Chassis assembly and unmanned vehicle

Abstract

The application provides a chassis assembly and an unmanned vehicle. The chassis assembly comprises a chassis frame, the chassis frame comprises a bottom shell with an opening upward, the bottom shell comprises a main bottom plate and a side shell body with a transmission mechanism accommodating cavity, two side shell bodies are respectively arranged on two sides of the bottom plate, the side shell body is downwardly protruded relative to the main bottom plate at least at a mounting position of a wheel to form a wheel mounting portion for mounting a wheel shaft; a first accommodating space is arranged above the main bottom plate and between the two side shell bodies, and each transmission mechanism accommodating cavity is provided with a transmission mechanism driven by a power mechanism. The technical scheme provided by the application can effectively improve the passability and waterproof capability of the chassis frame, has strong anti-overturning capability and compact structure.

Description

Technical Field

[0001] This application relates to the field of unmanned vehicle technology, specifically to a chassis assembly and an unmanned vehicle. Background Technology

[0002] With the development of technology, unmanned vehicles are being used more and more widely in agriculture, industry, plant protection and other fields. By installing various operation execution mechanisms on unmanned vehicles, they can perform operations such as spraying pesticides, seeds and powders.

[0003] Unmanned vehicles include a chassis and control components and various operational mechanisms mounted on the chassis. The chassis includes a support frame and wheels, power mechanisms, etc., mounted on the frame. The performance of the chassis is crucial for unmanned vehicles.

[0004] Currently, the main problems with unmanned vehicles are: the chassis is too low, resulting in poor passability during operation, and the vehicle cannot drive normally due to uneven ground during field operations; the chassis is too high, making it prone to tipping over due to insufficient balance during field operations; and the chassis is not waterproof, making the electrical components installed on the chassis susceptible to damage from water. Summary of the Invention

[0005] In view of this, this application provides a chassis and an unmanned vehicle to solve the problems of existing unmanned vehicle chassis being either not waterproof, have excessively low chassis, or have poor balance. To achieve the above objective, this application discloses a chassis assembly, comprising: a chassis, the chassis including an upward-opening bottom shell, the bottom shell including a main bottom plate and side shells located on both sides of the main bottom plate in the width direction, each side shell having a transmission mechanism receiving cavity, the side shell protruding downward relative to the main bottom plate at least at a wheel mounting position to form a wheel mounting portion for mounting a wheel axle; a first receiving space formed above the main bottom plate and between the two side shells; a power mechanism, the power mechanism being installed in the first receiving space; and two transmission mechanisms, each transmission mechanism being respectively housed in a transmission mechanism receiving cavity, and the transmission mechanism being connected to the power mechanism to be powered by the power mechanism.

[0006] Furthermore, the chassis assembly also includes an energy supply device that provides power to the power mechanism, and the underframe also includes a cover plate for covering the opening above the bottom shell, with the power mechanism, transmission mechanism and energy supply device located in the cavity between the cover plate and the bottom shell.

[0007] Furthermore, each side housing is provided with at least two wheel mounting portions, and the side housing is recessed upward between each pair of adjacent wheel mounting portions.

[0008] Furthermore, the chassis assembly also includes wheel axles mounted on the side housings of each side, and the transmission mechanism includes a first sprocket driven to rotate by a power mechanism, a second sprocket connected to the wheel axle, and a transmission chain connecting the first sprocket and the second sprocket. The first sprocket, the second sprocket, and the transmission chain are all disposed in the transmission mechanism receiving cavity.

[0009] Furthermore, the power mechanism includes a motor corresponding to the transmission mechanism on each side; the chassis assembly also includes a shaft mounting assembly connected to the motor, the shaft mounting assembly including: a drive shaft, one end of which is connected to the drive shaft of the motor, and a first sprocket connected to the drive shaft; a support, the support including a fixing part and a first bearing mounting part connected to the fixing part, the first bearing mounting part being connected to the housing of the motor, and a first mounting hole through which the drive shaft passes is formed on the first bearing mounting part; a bearing cover, the bearing cover being detachably connected to the first bearing mounting part, and a second mounting hole through which the drive shaft passes is formed on the bearing cover; wherein the second mounting hole has a first bearing mounting hole for mating with the outer ring of the first bearing at one end near the first bearing mounting part; a first bearing, the first bearing being mounted on the drive shaft and located between the first bearing mounting part and the bearing cover, and at least a portion of the outer ring of the first bearing mating with the first bearing mounting hole.

[0010] Furthermore, two second receiving spaces are formed above the main base plate and between the two side shells, with the two second receiving spaces located on both sides of the first receiving space in the length direction of the base shell; the chassis assembly includes two energy supply devices, each of which is installed in one of the second receiving spaces.

[0011] Furthermore, the two energy supply devices are batteries, and two partitions are provided on the main bottom plate, which are spaced apart along the length of the bottom shell. The space between the two partitions forms a first receiving space, and the space between the side of the partition away from the first receiving space and the side shell forms a second receiving space. The bottom shell has side openings at both ends in the length direction for the battery to enter and exit the second receiving space.

[0012] Furthermore, the battery includes a battery body and a battery casing that houses the battery body. One side of the battery casing has a battery body inlet / outlet for the battery body to enter and exit. The battery is installed in the second housing space with the battery body inlet / outlet facing the side opening.

[0013] Furthermore, the battery is connected to the separator on the side opposite to the battery body inlet / outlet via a first floating connection assembly; the first floating connection assembly includes bolts and elastic elements fitted on the bolts, wherein the bolts connect the battery to the separator, and the elastic elements are located between the separator and the battery.

[0014] Furthermore, the bottom wall of the battery is connected to the bottom shell via a second floating connection assembly, which includes bolts and elastic elements fitted onto the bolts. The bolts connect the bottom wall of the battery to the bottom shell, and the elastic elements are located between the bottom shell and the battery.

[0015] Furthermore, the bottom shell is integrally injection molded. A second aspect of this application provides an unmanned vehicle, which includes the chassis assembly described above.

[0016] The technical solution provided in this application, by providing a downwardly protruding wheel mounting portion on the bottom shell for mounting the wheel axle, allows for a larger space between the main bottom plate and the ground. This increased distance between the main bottom plate and the ground during wheel movement effectively improves the chassis's passability, enabling the unmanned vehicle using this chassis to adapt to various operating environments and effectively protect components installed within the chassis. By designing the side shells to accommodate the transmission mechanism, components with high waterproofing requirements can be placed on the main bottom plate, lowering the chassis assembly's center of gravity and further improving waterproofing, especially during wading, effectively preventing water ingress into components mounted on the main bottom plate, such as the power mechanism. With equivalent passability, the chassis height and center of gravity are effectively reduced, making the unmanned vehicle with this chassis assembly less prone to tipping over even at a certain tilt angle. Therefore, the chassis assembly of this application has a compact structure, high passability, good waterproofing, high stability, and wide applicability to various operating environments, especially suitable for field operations.

[0017] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 This is a schematic diagram of a chassis assembly structure without a cover plate in one embodiment of this application.

[0020] Figure 2 for Figure 1 A schematic diagram of the bottom shell structure.

[0021] Figure 3 for Figure 1 A schematic diagram of the bottom shell structure.

[0022] Figure 4 In order to be in Figure 1 A schematic diagram of a structure with a crossbeam mounted on the bottom shell.

[0023] Figure 5 for Figure 1 An exploded view of the battery.

[0024] Figure 6 for Figure 1 Exploded view of the motor and shaft mounting assembly.

[0025] Figure 7 for Figure 6 Enlarged view of the bearing cap in the image.

[0026] Figure 8 for Figure 1 A schematic diagram of the support frame.

[0027] Figure 9 This is a schematic diagram of the structure of an unmanned vehicle in one embodiment of this application.

[0028] Figure 10 for Figure 9 A magnified view of a portion of the image. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the implementation methods and features in the implementation methods of this application can be combined with each other.

[0030] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. To enable unmanned vehicles to cope with complex environments, this application provides a chassis assembly to improve the unmanned vehicle's passability, operational stability, and waterproofing during operation, enabling the unmanned vehicle to be widely used in agriculture, industry, plant protection, and other fields.

[0032] like Figures 1-3 As shown, this application provides a chassis assembly, which includes a chassis 100. The chassis 100 includes an upward-opening bottom shell 101. The bottom shell 101 includes a main bottom plate 1011 and side shells 1012 located on both sides of the main bottom plate 1011 in the width direction. Each side shell 1012 has a transmission mechanism receiving cavity 1016. The side shell 1012 protrudes downward relative to the main bottom plate 1011 at least at the mounting position corresponding to the wheel 400 to form a wheel mounting portion 1013 for mounting the wheel axle. A first receiving space 1014 is formed above the main bottom plate 1011 and between the two side shells 1012. The application also includes a power mechanism 300 installed in the first receiving space 1014. The application also includes two power mechanisms 300. Each transmission mechanism 500 is respectively housed in a transmission mechanism receiving cavity 1016, and the transmission mechanism 500 is connected to the power mechanism 300 to be powered by the power mechanism 300.

[0033] The technical solution provided in this application, by providing a downwardly protruding wheel mounting portion on the bottom shell for mounting the wheel axle, allows for a larger space between the main bottom plate and the ground. This increased distance between the main bottom plate and the ground during wheel movement effectively improves the chassis's passability, enabling the unmanned vehicle using this chassis to adapt to various operating environments and effectively protect components installed within the chassis. By designing the side shells to accommodate the transmission mechanism, components with high waterproofing requirements can be placed on the main bottom plate, lowering the chassis assembly's center of gravity and further improving waterproofing, especially during wading, effectively preventing water ingress into components mounted on the main bottom plate, such as the power mechanism. With equivalent passability, the chassis height and center of gravity are effectively reduced, making the unmanned vehicle with this chassis assembly less prone to tipping over even at a certain tilt angle. Therefore, the chassis assembly of this application has a compact structure, high passability, good waterproofing, high stability, and wide applicability to various operating environments, especially suitable for field operations.

[0034] Specifically, the power mechanism 300 includes two motors 301 mounted side-by-side in the first receiving space 1014 along the length of the base 101. The drive shafts of the two motors 301 extend along the width of the base 101 and point in opposite directions to drive the transmission mechanisms 500 arranged on both sides of the base frame 100. This arrangement effectively utilizes the space on the base frame 100 and results in a compact structure.

[0035] As another embodiment, the chassis assembly also includes an energy supply device for providing power to the power unit 300, and the chassis 100 also includes a cover plate 102 for covering an opening above the bottom housing 101, with the power unit 300, transmission mechanism, and energy supply device respectively located in the cavity between the cover plate 102 and the bottom housing 101. Figure 9 As shown, this configuration allows the cover plate 102 and the bottom shell 101 to enclose some components within the cavity, improving waterproof performance, especially when wading through water, and also resulting in a simple and aesthetically pleasing appearance.

[0036] In one embodiment, the bottom shell 101 is integrally injection molded. The injection-molded bottom shell 101 has good sealing performance, which helps to improve the waterproof performance of the entire vehicle. Moreover, the integral injection molding of the bottom shell 101 can reduce assembly time, improve production efficiency, reduce failure rate, and lower maintenance costs.

[0037] In one embodiment, each side housing 1012 has at least two wheel mounting portions 1013 along the length of the base housing 101, and the side housing 1012 is recessed upwards between each pair of adjacent wheel mounting portions 1013. The number of wheel mounting portions 1013 is determined by the load capacity of the unmanned vehicle using this chassis assembly. On both sides of the base housing 101 along its length, that is, except at the wheel 400 mounting positions, the side housing 1012 also minimizes its downward protrusion to reduce the possibility of interference with ground objects. This improves the passability of the unmanned vehicle using this chassis assembly and reduces the overall weight of the chassis assembly without affecting the strength of the chassis 100, thereby increasing the flexibility of the unmanned vehicle using this chassis assembly. In this embodiment, the side housing 1012 includes a side bottom plate 10121, an inner side plate 10122, and an outer side plate 10123. The side bottom plate 10121, the inner side plate 10122, and the outer side plate 10123 form an upward-opening transmission mechanism receiving cavity 1016, in which the transmission mechanism 500 is installed. This further improves the waterproof performance and enhances the appearance.

[0038] In one embodiment, a space is formed between any two adjacent wheel mounting portions 1013 that is arched upward relative to their wheel axis. This reduces the chance of the underbody 101 contacting the ground when the autonomous vehicle using this chassis assembly is driving on uneven terrain.

[0039] In one embodiment, two second receiving spaces 1015 are formed above the main base plate and between the two side shells 1012, and the two second receiving spaces 1015 are respectively located on both sides of the first receiving space 1014 in the length direction of the base shell 101; the chassis assembly includes two energy supply devices, each of which is installed in one of the second receiving spaces 1015.

[0040] Specifically, the two energy supply devices are batteries 200 and two partitions 10113 are provided on the main base plate 1011, which are spaced apart along the length of the bottom shell 101. The space between the two partitions 10113 forms a first receiving space 1014. The space between the side of the partition 10113 away from the first receiving space 1014 and the side shell 1012 forms a second receiving space 1015. The bottom shell 101 has side openings 10151 at both ends in the length direction for the battery 200 to enter and exit the second receiving space 1015.

[0041] In one embodiment, the inner side plate 10122 is located inside the side bottom plate 10121 and connects the side bottom plate 10121 and the main bottom plate 1011, and the outer side plate 10123 is located outside the side bottom plate 1033 and is provided with axle holes 101231 for mounting the wheel axle of the wheel 400 (see reference). Figure 3 ).

[0042] In this embodiment, the inner side plate 10122 includes a lower plate 101221 located below the main base plate 1011 and an upper plate 101222 located above the main base plate 1011 (see reference). Figure 3 The side housing 1012 also includes side end plates 10124 located at both ends of the side bottom plate 10121. The side end plates 10124 extend upward from the side bottom plate 10121 to a height exceeding the main bottom plate 1011, and are respectively connected to the outer side plate 10123 and the inner side plate 10122 (see reference). Figure 3 The upper plate 101222 of the inner side plate 10122 is provided with the second accommodating space 1015 at both ends. The first accommodating space 1014 is connected to the transmission mechanism accommodating cavity 1016 on the side shell 1012 at the position between the upper plate bodies 10122 at both ends, so as to facilitate the connection between the power mechanism 300 installed in the first accommodating space 1014 and the transmission mechanism 500 installed in the side shell 1012.

[0043] In this embodiment, the side housing 1012 has a portion that extends upward above the main base plate 1011, which can better accommodate the transmission mechanism 500. Furthermore, the transmission mechanism 500 disposed inside the side housing 1012 can be arranged separately from other components disposed on the main base plate 1011, which is conducive to a compact overall structure and convenient maintenance and repair.

[0044] In one embodiment, the base frame 100 further includes at least one crossbeam 107, such as Figure 4As shown, each crossbeam 107 is connected at both ends of the base frame 100 in the width direction to the outer side plates 10123 on both sides of the base shell 101. The crossbeams 107 increase the strength of the base shell 101, and can be fixed to the crossbeams 107 when the cover plate 102 is placed on the base shell 101. This is used to install the operational execution structure of the unmanned vehicle on the base frame 100, such as a seeding mechanism, a pesticide application mechanism, or a watering mechanism. A longitudinal beam 1021 extending along the length direction of the base frame 100 can also be fixed to the cover plate 102. (Reference) Figure 9 The work execution mechanism is installed on the longitudinal beam 1021 to prevent the cover plate 102 from deforming and to enhance the support capacity for the work execution mechanism.

[0045] In one embodiment, the chassis assembly further includes wheel axles mounted on the side housings 101 on each side. The transmission mechanism 500 includes a first sprocket 501 driven to rotate by the power mechanism 300, a second sprocket 502 connected to the wheel axle, and a transmission chain connecting the first sprocket 501 and the second sprocket 502. The first sprocket 501, the second sprocket 502, and the transmission chain are all disposed in the transmission mechanism receiving cavity 1016. Figure 1 As shown. In this embodiment, transmission mechanisms 500 are respectively provided in the transmission mechanism receiving cavities 1016 on both sides of the bottom shell 101. Each transmission mechanism 500 is used to drive the wheel 400 on the corresponding side. The power mechanism 300 includes a motor 301 provided corresponding to each transmission mechanism 500 on each side. The motor 301 drives the transmission mechanism 500, and the transmission mechanism 500 drives the wheel axle of the wheel 400 to rotate. By setting the transmission mechanism 500 as a chain drive, the size of the transmission mechanism 500 can be reduced, thereby reducing the overall size of the chassis assembly using the transmission mechanism 500. Figure 1 As shown, the wheel axle of the wheel 400 is mounted on the outer side plate 10123 of the chassis 100. The power mechanism 300 provides power for the rotation of the wheel 400 through the transmission mechanism 500. With this configuration, the wheel 400 is located on the outer side of the chassis 100, which makes the center of gravity of the chassis assembly always located inside the support surface formed by the multiple wheels 400, which helps to prevent the unmanned vehicle using the chassis assembly from overturning.

[0046] In this embodiment, the drive chain includes a first chain 503 and a second chain 504. The first sprocket 501 is a double sprocket, one of which is connected via the first chain 503 to a second sprocket 502 located on the same side of the frame, and the other of which is connected via the second chain 504 to another second sprocket 502 on the same side of the chassis 100. The transmission mechanisms 300 on both sides of the chassis 100 are arranged in the same manner.

[0047] Optionally, the chassis assembly includes a chain tensioning structure fixed to the bottom shell 101 to keep the aforementioned drive chain in a taut state.

[0048] In one specific embodiment, the chassis assembly includes a wheel 400, which is mounted on the outside of the side housing 1012 away from the main floor 1011. The wheel axle of the wheel 400 extends along the width direction of the floor 101 and passes through the side housing 1012.

[0049] A support frame 1017 is provided in the transmission mechanism receiving cavity 1016, such as Figure 8 As shown, the support frame 1017 includes a fixed plate 10171, a first upright plate 10172 having a first mounting hole 101721, and a second upright plate 10173 having a second mounting hole 101731. The first upright plate 10172 and the second upright plate 10173 are fixed to the fixed plate 10171 at intervals along the width direction of the bottom shell 101. The fixed plate 10171 is connected to the side bottom plate 10121, and second bearings for supporting the wheel axles of the wheel 400 are respectively installed in the first mounting hole 101721 and the second mounting hole 101731. In this embodiment, as... Figure 6 As shown, the power mechanism 300 includes a motor 301 provided with a transmission mechanism corresponding to each side; the chassis assembly also includes a shaft mounting assembly 600 connected to the motor 301. The shaft mounting assembly 600 includes a drive shaft 603, one end of which is connected to the drive shaft of the motor 301, and a first sprocket 501 connected to the drive shaft 603.

[0050] It also includes a support 601, which includes a fixing part 6011 and a first bearing mounting part 6012 connected to the fixing part 6011. The first bearing mounting part 6012 is connected to the housing of the motor 301, and a first mounting hole 60121 for the drive shaft 603 to pass through is formed on the first bearing mounting part 6012. It also includes a bearing cover 6013, which is detachably connected to the first bearing mounting part 6012. The bearing cover 6013 has a second mounting hole 60131 for the drive shaft 603 to pass through. The second mounting hole 60131 includes a first bearing mounting hole 60132 formed at one end near the first bearing mounting part 6012 for mounting with the outer ring of the first bearing 602. It also includes the first bearing 602.

[0051] The first bearing 602 is mounted on the drive shaft 603 and is located between the first bearing mounting part 6012 and the bearing cover 6013. At least part of the outer ring of the first bearing 602 is fitted with the first bearing mounting hole 60132.

[0052] By providing a first bearing mounting hole 60132 for mounting the first bearing 602 on the bearing cap 6013, the installation and removal of the first bearing 602 can be facilitated. During installation, the first bearing 602 can be pressed into the first bearing mounting hole 60132 first, and then the bearing cap 6013 can be connected to the first bearing mounting part 6012. During disassembly, after removing the bearing cap 6013 from the support 601, the first bearing 602 can be removed directly along with it. Therefore, compared to the prior art method of mounting the first bearing 602 on the support 601, the difficulty of installation and removal is greatly reduced, thereby reducing manufacturing precision requirements and improving production efficiency.

[0053] Specifically, the bearing cap 6013 is provided with a first limiting part located at the end of the first bearing mounting hole 60132 away from the first bearing mounting portion 6012. The first limiting part is used to limit the outer ring of the first bearing 602 on the side away from the first bearing mounting portion 6012. Figure 6 As shown, the second mounting hole 60131 includes a first hole with a larger diameter at one end near the first bearing mounting portion 6012 and a second hole with a smaller diameter relative to the first hole and farther away from the first bearing mounting portion 6012. The first hole is a first bearing mounting hole 60132 for mounting the first bearing 602. The step between the first hole and the second hole forms a first limiting portion that limits the outer ring of the first bearing 602. This first limiting portion restricts the first bearing 602 to its extreme position away from the first bearing mounting portion 6012.

[0054] In another embodiment, the edge of the first bearing mounting portion 6012 surrounding the first mounting hole 60121 forms a second limiting portion for limiting the outer ring of the first bearing 602 on the side near the first bearing mounting portion 6012; as Figure 6 , Figure 7 As shown, the first bearing 602 is installed in the first bearing mounting hole 60132. The first bearing mounting part 6012 abuts against the outer ring of the first bearing 602 by the edge surrounding the first mounting hole 60121, forming a limit limit on the first bearing 602 in the direction away from the bearing cover 6013. That is, the first bearing 602 is completely installed in the first bearing mounting hole 60132 of the bearing cover 6013, and the outer edge of the first bearing mounting part 6012 limits the outer ring of the first bearing 602 on the bearing cover 6013. In this way, the outer ring of the first bearing 602 can be fixed under the action of forces in both axial directions. At this time, the fit between the outer ring of the first bearing 602 and the inner surface of the first bearing mounting hole 60132 is less demanding than that of ordinary installation to meet the operating requirements, thus improving the installation efficiency.

[0055] In another embodiment, the first mounting hole 60121 includes a second bearing mounting hole formed at one end near the bearing cap 6013 for mounting with the outer ring of the first bearing 602. The first bearing mounting portion 6012 is provided with a second limiting portion located at the end of the second bearing mounting hole away from the bearing cap 6013. The second limiting portion limits the outer ring of the first bearing 602 on the side away from the bearing cap 6013. This specific embodiment is not illustrated. In this method, the bearing mounting hole for mounting the first bearing 602 includes a first bearing mounting hole 60132 provided on the bearing cap 6013 and a second bearing mounting hole provided on the first bearing mounting portion 6012. That is, in this embodiment, in the installed state, a portion of the first bearing 602 is located in the first bearing mounting hole 60132, and another portion is located in the second bearing mounting hole. The second bearing mounting hole includes a larger diameter third hole at one end near the bearing cap 6013 and a smaller diameter fourth hole that is farther away from the first bearing mounting portion 6012 and has a smaller diameter than the third hole. The third hole is a second bearing mounting hole for mounting the first bearing 602. The step between the third hole and the fourth hole forms a second limiting portion that limits the outer ring of the first bearing 602.

[0056] In one embodiment, the shaft mounting assembly 600 includes a drive shaft 603 and a first bearing 602. The mounting portion 6012 of the support 601 is connected to the housing of the motor 301. One end of the drive shaft 603 is connected to the drive shaft of the motor 301, and the other end passes through a first mounting hole 60121 and a second mounting hole 60131. The first bearing 602 is located between the mounting portion 6012 and the bearing cap 6013, and the inner ring of the first bearing 602 is fitted with the drive shaft 603. At least a portion of the outer ring of the first bearing 602 is fitted with the first bearing mounting hole 6013. 2. The drive shaft 603 is connected to the drive shaft of the motor 301 via a spline connection, which makes installation and removal quick and easy. After the bearing cover 6013 is removed from the support 601, the drive shaft 603 can be moved axially to disengage it from the drive shaft of the motor 301. Moreover, due to the spline connection, the drive shaft of the motor 301 and the drive shaft 603 are allowed to move to a certain extent axially, which simplifies the installation. Furthermore, this type of installation allows the drive shaft 603 to be shorter, making the shaft mounting assembly 600 more compact.

[0057] from Figure 1 It can be seen that the axial dimension of the shaft mounting assembly 600 in this manner is relatively small, and using this shaft mounting assembly 600 is beneficial to reducing the width of the base frame 100.

[0058] In this embodiment, a stop is provided on the drive shaft 603, which limits the inner ring of the drive shaft 603 on the side facing the first bearing mounting portion 6012. This arrangement axially limits the inner ring of the first bearing 602, preventing the first bearing 602 from being subjected to bending moment due to vibration or other reasons during the rotation of the motor 301, thus reducing its lifespan. This reduces the disassembly and assembly time of the drive shaft 603 and the first bearing 602 and protects the first bearing 602. See also Figure 6 In one embodiment shown, the stop portion is configured as a shoulder 6031 that protrudes radially outward along the outer periphery of the drive shaft 603. The drive shaft 603 includes a first column 6032 and a second column 6033 arranged axially. The shoulder 6031 is disposed on the outer surface of the first column 6032, and the inner ring of the first bearing 602 is sleeved on the outer surface of the first column 6032 and located between the shoulder 6031 and the second column 6033.

[0059] The first sprocket 501 is connected to the drive shaft 603 via a spline, and a locking component 604 is provided on the side of the first sprocket 501 away from the first bearing 602 to prevent the first sprocket 501 from disengaging from the drive shaft 603.

[0060] Specifically, the locking component 604 is a locking nut that threads with the drive shaft 603. Using a locking nut not only reduces procurement costs but also achieves the locking purpose, and is convenient and economical to operate.

[0061] Optionally, the end of the first sprocket 501 facing the first bearing 602 is configured to limit the inner ring of the first bearing 602 on the side away from the first bearing mounting portion 6012. Of course, the first sprocket 501 can be used to limit the inner ring of the first bearing 602, for example, by adding an elastic retaining ring to the drive shaft 603. However, the inner ring of the first bearing 602 is limited by the drive wheel and the locking component 604. The locking component 604 and the first sprocket 501 cooperate with the shoulder 6031 from the side away from the first bearing mounting portion 6012 to tightly connect the inner ring of the first bearing 602 and the drive shaft 603 together. This structure is easy to assemble and disassemble. After removing the locking component 604, the first sprocket 501 can be removed from the drive shaft 603, and the bearing cover 6013 can be removed from the support 601. Then the drive shaft 603 can be disengaged from the drive shaft of the motor 301. Disassembly is very convenient and can ensure that the first bearing 602 is reliably fixed in the set position. It can also ensure the coaxiality of the first bearing 602, the drive shaft 603 and the drive shaft of the motor 301 with a lower machining accuracy than the traditional installation method.

[0062] In one embodiment, the chassis assembly includes a rubber pad 607 mounted near the rear of the motor 301 to prevent friction between the motor 301 and the main base plate 1011, thereby protecting the motor 301. The rubber pad 607 is fixed to the base shell 101.

[0063] In one specific embodiment of the chassis assembly, the battery 200 includes a battery body 2011 and a battery housing 2012 that accommodates the battery body 2011. One side of the battery housing 2012 has a battery body inlet / outlet 20121 for the battery body 2011 to enter and exit. The battery 200 is installed in a second receiving space 1015 with the battery body inlet / outlet 20121 facing the side opening 10151. See also... Figure 1 , Figure 4 , Figure 9 As shown, this installation method does not affect the removal and placement of the battery body 2011 when the cover plate 102 is fully loaded, which facilitates the entry and exit of the battery body 2011 and is also beneficial for waterproofing.

[0064] See Figure 2 and Figure 3 Because the second accommodating space 1015 and the first accommodating space 1014 and the transmission mechanism accommodating cavity 1016 are separated by the partition 10113 and the side shell 1012, the first accommodating space 1014 and the transmission mechanism accommodating cavity 1016 are completely covered. Even if water enters the first accommodating space 1014, it will not easily enter the first accommodating space 1014 and the transmission mechanism accommodating cavity 1016, thereby effectively protecting the components located in the first accommodating space 1014 and the transmission mechanism accommodating cavity 1016.

[0065] In this embodiment, the battery 200 has a battery casing 2012, which also provides waterproofing.

[0066] Furthermore, a sealing structure is provided between the battery casing 2012 and the cover plate 102 to further waterproof the battery. The side opening 10151 is determined by the specific situation. A main end plate can be provided between the two inner side plates 10122 and at the end of the main base plate 1011, with the side opening 10151 formed on the main end plate. Alternatively, a main end plate can be omitted, and the side opening 10151 directly forms the space between the ends of the two inner side plates 10122.

[0067] refer to Figure 1-3As shown, in one specific embodiment of the chassis assembly, the battery 200 is connected to the separator 10113 on the side opposite to the battery body inlet / outlet 20121 via a first floating connection assembly 202. The first floating connection assembly 202 includes a bolt 2021 and an elastic element 2022 fitted onto the bolt 2021, wherein the bolt 2021 connects the battery 200 to the separator 10113. For example, the first floating connection assembly 202 secures the battery 200 to one end of the bolt 21 via a thread, and the other end of the bolt 2021 is mounted on the separator 10113 via a through hole formed in the separator 10113. By setting the first floating connection component 202 and utilizing the elasticity of the elastic element 2022, the battery 200 and the battery case 2012 vibrate synchronously during vibration. This prevents the battery body 2011 and the battery case 2012 from moving relative to each other in a direction perpendicular to the battery body inlet / outlet 20121 during vibration, thereby solving the problem of poor contact between the battery body 2011 and the circuit connection terminals fixed to the battery case 2012 during vibration.

[0068] In one embodiment, the bottom wall of the battery 200 is connected to the bottom shell 101 via a second floating connection assembly 205. The structure of the second floating connection assembly 205 is the same as that of the first floating connection assembly 202. A bolt 2021 connects the bottom wall of the battery 200 to the bottom shell 101, and an elastic element 2022 is located between the bottom shell 101 and the battery 200. For example, the second floating connection assembly 205 is threaded to the battery 200 at one end of the bolt 2021, and the other end of the bolt 2021 is mounted on the bottom shell 101 through a through hole formed in the bottom shell 101. This arrangement further provides cushioning for the battery 200, providing shock absorption and solving the problem of poor contact between the battery body 2011 and the circuit connection terminals fixed to the battery casing 2012 during vibration. Depending on the needs, other shock absorption methods can also be used between the bottom of the battery 200 and the bottom wall of the main base plate 1011, i.e., the second receiving space 1015.

[0069] Optionally, the elastic element 2022 is an annular corrugated washer. Of course, the elastic element 2022 can also be a spring.

[0070] Optionally, the corrugated gasket includes an I-shaped annular body, with corrugated protrusions on one or both sides of the annular body along its axial direction. The corrugated gasket is a rubber gasket or a silicone gasket. Based on cost and displacement requirements in practical applications, when the displacement variation is small, using a plastic rubber gasket or a silicone gasket is sufficient and economical.

[0071] Optionally, the first floating connection assembly 202 further includes a washer 2023 for fitting onto the bolt 2021. When the bolt 2021 is used to thread the battery 200, the washer 2023 is positioned between the bolt head and the second receiving space 1015. This prevents the bolt head from falling off.

[0072] Optionally, the battery body 2011 and the battery casing 2012 adopt a snap-fit ​​structure. The snap-fit ​​structure includes a first snap-fit ​​part and a second snap-fit ​​part that snap together. One of the first snap-fit ​​part and the second snap-fit ​​part is disposed on the battery body 2011, and the other is disposed on the battery casing 2012. When the battery body 2011 is inserted into the battery casing 2012, the first snap-fit ​​part and the second snap-fit ​​part snap together, fixing the battery body 2011 in the battery casing 2012.

[0073] In one embodiment, the battery mounting assembly includes corrugated damping plates 203 disposed on both sides adjacent to and opposite to the battery body inlet / outlet 20121 and between the battery body inlet / outlet 20121 and the sidewalls of the second receiving space 1015. By providing the corrugated damping plates 203, the battery 200 can fit tightly with the second receiving space 1015, while also facilitating the installation and removal of the battery 200 from the second receiving space 1015. Simultaneously, it also serves to isolate and protect the battery 200 from vibration. The shape of the corrugated damping plates 203 can be arbitrarily selected as needed, and the installation method can also be selected as required, such as: pasting onto the battery casing 2012, embedding into the battery casing 2012, fixing to the battery casing 2012 with fasteners, etc., or any combination of the above methods can be used.

[0074] Specifically, a mounting groove 2010 is provided on the side wall, and the corrugated damping plate 203 is installed in the mounting groove 2010. This method is simple and easy to implement, which can ensure the position of the corrugated damping plate 203 and save installation time.

[0075] Specifically, multiple mounting slots 2010 are provided on the outer surface of the side wall, and a corrugated damping plate 203 is installed in each mounting slot 2010. By installing multiple corrugated damping plates 203 at multiple points, materials can be saved, the resistance between the battery 200 and the second accommodating space 1015 can be reduced, and the damping function can be achieved at the same time.

[0076] In this embodiment, the corrugated damping plate 203 is configured as a one-piece molded rubber or silicone part. This satisfies the damping requirements while being economical. Figure 5 One specific embodiment of the corrugated damping plate 203 is to use a flat plate structure as the base plate, and then place a corrugated plate on the base plate, with the base plate and the corrugated plate being integrally formed. In this way, the corrugations on the corrugated damping plate 203 can be stabilized, thereby ensuring the stable damping performance of the corrugated damping plate 203.

[0077] In one embodiment, the battery casing 2012 includes a battery cover 20125 covering the battery body inlet / outlet 20121, and a shock absorber 204 is disposed between the battery cover 20125 and the battery body 2011 (see [link]). Figure 1 By setting the shock absorber 204, it can not only reduce vibration, but also further prevent the battery body 2011 from moving out of the battery case 2012, thereby preventing the battery body 2011 and the battery case 2012 from moving around, and further preventing poor contact between the battery body 2011 and the circuit connection terminals fixed in the battery case 2012 during vibration.

[0078] Specifically, such as Figure 10 As shown, one end of the battery cover 20125 is connected to the top wall of the battery housing 2012 via a hinge 20123, and the other end opposite the hinge 20123 is fastened by a snap fastener 20124. The snap fastener 20124 includes a male snap fastener and a female snap fastener, one of which is provided on the battery cover 20125, and the other can be provided on the battery housing 2012 or on the bottom wall of the second receiving space 1015, i.e., the main base plate 1011. This fastening method is convenient to open and close and is also beneficial for rain protection.

[0079] Optionally, a sealing structure is provided between the battery cover 20125 and the battery body inlet / outlet 20121.

[0080] A second aspect of this application provides an unmanned vehicle, which includes the chassis assembly described above. The technical advantages of the unmanned vehicle are the same as those of the chassis assembly described above, and will not be repeated here.

[0081] In one embodiment, a support arm 700 for mounting the control module is also included. The support arm 700 is vertically mounted on the cover plate 102 and located at one end of one of the two side housings 1012.

[0082] In one embodiment, the upper end of the support arm 700 has a mounting base for mounting a radar, the mounting end of which faces the opposite side housing 1012 to the side housing 1012 on which the support arm 700 is mounted. This allows the radar to be positioned above the cover plate 102 without obstructing the mounting of operational structures such as seeding mechanisms, pesticide application mechanisms, or watering mechanisms on the cover plate 102.

[0083] In one embodiment, the support arm 700 is hollow to allow the installation of control modules, etc., in the hollow part. This not only protects the control modules, etc. installed in the hollow part, but also makes it aesthetically pleasing.

[0084] In this application, the transmission mechanism 500 can also employ belt drive, in which case the first sprocket 501 and the second sprocket 502 are respectively configured as pulleys, and the first chain 503 and the second chain 504 are respectively configured as belts; if cost is not a concern, multi-pole gear drive can also be used, in which case the first sprocket 501 and the second sprocket 502 are respectively configured as gears. The above are merely preferred embodiments of this application and are not intended to limit the application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

[0085] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0086] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0087] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0088] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A chassis assembly, characterized in that, include: The chassis includes an upward-opening bottom shell, the bottom shell including a main bottom plate and side shells located on both sides of the main bottom plate in the width direction, each side shell having a transmission mechanism receiving cavity, the side shell protruding downward relative to the main bottom plate at least at a wheel mounting position to form a wheel mounting portion for mounting a wheel axle; a first receiving space is formed above the main bottom plate and between the two side shells; A power mechanism, wherein the power mechanism is installed in the first accommodating space; Two transmission mechanisms, each of which is housed in a transmission mechanism receiving cavity, and the transmission mechanism is connected to the power mechanism so that it is powered by the power mechanism; The bottom shell is integrally injection molded; The side housing includes a bottom plate, an inner plate, and an outer plate, which together form an upward-opening cavity for the transmission mechanism.

2. The chassis assembly according to claim 1, characterized in that, The chassis assembly also includes an energy supply device for providing power to the power mechanism, and the underframe also includes a cover plate for covering the opening above the bottom shell. The power mechanism, the transmission mechanism, and the energy supply device are respectively located in the cavity between the cover plate and the bottom shell.

3. The chassis assembly according to claim 1, characterized in that, Each side of the side housing is provided with at least two wheel mounting portions, and the side housing is recessed upward between each pair of adjacent wheel mounting portions.

4. The chassis assembly according to claim 1, characterized in that, The chassis assembly also includes wheel axles mounted on the side housings on each side. The transmission mechanism includes a first sprocket driven to rotate by the power mechanism, a second sprocket connected to the wheel axle, and a transmission chain connecting the first sprocket and the second sprocket. The first sprocket, the second sprocket, and the transmission chain are all disposed in the transmission mechanism receiving cavity.

5. The chassis assembly according to claim 4, characterized in that, The power mechanism includes a motor provided for each side of the transmission mechanism; The chassis assembly also includes a shaft mounting assembly connected to the motor, the shaft mounting assembly comprising: A drive shaft, one end of which is connected to the drive shaft of the motor, and the first sprocket is connected to the drive shaft; The support includes a fixing part and a first bearing mounting part connected to the fixing part. The first bearing mounting part is connected to the housing of the motor, and a first mounting hole through which the drive shaft passes is formed on the first bearing mounting part. A bearing cover is detachably connected to the first bearing mounting portion, and a second mounting hole through which the drive shaft passes is formed on the bearing cover; The second mounting hole has a first bearing mounting hole at one end near the first bearing mounting part for mounting with the outer ring of the first bearing; the first bearing is mounted on the drive shaft and located between the first bearing mounting part and the bearing cover, and at least a portion of the outer ring of the first bearing is mounted with the first bearing mounting hole.

6. The chassis assembly according to claim 1, characterized in that, Two second receiving spaces are also formed above the main base plate and between the two side shells, and the two second receiving spaces are respectively located on both sides of the first receiving space in the length direction of the base shell; The chassis assembly includes two energy supply devices, each of which is installed in a second accommodating space.

7. The chassis assembly according to claim 6, characterized in that, The two energy supply devices are batteries. The main base plate is provided with two partitions spaced apart along the length of the bottom shell. The space between the two partitions forms the first accommodating space. The space between the side of the partition away from the first accommodating space and the side shell forms the second accommodating space. The bottom shell has side openings at both ends in the length direction for the batteries to enter and exit the second accommodating space.

8. The chassis assembly according to claim 7, characterized in that, The battery includes a battery body and a battery casing that houses the battery body. One side of the battery casing has a battery body inlet / outlet for the battery body to enter and exit. The battery is installed in the second housing space with the battery body inlet / outlet facing the side opening.

9. The chassis assembly according to claim 8, characterized in that, The battery is connected to the partition via a first floating connection assembly on the side opposite to the battery body inlet / outlet. The first floating connection assembly includes a bolt and an elastic element fitted onto the bolt, wherein the bolt connects the battery to the separator, and the elastic element is located between the separator and the battery.

10. The chassis assembly according to claim 9, characterized in that, The bottom wall of the battery is connected to the bottom shell by a second floating connection assembly, which includes a bolt and an elastic element fitted on the bolt. The bolt connects the bottom wall of the battery to the bottom shell, and the elastic element is located between the bottom shell and the battery.

11. An unmanned vehicle, characterized in that, The unmanned vehicle includes the chassis assembly according to any one of claims 1-10.

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