A composite suspension drive vehicle chassis

Abstract

The present invention discloses a composite suspension-driven vehicle chassis, comprising a chassis body and two symmetrically arranged running mechanisms connected to the chassis body. Each running mechanism comprises a front running unit and a drive unit. The front running unit comprises a front driven wheel and a bracket, the front driven wheel being connected to the bracket; the drive unit comprises a drive wheel and a power member for driving the drive wheel; a longitudinal swing arm is provided between the front running unit and the drive unit, the middle portion of the longitudinal swing arm being movably connected to the chassis body, one end of the longitudinal swing arm being connected to the front running unit, and the other end of the longitudinal swing arm being connected to the drive unit, so that the front running unit and the drive unit can swing upward or downward with the longitudinal swing arm; each of the two sets of the front running units has two front driven wheels, which are sequentially connected to the bracket, one in front and one in back. The present invention enables the chassis to have strong obstacle-crossing and ditch-crossing capabilities.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile drive structures, and in particular to a composite suspension drive vehicle chassis. Background Art

[0002] Currently, rail trains require routine maintenance and overhaul, which is usually done by workers inspecting the undercarriage components in a semi-standing position in a trench. This inspection process is long and intensive, resulting in low efficiency.

[0003] Therefore, to address these scenarios, our company designed a mobile robot for undercarriage inspections to replace manual labor, thereby reducing both labor intensity and labor costs. However, the robot's chassis needed to be capable of climbing steep slopes and navigating wide trenches, steps, and other obstacles. It also needed to be adaptable to specialized outdoor environments and avoid slipping during the climb. Summary of the Invention

[0004] The present invention provides a composite suspension drive vehicle chassis, aiming to enable the chassis to have stronger obstacle-crossing and ditch-crossing capabilities.

[0005] The present invention is realized by the following technical solution: a composite suspension drive vehicle chassis, comprising a chassis body and two sets of symmetrically arranged running mechanisms, the running mechanisms being connected to the chassis body, the running mechanisms each comprising a front running unit and a drive unit,

[0006] The front walking unit includes a front driven wheel and a bracket, and the front driven wheel is connected to the bracket;

[0007] The driving unit includes a driving wheel and a power member for driving the driving wheel to move;

[0008] A longitudinal swing arm is provided between the front traveling unit and the drive unit, wherein the middle portion of the longitudinal swing arm is movably connected to the chassis body, one end of the longitudinal swing arm is connected to the front traveling unit, and the other end of the longitudinal swing arm is connected to the drive unit, so that the front traveling unit and the drive unit can swing upward or downward along with the longitudinal swing arm;

[0009] There are two front driven wheels in each of the two groups of front walking units, and the two front driven wheels are connected to the bracket in sequence, one in front and one in the back.

[0010] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0011] When faced with the problem of how the chassis can meet the requirements of crossing obstacles and ditches in outdoor working environments, the inventor initially designed a structure with two sets of driving wheels and two sets of front driven wheels, and there is only one front driven wheel in each set. A swing arm is connected between the driving wheel and the front driven wheel, and the driving wheel and the front driven wheel can swing back and forth along the swing arm. In this way, when the front driven wheel climbs the slope and crosses the obstacle, the front driven wheel will be lifted up, and at the same time, the driving wheel will be pressed down under the action of the swing arm, thereby increasing the pressure between the driving wheel and the ground, which prevents the driving wheel from slipping, thus avoiding slipping during the climbing process.

[0012] However, in actual application, the inventors found that although this structure can achieve the function of overcoming obstacles and climbing slopes, when there are recessed places such as ditches, the front driven wheels in this structure often get stuck in the recessed ditches, causing the front driven wheels to be stuck and unable to continue moving forward normally and smoothly.

[0013] To address this issue, the inventors made further improvements and designed the composite suspension drive vehicle chassis of the present application. A "seesaw" structure is formed between the front running unit and the rear drive unit via a longitudinal swing arm. The longitudinal swing arm can swing up and down around the chassis body. When climbing a slope or overcoming an obstacle, the front driven wheel lifts upward, forcing the longitudinal swing arm to rotate in the opposite direction. The drive wheel is then subjected to pressure from the longitudinal swing arm, which provides greater adhesion to the ground and prevents the drive wheel from slipping.

[0014] At the same time, there are two front driven wheels in this scheme, and the two front driven wheels are arranged one in front and one behind. Because the front driven wheels are evenly connected to the bracket and are constrained by the bracket and the chassis body, the two front driven wheels can always remain in the same straight line. In this way, when crossing the ditch, at least one of the two front driven wheels will contact the ground, thereby playing a supporting role, and the other front driven wheel will be suspended above the ditch, thereby avoiding a single wheel from falling into the ditch and causing jamming. It has a strong ditch-crossing ability and can ensure the stability and speed of track inspection.

[0015] Furthermore, one end of the longitudinal swing arm is detachably connected to the bracket.

[0016] Beneficial effects: Such a setting is more practical and can be converted and adjusted according to different usage scenarios. When it is necessary to meet special environments such as overcoming obstacles and ditches, the longitudinal swing arm is connected to the bracket, so that it can be used in special environments to meet the requirements of overcoming obstacles and ditches. At the same time, when used on conventional roads, one end of the longitudinal swing arm can be disassembled from the bracket, so that the front driven wheel and the driving wheel form an independent suspension form, which has a better shock absorption effect.

[0017] Furthermore, the bracket is connected to a swing arm hinge ear, the swing arm hinge ear is connected to a fork arm shaft, one end of the longitudinal swing arm is provided with a U-shaped U-shaped opening, and the U-shaped opening of the longitudinal swing arm is inserted into the fork arm shaft.

[0018] Beneficial effects: The cooperation between the U-shaped opening of the longitudinal swing arm and the fork arm shaft in this solution makes the connection between the longitudinal swing arm and the bracket faster and more convenient, and the structure is very simple. In addition, when the longitudinal swing arm needs to be disconnected from the bracket, there is no need to pull the driving wheel and the front driven wheel apart from each other, and it is only necessary to remove the fork arm shaft from the swing arm hinge ear. The operation is simple and convenient, and it is more convenient and labor-saving to operate.

[0019] Furthermore, the bracket includes an upper suspension plate and a lower suspension plate, the upper suspension plate is connected to the chassis body, the front driven wheel is connected to the lower suspension plate, one end of the longitudinal swing arm is connected to the lower suspension plate, and a buffer spring is connected between the upper suspension plate and the lower suspension plate.

[0020] Beneficial Effects: The bracket in this solution includes an upper suspension plate and a lower suspension plate, which are connected by a buffer spring. The upper suspension plate is connected to the chassis body, which can enhance the stability of the connection between the upper suspension plate and the chassis body. The buffer spring can ensure that the front driven wheels are in stable contact with the ground and can reset the front driven wheels after overcoming obstacles, thereby ensuring that the front driven wheels are in stable contact with the ground again. The buffer spring can also make the two front driven wheels rise and fall at the same time, which can play a buffering role in the process of climbing and overcoming obstacles, making the entire chassis more stable.

[0021] And when the front driven wheel at the front is lifted up during the obstacle crossing process, the front driven wheel at the rear will also be lifted up at the same time, which can reduce the friction of the front driven wheel at the front, so that the two front driven wheels can quickly cross the obstacle.

[0022] In addition, in the present solution, during the process of overcoming obstacles, when the front driven wheels are lifted upward, the buffer spring will be compressed, and the two front driven wheels and the lower suspension plate will be lifted upward at the same time. Compared with the case where the bracket is set as a whole and connected to the chassis body, the chassis body will also be lifted upward during the process of the front driven wheels being lifted upward. In the present solution, the lower suspension plate and the upper suspension plate are separated and connected by a buffer spring. When the two front driven wheels encounter an obstacle, they will be lifted upward together with the lower suspension plate, and the chassis body will not be lifted upward together, thereby ensuring the smooth operation of the chassis body.

[0023] Furthermore, a buffer spring adjustment nut is threadedly connected to the upper suspension plate, the top end of the buffer spring is abutted against the bottom end of the buffer spring adjustment nut, and a guide column is provided on the bracket, one end of the guide column is connected to the lower suspension plate, and the other end of the guide column passes through the buffer spring adjustment nut and extends out of the upper suspension plate.

[0024] Beneficial effects: The buffer spring adjustment nut in this solution can adjust the elastic force of the buffer spring, and the setting of the guide column can guide the expansion and contraction of the buffer spring, making the movement of the buffer spring more stable, thereby stabilizing the chassis body.

[0025] Furthermore, a lifting unit is connected between the upper suspension plate and the lower suspension plate, and the lifting unit can be raised or lowered simultaneously with the lower suspension plate.

[0026] Beneficial effect: The setting of the lifting unit in this solution can play a bearing role on the chassis body, and can rise and fall together with the front driven wheels.

[0027] Furthermore, the lifting unit is a scissor mechanism, which includes a first scissor arm and a second scissor arm, the middle parts of the first scissor arm and the second scissor arm are hinged to each other, the upper suspension plate and the lower suspension plate are both connected to fixed blocks, and the fixed blocks are both provided with sliding grooves, one end of the first scissor arm and the second scissor arm are respectively hinged to the upper suspension plate and the lower suspension plate, and the other end of the first scissor arm and the second scissor arm are both hinged to sliders, and the sliders of the first scissor arm and the second scissor arm are respectively located in the sliding grooves of the fixed blocks on the upper suspension plate and the lower suspension plate and are slidably connected to the sliding grooves.

[0028] Beneficial effect: The lifting unit in this solution adopts the form of a scissor mechanism, which not only can achieve the purpose of lifting, but also has better carrying capacity, making the chassis body run more stably.

[0029] Furthermore, a limiting pull rod is vertically slidably fitted between the upper suspension plate and the lower suspension plate, and both ends of the limiting pull rod pass through the upper suspension plate and the lower suspension plate respectively. The top end of the limiting pull rod is connected to the limiting plate, and the lower part of the limiting pull rod is connected to the limiting part.

[0030] Beneficial effect: The scissor mechanism in this solution has good bearing capacity, but low movement accuracy. The limit pull rod provided in this solution can further improve the stability of the buffer spring, making the chassis body more stable when the front driven wheel crosses obstacles and ditches.

[0031] Furthermore, the lifting unit is a telescopic rod.

[0032] Beneficial effect: This solution provides a lifting unit with another structure, which serves as a backup solution for the lifting structure. The telescopic rod has a simple structure and can also achieve the lifting effect, but its bearing capacity is poorer than that of the scissor-type mechanism.

[0033] Furthermore, both groups of the walking mechanisms also include a rear walking unit, the front walking unit and the rear walking unit are respectively located on the front and rear sides of the driving unit, the rear walking unit includes a rear driven wheel, a traverse arm is connected between the two groups of rear walking units, the center of the traverse arm is hinged with a traverse arm hinge seat, the traverse arm can swing to the left or right along the traverse arm hinge seat, the traverse arm hinge seat is connected to the chassis body, the number of rear driven wheels in the two groups of the rear walking units is two, the two rear driven wheels are arranged in sequence along the traverse arm, and a traverse arm spring is connected between the traverse arm and the chassis body.

[0034] Beneficial effects: The rear traveling unit in this solution is located on the rear side of the driving wheel. During operation, the two groups of rear traveling units can compensate for each other. The two groups of rear traveling units can swing left and right with the transverse arm to adapt to the road conditions on both sides of the chassis body, ensure the balance of the chassis body, and make obstacle crossing more stable. In addition, the two rear driven wheels in this solution are arranged one in front and one behind, and can also play the role of rising and falling together. In this way, a single wheel can be prevented from falling into the ditch and causing jamming during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0036] Figure 1 This is a perspective view of the two sets of running mechanisms after removing the chassis body in Example 1 of a composite suspension drive vehicle chassis of the present invention;

[0037] Figure 2 A perspective view of a composite suspension drive vehicle chassis embodiment 1 of the present invention;

[0038] Figure 3 This is a front view of the connection between the front traveling unit and the driving unit in Example 1 of a composite suspension drive vehicle chassis of the present invention;

[0039] Figure 4 This is a front view of the connection between the front traveling unit and the driving unit after a set of scissor-type mechanisms located on the front side are removed in Example 1 of the composite suspension drive vehicle chassis of the present invention.

[0040] Figure 5 This is a top view of the connection between the front traveling unit and the driving unit in Example 1 of a composite suspension drive vehicle chassis of the present invention.

[0041] Markings and corresponding parts names in the accompanying drawings:

[0042] Chassis body 1, upper suspension plate 2, lower suspension plate 201, buffer spring 202, buffer spring adjusting nut 203, guide column 204, longitudinal swing arm upper plate 3, longitudinal swing arm hinge seat 301, longitudinal swing arm 302, swing arm hinge ear 303, fork arm shaft 304, transverse swing arm hinge seat 4, transverse swing arm 401, rear driven wheel 402, transverse swing arm spring 403, transverse swing arm spring adjusting nut 404, rotating shaft 405, driving wheel 5, motor 501, reducer 502, suspension spring 503, front driven wheel 6, scissors mechanism 7, first scissors arm 701, second scissors arm 702, scissors hinge ear 703, fixing block 704, limiting pull rod 8, limiting nut 801, limiting plate 802. DETAILED DESCRIPTION

[0043] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0044] Example 1

[0045] like Figure 1 and Figure 2 As shown, this embodiment 1 provides a composite suspension drive vehicle chassis, including a chassis body 1 and two sets of symmetrically arranged running mechanisms, the running mechanisms are connected to the chassis body 1, and this embodiment is described by taking one of the running mechanisms as an example. Figure 3 As shown, the traveling mechanisms include a front traveling unit and a driving unit. The front traveling unit includes a front driven wheel 6 and a bracket. The driving unit includes a driving wheel 5 and a power member that drives the driving wheel to move.

[0046] A longitudinal swing arm 302 is provided between the front traveling unit and the drive unit. The middle part of the longitudinal swing arm 302 is movably connected to the chassis body. One end of the longitudinal swing arm 302 is connected to the front traveling unit, and the other end of the longitudinal swing arm 302 is connected to the drive unit. The front traveling unit and the drive unit can swing up or down with the longitudinal swing arm 302.

[0047] In this embodiment, one end of the longitudinal swing arm 302 is connected to the bracket, and the other end of the longitudinal swing arm 302 is connected to the power part. The bracket and the power part can swing up or down with the longitudinal swing arm 302. There are two front driven wheels 6 in each group of front walking units, and the two front driven wheels 6 are connected to the bracket in sequence, one in front and one behind.

[0048] Specific: such as Figure 1As shown, the power component in this embodiment includes a motor 501 and a reducer 502. The motor 501 is connected to the reducer 502, and the drive wheel 5 is connected to the output shaft of the reducer 502. The power output by the motor 501 is decelerated by the reducer 502 and then transmitted to the drive wheel 5 to rotate.

[0049] The housing of the reducer 502 is fixedly connected to one end of the longitudinal swing arm 302. In this embodiment, the longitudinal swing arm hinge seat 301 is fixedly connected to the base plate body by bolts, and the middle part of the longitudinal swing arm 302 is hinged to the longitudinal swing arm hinge seat 301 by a pin shaft.

[0050] In this embodiment, the bracket includes an upper suspension plate 2 and a lower suspension plate 201. The upper suspension plate 2 is connected to the chassis body 1 by bolts, the front driven wheel 6 is connected to the lower suspension plate 201, and one end of the longitudinal swing arm 302 is connected to the lower suspension plate 201. In this embodiment, one end of the longitudinal swing arm 302 is detachably connected to the bracket. Specifically: Figure 5 As shown, two symmetrically arranged swing arm hinge ears 303 are connected to the lower suspension plate 201 of the bracket, and a fork arm shaft 304 is connected between the two swing arm hinge ears 303. Figure 4 As shown, a U-shaped opening is provided at one end of the longitudinal swing arm 302 away from the driving wheel 5 , and the U-shaped opening of the longitudinal swing arm 302 is inserted into the fork arm shaft 304 .

[0051] The U-shaped opening of the longitudinal swing arm 302 can be pulled out from the fork arm shaft 304. In this embodiment, nuts are respectively threadedly connected at both ends of the fork arm shaft 304. By unscrewing the nuts at both ends of the fork arm shaft 304 from the end of the fork arm shaft 304, the fork arm shaft 304 can be taken out from the swing arm hinge ear 303, so that the connection between the fork arm shaft 304 and the longitudinal swing arm 302 can be disconnected, which is convenient for use on conventional roads.

[0052] In this embodiment, a buffer spring 202 is connected between the upper suspension plate 2 and the lower suspension plate 201. In this embodiment, there are two groups of buffer springs 202, and the two groups of buffer springs 202 are respectively located near the diagonals of the upper suspension plate 2 and the lower suspension plate 201, so that the two groups of buffer springs 202 can play a more uniform supporting role.

[0053] Two buffer spring adjustment nuts 203 are threadedly connected to the upper suspension plate 2, and the top ends of the two buffer springs 202 are respectively against the bottom ends of the two buffer spring adjustment nuts 203. A guide column 204 is provided on the bracket. In this embodiment, each buffer spring 202 is provided with a guide column 204, one end of the guide column 204 is connected to the lower suspension plate 201, and the other end of the guide column 204 passes through the buffer spring adjustment nut 203 and extends out of the upper suspension plate 2. The guide column 204 can guide and support the buffer spring 202, so that the movement of the buffer spring 202 is more stable. The setting of the buffer spring adjustment nut 203 can adjust the pressure of the buffer spring 202, and the setting of the buffer spring 202 can make the front driven wheel 6 stably contact with the ground.

[0054] In this embodiment, a lifting unit is connected between the upper suspension plate 2 and the lower suspension plate 201. The lifting unit can be raised or lowered simultaneously with the lower suspension plate 201. In this embodiment, the lifting unit is a scissor-type mechanism 7. The scissor-type mechanism 7 in this embodiment is provided with two groups. The two groups of scissor-type mechanisms 7 can improve the bearing capacity and make the chassis body 1 more stable during operation.

[0055] Each scissor mechanism 7 includes a first scissor arm 701 and a second scissor arm 702. The middle portions of the first scissor arm 701 and the second scissor arm 702 are hinged to each other. A fixed block 704 is connected to the upper suspension plate 2 and the lower suspension plate 201. The fixed block 704 is provided with a slide groove. One end of the first scissor arm 701 and the second scissor arm 702 is hinged to the upper suspension plate 2 and the lower suspension plate 201, respectively. The other ends of the first scissor arm 701 and the second scissor arm 702 are hinged to a slider. The sliders of the first scissor arm 701 and the second scissor arm 702 are respectively located in the slide grooves of the fixed block 704 on the upper suspension plate 2 and the lower suspension plate 201 and are horizontally slidably connected to the slide grooves. In this embodiment, the left ends of the first scissor arm 701 and the second scissor arm 702 are hinged to the upper suspension plate 2 and the lower suspension plate 201, respectively, and the right ends of the first scissor arm 701 and the second scissor arm 702 are respectively hinged to the sliders in the slide grooves of the fixed block 704.

[0056] like Figure 1 As shown, there are two limit rods 8 that slide vertically between the upper suspension plate 2 and the lower suspension plate 201. The two limit rods 8 are respectively located on both sides of the upper suspension plate 2 and the lower suspension plate 201. The two ends of the limit rod 8 pass through the upper suspension plate 2 and the lower suspension plate 201 respectively. The top of the limit rod 8 is connected to the limit plate 802. The limit plate 802 can limit the downward movement of the limit rod 8 to prevent the limit rod 8 from falling downward. The lower part of the limit rod 8 is connected to a limiting member. In this embodiment, the limiting member is a nut. The nut is threadedly connected to the lower part of the limit rod 8, which can limit the distance that the limit rod 8 moves upward.

[0057] like Figure 1 As shown, in this embodiment, a longitudinal swing arm upper plate 3 is provided above the reducer 502, and the longitudinal swing arm upper plate 3 is connected to the chassis body 1 by bolts, and a suspension spring 503 is connected between the longitudinal swing arm upper plate 3 and the longitudinal swing arm 302, and an adjusting nut for adjusting the suspension spring 503 is also connected to the longitudinal swing arm upper plate 3. The setting of the suspension spring 503 can ensure that the driving wheel 5 can adapt to uneven roads when walking.

[0058] like Figure 1 As shown, the two sets of running mechanisms of a composite suspension driven vehicle chassis in this embodiment also include a rear running unit. The front running unit and the rear running unit are respectively located on the front and rear sides of the driving unit. Both sets of rear running units have rear driven wheels 402. The number of rear driven wheels 402 in each set of rear running units is two, and the two rear driven wheels 402 are arranged in sequence along the transverse arm 401, one in front and one behind.

[0059] A wishbone 401 is connected between the two groups of rear walking units, and a wishbone hinge seat 4 is hinged at the center of the wishbone 401. The wishbone hinge seat 4 is fixed to the chassis body 1 by bolts, and a wishbone spring 403 is connected between the wishbone 401 and the chassis body 1. A wishbone spring adjusting nut 404 is connected to the chassis body 1, and the end of the wishbone spring adjusting nut 404 is against the wishbone spring 403. The wishbone spring adjusting nut 404 can adjust the pressure of the wishbone spring 403, and the setting of the wishbone spring adjusting nut 404 can ensure that the rear driven wheel 402 is in stable contact with the ground.

[0060] In this embodiment, a rotating shaft 405 is vertically connected between the lateral control arm hinge 4 and the lateral control arm 401. The lateral control arm 401 is rotatably connected to the lateral control arm hinge 4 via the rotating shaft 405, so that the lateral control arm 401 can swing left or right along the lateral control arm hinge 4.

[0061] The specific implementation process is as follows: In this embodiment, the motor 501 and the reducer 502 drive the driving wheel 5 to rotate and move forward, the front driven wheel 6 is in front of the driving wheel 5, and the rear driven wheel 402 is behind the driving wheel 5. The driving wheel 5 drives the front and rear driven wheels 402 to move forward together. When passing through the ditch, the front driven wheel 6 at the front of the two front driven wheels 6 contacts the ground during the process of passing through the ditch, thereby playing a supporting role. At this time, the front driven wheel 6 at the front will be suspended in the air, and when the front driven wheel 6 at the front crosses the ditch, it will contact the ground and play a supporting role, thereby ensuring that the front driven wheel 6 at the rear is suspended in the air when passing through the ditch, thereby effectively ensuring the effect of the two front driven wheels 6 rising and falling together, avoiding a single wheel from falling into the ditch and causing jamming.

[0062] Likewise, the two rear driven wheels 402 at the rear can also rise and fall together, and can also prevent a single wheel from falling into the ditch.

[0063] In addition, a lever principle is formed between the front walking unit located in the front and the driving unit located in the rear through the longitudinal swing arm 302, which can rotate around the longitudinal swing arm hinge 301. When climbing a slope or crossing an obstacle, the front driven wheel 6 is lifted up, causing the front end of the longitudinal swing arm 302 to rotate in the opposite direction under force, and the driving wheel 5 is subjected to the pressure of the longitudinal swing arm 302 and has greater adhesion, ensuring that the driving wheel 5 is not easy to slip, thereby adapting to large-scale climbing and obstacle crossing.

[0064] In this embodiment, the lateral arm 401 can provide balance and compensation when overcoming obstacles, making the vehicle more stable during the overcoming process. Furthermore, when an obstacle on one side causes the rear driven wheel 402 on one side to be lifted, the lateral arm 401 will press down on the rear driven wheel 402 on the other side, thereby increasing adhesion to the ground and preventing rollover, thereby achieving more stable operation.

[0065] Example 2

[0066] The difference between this embodiment and embodiment 1 is that the lifting unit is a telescopic rod, and both ends of the telescopic rod are respectively connected to the upper suspension plate 2 and the lower suspension plate 201.

[0067] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A composite suspension drive vehicle chassis, comprising a chassis body and two sets of symmetrically arranged running mechanisms, wherein the running mechanisms are connected to the chassis body, and characterized in that: The walking mechanisms each include a front walking unit and a driving unit. The front walking unit includes a front driven wheel and a bracket, and the front driven wheel is connected to the bracket; The driving unit includes a driving wheel and a power member for driving the driving wheel to move; A longitudinal swing arm is provided between the front traveling unit and the drive unit, wherein the middle portion of the longitudinal swing arm is movably connected to the chassis body, one end of the longitudinal swing arm is connected to the front traveling unit, and the other end of the longitudinal swing arm is connected to the drive unit, so that the front traveling unit and the drive unit can swing upward or downward along with the longitudinal swing arm; There are two front driven wheels in each of the two groups of front walking units, and the two front driven wheels are connected to the bracket in sequence, one in front and one in the back; one end of the longitudinal swing arm is detachably connected to the bracket; The bracket includes an upper suspension plate and a lower suspension plate, the upper suspension plate is connected to the chassis body, the front driven wheel is connected to the lower suspension plate, one end of the longitudinal swing arm is connected to the lower suspension plate, a buffer spring is connected between the upper suspension plate and the lower suspension plate; a lifting unit is connected between the upper suspension plate and the lower suspension plate, the lifting unit can be raised or lowered simultaneously with the lower suspension plate, and the lifting unit is a telescopic rod; The bracket is connected to a swing arm hinge ear, the swing arm hinge ear is connected to a fork arm shaft, one end of the longitudinal swing arm is provided with a U-shaped U-shaped opening, and the U-shaped opening of the longitudinal swing arm is inserted into the fork arm shaft.

2. A composite suspension drive vehicle chassis according to claim 1, characterized in that: A buffer spring adjusting nut is threadedly connected to the upper suspension plate, and the top end of the buffer spring is abutted against the bottom end of the buffer spring adjusting nut. A guide column is provided on the bracket, one end of the guide column is connected to the lower suspension plate, and the other end of the guide column passes through the buffer spring adjusting nut and extends out of the upper suspension plate.

3. The composite suspension drive vehicle chassis according to claim 1, characterized in that: The two groups of walking mechanisms also include a rear walking unit, which is located at the front and rear sides of the driving unit respectively. The rear walking unit includes a rear driven wheel. A traverse arm is connected between the two groups of rear walking units. The center of the traverse arm is hinged with a traverse arm hinge seat. The traverse arm can swing to the left or right along the traverse arm hinge seat. The traverse arm hinge seat is connected to the chassis body. The number of rear driven wheels in the two groups of rear walking units is two. The two rear driven wheels are arranged in sequence along the traverse arm, one in front and one behind. A traverse arm spring is connected between the traverse arm and the chassis body.

Images