Height-adjustable mobile platform

Abstract

The application provides a height-adjustable mobile platform, which comprises a vehicle body support, a height adjusting device, a connecting assembly and wheels; the height adjusting device is connected with the vehicle body support, two ends of the connecting assembly are respectively connected with the height adjusting device and the wheels, the height adjusting device can drive the connecting assembly to rotate, thereby changing the support angle of the connecting assembly to the vehicle body support, and the height of the vehicle body support is adjusted. The height-adjustable mobile platform provided by the application has the characteristics of simple structure and accurate control.

Description

Technical Field

[0001] This application relates to the technical field of mechanical vehicles, specifically to a highly adjustable mobile platform. Background Technology

[0002] Depending on the application scenario, wheeled mobile platforms sometimes need to have obstacle-crossing capabilities. However, there is currently no wheeled mobile platform structure that is simple in structure, flexible in control, and adjustable in clearance height. Summary of the Invention

[0003] This application provides a height-adjustable mobile platform, which includes a vehicle frame, a height adjustment device, a connecting component, and wheels. The height adjustment device is connected to the vehicle frame, and both ends of the connecting component are connected to the height adjustment device and the wheels, respectively. The height adjustment device can drive the connecting component to rotate, thereby changing the support angle of the connecting component on the vehicle frame, so as to adjust the height of the vehicle frame.

[0004] The height-adjustable mobile platform provided in this application embodiment uses a height adjustment device to drive the connecting component to rotate, thereby changing the support angle of the connecting component on the vehicle frame and achieving the purpose of adjusting the height of the vehicle frame. It has the characteristics of simple structure and accurate control. Attached Figure Description

[0005] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0006] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the height-adjustable mobile platform of this application;

[0007] Figure 2 yes Figure 1 A schematic diagram of another altitude state of the mobile platform in the embodiment;

[0008] Figure 3 yes Figure 1 A schematic diagram of the partial structural breakdown of the mobile platform in the embodiment;

[0009] Figure 4 yes Figure 3 A schematic diagram of a partial structural breakdown of the mobile platform in the embodiment;

[0010] Figure 5 This is a structural breakdown diagram of the connecting component in an embodiment of this application;

[0011] Figure 6 This is a structural schematic diagram of the connection component, the wheel, and the rotating motor in cooperation with each other in an embodiment of this application;

[0012] Figure 7 This is a schematic diagram of another cooperative state between the connecting component, the wheel, and the rotating motor in an embodiment of this application;

[0013] Figure 8 This is a partial structural diagram of the mobile platform shifting state in an embodiment of this application;

[0014] Figure 9 This is a partial structural diagram of the mobile platform driving state in an embodiment of this application. Detailed Implementation

[0015] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the application. Similarly, the following embodiments are only some, not all, embodiments of the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0016] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of components in a specific posture (as shown in the figures). If the specific posture changes, the directional indication will also change accordingly. The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or components inherent to these processes, methods, products, or devices.

[0017] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0018] The conventional technical solutions for wheeled mobile platforms mainly include the following types:

[0019] 1. The rear wheels are drive wheels, and the front wheels are omnidirectional wheels. Steering is achieved by different rotation speeds of the rear wheels. This design can also place the drive wheels as front wheels, and is mainly used in simple and small robots such as sweeping robots and food delivery robots.

[0020] 2. Omnidirectional wheels, including three-wheeled and four-wheeled types, have roller axes at a 90-degree angle to the hub axis. The rollers are driven wheels, allowing free rotation around their axes, which are collinear with the motor shaft. Omnidirectional wheels typically have two layers, but they are not perfectly symmetrical. There is a significant gap between each layer of rollers, with the two layers precisely filling the gap to ensure that at least one roller is in contact with the ground during the omnidirectional wheel's rotation.

[0021] 3. Four-wheel slip platform, which relies entirely on different speeds for slip steering.

[0022] 4. A four-wheel Ackerman chassis, with the rear wheels as drive wheels and the front wheels equipped with an Ackerman steering mechanism, is the most common configuration in automobiles.

[0023] 5. Mecanum wheel chassis: The reason why the Mecanum wheel can move diagonally is that the angle between the axis of the passively rolling roller and the axis of the wheel hub is 45 degrees. This means that when the motor drives the Mecanum wheel hub to rotate, the overall movement direction of the Mecanum wheel is along the axis of the roller. At the same time, the Mecanum wheel can also achieve forward, backward, left and right translation and fixed-axis rotation by different steering speeds.

[0024] Among the various types of omnidirectional mobility mechanisms, the Mecanum wheel has attracted the attention of numerous researchers both domestically and internationally. Unlike ordinary wheels, this wheel consists of a series of small rollers (similar to tires) evenly arranged at a certain angle around the wheel body. The rotation of the wheel body is driven by a motor, while the rollers rotate passively under the influence of ground friction. An omnidirectional mobile robot composed of several Mecanum wheels can achieve planar three-degree-of-freedom motion, with a zero radius of rotation, simply by coordinating the rotation direction and speed of the wheels, without requiring a steering mechanism.

[0025] Currently, the commercialization of Mecanum wheels is still in its early stages, with common applications in: 1. heavy-duty machinery such as projectile loading vehicles and omnidirectional forklifts; 2. scientific research and exploration such as space vehicles, wheeled robots, and educational toys. While Mecanum wheels can achieve omnidirectional movement on a plane, their vertical working space still needs improvement.

[0026] There are many solutions for achieving multi-degree-of-freedom movement on a plane, such as industrial chassis and planetary exploration vehicles, which use wheel-side motors to achieve movement in one direction and motors above the tires to achieve turning or rotation within the plane. If you want to achieve multi-degree-of-freedom spatial motion on a mobile robot platform, the existing solutions are basically achieved by adding another joint motor.

[0027] As mentioned above, conventional wheeled mobile platforms, including those with two drive wheels and omnidirectional wheels, four-wheel slip, and Ackermann steering, cannot achieve self-rotation, limiting their movement in confined spaces. Omnidirectional wheels, whether three-wheeled or four-wheeled, require a triangular or forked arrangement to achieve various movement modes, increasing the required space compared to conventional chassis. While Mecanum wheels can handle all the aforementioned movement modes, they are limited to movement within a single plane, unable to achieve spatial movement, and are less efficient than conventional tires. Multi-drive unit chassis mobile platforms achieve rotation in multiple degrees of freedom by applying multiple joint motors. The most common approach is to apply a degree of freedom of rotation around the z-axis above the tire axis, which is more efficient than the Mecanum wheel solution during normal movement. Steering or self-rotation is achieved through additional motors. However, this approach requires raising the chassis height, which increases the center of gravity and thus system instability. The single-wheel-side three-degree-of-freedom solution requires the hub motor and eccentric motor to be integrated into the same wheel, which inevitably results in a larger tire size; and the assembly problems caused by the high integration are also not conducive to manufacturing.

[0028] In view of this, embodiments of this application provide a highly adjustable mobile platform.

[0029] Please refer to the following: Figures 1 to 3 , Figure 1 This is a schematic diagram of the overall structure of an embodiment of the highly adjustable mobile platform of this application. Figure 2 yes Figure 1 A schematic diagram of another altitude state of the mobile platform in the embodiment. Figure 3 yes Figure 1The embodiment shows a partial structural breakdown diagram of the mobile platform. It should be noted that the mobile platform in this application can be used to drive robots, including robotic arms, sweeping robots, and warehousing, freight, and rescue robots, etc. The mobile platform includes, but is not limited to, the following structures: a body support 100, a height adjustment device 200, a connecting assembly 300, and wheels 400.

[0030] Specifically, the height adjustment device 200 is connected to the vehicle body support 100, and the two ends of the connecting component 300 are respectively connected to the height adjustment device 200 and the wheel 400. The height adjustment device 200 can drive the connecting component 300 to rotate, thereby changing the support angle α of the connecting component 300 on the vehicle body support 100, so as to adjust the height of the vehicle body support 100.

[0031] Optionally, please refer to the following as well. Figure 4 , Figure 4 yes Figure 3 A partial structural breakdown diagram of the mobile platform in the embodiment shows that the height adjustment device 200 includes a shift motor 210, a shift assembly 220, and a rotation motor 230. The shift motor 210 drives the rotation motor 230 to move via the shift assembly 220, thereby switching the rotation motor 230 and the connecting assembly 300 between a driving state and a shifting state (the specific process will be described in detail later). In the shifting state, the rotation motor 230 can drive the connecting assembly 300 to rotate, thereby changing the support angle α of the connecting assembly 300 on the vehicle body bracket 100. In the driving state, the rotation motor 230 can drive the wheel 400 to rotate via the connecting assembly 300.

[0032] Optionally, the shift motor 210 is fixed to the vehicle body bracket 100, and the shift assembly 220 includes a transmission assembly 221 and a rotating motor bracket 222. The transmission assembly 221 is connected to the shift motor 210 and the rotating motor bracket 222 respectively. The rotating motor 230 is fixed to the rotating motor bracket 222, and the rotating motor bracket 222 is slidably connected to the vehicle body bracket 100. The shift assembly 220 can drive the rotating motor bracket 222 to slide relative to the vehicle body bracket 100 under the drive of the shift motor 210, thereby allowing the rotating motor 230 and the connecting assembly 300 to switch between a driving state and a shifting state.

[0033] Optionally, the transmission assembly 221 includes a central gear 2211, a rack and pinion slider 2212, and a connecting rod 2213. The central gear 2211 is sleeved on the output shaft of the shift motor 210 and meshes with the rack and pinion slider 2212. The rack and pinion slider 2212 is connected to the rotating motor bracket 222 through the connecting rod 2213. The rack and pinion slider 2212 can slide under the drive of the central gear 2211, thereby driving the rotating motor bracket 222 to move through the connecting rod 2213.

[0034] The rack and pinion slider 2212 includes a first rack and pinion slider 22121 and a second rack and pinion slider 22122. The first rack and pinion slider 22121 and the second rack and pinion slider 22122 are arranged in parallel and mesh with the central gear 2211 from both sides of the central gear 2211. The first rack and pinion slider 22121 and the second rack and pinion slider 22122 are respectively connected to at least one of the connecting rods 2213 (two in this embodiment). Each connecting rod 2213 is connected to a rotating motor bracket 222. Each rotating motor bracket 222 is fixed with a rotating motor 230. Each rotating motor 230 corresponds to a connecting component 300 and a wheel 400. In this embodiment, a four-wheel structure is used as an example for explanation.

[0035] Optionally, the transmission assembly 221 in this embodiment further includes two push blocks 2214. Each push block 2214 is fixedly connected to a rack and pinion slider 2212 (one of the first rack and pinion slider 22121 and one of the second rack and pinion slider 22122 are connected to each other). Each push block 2214 is hinged to a connecting rod 2213, and the other end of the connecting rod 2213 is hinged to the rotating motor bracket 222. This symmetrical mechanical structure arrangement greatly reduces the need for joint motors and increases the overall system's coordination.

[0036] Alternatively, please continue reading Figure 3 and Figure 4 The vehicle body support 100 includes an upper cover 110, a base plate 120, and a middle plate 130. The upper cover 110 and the base plate 120 are fixedly connected and cooperate to form a receiving space 1000. The height adjustment device 200 is disposed within the receiving space 1000 and mainly serves to shield and seal. The base plate 120 is provided with a sliding groove 121. The rotating motor support 222 cooperates with the sliding groove 121 and can slide along the sliding groove 121. At the same time, a baffle 1211 is provided at the inner end of the sliding groove 121 to prevent the rotating motor support 222 from dislodging from the slide rail during movement and exceeding the stroke, which would cause internal components to interfere with each other. In addition, the base plate 120 has a motor groove 123 in the center for assembling the shift motor 210, and a baffle 1231 is provided to reduce the vibration of the shift motor 210 during movement.

[0037] The middle layer plate 130 is fixedly connected to the connecting seat 122 on the base plate 120. A slide rail 131 is provided on the middle layer plate 130, and the mating groove 22120 on the rack slider 2212 engages with the slide rail 131 to achieve a sliding connection between the rack slider 2212 and the middle layer plate 130. An opening 111 may be provided on the upper cover 110 to allow movement of the height adjustment device 200 and the connecting assembly 300 during adjustment.

[0038] Please refer to the following: Figures 4 to 7 , Figure 5 This is a structural breakdown diagram of the connecting component in an embodiment of this application. Figure 6 This is a structural schematic diagram of the connection component in cooperation with the wheel and the rotating motor in an embodiment of this application. Figure 7 This is a schematic diagram of the structure of the connecting component, the wheel, and the rotating motor in another cooperative state in this embodiment. In this embodiment, the output shaft of the rotating motor 230 is connected to a spline shaft 231, which has an inner spline 2311 and an outer spline 2312. The connecting component 300 includes an inner rocker arm 310, an outer rocker arm 320, and a driving component 330. The inner rocker arm 310 and the outer rocker arm 320 are fixedly connected. The inner rocker arm 310 has a spline groove 311, which is used to cooperate with the outer spline 2312 of the spline shaft 231 in the shifting state. In the driving state, the inner spline 2311 of the spline shaft 231 is connected to the driving component 330 to drive the wheel 400 to rotate.

[0039] Optionally, the drive assembly 330 includes a spline pulley 331, a transmission belt 332, a driven pulley 333, and a wheel axle 334. The spline pulley 331 is rotatably connected to the outer rocker arm 320 and can engage with the inner spline 2311 of the spline shaft 231 in the driving state. The transmission belt 332 engages with both the spline pulley 331 and the driven pulley 333. The wheel axle 334 is connected to the driven pulley 333 and can rotate under the drive of the driven pulley 333. The wheel 400 is fixed to the wheel axle 334. In the figure, 335 indicates a bearing, with bearing seats mounted on the inner and outer rocker arms respectively. In this embodiment, belt drive is used in the transmission method of the connecting assembly. In some other embodiments, chain drive or gear drive can achieve the same function, which will not be listed or described in detail here.

[0040] Optionally, the rotating motor bracket 222 has multiple fixing posts 2221 on the side opposite to the rotating motor 230, and the inner rocker arm 310 has positioning holes 312 that align with the fixing posts 2221. In the driving state, the fixing posts 2221 can be inserted into the positioning holes 312 to achieve the positioning of the connecting component 300 and the rotating motor bracket 222, thereby fixing the support angle α of the connecting component 300 on the vehicle body bracket 100, and realizing the fixing and switching of different gear angles.

[0041] Optionally, the wheel in this embodiment may be a Mecanum wheel or a wheel of other structures, without specific limitations.

[0042] The rotating motor 230 is locked to the rotating motor bracket 222 through the bolt holes around the perimeter. The output end of the rotating motor 230 is then locked to the spline shaft 231 through bolts to rotate synchronously. The spline shaft 231 is divided into two sections: one is a small-diameter optical shaft and the other is a spline section, which includes both internal and external splines.

[0043] Please refer to the section on how the switching between drive mode and shift mode works. Figure 8 and Figure 9 , Figure 8 This is a partial structural diagram of the mobile platform shifting state in an embodiment of this application; Figure 9 This is a partial structural diagram of the driving state of the mobile platform in this embodiment. When the shift motor 210 rotates, it drives the central gear 2211 to rotate, thereby driving the two meshing rack sliders 2212 (the first rack slider 22121 and the second rack slider 22122) to move relatively linearly on the slide rail 131 on the middle plate 130; assuming the shift motor 210 rotates clockwise, it drives the upper rack slider 2212 to translate to the right, and the lower rack slider 2212 to translate to the left simultaneously. The movement of the rack slider 2212 pushes the push block 2214 to move linearly, thereby driving the connecting rod 2213 to rotate and open the rotating motor brackets 222 on both sides, so that the rotating motor brackets 222 slide on the base plate 120. When the movement reaches the final point, the movement directions of the connecting rod 2213 and the push block 2214 are perpendicular to each other. At this time, the system reaches the dead point, that is, the entire system can remain stable even without the shift motor 210 working. Figure 9 (In the middle state). When no gear shifting is required, the motor reverses, driving the entire system to move in the opposite direction to the aforementioned motion. A rotating shaft connecting rod 2213 could be directly installed on the rack and pinion slider 2212, but to avoid structural asymmetry that could cause vibration of components during movement, a push block 2214 is additionally provided to ensure smooth movement of the wheel sets on both sides. The parameters of the gear and rack in the diagram are for illustrative purposes only and can be adjusted according to the desired shifting speed.

[0044] Please refer to the specific implementation methods for the different gear levels. Figure 6 and Figure 7 When in the shifting state, the rotary motor 230 and the rotary motor bracket 222 are in the retracted state. The outer spline of the spline shaft 231 engages with the spline groove 311 of the inner rocker arm 310. At this time, when the rotary motor 230 rotates, it can drive the entire connecting assembly 300 to rotate, thereby realizing the height adjustment. In addition, the heights of the four connecting assemblies 300 can be different, depending on the angle of the motor rotation. When the overall platform is in drive mode, the rotary motor 230 and rotary motor bracket 222 are pushed out, causing the spline shaft 231 to extend outward. At this time, the inner spline of the spline shaft 231 engages with the spline pulley 331, and the outer spline of the spline shaft 231 disengages from the inner rocker arm 310. At this time, the optical axis of the spline shaft 231 avoids the inner rocker arm 310, and the inner rocker arm 310 is fixedly engaged with the fixing post 2221 on the rotary motor bracket 222 through the positioning hole 312. At this time, the position of the connecting component 300 is relatively stationary with the rotary motor bracket 222. When the rotary motor 230 rotates, it drives the spline shaft 231, thereby driving the spline pulley 331. Power is transmitted to the driven pulley 333 through belt drive, causing the Mecanum wheel (wheel 400) to rotate. The positioning hole 312 of the inner rocker arm 310 cooperates with the fixing column 2221 of the rotating motor bracket 222 to determine the height adjustment positions of the entire mechanism. As shown in the figure, the 8 holes and 8 columns can have 8 adjustment positions, and the angle interval between the positions is 45° (360 divided by 8). In some other embodiments, there can be more positioning holes 312 and fixing columns 2221 to achieve more precise angle adjustment.

[0045] The mobile platform in this embodiment uses an additional gear motor to achieve two functions: rotation and height adjustment. In the rotation position, it functions as a normal McLaren platform, performing translation and rotation. In the height adjustment position, the height of different connecting components can be adjusted to allow the vehicle body to assume different postures for obstacle avoidance and other functions.

[0046] In addition, the final actuator in this embodiment is a Mecanum wheel. When the Mecanum wheel is replaced with a foot, that is, the wheel-side assembly is regarded as a leg, this solution is also applicable to quadruped robots. In this case, the belt drive can be converted into a four-bar linkage, a ball screw mechanism, etc.

[0047] The height-adjustable mobile platform provided in this application embodiment uses a height adjustment device to drive the connecting component to rotate, thereby changing the support angle of the connecting component on the vehicle frame and achieving the purpose of adjusting the height of the vehicle frame. It has the characteristics of simple structure and accurate control.

[0048] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. Any equivalent device or equivalent process transformation made based on the content of this application specification and drawings, or direct or indirect application in other related technical fields, are similarly included in the patent protection scope of this application.

Claims

1. A height-adjustable mobile platform, characterized in that, The mobile platform includes a vehicle frame, a height adjustment device, a connecting component, and wheels. The height adjustment device is connected to the vehicle frame, and both ends of the connecting component are connected to the height adjustment device and the wheels, respectively. The height adjustment device can drive the connecting component to rotate, thereby changing the support angle of the connecting component on the vehicle frame, so as to adjust the height of the vehicle frame. The height adjustment device includes a shift motor, a shift assembly, and a rotating motor. The shift motor drives the rotating motor to move via the shift assembly, thereby switching the rotating motor and the connecting assembly between a driving state and a shifting state. In the shifting state, the rotating motor can drive the connecting assembly to rotate, thereby changing the support angle of the connecting assembly on the vehicle body bracket. In the driving state, the rotating motor can drive the wheel to rotate via the connecting assembly. A splined shaft is connected to the output shaft of the rotary motor. The splined shaft has internal and external splines. The connecting assembly includes an inner rocker arm, an outer rocker arm, and a drive assembly. The inner rocker arm and the outer rocker arm are fixedly connected. The inner rocker arm has a spline groove, which is used to engage with the external spline of the splined shaft in the shifting state. In the driving state, the internal spline of the splined shaft is connected to the drive assembly to drive the wheel to rotate.

2. The mobile platform according to claim 1, characterized in that, The shift motor is fixed to the vehicle body bracket. The shift assembly includes a transmission assembly and a rotating motor bracket. The transmission assembly is connected to the shift motor and the rotating motor bracket respectively. The rotating motor is fixed to the rotating motor bracket, and the rotating motor bracket is slidably connected to the vehicle body bracket. The shift assembly can drive the rotating motor bracket to slide relative to the vehicle body bracket under the drive of the shift motor, thereby allowing the rotating motor and the connecting assembly to switch between a driving state and a shifting state.

3. The mobile platform according to claim 2, characterized in that, The transmission assembly includes a central gear, a rack and pinion slider, and a connecting rod. The central gear is sleeved on the output shaft of the shift motor and meshes with the rack and pinion slider. The rack and pinion slider is connected to the rotating motor bracket through the connecting rod. The rack and pinion slider can slide under the drive of the central gear, thereby driving the rotating motor bracket to move through the connecting rod.

4. The mobile platform according to claim 3, characterized in that, The rack and pinion slider includes a first rack and pinion slider and a second rack and pinion slider. The first rack and pinion slider and the second rack and pinion slider are arranged in parallel and mesh with the central gear from both sides of the central gear. The first rack and pinion slider and the second rack and pinion slider are each connected to at least one of the connecting rods. Each connecting rod is connected to a rotating motor bracket. Each rotating motor bracket is fixed with a rotating motor. Each rotating motor corresponds to a connecting component and a wheel.

5. The mobile platform according to claim 3, characterized in that, The transmission assembly also includes a push block, which is fixedly connected to the rack and pinion slider, and is hinged to the connecting rod. The other end of the connecting rod is hinged to the rotating motor bracket.

6. The mobile platform according to claim 3, characterized in that, The vehicle body support includes an upper cover, a base plate, and a middle plate; the upper cover and the base plate are fixedly connected and cooperate to form an accommodating space, the height adjustment device is disposed in the accommodating space, the base plate is provided with a sliding groove, the rotating motor bracket cooperates with the sliding groove and can slide along the sliding groove; the middle plate is fixedly connected to a connecting seat on the base plate, the middle plate is provided with a slide rail, and the mating groove on the rack slider cooperates with the slide rail to realize the sliding connection between the rack slider and the middle plate.

7. The mobile platform according to claim 1, characterized in that, The drive assembly includes a spline pulley, a drive belt, a driven pulley, and a wheel axle; the spline pulley is rotatably connected to the outer rocker arm and can engage with the inner spline of the spline shaft in the driving state; the drive belt engages with both the spline pulley and the driven pulley; the wheel axle is connected to the driven pulley and can rotate under the drive of the driven pulley; and the wheel is fixed to the wheel axle.

8. The mobile platform according to claim 7, characterized in that, The rotating motor bracket has multiple fixing posts on the side opposite to the rotating motor. The inner rocker arm has positioning holes that align with the fixing posts. In the driving state, the fixing posts can be inserted into the positioning holes to achieve the positioning of the connecting component and the rotating motor bracket, thereby fixing the support angle of the connecting component on the vehicle body bracket.

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