TW202220543A - Transport vehicle - Google Patents

Abstract

A transport vehicle includes first, second and third wheel modules and a carrier. The first, second and third wheel modules are mounted on different corners of the carrier respectively to move the carrier forth and back along an axial direction. A first drive shaft of the first wheel module enables a first wheel to turn to a first direction, a second drive shaft of the second wheel module enable a second wheel to turn to a second direction different to the first direction, and a third drive shaft of the third wheel module enables a third wheel to turn to the first direction such that the carrier is further able to U-turn or spin turn.

Description

transport vehicle

The present invention relates to a transportation vehicle, especially a transportation vehicle (such as a paddy field vehicle) that can be used in agriculture.

Please refer to the Republic of China Patent No. M240783 for a "two-wheel drive four-wheel steering agricultural machinery chassis", which discloses that a front wheel set 12 and a rear wheel set 14 are simultaneously controlled by a direction control device 150 to swing, when a machine base 11 When turning is required, the direction control device 150 drives a right front wheel 121 and a left front wheel 122 of the front wheel set 12 to turn to the left at the same time, and the direction control device 150 simultaneously drives a second linkage group 152 to drive the rear wheel. A left rear wheel 141 and a right rear wheel 142 of the wheel set 14 turn to the right at the same time, so that the frame 11 can be driven by an arc-shaped running track L1 formed by the front wheel set 12 and the rear wheel set 14. turn around.

Please refer to FIG. 4 of the Republic of China Patent No. M240783. The base 11 is the same as the conventional automobile or agricultural vehicle. When the base 11 rotates, the turning radius of the base 11 is curved due to the mechanism design. The running track L1 is large, so the machine base 11 can rotate only if it has a large turning space. When it is used in agricultural machinery, it will cause the current agricultural machinery (such as paddy field machine) to be unable to carry out comprehensive farming and other operations on agricultural land (such as paddy field). situation.

The main purpose of the present invention is to improve the problem that a transport vehicle (such as a paddy field machine) needs a large turning space due to its large turning radius.

A transport carrier of the present invention at least comprises a carrier, a first wheel module, a second wheel module and a third wheel module, the carrier is along an axis direction, and the carrier has a first wheel One part and a second part, the first wheel module is arranged on the first part of the carrier, the first wheel module has a first rotating wheel and a first transmission shaft, the first transmission shaft is used for In order to drive the first rotating wheel to selectively turn in a first direction or the axis direction, the second wheel module is arranged on the second part of the carrier, and the second wheel module has a second rotating wheel And a second transmission shaft, the second transmission shaft is used to drive the second rotating wheel to selectively turn in a second direction or the axis direction, the second direction is opposite to the first direction and the third wheel mold The group is arranged on the second part of the carrier, and the second wheel module and the third wheel module are respectively located on two sides of the second part, and the third wheel module has a third rotating wheel and a first wheel Three transmission shafts, the third transmission shaft is used to drive the third rotating wheel to selectively turn in the first direction or the axis direction, the first wheel module, the second wheel module and the third wheel module The group is used to drive the carrier to move, rotate or turn in place selectively.

In the present invention, the transport vehicle can be selectively moved (such as forward or backward), Turning or turning in situ reduces the turning radius of the transportation vehicle when it turns, so that the transportation vehicle can be used in a field with a small turning space.

Please refer to FIG. 1, a transportation vehicle 100 (such as a paddy field vehicle) can be used in various transportation environments (such as road or agricultural land). paddy field), preferably, the transport vehicle 100 can be used as an unmanned vehicle.

Please refer to FIGS. 1 and 3, the transport vehicle 100 at least includes a first wheel module 110, a second wheel module 120, a third wheel module 130 and a carrier 150. The first wheel module The group 110 , the second wheel module 120 and the third wheel module 130 are respectively disposed at different positions or corners of the carrier 150 to drive the carrier 150 to selectively move (eg, advance along an axis direction Y). or backward), turning or turning in situ, in this embodiment, the transport vehicle 100 further includes a fourth wheel module 140, the first wheel module 110 and the third wheel module 130, the first wheel module 130, the The second wheel module 120 and the fourth wheel module 140 are respectively disposed at four corners of the carrier 150 diagonally.

Referring to FIGS. 1 and 4, along the axis direction Y, the carrier 150 has a first portion 151 and a second portion 152. In this embodiment, the first wheel module 110 and the fourth wheel The module 140 is disposed on the first part 151 of the carrier 150 , and the first wheel module 110 and the fourth wheel module 140 are respectively located on two sides of the first part 151 , and the second wheel module 120 and the third wheel module 130 is disposed on the second part 152 of the carrier 150, and the second wheel module 120 and the third wheel module 130 are respectively located on two sides of the second part 152, please refer to the 4, in this embodiment, it is disclosed that the first wheel module 110, the second wheel module 120, the third wheel module 130 and the fourth wheel module 140 are symmetrically disposed on the carrier 150, However, the present invention is not limited by this.

Please refer to Figures 1, 2, 3, 4 and 5, the first wheel module 110 has a first rotating wheel 111 and a first transmission shaft 112, the first transmission shaft 112 is used to drive the first rotating wheel 111 is selectively steered in a first direction A or the axis direction Y. In this embodiment, the first wheel module 110 further has a first steering driving group 113, and the first steering driving group 113 is used to drive The first transmission shaft 112 rotates, so that the first transmission shaft 112 drives the first rotating wheel 111 to turn in the first direction A or the axis direction Y, please refer to FIGS. 4 and 5, the first transmission shaft 112 The first rotating wheel 111 is driven to selectively turn between the first direction A and the axis direction Y.

The first steering driving group 113 can be selected from a gear group. Please refer to FIGS. 4 and 5. In this embodiment, the first steering driving group 113 includes a first electric lever 113a and a first steering transmission member 113b , the first steering transmission member 113b is combined with the first transmission shaft 112, the two ends of the first electric rod 113a are respectively pivoted to the carrier 150 and the first steering transmission member 113b, and the first electric rod 113a is used for Drive the first steering transmission member 113b to swing, so that the first steering transmission member 113b drives the first transmission shaft 112 to rotate, so as to drive the first rotating wheel 111 to turn between the first direction A and the axis direction Y, Please refer to FIG. 4, the first electric rod 113a pushes the first steering transmission member 113b, so that the first steering transmission member 113b drives the first transmission shaft 112 to rotate, and the rotating first transmission shaft 112 drives the The first rotating wheel 111 faces the axis direction Y, or, please refer to FIG. 5, the first electric rod 113a pulls back the first steering transmission member 113b, so that the first steering transmission member 113b drives the first transmission shaft 112 Rotating, the rotating first transmission shaft 112 drives the first rotating wheel 111 to turn toward the first direction A.

Please refer to FIGS. 3 and 6 , the first wheel module 110 further has a first power source 114 , and the first power source 114 is used to drive the first rotating wheel 111 to rotate forward or reverse selectively. The power source 114 can be selected from a motor. In this embodiment, the first power source 114 drives the first rotating wheel 111 to rotate by a first power transmission member 115, and the first power transmission member 115 can be selected from a gear , transmission belt or chain, but not limited to this, preferably, the first power source 114 can drive the first power transmission member 115 through a speed change device (not shown, such as a gearbox, etc.), so that the The first power transmission member 115 drives the first rotating wheel 111 to rotate.

Please refer to Figures 1, 2, 3, 4 and 5, the second wheel module 120 has a second rotating wheel 121 and a second transmission shaft 122, the second transmission shaft 122 is used to drive the second rotating wheel 121 is selectively steered in a second direction B or the axis direction Y. In this embodiment, the second wheel module 120 further has a second steering driving group 123, and the second steering driving group 123 is used to drive The second transmission shaft 122 rotates, so that the second transmission shaft 122 drives the second rotating wheel 121 to turn in the second direction B or the axis direction Y, please refer to FIGS. 4 and 5, the second transmission shaft 122 The second rotating wheel 121 is driven to selectively turn between the second direction B and the axis direction Y.

The second steering driving group 123 can be selected from a gear group. Please refer to FIGS. 4 and 5. In this embodiment, the second steering driving group 123 includes a second electric lever 123a and a second steering transmission member 123b , the second steering transmission member 123b is combined with the second transmission shaft 122, the two ends of the second electric rod 123a are pivotally connected to the carrier 150 and the second steering transmission member 123b, respectively, and the second electric rod 123a is used for The second steering transmission member 123b is driven to swing, so that the second steering transmission member 123b drives the second transmission shaft 122 to rotate, so as to drive the second rotating wheel 121 to rotate between the second direction B and the axis direction Y, Please refer to FIG. 4 , the second electric rod 123a pushes the second steering transmission member 123b. In this embodiment, the direction in which the second electric rod 123a pushes the second steering transmission member 123b is the same as that of the first electric transmission member 123b. The direction in which the rod 113a pushes the first steering transmission member 113b is opposite, so that the second steering transmission member 123b drives the second transmission shaft 122 to rotate, and the rotated second transmission shaft 122 drives the second rotating wheel 121 toward the Axis direction Y, or, please refer to FIG. 5, the second electric rod 123a pulls back the second steering transmission member 123b, so that the second steering transmission member 123b drives the second transmission shaft 122 to rotate, and the second steering transmission member 123b rotates. The transmission shaft 122 drives the second rotating wheel 121 to turn toward the second direction B. As shown in FIG.

Please refer to FIGS. 3 and 6 , the second wheel module 120 further has a second power source 124 , the second power source 124 is used to drive the second rotating wheel 121 to rotate forward or reverse selectively. The power source 124 can be selected from a motor. In this embodiment, the second power source 124 drives the second rotating wheel 121 to rotate by a second power transmission member 125, and the second power transmission member 125 can be selected from a gear , a transmission belt or a chain, but not limited to this, preferably, the second power source 124 can drive the second power transmission member 125 through a speed change device (not shown, such as a gearbox, etc.), so that the The second power transmission member 125 drives the second rotating wheel 121 to rotate.

Please refer to Figures 1, 2, 3, 4 and 5, the third wheel module 130 has a third rotating wheel 131 and a third transmission shaft 132, the third transmission shaft 132 is used to drive the third rotating wheel 131 is selectively steered toward the first direction A or the axis direction Y. In this embodiment, the third wheel module 130 further has a third steering driving group 133, and the third steering driving group 133 is used to drive the The third transmission shaft 132 rotates, so that the third transmission shaft 132 drives the third rotating wheel 131 to turn in the first direction A or the axis direction Y, please refer to FIGS. 4 and 5, the third transmission shaft 132 The third rotating wheel 131 is driven to selectively turn between the first direction A and the axis direction Y.

The third steering driving group 133 can be selected from a gear group. Please refer to FIGS. 4 and 5. In this embodiment, the third steering driving group 133 includes a third electric rod 133a and a third steering transmission member 133b , the third steering transmission member 133b is combined with the third transmission shaft 132, the two ends of the third electric rod 133a are respectively pivoted to the carrier 150 and the third steering transmission member 133b, and the third electric rod 133a is used for Drive the third steering transmission member 133b to swing, so that the third steering transmission member 133b drives the third transmission shaft 132 to rotate, so as to drive the third rotating wheel 131 to turn between the first direction A and the axis direction Y, Referring to FIG. 4, the third electric rod 133a pushes the third steering transmission member 133b. In this embodiment, the direction in which the third electric rod 133a pushes the third steering transmission member 133b is the same as that of the first electric transmission member 133b. The direction in which the rod 113a pushes the first steering transmission member 113b is opposite, so that the third steering transmission member 133b drives the third transmission shaft 132 to rotate, and the rotated third transmission shaft 132 drives the third rotating wheel 131 toward the The axis direction Y, or, please refer to FIG. 5, the third electric rod 133a pulls back the third steering transmission member 133b, so that the third steering transmission member 133b drives the third transmission shaft 132 to rotate, and the third steering transmission member 133b rotates. The transmission shaft 132 drives the third rotating wheel 131 to turn toward the first direction A.

Please refer to FIGS. 3 and 7, the third wheel module 130 further has a third power source 134, the third power source 134 is used to drive the third rotating wheel 131 to rotate forward or reverse selectively, the third power source 134 The power source 134 can be selected from a motor. In this embodiment, the third power source 134 drives the third rotating wheel 131 to rotate by a third power transmission member 135, and the third power transmission member 135 can be selected from a gear , transmission belt or chain, but not limited to this, preferably, the third power source 134 can drive the third power transmission member 135 through a speed change device (not shown, such as a gearbox, etc.), so that the The third power transmission member 135 drives the third rotating wheel 131 to rotate.

Please refer to Figures 1, 2, 3, 4 and 5, the fourth wheel module 140 has a fourth rotating wheel 141 and a fourth transmission shaft 142, the fourth transmission shaft 142 and the first wheel module 110 , The second wheel module 120 and the third wheel module 130 are the same, and are used to drive the carrier 150 to move (such as forward/backward along the axis direction Y), rotate or turn in place. The fourth drive The shaft 142 is used to drive the fourth rotating wheel 141 to selectively turn in the second direction B or the axis direction Y. In this embodiment, the fourth wheel module 140 further has a fourth steering driving group 143 . The fourth steering driving group 143 is used for driving the fourth transmission shaft 142 to rotate, so that the fourth transmission shaft 142 drives the fourth rotating wheel 141 to turn in the second direction B or the axis direction Y, please refer to Section 4 As shown in FIG. 5 , the fourth transmission shaft 142 drives the fourth rotating wheel 141 to selectively turn between the second direction B and the axis direction Y.

The fourth steering driving group 143 can be selected from a gear group. Please refer to FIGS. 4 and 5. In this embodiment, the fourth steering driving group 143 includes a fourth electric rod 143a and a fourth steering transmission member 143b , the fourth steering transmission member 143b is combined with the fourth transmission shaft 142, the two ends of the fourth electric rod 143a are pivotally connected to the carrier 150 and the fourth steering transmission member 143b, respectively, and the fourth electric rod 143a is used for The fourth steering transmission member 143b is driven to swing, so that the fourth steering transmission member 143b drives the fourth transmission shaft 142 to rotate, so as to drive the fourth rotating wheel 141 to rotate between the second direction B and the axis direction Y, Please refer to FIG. 4, the fourth electric rod 143a pushes the fourth steering transmission member 143b. In this embodiment, the direction in which the fourth electric rod 143a pushes the fourth steering transmission member 143b is the same as that of the first electric power transmission member 143b. The direction in which the rod 113a pushes the first steering transmission member 113b is the same, so that the fourth steering transmission member 143b drives the fourth transmission shaft 142 to rotate, and the rotated second transmission shaft 122 drives the second rotating wheel 121 toward the The axis direction Y, or, please refer to FIG. 5, the fourth electric rod 143a pulls back the fourth steering transmission member 143b, so that the fourth steering transmission member 143b drives the fourth transmission shaft 142 to rotate, the rotating The transmission shaft 142 drives the fourth rotating wheel 141 to turn toward the second direction B. As shown in FIG.

Please refer to FIGS. 3 and 7, the fourth wheel module 140 further has a fourth power source 144, and the fourth power source 144 is used to drive the fourth rotating wheel 141 to rotate forward or reverse selectively. The power source 144 can be selected from a motor. In this embodiment, the four power sources 144 drive the fourth rotating wheel 141 to rotate by a fourth power transmission member 145. The fourth power transmission member 145 can be selected from gears, A transmission belt or chain, but not limited to this, preferably, the fourth power source 144 can drive the fourth power transmission member 145 through a speed change device (not shown, such as a gearbox, etc.), so that the fourth power source 144 can drive the fourth power transmission member 145 The four power transmission members 145 drive the fourth rotating wheel 141 to rotate.

Please refer to Figures 1, 2, 4 and 5, the transport vehicle 100 of the present invention includes the first wheel module 110, the second wheel module 120, the third wheel module 130 and the fourth wheel The module 140 is described, but the present invention is not limited to this, that is, the transport vehicle 100 can also use the first wheel module 110 , the second wheel module 120 , the third wheel module 130 and the Three of the fourth wheel modules 140 can make the transport vehicle 100 move (eg, move forward or backward along the axis direction Y), turn around or turn in place.

Please refer to FIGS. 1 and 4 , when the transport vehicle 100 is to be moved forward or backward along the axis direction Y, the first transmission shaft 112 , the second transmission shaft 122 , and the third transmission shaft 132 and the fourth transmission shaft 142 respectively drive the first rotating wheel 111, the second rotating wheel 121, the third rotating wheel 131 and the fourth rotating wheel 141 to face the axis direction Y, so that the transport vehicle can be 100 advances or retreats along this axis direction Y.

Please refer to FIGS. 2 and 5 , when the transport vehicle 100 is to be rotated or turned in situ, the first rotating wheel 111 is driven by the first transmission shaft 112 to turn to the first direction A, the second transmission The shaft 122 drives the second rotating wheel 121 to turn to the second direction B opposite to the first direction A, the third transmission shaft 132 drives the third rotating wheel 131 to turn to the first direction A, and the fourth transmission shaft 142 drives the fourth rotating wheel 141 to turn to the second direction B, which is opposite to the first direction A, so that the transport vehicle 100 can be turned or turned on the spot.

Please refer to FIG. 5 , in this embodiment, when the transport vehicle 100 is to be turned on the spot, the first transmission shaft 112 drives the first rotating wheel 111 to deflect 45 degrees in the first direction A Angular steering, the second transmission shaft 122 drives the second rotating wheel 121 to deflect 45 degrees in the second direction B opposite to the first direction A, and the third transmission shaft 132 drives the third rotating wheel 131 to The first direction A is turned at an angle of 45 degrees, and the fourth transmission shaft 142 drives the fourth rotating wheel 141 to turn at an angle of 45 degrees in the second direction B. The first rotating wheel 111 and the second rotating The wheel 121 , the third rotating wheel 131 and the fourth rotating wheel 141 can go around along an annular trajectory, so that the transport vehicle 100 can be turned on the spot. Similarly, when the transport vehicle 100 is to be turned When rotating, the transport vehicle 100 can be rotated by only changing the deflection angles of the first rotating wheel 111 , the second rotating wheel 121 , the third rotating wheel 131 and the fourth rotating wheel 141 .

In the present invention, by controlling the steering directions and angles of the first rotating wheel 111 , the second rotating wheel 121 , the third rotating wheel 131 and the fourth rotating wheel 141 , the transportation vehicle 100 is displaced (eg, along the The axis direction Y moves forward or backward), turns or turns in situ, which reduces the turning radius of the transportation vehicle 100 when it turns, so that the transportation vehicle 100 can be used in a field with a small turning space, And when the transport vehicle 100 is used on agricultural land (such as paddy field), it can avoid the large turning radius caused by the known structural technology, and the current agricultural machine (such as paddy field machine) cannot be used on agricultural land (such as paddy field). ) comprehensive homework problems.

Please refer to FIGS. 8 to 11 , the transport vehicle 100 further includes a link swing group 160 . In this embodiment, the link swing group 160 is disposed on the carrier 150 , and the link swing module 160 has a link swing group 160 . The push rod 161 and a connecting rod set 162 are pivotally connected to the carrier 150. The connecting rod set 162 has at least one swing rod 162a, and the swing rod 162a is pivotally connected to the carrier 150. In this embodiment, The swing rod 162a is pivotally connected to a support rod 153 of the carrier 150, and the push rod 161 is used to drive the swing rod 162a to swing, so that a free end 162b of the swing rod 162a can swing selectively. In this embodiment, , the push rod 161 pushes a pivot 163 pivoted to the swing rod 162a, so that the free end 162b of the swing rod 162a swings selectively.

Please refer to Figures 10 and 11, the free end 162b can be installed with an image capture device (not shown, such as a camera, a camera, etc.), but not limited to this, when the transport vehicle 100 When the first transmission shaft 112 , the second transmission shaft 122 , the third transmission shaft 132 and the fourth transmission shaft 142 travel in a field, the push rod 161 pushes the pivot shaft 163 to make the swing rod 162 a Can swing or be positioned between a first position (refer to Figure 10) and a second position (refer to Figure 11) to observe the growth of plants (e.g. rice) in the field (e.g. paddy field) and whether there are pests and diseases, in addition, the free end 162b can also be installed with at least one spray head (not shown in the figure, such as a pesticide spray head), but not limited by this, the push rod 161 pushes the swing rod 162a to swing and swing. It is positioned between the first position (please refer to FIG. 10 ) and the second position (please refer to FIG. 11 ), so that the spray head can spray the medicinal liquid on the plants planted in the field.

The protection scope of the present invention shall be determined by the scope of the appended patent application. Any changes and modifications made by anyone who is familiar with the art without departing from the spirit and scope of the present invention shall belong to the protection scope of the present invention. .

100: Transport vehicles 110: First round of mods 111: The first turning wheel 112: The first drive shaft 113: The first steering drive group 113a: First electric pole 113b: The first steering transmission element 114: The first power source 115: The first power transmission part 120: Second round of mods 121: The second rotating wheel 122: Second drive shaft 123: The second steering drive group 123a: Second electric pole 123b: The second steering transmission element 124: Second power source 125: The second power transmission part 130: The third round of mods 131: The third turning wheel 132: The third drive shaft 133: The third steering drive group 133a: Third electric pole 133b: The third steering transmission element 134: Third Power Source 135: The third power transmission part 140: Fourth round of mods 141: The fourth turning wheel 142: Fourth drive shaft 143: Fourth steering drive group 143a: Fourth electric pole 143b: Fourth steering transmission element 144: Fourth Power Source 145: Fourth power transmission part 150: stage 151: Part One 152: Part II 153: Support rods 160: Link swing group 161: putter 162: Connecting rod group 162a: Swing lever 162b: Free end 163: Pivot A: The first direction B: the second direction Y: axis direction

Fig. 1 is a perspective view of the transportation vehicle of the present invention. Fig. 2: A perspective view of the transportation vehicle of the present invention. Fig. 3 is a perspective view of the wheel module of the transport vehicle of the present invention. Fig. 4: A plan view of the transport vehicle of the present invention. Fig. 5: A plan view of the transport vehicle of the present invention. Fig. 6: A cross-sectional view of the transportation vehicle of the present invention. Fig. 7: A cross-sectional view of the transportation vehicle of the present invention. Fig. 8: A perspective view of the carrier and the link swing group of the transport vehicle of the present invention. Fig. 9: An exploded perspective view of the carrier and the link swing group of the transport vehicle of the present invention. Fig. 10: A cross-sectional view of the transportation vehicle of the present invention. Fig. 11: A cross-sectional view of the transportation vehicle of the present invention.

100: Transport Vehicles

110: First round of mods

111: The first turning wheel

112: The first drive shaft

113a: First electric pole

113b: The first steering transmission part

120: Second round of mods

121: The second turning wheel

122: Second drive shaft

123a: Second electric pole

123b: Second steering transmission

130: The third round of mods

131: The third turning wheel

132: The third drive shaft

133a: Third electric pole

133b: The third steering transmission

140: Fourth round of mods

141: The fourth turning wheel

142: Fourth drive shaft

143a: Fourth electric pole

143b: Fourth steering transmission

151: Part 1

152: Part II

A: The first direction

B: The second direction

Y: axis direction

Claims (10)

A transport vehicle comprising at least: a stage, along an axis direction, the stage has a first part and a second part; A first wheel module is disposed on the first part of the carrier, the first wheel module has a first rotating wheel and a first transmission shaft, and the first transmission shaft is used to drive the first rotating wheel selectively steer in a first direction or the axis direction; A second wheel module is disposed on the second part of the carrier, the second wheel module has a second rotating wheel and a second transmission shaft, and the second transmission shaft is used to drive the second rotating wheel selectively steered in a second direction or the axial direction, the second direction being opposite to the first direction; and A third wheel module is disposed on the second part of the carrier, and the second wheel module and the third wheel module are respectively located on two sides of the second part, and the third wheel module has a first wheel module Three rotating wheels and a third transmission shaft, the third transmission shaft is used to drive the third rotating wheel to selectively turn in the first direction or the axis direction, the first wheel module, the second wheel module and the third wheel module is used to drive the carrier to move, rotate or turn in place selectively. The transportation vehicle of claim 1, wherein the first wheel module further has a first steering driving group, and the first steering driving group is used to drive the first transmission shaft, so that the first transmission shaft drives the The first rotating wheel turns between the first direction and the axis direction. The transportation vehicle of claim 2, wherein the first steering drive group comprises a first electric lever and a first steering transmission member, the first steering transmission member is coupled to the first transmission shaft, and the first electric lever The two ends are pivotally connected to the platform and the first steering transmission member respectively, and the first electric rod is used to drive the first steering transmission member, so that the first steering transmission member drives the first transmission shaft to drive the first steering transmission member. Turn the wheel to turn. The transportation vehicle of claim 2, wherein the first wheel module further has a first power source, and the first power source is used to drive the first rotating wheel to rotate forward or reverse selectively. The transportation vehicle of claim 4, wherein the first power source drives the first rotating wheel to rotate through a first power transmission element. The transportation vehicle of claim 1 or 2 further comprises a fourth wheel module, the fourth wheel module is arranged on the first part of the carrier, and the first wheel module and the fourth wheel module The wheel modules are respectively located on two sides of the first part, the fourth wheel module has a fourth rotating wheel and a fourth transmission shaft, and the fourth transmission shaft is used to drive the fourth rotating wheel to selectively move to the Steering in the second direction or the axis direction, the fourth drive shaft is the same as the first wheel module, the second wheel module and the third wheel module, and is used to drive the carrier to move, rotate or turn in situ . The transportation vehicle of claim 6, wherein the first wheel module, the third wheel module, the second wheel module and the fourth wheel module are respectively arranged diagonally at different corners of the carrier. The transportation vehicle of claim 1, wherein when the steering angles of the first rotating wheel, the second rotating wheel and the third rotating wheel are substantially the same, the first rotating wheel, the second rotating wheel and the The third rotating wheel revolves along an annular trajectory to make the transport vehicle turn in place. The transportation vehicle of claim 6, wherein when the steering angles of the first rotating wheel, the second rotating wheel, the third rotating wheel and the fourth rotating wheel are substantially the same, the first rotating wheel, the third rotating wheel The two revolving wheels, the third revolving wheel and the fourth revolving wheel revolve along an annular track, so that the transport vehicle is turned on the spot. The transport vehicle of claim 1 further comprises a link swing group, the link swing module is disposed on the carrier, the link swing module has a push rod and a link group, the push rod pivots Connected to the carrier, the link set has at least one swing rod pivotally connected to the carrier, and the push rod is used to drive the swing rod to swing, so that a free end of the swing rod can swing selectively.

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