Wheel assembly, frame and vehicle

Abstract

The present disclosure provides a wheel device, a frame and a vehicle, which relate to the field of vehicle technology, and more specifically to the field of autonomous driving and driving testing. The wheel device comprises: a wheel assembly; and a quick release assembly. The quick release assembly comprises a fixing seat and a toggle clamp, wherein the fixing seat is fixedly connected to the toggle clamp, and the fixing seat is detachably connected to the wheel assembly. A pressing piece is provided on the rotating arm of the toggle clamp.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, in particular to the field of autonomous driving and the field of driving testing, and more particularly to a wheel device, a frame and a vehicle. Background Art

[0002] With the development of electronic technology and network technology, autonomous driving technology has become one of the important development directions in the Internet and vehicle fields. Mature autonomous driving technology can free the driver's hands and reduce or even avoid traffic accidents to a certain extent. Before autonomous driving vehicles leave the factory, they usually need to undergo a lot of tests and experiments to ensure the reliability of autonomous driving technology. Summary of the invention

[0003] Provided are a wheel device, a vehicle frame and a vehicle that are easy to assemble and disassemble.

[0004] One aspect of the present disclosure provides a wheel device, including: a wheel assembly and a quick-release assembly, the quick-release assembly including a fixing seat and a toggle clamp, the fixing seat is fixedly connected to the toggle clamp, and the fixing seat is detachably connected to the wheel assembly, wherein a clamping piece is provided on the rotating arm of the toggle clamp.

[0005] Another aspect of the present disclosure provides a frame, including a frame body; and at least one fixing block, which is fixedly connected to the frame body and provided with a groove, wherein the frame is configured such that: in a case where a clamping piece of a toggle clamp in a wheel device provided in the present disclosure has an interference fit with the groove, the wheel device is connected to the frame, wherein the size of the groove is adapted to the size of the clamping piece.

[0006] Another aspect of the present disclosure provides a vehicle, comprising the vehicle frame provided by the present disclosure, and the wheel device provided by the present disclosure, wherein the wheel device is detachably connected to the vehicle frame.

[0007] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0009] Figure 1 is a schematic diagram of application scenarios of a wheel suspension assembly, a steering wheel device, a steering system and a vehicle according to an embodiment of the present disclosure;

[0010] Figure 2 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure;

[0011] Figure 3A is a schematic structural diagram of a vehicle when a wheel device needs to be installed according to an embodiment of the present disclosure;

[0012] Figure 3B It is a diagram of the matching structure of the screw rod, the handle and the flange nut when the wheel device needs to be installed according to the embodiment of the present disclosure;

[0013] Figure 4 is a schematic structural diagram of a frame according to an embodiment of the present disclosure;

[0014] Figure 5 is a partial structural schematic diagram of a frame according to an embodiment of the present disclosure;

[0015] Figure 6 is a structural schematic diagram of a wheel device according to an embodiment of the present disclosure;

[0016] Figure 7 It is a schematic structural diagram of the interference fit between the wheel device and the groove in the fixing block according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0017] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0018] The present disclosure provides a wheel device, including a wheel assembly and a quick release assembly. The quick release assembly includes a fixing seat and a toggle clamp, the fixing seat is fixedly connected to the toggle clamp, and the fixing seat is detachably connected to the wheel assembly. A pressing piece is provided on the rotating arm of the toggle clamp.

[0019] The following will be combined Figure 1 The application scenarios of the device provided by the present disclosure are described.

[0020] Figure 1 It is a schematic diagram of application scenarios of the wheel suspension assembly, steering wheel device, steering system and vehicle according to the embodiment of the present disclosure.

[0021] like Figure 1 As shown, the application scenario 100 includes a test target vehicle 110 and an autonomous driving vehicle 120 .

[0022] In the application scenario 100, the autonomous driving vehicle 120 may be a vehicle before leaving the factory or a vehicle that needs maintenance after leaving the factory. When testing the autonomous driving vehicle 120, the test target vehicle 110 may be used as a vehicle driving on a simulated road to test the obstacle avoidance and other functions of the autonomous driving vehicle 120.

[0023] For example, the test target vehicle 110 can be set on the road where the autonomous driving vehicle 120 is located to test whether the autonomous driving vehicle 120 can automatically change lanes when driving near the test target vehicle 110, or whether it can slow down, etc., to achieve autonomous driving safety testing, etc.

[0024] According to an embodiment of the present disclosure, the test target vehicle 110 can be, for example, a robot that automatically travels on the ground. Driven by a motor, the test target vehicle 110 can reach a specified speed. For example, the embodiment can pre-set a driving path for the test target vehicle 110 in the background, and the test target vehicle 110 can travel according to the driving path to simulate a vehicle in actual road conditions. Alternatively, the test target vehicle 110 can also be used in an object transportation scenario to transport a damaged target vehicle or any object that can be carried by the test target vehicle 110. For example, the test target vehicle 110 can also be used as an intelligent handling robot.

[0025] In one embodiment, the test target vehicle 110 may include, for example, a fuselage frame, a fuselage cover, a drive system, a brake system, a power system, and a control system. The drive system may be used to drive the test target vehicle 110 to travel and change the travel speed and travel direction. The drive system may include, for example, a power drive system and a steering drive system.

[0026] For example, the fuselage frame can be a chassis frame of a vehicle, and the setting of the chassis frame can, for example, control the vehicle height of the test target vehicle 110 within 20 cm. The fuselage frame can, for example, be provided with mounting positions for various components included in other systems of the test target vehicle 110 in addition to the fuselage cover. For example, a steering wheel mounting position, a drive wheel mounting position, a motor mounting position, a main electrical component mounting position, a central controller mounting position, a GPS antenna mounting position, a battery mounting position, etc. can be provided. The fuselage frame can also be provided with a plurality of wiring holes for passing communication lines, electrical wires, etc. between the electronic components in each component. The chassis frame can be provided with reinforcing ribs to improve the pressure resistance of the test target vehicle and to increase the service life of the test target vehicle.

[0027] For example, the fuselage cover plate can be detachably connected to the fuselage frame to cover the components installed in various installation positions in the fuselage frame to protect the components installed in the various installation positions from wind and rain, etc. The fuselage cover plate can be an integrally formed structure, or it can be composed of multiple cover plates spliced ​​together.

[0028] For example, the brake system may include brake lines, sensors, couplings, motors, etc. The brake system may provide friction to the drive wheel or the steering wheel under the action of the motor included therein to hinder the rotation of the drive wheel or the steering wheel to achieve braking.

[0029] For example, the power supply system may include a battery module, a relay, a power supply module, etc., for providing electrical energy to the electronic devices in the test target vehicle 110. Under the action of the power supply system, the various electronic devices in the test target vehicle 110 can operate to realize the driving of the test target vehicle. Among them, the power supply module can be used to convert the voltage provided by the battery module to convert it into a voltage suitable for use by various electronic devices.

[0030] For example, the control system may include a communication module, a central controller, a motor driver, a rotary encoder, and a combined navigation device, etc. The control system may implement control of the test target vehicle 110 and trajectory customization, etc., through a control algorithm.

[0031] In order to facilitate the movement of the vehicle when it is damaged or needs to be transferred, the present disclosure provides a vehicle with detachable wheels. It is understandable that the vehicle can be, for example, the test target vehicle described above, or an intelligent transport robot, a large toy car, a car, etc., and the present disclosure does not limit this. Figure 2 to Figure 3B The vehicle provided by the present disclosure is described in detail.

[0032] Figure 2 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure.

[0033] like Figure 2 As shown, the vehicle 200 of this embodiment may include a vehicle frame 210 and a wheel device 220. The wheel device 220 may be detachably connected to the vehicle frame 210.

[0034] For example, when the vehicle 200 needs to be transferred or needs to be towed away due to a fault, the wheel device 220 can be installed on the frame 210. In this way, the frame 210 can be towed and moved with relatively less effort by means of the wheel device 220. When the vehicle 200 does not need to be moved, the wheel device 220 can be removed from the frame 210 for testing.

[0035] For example, when the vehicle 200 is a test target vehicle, the overall height of the vehicle 200 can be reduced by removing the wheel device 220 from the frame 210 when the vehicle 200 does not need to move. In this way, when performing an autonomous driving safety test on an autonomous driving vehicle, the requirement for the chassis height of the autonomous driving vehicle can be reduced, which is convenient for expanding the application scenarios of the test target vehicle and reducing the requirements for the test conditions.

[0036] In one embodiment, the wheel devices 220 may be, for example, at least two, and when the at least two wheel devices 220 are connected to the vehicle frame, they may be evenly or symmetrically distributed in an area close to the periphery of the vehicle frame, so as to improve the stability and balance of the vehicle 200 during movement. For example, there may be four wheel devices 220, and the four wheel devices 220 may be symmetrically connected to the vehicle frame. For example, two wheel devices are connected to the first end of the vehicle frame 210 in the length direction, and the two wheel devices are symmetrical with respect to the central axis of the vehicle frame 210 in the length direction. Two wheel devices are connected to the other end of the vehicle frame 210 in the length direction, and the two wheel devices are symmetrical with respect to the central axis of the vehicle frame 210 in the length direction.

[0037] In one embodiment, the frame may be provided with a fixing block for detachably fixing the wheel device. For example, the fixing block may be detachably connected to the wheel device via a connecting piece, and the connection between the wheel device and the fixing block may be realized to connect the wheel device to the frame.

[0038] For example, the fixing block may be provided with a threaded hole, and the wheel device includes a fixing plate rotatably connected to the wheel, and the fixing plate is also provided with a threaded hole. The fixing block and the wheel device may be connected by bolts or the like.

[0039] In one embodiment, if Figure 2 As shown, the vehicle 200 may further include at least one second wheel, which is rotatably connected to the frame 210. The second wheel may be driven by an automatic driving system, so that the vehicle 200 can travel according to a pre-planned path.

[0040] For example, a drive system and a control system may be provided in the vehicle chassis of the vehicle 200. The at least one second wheel may be rotationally connected to the drive system, and the drive system is connected to the control system. In this way, the drive system may drive the at least one second wheel to rotate under the control of the control system, thereby realizing automatic driving of the vehicle.

[0041] For example, the at least one second wheel may be multiple, and the multiple second wheels 230 may be symmetrically or evenly connected to the frame 210. Specifically, they may be connected to the vehicle chassis via the frame 210. For example, the number of the multiple second wheels 230 may be an even number, and the even number of second wheels may be rotationally connected to the frame 210 symmetrically relative to the center point of the vehicle 200.

[0042] In one embodiment, the radius of the at least one second wheel is relatively small, so as to reduce the height of the vehicle 200 when the wheel device is not installed, so as to facilitate the expansion of the application scenarios of the vehicle 200. For example, the height of the vehicle after the wheel device is installed can be greater than the height when the wheel device is not installed. In this way, by installing the wheel device, the height of the vehicle chassis can be increased. In this way, the approach angle and departure angle of the vehicle can be increased, which is beneficial to the transfer of the vehicle. For example, if the wheel device is not installed, the vehicle cannot enter the carriage of the transport vehicle via the ramp due to the low chassis of the vehicle. After the wheel device is installed, it is convenient for the vehicle to enter the carriage of the transport vehicle via the ramp, which provides great convenience for the transfer of the vehicle.

[0043] Figure 3A is a schematic structural diagram of a vehicle when a wheel device needs to be installed according to an embodiment of the present disclosure; Figure 3B This is a diagram of the matching structure of a screw rod, a handle and a flange nut when a wheel device needs to be installed according to an embodiment of the present disclosure.

[0044] According to an embodiment of the present disclosure, a component that facilitates lifting the vehicle from the ground may be configured for the vehicle, thereby providing installation conditions for the wheel device.

[0045] like Figure 3A to Figure 3B As shown, the vehicle 300 of this embodiment may include at least one screw rod 340 and at least one crank handle 350 matched with the vehicle 300 in addition to the vehicle frame 310 and the detachable wheel device 320 .

[0046] In one embodiment, the frame 310 may be provided with a screw fitting 314, which matches the screw 340. The number of the screw fitting 314 may be the same as the number of at least one screw. Or the number of the screw fitting 314 may be slightly less than the number of at least one screw 340, so that at least one screw 340 may have a spare screw. In one embodiment, there may be at least two screw fittings 314, and at least two screw fittings 314 may be fixedly connected to the frame body of the frame 310 symmetrically relative to the center of the vehicle 300. Accordingly, a fixing position for the screw fitting 314 may be provided on the frame body, and when the screw fitting 314 is fixedly connected to the frame body, the at least two screw fittings may be fixed to the fixing position.

[0047] For example, the screw rod fitting 314 may be provided with a threaded through groove, and the frame body may be provided with a through hole corresponding to the threaded through groove. In this way, the screw rod 340 may pass through the through hole to cooperate with the threaded through groove, and rotate in the threaded through groove along a first direction under the drive of the crank 350. By rotating the screw rod 340 in the first direction, the end of the screw rod 340 that passes through the through hole may be brought close to the ground until it contacts the ground. If the screw rod 340 is continuously rotated in the first direction, the frame 310 may be lifted off the ground, facilitating the installation of the wheel device 320. After the wheel device 320 is installed, the screw rod may be rotated in the threaded through groove in a second direction under the drive of the crank 350, so that the screw rod 340 is moved away from the ground until it can be pulled out from the through hole on the frame body, completing the installation of the wheel device 320. Accordingly, when the wheel device 320 needs to be removed, the frame 310 can be lifted off the ground in the manner described above. After the wheel device 320 is removed, the screw rod 340 can be pulled out from the through hole on the frame body in the manner described above.

[0048] For example, the number of the screw rod 340, the screw rod fitting 314 and the crank 350 can all be four, so as to improve the stability when the vehicle is lifted off the ground. It is understandable that the screw rod 340 and the crank 350 can adopt any structure in the relevant technology, and the present disclosure does not limit this.

[0049] The disclosed embodiment, through the provision of the screw rod and the crank, can lift the vehicle off the ground with relatively little effort, making it easier to disassemble or install the wheel device.

[0050] The following will be combined Figure 4-5 The vehicle frame in the vehicle provided by the present disclosure is described in detail.

[0051] Figure 4 It is a schematic structural diagram of a frame according to an embodiment of the present disclosure.

[0052] like Figure 4 As shown, the frame 410 of this embodiment may include a frame body 411 and at least one fixing block 412 .

[0053] The vehicle frame body 411 may include, for example, a vehicle chassis and a shell. The shell surrounds the vehicle chassis to protect the vehicle chassis. The vehicle frame body 411 may also include, for example, a chassis bracket to support the vehicle chassis and fix the position of the vehicle chassis. The shell is coated on one side of the chassis bracket.

[0054] Among them, at least one fixing block 412 can be fixedly connected to the frame body 411, for example. Specifically, the at least one fixing block 412 can be fixedly connected to the frame body 411 by a connecting member such as a bolt. Figure 4As shown in the enlarged view of part A in the figure, each of the at least one fixing block 412 may be provided with a groove 4121, and the groove 4121 may be used for interference fit with the wheel device. For example, the wheel device may include a pressing member, and by pressing the pressing member into the groove 4121, the connection between the wheel device and the frame 410 can be achieved.

[0055] It can be understood that the size of the groove 4121 is adapted to the size of the pressing member.

[0056] In one embodiment, an elastic ring can be clamped in the groove of the fixed block to achieve an interference fit between the clamping member and the groove 4121. The elastic ring can be tightly fitted with the side wall of the groove 4121 of the fixed block by a colloid material such as super glue. The elastic ring can be a rubber ring. Alternatively, the material of the clamping member of the wheel device can include an elastic material, and the size of the clamping member can be slightly larger than the groove 4121, so that when the clamping member is pressed against the groove 4121, the groove and the clamping member can be interference fit.

[0057] In one embodiment, as described above, the number of the at least one fixing block 412 can be four, two of the four fixing blocks are fixed to one end of the frame body 411 along the length direction, and the other two of the four fixing blocks are fixed to the other end of the frame body 411 along the length direction. In addition, the four fixing blocks can also be symmetrically arranged relative to the center of the frame body 411. In this way, after the wheel device is installed on the frame body 411, the frame body 411 can be stably supported.

[0058] The frame of this embodiment is provided with a fixing block, so that the wheel device can be conveniently and quickly installed on the frame 410, or quickly removed from the frame 410. In this way, while ensuring the firmness of the installation, the time for installing the wheel device can be shortened, and the efficiency of vehicle transfer or vehicle towing can be improved.

[0059] Figure 5 It is a partial structural schematic diagram of a frame according to an embodiment of the present disclosure.

[0060] According to an embodiment of the present disclosure, a pull ring may be provided on the vehicle frame, so that after the wheel device is installed on the vehicle frame, a pulling force can be applied to the vehicle frame through the pull ring, thereby facilitating the towing and movement of the vehicle.

[0061] like Figure 5 As shown, the frame 510 of this embodiment may include a pull ring 513 in addition to the frame body 511 and at least one fixing block 512. The pull ring 513 may be provided on the frame of the frame body 511, and specifically, the pull ring 513 may be fixedly connected to the frame of one end of the frame body 511 along the length direction by an external fixing member such as a bolt.

[0062] In one embodiment, when it is necessary to tow a vehicle including a frame, the pull ring 513 can be hooked by a hook-like member, and a pulling force can be applied to the pull ring by dragging the hook-like member. The pulling force can be transmitted to the wheel device connected to the frame via the frame, so that the wheel in the wheel device rotates, driving the frame to move in the direction of the pulling force.

[0063] In one embodiment, if Figure 5 As shown, the frame 510 may include at least one screw fitting 514 in addition to the frame body 511 and at least one fixing block 512 . The screw fitting 514 is fixedly connected to the frame body 511 .

[0064] In one embodiment, if Figure 5 As shown in the enlarged view of part B, the screw fitting 514 may include a clamping block 5141 having a groove and a flange-type nut 5142 . The flange-type nut 5142 is clamped in the groove of the clamping block 5141 and fixedly connected to the clamping block 5141 .

[0065] In one embodiment, there may be four screw rod fittings 514, and the four screw rod fittings 514 are symmetrically arranged relative to the center point of the frame body 511. As described above, through the arrangement of the screw rod fittings 514, the screw rod can be rotated in the screw rod fittings and moved closer to or away from the ground. After the screw rod is rotated to make contact with the ground, the screw rod is continued to be rotated to lift the frame 510 off the ground, so that the wheel device can be easily installed or removed.

[0066] The following will be passed Figure 6-7 The wheel device provided by the present disclosure is described in detail.

[0067] Figure 6 is a schematic structural diagram of a wheel device according to an embodiment of the present disclosure.

[0068] like Figure 6 As shown, the wheel device 620 of this embodiment may include a wheel assembly 621 and a quick release assembly 622. The wheel assembly 621 may be detachably connected to the quick release assembly 622.

[0069] In one embodiment, the quick-release assembly 622 may include a fixing seat 6221 and a toggle clamp 6222, and the fixing seat 6221 may be fixedly connected to the toggle clamp 6222. The wheel assembly 621 may be detachably connected to the wheel assembly 621 via the fixing seat 6221.

[0070] The toggle clamp 6222 may be, for example, a vertical clamping type toggle clamp, a horizontal clamping type toggle clamp, etc. The toggle clamp is designed based on the principle of a double rocker mechanism in a planar four-bar mechanism. The toggle clamp 6222 may include an axis fixing seat, a handle, a rotating arm, and a rotating shaft. In one embodiment, the axis fixing seat may serve as a fixing seat 6221 in the quick release assembly 622, or may be fixedly connected to the fixing seat 6221 in the quick release assembly 622. The axis fixing seat may be composed of two fixed plates, and there may be two rotating shafts, one of which is fixed between the two fixed plates. One end of the rotating arm may be sleeved on one of the rotating shafts to rotate relative to the one of the rotating shafts. A pressing member 6223 may be provided at the other end of the rotating arm. A connecting member may be provided on the outer wall between the two ends of the rotating arm, and the rotating arm may be hinged to the handle via the connecting member. Another rotating shaft of the two rotating shafts may pass through the two fixed plates and be fixedly connected to the two fixed plates. The setting position of the other rotating shaft may correspond to the setting position of the connecting member provided on the outer side of the transmission wall. The handle is sleeved on the other rotating shaft. Under the action of external force, the handle can rotate around the other rotating shaft, and drive the rotating arm to rotate around one of the rotating shafts through the connecting member. The rotation of the rotating arm can drive the pressing member to move, so that the pressing member is close to the fixed block described above and pressed in the groove of the fixed block. Alternatively, the rotation of the rotating arm can drive the pressing member to be pulled out of the groove of the fixed block. It can be understood that in the case of Figure 6 In the example shown, the toggle clamp 6222 is in a locked state. In the self-locking state of the toggle clamp 6222, if the Figure 6 When the handle is turned in the direction of the middle arrow, the toggle clamp 6222 can be in the unlocked state. Figure 6 The toggle clamp 6222 can be restored to the locked state by rotating the handle in the direction opposite to the direction of the middle arrow and rotating to the dead point position.

[0071] In one embodiment, the handle can be, for example, Figure 6 The toggle clamp rotates in the direction of the arrow, thereby driving the rotating arm to rotate, so that the pressing member moves upward and is pulled out of the groove of the fixing block. It can be understood that the toggle clamp can adopt any structure in the relevant technology, and the present disclosure does not limit this.

[0072] This embodiment provides a quick-release assembly on the wheel device, so that the wheel device can be quickly installed on the frame or quickly removed from the frame, thereby improving the efficiency of wheel installation and removal. At the same time, by using the toggle clamp, the connection stability between the wheel device and the frame can be ensured, because the toggle clamp is designed using the dead point clamping principle.

[0073] In one embodiment, as described above, the material of the pressing member 6223 may include, for example, an elastic material, so as to achieve an interference fit with the fixing block on the frame.

[0074] In one embodiment, if Figure 6 As shown, the wheel assembly 611 may include, for example, a first wheel 6211 and a fixing member 6212. The fixing member 6212 may be rotatably connected to the first wheel 6211, and the fixing member 6212 may be detachably connected to a fixing seat 6221 in the quick release assembly 622. For example, the fixing member 6212 may be rotatably connected to the first wheel 6211 via a rotating shaft.

[0075] For example, the fixing member 6212 may include a fixing plate and an extension member, the extension member is rotatably connected to the first wheel 6211 via a rotating wheel, and the fixing plate is fixedly connected to the fixing seat 6221 of the quick release assembly 622. The first wheel 6211 can rotate relative to the fixing member 6212.

[0076] Understandably, Figure 6 The structure of the middle wheel assembly is only used as an example to facilitate understanding of the present disclosure, and the present disclosure is not limited thereto.

[0077] Figure 7 It is a schematic structural diagram of the interference fit between the wheel device and the groove in the fixing block according to an embodiment of the present disclosure.

[0078] According to the embodiments of the present disclosure, Figure 7 As shown, when the wheel device 720 is installed, the toggle clamp 7222 is in an unlocked state. At this time, the toggle clamp 7222 can be moved to the position of the frame setting fixing block 712, so that the area of ​​the frame setting fixing block 712 is located between the fixing seat 7221 and the rotating arm of the toggle clamp. Figure 7 Push the handle of the toggle clamp 7222 in the direction of the arrow in the figure, so that the pressing piece on the rotating arm moves downward, until the handle is pushed to the dead point position, so that the pressing piece is inserted into the groove of the fixing block 712 and has an interference fit with the fixing block 712. That is, the wheel device 720 and the fixing block 712 are in the position as shown in FIG. Figure 7 In the state shown, the wheel device 720 is fixedly connected to the vehicle frame.

[0079] When it is necessary to disassemble the wheel assembly 720, Figure 7 By pressing the handle in the direction opposite to the direction of the arrow in the figure, the pressing member can be moved upward and pulled out from the groove of the fixing block 712, thereby completing the disassembly of the wheel device 720.

[0080] It should be noted that in the technical solution of the present disclosure, the acquisition, collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the relevant laws and regulations and do not violate public order and good morals.

[0081] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A wheel device, comprising: Wheel assembly; as well as The quick-release assembly comprises a fixing seat and a toggle clamp, wherein the fixing seat is fixedly connected to the toggle clamp, and the fixing seat is detachably connected to the wheel assembly. The toggle clamp comprises a rotating arm and a rotating shaft, and a pressing piece is arranged on the rotating arm; the toggle clamp is configured to: drive the pressing piece to move relative to a fixed block on the frame through the rotation of the rotating arm, so as to press the pressing piece into a groove on the fixed block or to pull the pressing piece out of the groove; The wheel device is used to assist the movement of the frame.

2. The wheel device according to claim 1, wherein: The wheel assembly comprises: first wheel; and A fixing member is rotatably connected to the first wheel, and the fixing member is detachably connected to the fixing seat.

3. The wheel device according to claim 1, wherein: The material of the pressing member includes elastic material.

4. A frame comprising: Frame body; as well as At least two fixing blocks, each of which is fixedly connected to the frame body, and each of which is provided with a groove. The frame is configured such that when the pressing member of the toggle clamp in the wheel device according to any one of claims 1 to 3 is pressed in the groove, the wheel device is connected to the frame. The groove is adapted to the size of the pressing member.

5. The frame according to claim 4, further comprising: A pull ring is fixedly arranged on the frame of the frame body. Wherein, the frame is configured to move in the direction of the pulling force driven by the wheel device under the action of the pulling force applied to the pull ring.

6. The frame according to claim 4, further comprising: At least two screw rod fittings are fixedly connected to the frame body. Wherein, the frame is configured such that: during the rotation of the screw in the screw fitting, the frame is lifted off the ground to install or remove the wheel device.

7. A vehicle comprising: The frame according to any one of claims 4 to 6; At least two wheel devices according to any one of claims 1 to 3, wherein the wheel devices are detachably connected to the frame; and At least two second wheels are rotatably connected to the frame and are also connected to a drive system, and the drive system is used to drive the second wheels to rotate to achieve the driving of the vehicle.

8. The vehicle according to claim 7, wherein: When the wheel device is connected to the frame, the height of the vehicle is a first height, and when the wheel device is not connected to the frame, the height of the vehicle is a second height, and the first height is greater than the second height.

9. The vehicle of claim 8, wherein: The number of the second wheels is an even number, and the even number of the second wheels are symmetrically connected to the frame for rotation; and The number of the wheel devices and the number of the fixing blocks in the frame are both even numbers, and the even number of fixing blocks are symmetrically fixedly connected to the frame body of the frame.

10. The vehicle of claim 7, further comprising: At least two screw rods respectively matched with at least two screw rod matching parts in the frame; as well as At least two cranks respectively matched with the at least two screw rods.

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