; the two swing connection plates 30 are respectively located on both sides of the front vehicle frame 11 and the rear vehicle frame 21, and one end of the swing connection plate 30 is rotatably connected to the front vehicle frame 11 around a first axis, the first axis is parallel to the horizontal plane and perpendicular to the traveling direction, and the other end of the swing connection plate 30 is fixedly connected to the rear vehicle frame 21.

[0048] By adopting two swing connection plates 30, the swing connection between the front four-wheel mechanism 10 and the rear two-wheel mechanism 20 is realized, so as to realize the non-fixed structure between the front four-wheel mechanism 10 and the rear two-wheel mechanism 20. When climbing over an obstacle, the swing connection plate 30 can make the front and rear wheels better adapt to the undulation of the ground, ensure that each wheel can closely contact the ground, maintain the synchronization of the front and rear wheels, and improve the grip; and the combination of the front four wheels and the rear two wheels provides more support points for the vehicle, increases the stability of the vehicle. During transportation, even on bumpy or inclined terrain, multiple wheels can share the weight of the vehicle together, reduce the load on a single wheel, and reduce the risk of the vehicle tipping over; during driving, the swing connection plate 30 can transmit part of the force and torque, enabling the front and rear vehicle frames 21 to work together and improving the overall stability of the vehicle; due to the rotational connection design of the swing connection plate 30, the vehicle can automatically adjust the relative position of the front and rear vehicle frames 21 according to the change of the terrain, achieve dynamic balance, and improve the safety and reliability of transportation.

[0049] Among them, for the front four-wheel mechanism 10:

[0050] Specifically, as Figures 1 to 3 shown, the front four-wheel mechanism 10 is a symmetric structure.

[0051] In an alternative embodiment of the present embodiment, preferably, as Figures 1 to 3 shown, a limit bracket 31 is fixedly arranged at the connection position of the front vehicle frame 11 corresponding to the swing connection plate 30, and the limit bracket 31 has a limit portion 311 for restricting the upward swing of the swing connection plate 30. The limit portion 311 of the limit bracket 31 can effectively limit the amplitude of the upward swing of the swing connection plate 30, make the change of the vehicle's center of gravity relatively small, and thus improve the driving stability; the limiting effect of the limit bracket 31 can keep the vehicle body in a relatively stable posture during driving.

[0052] Among them, for the latter two-wheel mechanism 20:

[0053] In an alternative solution of this embodiment, preferably, as Figures 1 to 3 shown, the rear frame 21 includes a middle U-shaped plate 211, a left connecting component 212, a right connecting component 213, a left wheel bracket 214, and a right wheel bracket 215; the left wheel bracket 214 is located on one side of the middle U-shaped plate 211, and the right wheel bracket 215 is located on the other side of the middle U-shaped plate 211; the left wheel bracket 214 is fixedly connected to one end of the left connecting component 212, and the other end of the left connecting component 212 is fixedly connected to the middle U-shaped plate 211; the right wheel bracket 215 is fixedly connected to one end of the right connecting component 213, and the other end of the right connecting component 213 is fixedly connected to the middle U-shaped plate 211; the lower end of the left wheel bracket 214 is used to install a rear-wheel mechanism, and the upper end of the left wheel bracket 214 is fixedly connected to one end of the swing connecting plate 30 on the corresponding side; the lower end of the right wheel bracket 215 is used to install another rear-wheel mechanism, and the upper end of the right wheel bracket 215 is fixedly connected to one end of the swing connecting plate 30 on the corresponding side. The rear frame 21 adopts a split design, enabling each component to independently bear a part of the force and load, and dispersing various stresses suffered by the vehicle during driving; for example, when the vehicle is driving on rough terrain, the impact forces on different parts can be borne by the left wheel bracket 214, the right wheel bracket 215, and the middle U-shaped plate respectively, avoiding stress concentration on a single part, thereby improving the structural stability of the entire rear frame 21; the split design makes maintenance and replacement more convenient and fast.

[0054] Among them, the obstacle-crossing component 40 provided for improving the obstacle-crossing ability:

[0055] In an alternative solution of this embodiment, preferably, as Figure 1 and Figure 4As shown in the figure, at one end of the front frame 11 away from the rear frame 21 in the traveling direction, an obstacle-crossing assembly 40 is provided; the obstacle-crossing assembly 40 includes an obstacle-crossing servo 41, an obstacle-crossing robotic arm 42 and an auxiliary wheel 43; the obstacle-crossing servo 41 is fixedly arranged on the front frame 11; the obstacle-crossing robotic arm 42 is fixedly arranged at the output end of the obstacle-crossing servo 41, and the output end of the obstacle-crossing servo 41 can drive the obstacle-crossing robotic arm 42 to rotate around the second axis, and the second axis is parallel to the first axis; the auxiliary wheel 43 is rotatably arranged at one end of the obstacle-crossing robotic arm 42 away from the obstacle-crossing servo 41 around the third axis, and the third axis is parallel to the second axis. The provided obstacle-crossing assembly 40 can improve the obstacle-crossing ability and transportation ability of the vehicle, enable the vehicle to perform transportation tasks in the wild, and increase the operation range of the transport vehicle. The raising and lowering of the auxiliary wheel 43 is controlled by the obstacle-crossing servo 41; when the vehicle passes through an obstacle, it is more stable, greatly reducing the risk of the cargo falling. For example, when passing through stairs, by raising and lowering the auxiliary wheel 43 and continuously adjusting the obstacle-crossing robotic arm 42, a smoother up-and-down stair movement of the front wheels can be achieved, thus realizing stable passage through the obstacle.

[0056] Among them, the description of relevant intelligent control settings:

[0057] In an alternative solution of this embodiment, preferably, a controller is further included, and the controller is arranged on the vehicle body; the controller is communicatively connected to each front wheel mechanism and each rear wheel mechanism. The setting of the controller enables centralized control, unified scheduling and management of each front wheel mechanism and rear wheel mechanism of the all-terrain transport vehicle 100, improving the efficiency and accuracy of vehicle control; the controller can coordinate the actions between each wheel to ensure the stability and reliability of the vehicle under various complex terrains.

[0058] Among them, regarding the structural setting different from the traditional damping type for realizing the load stability:

[0059] In an alternative solution of this embodiment, preferably, as Figure 1 and Figures 5 to 7 shown, a gyroscope sensor and a load servo 51 are further included; the gyroscope sensor is arranged on the vehicle body or the load platform bracket 50; the load servo 51 is arranged on the vehicle body, the load platform bracket 50 is fixedly arranged at the output end of the load servo 51, and the output end of the load servo 51 can drive the load platform bracket 50 to rotate around the fourth axis, and the fourth axis is parallel to the horizontal plane; the controller is communicatively connected to the gyroscope sensor and the load servo 51. By using the provided gyroscope sensor to sense the three-dimensional angle of the vehicle, and then the controller controls the load servo 51 to adjust the horizontal state of the load platform bracket 50, so as to provide a smoother transportation effect when driving on a rough road surface.

[0060] Specifically, there are two control methods in the adjustment process, which depend on the installation position of the gyroscope sensor:

[0061] ① Mounted on the stage bracket 50: The control method is as shown in Figure 6 . Among them, the servo refers to the stage servo 51, and the stage is mounted on the stage bracket 50. This control method is a classic closed-loop control method, and the controller can adopt PID control.

[0062] ② Mounted on the vehicle body: The control method is as shown in Figure 7 . Among them, the servo refers to the stage servo 51, and the stage is mounted on the stage bracket 50.

[0063] When the vehicle body passes through rough ground, the gyroscope sensor senses the three-dimensional angle change of the vehicle body, and then compensates the deviation to the set value and finally outputs it, so as to keep the output angle of the stage as a fixed value, so as to achieve the purpose of improving the transportation stability.

[0064] Among them, in order to realize the self-unloading of the load, it can also be set as follows:

[0065] In the optional solution of this embodiment, preferably, as shown in Figure 1 and Figure 5 , a load rotating servo 53 is fixedly arranged on the front frame 11; a load manipulator 52 is fixedly arranged at the output end of the load rotating servo 53. The output end of the load rotating servo 53 can drive the load manipulator 52 to rotate around the fifth axis, and the fifth axis is a vertical axis; a load servo 51 is fixedly arranged at one end of the load manipulator 52 away from the load rotating servo 53; the controller is communicatively connected to the load rotating servo 53. By setting the load rotating servo 53, the stage bracket 50 can be rotated around the vertical axis, and then combined with the load servo 51 to drive the stage bracket 50 to rotate around the fourth axis, so as to achieve the purpose of self-dumping and unloading of the goods on the stage bracket 50.

[0066] In the optional solution of this embodiment, preferably, as shown in Figures 1 to 3 and Figure 5 , a mounting fixing plate 23 is fixedly arranged at one end of the front frame 11 away from the rear frame 21; a connecting support plate 24 is fixedly arranged on the mounting fixing plate 23, and the connecting support plate 24 is fixedly connected to the load rotating servo 53. Arranging the mounting fixing plate 23 at one end of the front frame 11 away from the rear frame 21 provides a firm mounting foundation for the connecting support plate 24. The connecting support plate 24 is fixed on the mounting fixing plate 23, providing stable support for the load rotating servo 53. The connecting support plate 24 can disperse the forces and torques generated during the operation of the load rotating servo 53, preventing these forces from directly acting on a single part of the front frame 11, thereby reducing the risk of deformation and damage of the front frame 11.

[0067] Among them, the relevant settings of the front wheel mechanism and the rear wheel mechanism are described as follows:

[0068] In an alternative embodiment of the present embodiment, preferably, as Figures 1 to 3 shown, the front wheel mechanism further includes a first drive motor 12 for driving the corresponding front wheel to rotate; the rear wheel mechanism includes a second drive motor 22 for driving the corresponding rear wheel to rotate; the controller is communicatively connected to each first drive motor 12 and each second drive motor 22. By cooperating with each first drive motor 12 and each second drive motor 22 through the controller, the driving of each front wheel and rear wheel can be realized, and the synchronous controller can also realize the steering of the vehicle by controlling the different speed differences of each wheel.

[0069] Among them, the description of other related settings is as follows:

[0070] In an alternative embodiment of the present embodiment, preferably, as Figures 1 to 3 shown, a crawler 60 is fixedly provided on each front wheel and each rear wheel. The setting of the crawler 60 can slow down the wear of the tires, extend the service life, and can increase the driving friction between the front and rear wheels and the ground, improving the grip effect.

[0071] Specific examples are used in the present utility model to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model; at the same time, for those of ordinary skill in the art, according to the idea of the present utility model, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present utility model.

Claims

1. An all-terrain transport vehicle, characterized in that: It includes a vehicle body and a load platform bracket; The load platform bracket is located on the vehicle body; The vehicle body includes a front four-wheel mechanism, a rear two-wheel mechanism, and two swing connecting plates; in the traveling direction, the rear two-wheel mechanism is located at the rear end of the front four-wheel mechanism; The front four-wheel mechanism includes a front vehicle frame and four front-wheel mechanisms; the four front-wheel mechanisms are respectively arranged at the four corner positions at the lower end of the front vehicle frame; the front-wheel mechanism has a rotatable front wheel; The rear two-wheel mechanism includes a rear vehicle frame and two rear-wheel mechanisms; the two rear-wheel mechanisms are respectively arranged on both sides at the lower end of the rear vehicle frame; the rear-wheel mechanism has a rotatable rear wheel; and the two rear wheels respectively correspond to the front wheels on the corresponding side one by one; The two swing connecting plates are respectively located on both sides of the front vehicle frame and the rear vehicle frame, and one end of the swing connecting plate is rotatably connected to the front vehicle frame around a first axis, the first axis is parallel to the horizontal plane and perpendicular to the traveling direction, and the other end of the swing connecting plate is fixedly connected to the rear vehicle frame.

2. The all-terrain vehicle according to claim 1, wherein: A limiting bracket is fixedly arranged at the connection position of the front vehicle frame corresponding to the swing connecting plate, and the limiting bracket has a limiting portion for restricting the upward swing of the swing connecting plate.

3. The all-terrain vehicle according to claim 1, wherein: In the traveling direction, an obstacle-crossing component is arranged at one end of the front vehicle frame away from the rear vehicle frame; The obstacle-crossing component includes an obstacle-crossing servo, an obstacle-crossing robotic arm, and an auxiliary wheel; The obstacle-crossing servo is fixedly arranged on the front vehicle frame; The obstacle-crossing robotic arm is fixedly arranged at the output end of the obstacle-crossing servo, and the output end of the obstacle-crossing servo can drive the obstacle-crossing robotic arm to rotate around a second axis, the second axis is parallel to the first axis; The auxiliary wheel is rotatably arranged at one end of the obstacle-crossing robotic arm away from the obstacle-crossing servo around a third axis, and the third axis is parallel to the second axis.

4. The all-terrain vehicle according to claim 1, wherein: It further includes a controller, and the controller is arranged on the vehicle body; The controller is communicatively connected to each of the front-wheel mechanisms and each of the rear-wheel mechanisms.

5. The all-terrain vehicle according to claim 4, characterized in that: It further includes a gyroscope sensor and a load servo; The gyroscope sensor is arranged on the vehicle body or the load platform bracket; The load servo is arranged on the vehicle body, the load platform bracket is fixedly arranged at the output end of the load servo, and the output end of the load servo can drive the load platform bracket to rotate around a fourth axis, the fourth axis is parallel to the horizontal plane; The controller is communicatively connected to the gyroscope sensor and the load servo.

6. The all-terrain vehicle according to claim 5, wherein: A load rotating servo is fixedly arranged on the front vehicle frame; The output end of the load rotating servo is fixedly provided with a load robotic arm, and the output end of the load rotating servo can drive the load robotic arm to rotate around a fifth axis, the fifth axis is a vertical axis; The load servo is fixedly arranged at one end of the load robotic arm away from the load rotating servo; The controller is communicatively connected to the load rotating servo.

7. The all-terrain vehicle according to claim 1, wherein: Tracks are fixedly arranged on each of the front wheels and each of the rear wheels.

8. The all-terrain vehicle according to claim 4, wherein: The front-wheel mechanism further includes a first driving motor for driving the corresponding front wheel to rotate; The rear-wheel mechanism includes a second driving motor for driving the corresponding rear wheel to rotate; The controller is communicatively connected to each of the first drive motors and each of the second drive motors.

9. The all-terrain vehicle according to claim 1, characterized in that: The rear frame includes a middle U-shaped plate, a left connection assembly, a right connection assembly, a left wheel bracket, and a right wheel bracket; The left wheel bracket is located on one side of the middle U-shaped plate, and the right wheel bracket is located on the other side of the middle U-shaped plate; One end of the left wheel bracket is fixedly connected to one end of the left connection assembly, and the other end of the left connection assembly is fixedly connected to the middle U-shaped plate; one end of the right wheel bracket is fixedly connected to one end of the right connection assembly, and the other end of the right connection assembly is fixedly connected to the middle U-shaped plate; The lower end of the left wheel bracket is used to install one of the rear wheel mechanisms, and the upper end of the left wheel bracket is fixedly connected to one end of the corresponding swing connection plate; The lower end of the right wheel bracket is used to install the other rear wheel mechanism, and the upper end of the right wheel bracket is fixedly connected to one end of the corresponding swing connection plate.

10. The all-terrain vehicle according to claim 6, characterized in that: An installation fixing plate is fixedly provided at one end of the front frame away from the rear frame; A connection support plate is fixedly provided on the installation fixing plate, and the connection support plate is fixedly connected to the load-carrying rotating servo.

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