CN116902070A - Chassis assembly of vehicle and vehicle - Google Patents

Abstract

The application provides a chassis assembly of a vehicle and the vehicle, wherein the chassis assembly of the vehicle comprises: the chassis body comprises a box body; the driving device is arranged in the box body; the wheel assemblies are arranged on two sides of the box body, and the driving devices are corresponding to the wheel assemblies; the plurality of universal shafts are arranged, a plurality of through holes are formed in the side wall of the box body, each universal shaft is respectively penetrated in the corresponding through hole, and each wheel assembly is in driving connection with the corresponding driving device through the universal shaft; the movable connecting pieces are multiple, and each wheel assembly is connected with the side wall of the box body through the movable connecting pieces so that the wheel assembly can move up and down relative to the chassis body; the vibration reduction devices are multiple, and each vibration reduction device is arranged between the movable connecting piece and the chassis body. By applying the technical scheme of the application, the problems of insufficient driving force and large volume of the chassis assembly in the prior art can be effectively solved.

Description

Chassis assembly of vehicle and vehicle

Technical Field

The application relates to the field of mobile robots, in particular to a chassis assembly of a vehicle and the vehicle.

Background

With the rapid development of artificial intelligence technology, mobile robots are gradually entering more fields to provide various services for people. The mobile robot generally prefers the wheel chassis assembly because the wheel chassis assembly is convenient to control, low in cost and high in movement efficiency. The wheel chassis assembly of the prior art is generally as in patent No. 202221642813.7 (hereinafter referred to as patent one) or 202220304867.6 (hereinafter referred to as patent two).

In the first patent, the motor is placed in the hub, and is limited by the volume of the wheel, so that the motor is small in volume and insufficient in driving force, and the motor for driving the wheel to rotate is not damped by the damper and is easy to damage.

In the second patent, the motor is placed on the upper surface of the chassis, the chassis is provided with a downwardly extending suspension damping mechanism, and the wheels are arranged on the suspension damping mechanism. The structure makes the whole volume of the chassis very big, thereby leads to high cost.

Disclosure of Invention

The application mainly aims to provide a chassis assembly of a vehicle and the vehicle, so as to solve the problems of insufficient driving force and large volume of the chassis assembly of the vehicle in the prior art.

In order to achieve the above object, according to one aspect of the present application, there is provided a chassis assembly of a vehicle, comprising: the chassis body comprises a box body; the driving device is arranged in the box body; the wheel assemblies are arranged on two sides of the box body, and the driving devices are corresponding to the wheel assemblies; the plurality of universal shafts are arranged, a plurality of through holes are formed in the side wall of the box body, each universal shaft is respectively penetrated in the corresponding through hole, and each wheel assembly is in driving connection with the corresponding driving device through the universal shaft; the movable connecting pieces are multiple, and each wheel assembly is connected with the side wall of the box body through the movable connecting pieces so that the wheel assembly can move up and down relative to the chassis body; the vibration reduction devices are multiple, and each vibration reduction device is arranged between the movable connecting piece and the chassis body.

In one embodiment, the movable connecting piece comprises a first rocker arm and a second rocker arm which are parallel to each other and are arranged at intervals up and down, first ends of the first rocker arm and the second rocker arm are pivotally connected with the outer side wall of the box body, and second ends of the first rocker arm and the second rocker arm are pivotally connected with the corresponding wheel assemblies.

In one embodiment, the cardan shaft is located between the first rocker arm and the second rocker arm of the movable connection corresponding thereto in the up-down direction.

In one embodiment, the first rocker arm is provided with a first installation position, the outer side wall of the box body is provided with a second installation position, the second installation position is located above the installation position of the movable connecting piece, the first end of the vibration damper is arranged at the first installation position, and the second end of the vibration damper is arranged at the second installation position.

In one embodiment, the wheel assembly comprises a wheel body and a hub reducer arranged in the middle of the wheel body, wherein the first end of the universal shaft is in driving connection with an output shaft of the hub reducer.

In one embodiment, the hub reduction gear includes a reduction gear body and a mounting plate disposed inboard of the reduction gear body, the second ends of the first and second swing arms being pivotally connected with the mounting plate of the corresponding wheel assembly, the chassis assembly of the vehicle further comprising: the transmission shaft penetrates through the mounting plate, the first end of the transmission shaft is in driving connection with the hub speed reducer, and the second end of the transmission shaft is in driving connection with the first end of the universal shaft.

In one embodiment, the driving device comprises a driving motor and a speed reducer arranged below the driving motor, and the first end of the transmission shaft is in driving connection with the output end of the speed reducer.

In one embodiment, the chassis assembly of the vehicle further comprises: the first control device is arranged in the box body and is electrically connected with the driving device; and/or the battery assembly is arranged in the box body and is electrically connected with the driving device.

According to another aspect of the present application, there is provided a vehicle including: the chassis assembly is the chassis assembly.

According to a final aspect of the application there is provided a vehicle, the vehicle being a patrol vehicle, the vehicle comprising: the chassis assembly is characterized in that the chassis assembly is the chassis assembly; the second control device is electrically connected with the first control device when the chassis assembly comprises the first control device; the radar is electrically connected with the second control device; the camera is electrically connected with the second control device.

By applying the technical scheme of the application, the box body provided with the driving device is stretched into the free space between the wheel assemblies at the two sides, and the application has at least the following three advantages: firstly, the space between the wheel assemblies at two sides can be fully utilized, so that the miniaturization of the chassis assembly is realized; second, since the drive is not located within the wheel assembly, but rather within a larger housing between the wheels, the volume constraints on the drive are much smaller, thereby ensuring that the final chassis assembly has sufficient drive force; and thirdly, vibration is damped between the chassis body and the wheel assembly through the vibration damper, and the driving device is arranged in the chassis body subjected to vibration damping, so that the driving device is not easy to damage and has long service life.

In addition to the objects, features and advantages described above, the present application has other objects, features and advantages. The present application will be described in further detail with reference to the drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

fig. 1 shows a schematic perspective view of an embodiment of a chassis assembly of a vehicle according to the application;

FIG. 2 shows a schematic cross-sectional view of the chassis assembly of FIG. 1;

FIG. 3 shows a schematic perspective view of a portion of the structure of the chassis assembly of FIG. 1; and

fig. 4 shows a schematic perspective view of an embodiment of a vehicle according to the application.

Wherein the above figures include the following reference numerals:

10. a chassis body; 11. a case; 111. a second mounting location; 112. a through hole; 20. a driving device; 21. a driving motor; 22. a speed reducer; 30. a wheel assembly; 31. a wheel body; 32. a hub decelerator; 321. a speed reducer body; 322. a mounting plate; 40. a universal shaft; 50. a movable connecting piece; 51. a first rocker arm; 511. a first mounting location; 52. a second rocker arm; 60. a vibration damping device; 70. a transmission shaft; 80. a chassis assembly; 100. a radar; 110. a camera is provided.

Detailed Description

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in other environments. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

As shown in fig. 1 to 3, the chassis assembly of the vehicle of the present embodiment includes: chassis body 10, drive device 20, wheel assembly 30, cardan shaft 40, articulation piece 50 and vibration damping device 60. Wherein the chassis body 10 includes a case 11; the driving device 20 is disposed in the case 11. The wheel assemblies 30 are provided on both sides of the case 11, and the driving devices 20 are provided in plural numbers corresponding to the wheel assemblies 30; the universal shafts 40 are multiple, a plurality of through holes 112 are formed in the side wall of the box 11, each universal shaft 40 is respectively arranged at the corresponding through hole 112 in a penetrating mode, and each wheel assembly 30 is in driving connection with the corresponding driving device 20 through the universal shaft 40. The movable connecting pieces 50 are multiple, and each wheel assembly 30 is connected with the side wall of the box 11 through the movable connecting piece 50 so that the wheel assembly 30 can move up and down relative to the chassis body 10. The vibration damper 60 is plural, and each vibration damper 60 is disposed between the movable connector 50 and the chassis body 10.

By applying the technical scheme of the embodiment, the box 11 with the driving device 20 extends into the free space between the wheel assemblies 30 on two sides, and has at least the following three advantages: first, the space between the wheel assemblies 30 on both sides can be fully utilized to achieve miniaturization of the chassis assembly; second, since the drive 20 is not located within the wheel assembly 30, but rather within a larger housing between the wheels, the volume constraints on the drive 20 are much smaller, thereby ensuring that the final chassis assembly has sufficient drive force; third, through vibration damper 60 damping between chassis body 10 and the wheel subassembly 30, set up drive arrangement 20 in the chassis body 10 that is damped for drive arrangement 20 is not fragile, long service life.

As shown in fig. 1 and 2, in the present embodiment, the movable coupling member 50 includes a first rocker arm 51 and a second rocker arm 52 arranged parallel to each other and spaced up and down, first ends of the first rocker arm 51 and the second rocker arm 52 are pivotably coupled to an outer side wall of the case 11, and second ends of the first rocker arm 51 and the second rocker arm 52 are pivotably coupled to the corresponding wheel assemblies 30. The structure is simple and the reliability is high.

As shown in fig. 1 and 2, in the present embodiment, the cardan shaft 40 is located between the first rocker arm 51 and the second rocker arm 52 of the movable connector 50 corresponding thereto in the up-down direction. In particular, the solution of the present embodiment allows the height of the tank 11 with respect to the ground to be higher than the solution of the cardan shaft 40 above the mobile connection 50, thus preventing the chassis assembly from scraping when entering a bumpy road; compared with the scheme that the universal shaft 40 is located below the movable connecting piece 50, the height of the box 11 relative to the ground is lower in the scheme of the embodiment, so that space is fully utilized, the height of the whole chassis assembly is reduced, and the miniaturization design is realized. In addition, the above structure makes the vibration damping device 60 not interfere with the cardan shaft 40 when entering a bumpy road section, ensuring smooth running of the chassis assembly.

As shown in fig. 1 to 3, in the present embodiment, the first rocker arm 51 has a first mounting position 511 thereon, the outer side wall of the case 11 has a second mounting position 111 thereon, the second mounting position 111 is located above the mounting position of the movable connecting member 50, the first end of the vibration damping device 60 is disposed at the first mounting position 511, and the second end of the vibration damping device 60 is disposed at the second mounting position 111. The structure is simple and convenient to install.

As shown in fig. 1 and 2, in the present embodiment, the wheel assembly 30 includes a wheel body 31 and a hub reduction gear 32 provided in a middle portion of the wheel body 31, and a first end of a cardan shaft 40 is drivingly connected to an output shaft of the hub reduction gear 32. The hub speed reducer 32 can satisfy the requirement of the reduction ratio on the one hand, and on the other hand, the wheel body 31 can be connected with the chassis body 10 through the hub speed reducer 32, so that the chassis assembly is simplified in structure, parts are reduced, and cost is reduced.

As shown in fig. 1 and 2, in the present embodiment, the hub reduction gear 32 includes a reduction gear body 321 and a mounting plate 322 disposed inside the reduction gear body 321, the second ends of the first rocker arm 51 and the second rocker arm 52 are pivotably connected with the mounting plate 322 of the corresponding wheel assembly 30, and the chassis assembly of the vehicle further includes: the transmission shaft 70, the transmission shaft 70 is worn to locate on the mounting panel 322, and the first end of transmission shaft 70 is connected with the drive of hub reduction 32, and the second end of transmission shaft 70 is connected with the first end drive of cardan shaft 40. The structure is simple and easy to assemble.

As shown in fig. 2, in the present embodiment, the driving device 20 includes a driving motor 21 and a speed reducer 22 located below the driving motor 21, and a first end of a transmission shaft 70 is in driving connection with an output end of the speed reducer 22. The combination of the speed reducer 22 and the hub speed reducer 32 allows the vehicle speed of the final wheel assembly 30 to meet higher demands.

In this embodiment, the chassis assembly of the vehicle further includes: the first control device is disposed in the case 11 and electrically connected to the driving device 20. The first control means can control each drive means 20 independently to perform various actions, so that it is possible to satisfy that the chassis assembly can be moved in various directions. Specifically, when the chassis assembly is straight, the first control means sends the same speed to the drive motors 21 of the drive means 20 on both sides; when the chassis assembly needs to turn, the first control device sends different speeds to the driving motors 21 of the driving devices 20 at two sides, and the turning is performed in a differential control mode.

In this embodiment, the chassis assembly of the vehicle further includes: the battery assembly is arranged in the box 11 and is electrically connected with the driving device 20. The structure ensures that the driving energy of the chassis assembly is cleaner.

As shown in fig. 4, the present application also provides a vehicle, an embodiment of which according to the present application includes: chassis assembly 80 the chassis assembly 80 is the chassis assembly described above. The chassis assembly has the advantages of small volume, large driving force, long service life and the like, so that the vehicle with the chassis assembly also has the advantages.

In this embodiment, the vehicle is a patrol vehicle, and the vehicle further includes: the second control device, and the radar 100 and the camera 110 electrically connected to the second control device, wherein in the case that the chassis assembly of the vehicle includes the first control device, the first control device is electrically connected to the second control device. The radar 100 is a laser radar, and the laser radar can scan the surrounding environment, and finally realize the navigation function. The camera 110 can perform visual recognition to realize the function of looking at the instrument. The first control device is electrically connected with the second control device, so that the vehicle is more intelligent.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A chassis assembly for a vehicle, comprising:

a chassis body (10) comprising a case (11);

a driving device (20) arranged in the box body (11);

a plurality of wheel assemblies (30) provided on both sides of the case (11), the plurality of driving devices (20) corresponding to the plurality of wheel assemblies (30);

the plurality of universal shafts (40) are arranged, a plurality of through holes (112) are formed in the side wall of the box body (11), the universal shafts (40) are respectively arranged at the corresponding through holes (112) in a penetrating mode, and the wheel assemblies (30) are in driving connection with the corresponding driving devices (20) through the universal shafts (40);

the plurality of movable connecting pieces (50) are arranged, and each wheel assembly (30) is connected with the side wall of the box body (11) through the movable connecting piece (50) so that the wheel assembly (30) can move up and down relative to the chassis body (10);

the vibration reduction devices (60) are multiple, and each vibration reduction device (60) is arranged between the movable connecting piece (50) and the chassis body (10).

2. Chassis assembly of a vehicle according to claim 1, characterized in that the articulation piece (50) comprises a first rocker arm (51) and a second rocker arm (52) arranged parallel to each other and spaced up and down, the first ends of the first rocker arm (51) and the second rocker arm (52) being pivotably connected with the outer side wall of the tank (11), the second ends of the first rocker arm (51) and the second rocker arm (52) being pivotably connected with the corresponding wheel assembly (30).

3. Chassis assembly of a vehicle according to claim 2, characterized in that the cardan shaft (40) is located between the first rocker arm (51) and the second rocker arm (52) of its corresponding movable connection (50) in the up-down direction.

4. A chassis assembly of a vehicle according to claim 2 or 3, characterized in that the first rocker arm (51) is provided with a first mounting location (511), the outer side wall of the box (11) is provided with a second mounting location (111), the second mounting location (111) is located above the mounting location of the movable connecting piece (50), the first end of the vibration damping device (60) is arranged at the first mounting location (511), and the second end of the vibration damping device (60) is arranged at the second mounting location (111).

5. The vehicle chassis assembly according to claim 2, wherein the wheel assembly (30) comprises a wheel body (31) and a hub reduction gear (32) arranged in the middle of the wheel body (31), and the first end of the cardan shaft (40) is in driving connection with an output shaft of the hub reduction gear (32).

6. The vehicle chassis assembly according to claim 5, wherein the hub reduction gear (32) includes a reduction gear body (321) and a mounting plate (322) disposed inside the reduction gear body (321), the second ends of the first rocker arm (51) and the second rocker arm (52) being pivotally connected with the mounting plate (322) of the corresponding wheel assembly (30), the vehicle chassis assembly further comprising:

the transmission shaft (70), transmission shaft (70) wears to locate on mounting panel (322), the first end of transmission shaft (70) with wheel hub reduction gear (32) drive connection, the second end of transmission shaft (70) with the first end drive connection of cardan shaft (40).

7. Chassis assembly of a vehicle according to claim 6, characterized in that the drive means (20) comprise a drive motor (21) and a reduction gear (22) located below the drive motor (21), a first end of the drive shaft (70) being in driving connection with an output of the reduction gear (22).

8. The vehicle chassis assembly of claim 1, wherein the vehicle chassis assembly further comprises:

the first control device is arranged in the box body (11) and is electrically connected with the driving device (20); and/or the number of the groups of groups,

the battery assembly is arranged in the box body (11) and is electrically connected with the driving device (20).

9. A vehicle, comprising: a chassis assembly (80), characterized in that the chassis assembly (80) is a chassis assembly according to any one of claims 1 to 8.

10. A vehicle, the vehicle being a patrol vehicle, the vehicle comprising:

-a chassis assembly (80), characterized in that the chassis assembly (80) is a chassis assembly as claimed in claim 8;

a second control device, the first control device being electrically connected to the second control device in case the chassis assembly (80) comprises the first control device;

a radar (100) electrically connected to the second control device;

and the camera (110) is electrically connected with the second control device.