Suspension chassis for unmanned vehicles

Abstract

The present invention provides a suspension chassis for an unmanned vehicle, comprising: a support assembly; a transmission assembly, the transmission assembly comprising a plurality of first transmission wheels and a plurality of second transmission wheels; a first walking assembly; a second walking assembly, the support assembly is located between the first walking assembly and the second walking assembly, and the first walking assembly and the second walking assembly both comprise: a crawler, each first transmission wheel abuts against the inner peripheral wall of the crawler of the first walking assembly, each second transmission wheel abuts against the inner peripheral wall of the crawler of the second walking assembly, and the plurality of first transmission wheels and the plurality of second transmission wheels are arranged at intervals along the circumference of the crawler; an elastic cover group, connected to one side of the crawler, the elastic cover group and the crawler enclose a groove structure with an opening, and the opening of the groove structure faces the support assembly. The elastic cover group of the present invention can prevent impurities such as dust and stones from entering the interior of the transmission assembly via the crawler, can greatly reduce the amount of wear of the transmission assembly, and is conducive to extending the service life of the transmission assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of crawler-type unmanned vehicles, and in particular to a suspension chassis of an unmanned vehicle. Background Art

[0002] In the related art, a crawler-type unmanned vehicle includes a suspension chassis, and the suspension chassis includes a crawler and a transmission structure, and the transmission structure is used to drive the crawler to move. The crawler is an annular belt, and at least a part of the transmission structure is located in the area surrounded by the inner peripheral wall of the crawler, that is, at least a part of the transmission structure will be exposed from the suspension chassis. In this way, when the crawler-type unmanned vehicle is moving or turning, dust and stones are easily stuck in the interior of the transmission structure, which in turn causes wear of the transmission structure and affects the service life of the transmission structure. Summary of the invention

[0003] Based on this, it is necessary to provide an unmanned vehicle suspension chassis to address the problem that the transmission structure of the current tracked unmanned vehicle is easily worn out due to dust and stones being stuck when walking or turning, which affects the service life of the transmission structure.

[0004] The above purpose is achieved through the following technical solutions:

[0005] A suspension chassis for an unmanned vehicle comprises: a bracket assembly; a transmission assembly, which is arranged on the bracket assembly, the transmission assembly comprises a plurality of first transmission wheels and a plurality of second transmission wheels; a first walking assembly; a second walking assembly, the bracket assembly is located between the first walking assembly and the second walking assembly, the first walking assembly and the second walking assembly both comprise: a crawler track, each first transmission wheel abuts against the inner circumferential wall of the crawler track of the first walking assembly, each second transmission wheel abuts against the inner circumferential wall of the crawler track of the second walking assembly, the plurality of first transmission wheels and the plurality of second transmission wheels are arranged at intervals along the circumference of the crawler track; an elastic cover group, which is connected to one side of the crawler track, the elastic cover group and the crawler track enclose a groove structure with an opening, and the opening of the groove structure faces the bracket assembly; wherein the plurality of first transmission wheels and the plurality of second transmission wheels cooperate to simultaneously drive the crawler track of the first walking assembly and the crawler track of the second walking assembly to move.

[0006] Preferably, the elastic cover group includes an elastic cover and a rotating disk, the outer edge of the rotating disk and the inner circumferential wall of the track are arranged at intervals, the elastic cover is connected between the track and the rotating disk, and the rotating disk is provided with an annular groove; the first walking assembly and the second walking assembly also include a telescopic shaft group, the fixed end of the telescopic shaft group is connected to the bracket assembly, and the telescopic end of the telescopic shaft group is slidably connected to the annular groove.

[0007] Preferably, a first spherical groove is provided in the middle of the rotating disk, and an annular groove is arranged around the first spherical groove; the first walking assembly and the second walking assembly also include: a mounting shaft, one end of the mounting shaft is connected to the bracket assembly, the other end of the mounting shaft is a first spherical end, the first spherical end is rotatably connected to the first spherical groove, and the length of the mounting shaft along the bracket assembly to the rotating disk is less than the length of the telescopic shaft group; wherein, the length of the track in the first direction is greater than the length of the track in the second direction, and along the second direction, the distance between the two rotating disks gradually increases.

[0008] Preferably, the telescopic shaft group includes: a sliding block, which is slidably connected to the annular groove and is provided with a second spherical groove; a telescopic shaft, one end of which is connected to the bracket assembly, and the other end of the telescopic shaft is a second spherical end, which is rotatably connected to the second spherical groove.

[0009] Preferably, a first annular groove is provided on the side of the crawler away from the bracket, and the outer edge of the elastic cover is clamped in the first annular groove; a second annular groove is provided on the outer peripheral wall of the rotating disk, and the inner edge of the elastic cover is clamped in the second annular groove.

[0010] Preferably, the rotating disk is located in the middle of the area surrounded by the crawler track.

[0011] Preferably, the first annular groove is located between the inner peripheral wall of the crawler track and the outer peripheral wall of the crawler track.

[0012] Preferably, the transmission assembly further comprises a plurality of transmission parts, the plurality of transmission parts are arranged at intervals along the first direction, and along the second direction, the plurality of transmission parts are arranged above the bracket assembly, each transmission part comprises: a telescopic cylinder connected to the bracket assembly; a first shaft body, the first shaft body is connected to the end of the telescopic cylinder away from the bracket assembly, and the first shaft body is rotatably connected to the telescopic cylinder, and the two ends of the first shaft body are respectively connected to a first transmission wheel and a second transmission wheel; the bracket assembly is provided with a first slide groove and a second slide groove, the first slide groove and the second slide groove are arranged at intervals in the first direction, and the first slide groove and the second slide groove both extend in the first direction; the transmission assembly The component also includes a second shaft and a third shaft; the second shaft is connected to the first slide groove, and the two ends of the second shaft are respectively connected to a first transmission wheel and a second transmission wheel, and the second shaft can slide and rotate relative to the first slide groove; the third shaft is connected to the second slide groove, and the two ends of the third shaft are respectively connected to a first transmission wheel and a second transmission wheel, and the third shaft can slide and rotate relative to the second slide groove; along the second direction, the orthographic projection of the axis of the first shaft of the multiple transmission parts on the projection plane is located between the axis of the second shaft and the axis of the third shaft, and the projection plane passes through the axis of the second shaft and the axis of the third shaft.

[0013] Preferably, the number of the first slide grooves and the number of the second slide grooves are both two. Along the third direction, the two first slide grooves are arranged opposite to each other and at intervals, and the two second slide grooves are arranged opposite to each other and at intervals; the second shaft body is connected to the two first slide grooves, and the third shaft body is connected to the two second slide grooves.

[0014] Preferably, the unmanned vehicle suspension chassis also includes: a tensioning mechanism connected to the bracket assembly, the tensioning mechanism being used to press a portion of the track toward the ground; the transmission assembly also includes two fourth shafts, the two fourth shafts are both arranged on the side of the bracket assembly away from the transmission part, the tensioning mechanism is located between the two fourth shafts, and the two ends of the fourth shaft are respectively connected to a first transmission wheel and a second transmission wheel.

[0015] Preferably, among the multiple transmission parts, the first shafts of the two outermost transmission parts are respectively arranged opposite to the two fourth shafts.

[0016] The unmanned vehicle suspension chassis of the present invention comprises a bracket assembly, a transmission assembly, a first traveling assembly and a second traveling assembly.

[0017] The transmission assembly is arranged on the support assembly, and the transmission assembly comprises a plurality of first transmission wheels and a plurality of second transmission wheels.

[0018] The first walking assembly includes a crawler track, and the second walking assembly includes a crawler track. Each first transmission wheel abuts against the inner circumferential wall of the crawler track of the first walking assembly, and each second transmission wheel abuts against the inner circumferential wall of the crawler track of the second walking assembly. That is, a plurality of first transmission wheels abut against the inner circumferential wall of the crawler track of the first walking assembly, and a plurality of second transmission wheels abut against the inner circumferential wall of the crawler track of the second walking assembly. A plurality of first transmission wheels are arranged at intervals along the circumference of the crawler track of the first walking assembly, and a plurality of second transmission wheels are arranged at intervals along the circumference of the crawler track of the second walking assembly. The plurality of first transmission wheels and the plurality of second transmission wheels rotate to drive the crawler track of the first walking assembly and the crawler track of the second walking assembly to move, so as to achieve the purpose of the unmanned vehicle walking or turning.

[0019] Furthermore, the first walking assembly also includes an elastic cover group, which is connected to one side of the crawler track. The elastic cover group and the crawler track enclose a groove structure with an opening, and the opening of the groove structure faces the bracket assembly. In other words, the elastic cover group is connected to the side of the crawler track away from the bracket assembly. The elastic cover group has the function of closing the side of the crawler track away from the bracket assembly, and can protect the transmission assembly. The transmission assembly will not expose the first walking assembly through the crawler track. In this way, when the unmanned vehicle is walking or turning, the elastic cover group can block impurities such as dust and stones, and impurities such as dust and stones will not enter the interior of the transmission assembly through the crawler track. In this way, the wear of the transmission assembly can be greatly reduced, which is conducive to extending the service life of the transmission assembly.

[0020] Furthermore, the second walking assembly also includes an elastic cover group, which is connected to one side of the crawler track. The elastic cover group and the crawler track enclose a groove structure with an opening, and the opening of the groove structure faces the bracket assembly. In other words, the elastic cover group is connected to the side of the crawler track away from the bracket assembly. The elastic cover group has the function of closing the side of the crawler track away from the bracket assembly, and can protect the transmission assembly. The transmission assembly will not expose the second walking assembly through the crawler track. In this way, when the unmanned vehicle is walking or turning, the elastic cover group can block impurities such as dust and stones, and impurities such as dust and stones will not enter the interior of the transmission assembly through the crawler track. In this way, the wear of the transmission assembly can be greatly reduced, which is conducive to extending the service life of the transmission assembly.

[0021] It can be understood that the elastic cover group is elastic, and the shape of the elastic cover group can change with the shape of the track. That is, the elastic cover group not only has the function of protecting the transmission components, but also will not hinder the movement and deformation of the track, and can ensure the normal operation of the unmanned vehicle suspension chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a first-view of a suspension chassis for an unmanned vehicle according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the first part of the structure of the unmanned vehicle suspension chassis according to an embodiment of the present invention;

[0024] Figure 3 A schematic structural diagram of a suspension chassis of an unmanned vehicle from a second perspective according to an embodiment of the present invention;

[0025] Figure 4 for Figure 3 A cross-sectional view of the unmanned vehicle suspension chassis along the AA direction is shown;

[0026] Figure 5 for Figure 4 A partial enlarged view of location B of the unmanned vehicle suspension chassis shown;

[0027] Figure 6 for Figure 4 The enlarged view of the part C of the suspension chassis of the unmanned vehicle shown;

[0028] Figure 7 This is a schematic diagram of the second part of the structure of the unmanned vehicle suspension chassis according to one embodiment of the present invention;

[0029] Figure 8 for Figure 7 A partial enlarged view of point D of the unmanned vehicle suspension chassis is shown.

[0030] Among them: 10 unmanned vehicle suspension chassis, 100 bracket assembly, 110 first slide groove, 120 second slide groove, 200 transmission assembly, 210 first transmission wheel, 220 second transmission wheel, 230 transmission part, 232 telescopic cylinder, 234 first shaft body, 240 second shaft body, 250 third shaft body, 260 fourth shaft body, 300 first walking assembly, 400 second walking assembly, 500 crawler track, 510 inner peripheral wall of crawler track, 520 first annular groove, 600 elastic cover group, 610 elastic cover, 620 rotating disk, 622 outer edge, 624 annular groove, 626 first spherical groove, 628 second annular groove, 700 telescopic shaft group, 710 sliding block, 712 second spherical groove, 720 telescopic shaft, 722 second spherical end, 800 mounting shaft, 810 first spherical end, 900 tensioning mechanism. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in the present invention, unless otherwise specified, include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0033] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] Refer to the following Figures 1 to 8 The unmanned vehicle suspension chassis 10 according to some embodiments of the present invention is described.

[0035] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 7 As shown, according to some embodiments of the present invention, an unmanned vehicle suspension chassis 10 includes: a support assembly 100; a transmission assembly 200, which is arranged on the support assembly 100, and the transmission assembly 200 includes a plurality of first transmission wheels 210 and a plurality of second transmission wheels 220; a first walking assembly 300; a second walking assembly 400, the support assembly 100 is located between the first walking assembly 300 and the second walking assembly 400, and the first walking assembly 300 and the second walking assembly 400 both include: a crawler 500, each first transmission wheel 210 abuts against the inner peripheral wall 510 of the crawler of the first walking assembly 300, Each second transmission wheel 220 abuts against the inner circumferential wall 510 of the crawler track of the second walking assembly 400, and the plurality of first transmission wheels 210 and the plurality of second transmission wheels 220 are arranged at intervals along the circumference of the crawler track 500; the elastic cover group 600 is connected to one side of the crawler track 500, and the elastic cover group 600 and the crawler track 500 enclose a groove structure with an opening, and the opening of the groove structure faces the bracket assembly 100; wherein, the plurality of first transmission wheels 210 and the plurality of second transmission wheels 220 cooperate to simultaneously drive the crawler track 500 of the first walking assembly 300 and the crawler track 500 of the second walking assembly 400 to move.

[0036] In this embodiment, the unmanned vehicle suspension chassis 10 includes a support assembly 100 , a transmission assembly 200 , a first traveling assembly 300 , and a second traveling assembly 400 .

[0037] The transmission assembly 200 is disposed on the support assembly 100 , and the transmission assembly 200 includes a plurality of first transmission wheels 210 and a plurality of second transmission wheels 220 .

[0038] The first traveling assembly 300 includes a crawler 500, and the second traveling assembly 400 includes a crawler 500. Each first transmission wheel 210 abuts against the inner peripheral wall 510 of the crawler of the first traveling assembly 300, and each second transmission wheel 220 abuts against the inner peripheral wall 510 of the crawler of the second traveling assembly 400. That is, a plurality of first transmission wheels 210 abut against the inner peripheral wall 510 of the crawler of the first traveling assembly 300, and a plurality of second transmission wheels 220 abut against the inner peripheral wall 510 of the crawler of the second traveling assembly 400. A plurality of first transmission wheels 210 are arranged at intervals along the circumference of the crawler 500 of the first traveling assembly 300, and a plurality of second transmission wheels 220 are arranged at intervals along the circumference of the crawler 500 of the second traveling assembly 400. The plurality of first transmission wheels 210 and the plurality of second transmission wheels 220 rotate to drive the crawler track 500 of the first traveling assembly 300 and the crawler track 500 of the second traveling assembly 400 to move, so as to achieve the purpose of the unmanned vehicle moving or turning.

[0039] Furthermore, the first walking assembly 300 further includes an elastic cover group 600, which is connected to one side of the crawler 500, and the elastic cover group 600 and the crawler 500 enclose a groove structure with an opening, and the opening of the groove structure faces the support assembly 100. In other words, the elastic cover group 600 is connected to the side of the crawler 500 away from the support assembly 100, and the elastic cover group 600 has the function of closing the side of the crawler 500 away from the support assembly 100, which can protect the transmission assembly 200, and the transmission assembly 200 will not be exposed to the first walking assembly 300 through the crawler 500. In this way, when the unmanned vehicle is walking or turning, the elastic cover group 600 can play a role in blocking impurities such as dust and stones, and impurities such as dust and stones will not enter the interior of the transmission assembly 200 through the crawler 500, so that the wear of the transmission assembly 200 can be greatly reduced, which is conducive to extending the service life of the transmission assembly 200.

[0040] Furthermore, the second walking assembly 400 further includes an elastic cover group 600, which is connected to one side of the crawler 500, and the elastic cover group 600 and the crawler 500 enclose a groove structure with an opening, and the opening of the groove structure faces the support assembly 100. In other words, the elastic cover group 600 is connected to the side of the crawler 500 away from the support assembly 100, and the elastic cover group 600 has the function of closing the side of the crawler 500 away from the support assembly 100, which can protect the transmission assembly 200, and the transmission assembly 200 will not be exposed to the second walking assembly 400 through the crawler 500. In this way, when the unmanned vehicle is walking or turning, the elastic cover group 600 can block impurities such as dust and stones, and impurities such as dust and stones will not enter the interior of the transmission assembly 200 through the crawler 500, so that the wear of the transmission assembly 200 can be greatly reduced, which is conducive to extending the service life of the transmission assembly 200.

[0041] It can be understood that the elastic cover group 600 is elastic, and the shape of the elastic cover group 600 can change with the shape of the track 500. That is, the elastic cover group 600 not only has the function of protecting the transmission assembly 200, but also will not hinder the movement and deformation of the track 500, and can ensure the normal operation of the unmanned vehicle suspension chassis 10.

[0042] Preferably, Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the elastic cover group 600 includes an elastic cover 610 and a rotating disk 620, the outer edge 622 of the rotating disk 620 and the inner circumferential wall 510 of the track are arranged at intervals, the elastic cover 610 is connected between the track 500 and the rotating disk 620, and the rotating disk 620 is provided with an annular groove 624; the first walking component 300 and the second walking component 400 also include a telescopic shaft group 700, the fixed end of the telescopic shaft group 700 is connected to the bracket component 100, and the telescopic end of the telescopic shaft group 700 is slidably connected to the annular groove 624.

[0043] In this embodiment, the structures of the first traveling assembly 300 and the second traveling assembly 400 are further defined.

[0044] The elastic cover assembly 600 includes an elastic cover 610 and a rotating disk 620, wherein the outer edge 622 of the rotating disk 620 and the inner peripheral wall 510 of the track are arranged at intervals, and the elastic cover 610 is connected between the track 500 and the rotating disk 620. In other words, the elastic cover 610 is an annular structure, wherein the inner peripheral wall of the elastic cover 610 is connected to the outer edge 622 of the rotating disk 620, and the outer peripheral wall of the elastic cover 610 is connected to the track 500.

[0045] The first walking assembly 300 and the second walking assembly 400 both further include a telescopic shaft group 700 , that is, the first walking assembly 300 further includes the telescopic shaft group 700 , and the second walking assembly 400 further includes the telescopic shaft group 700 .

[0046] The rotating disk 620 is provided with an annular groove 624. The telescopic shaft group 700 has a fixed end and a telescopic end, the fixed end of the telescopic shaft group 700 is connected to the bracket assembly 100, and the telescopic end of the telescopic shaft group 700 is slidably connected to the annular groove 624. The telescopic shaft group 700 has the function of supporting the rotating disk 620, and can ensure the spacing between the bracket assembly 100 and the rotating disk 620, and further ensure the area of ​​the area surrounded by the elastic cover 610, and can play the role of supporting and fixing the elastic cover 610.

[0047] It is understandable that when the unmanned vehicle is moving or turning, the shape of the crawler 500 will change adaptively according to different road conditions. The unmanned vehicle suspension chassis 10 of the present invention is applied to the unmanned vehicle, and the unmanned vehicle includes a controller, which is electrically connected to the telescopic shaft group 700, and the controller can control the telescopic shaft group 700 to work.

[0048] The present invention defines the matching structure of the rotating disk 620 and the telescopic shaft group 700, so that the rotating disk 620 is provided with an annular groove 624, and the telescopic end of the telescopic shaft group 700 is slidably connected with the annular groove 624. When the unmanned vehicle is walking or turning, the track 500 is deformed. After the track 500 is deformed, the stretching amount of the elastic cover 610 changes. After receiving the signal, the controller determines the stretching amount and deformation position of the elastic cover 610 according to the signal, and controls the telescopic end of the telescopic shaft group 700 to extend or retract accordingly, and controls the telescopic shaft group 700 to slide relative to the annular groove 624 to adjust the rotation angle of the rotating disk 620, so as to achieve the purpose of reducing the deformation amount of the elastic cover 610. In this way, the deformation amount of the elastic cover 610 during the working process can be improved, the elastic fatigue loss of the elastic cover 610 can be reduced, and it is beneficial to extend the service life of the elastic cover 610.

[0049] Preferably, Figure 4 , Figure 5 and Figure 6 As shown, a first spherical groove 626 is provided in the middle of the rotating disk 620, and an annular groove 624 is arranged around the first spherical groove 626; the first walking assembly 300 and the second walking assembly 400 also include: an installation shaft 800, one end of the installation shaft 800 is connected to the bracket assembly 100, and the other end of the installation shaft 800 is a first spherical end 810, the first spherical end 810 is rotatably connected to the first spherical groove 626, and the length of the installation shaft 800 along the bracket assembly 100 to the rotating disk 620 is less than the length of the telescopic shaft group 700; wherein, the length of the crawler 500 in the first direction is greater than the length of the crawler 500 in the second direction, and along the second direction, the distance between the two rotating disks 620 gradually increases.

[0050] In this embodiment, the structures of the first traveling assembly 300 and the second traveling assembly 400 are further defined.

[0051] The first walking assembly 300 and the second walking assembly 400 both include a mounting shaft 800 , that is, the first walking assembly 300 also includes a mounting shaft 800 , and the second walking assembly 400 also includes a mounting shaft 800 . One end of the mounting shaft 800 is connected to the bracket assembly 100 , and the other end of the mounting shaft 800 is a first spherical end 810 .

[0052] A first spherical groove 626 is provided in the middle of the rotating disk 620, the annular groove 624 is provided around the first spherical groove 626, and the first spherical end 810 cooperates with the first spherical groove 626. Specifically, the first spherical end 810 is rotatably connected to the first spherical groove 626.

[0053] The mounting shaft 800 and the telescopic shaft group 700 are both connected between the bracket assembly 100 and the rotating disk 620. The mounting shaft 800 and the telescopic shaft group 700 both have the function of supporting and limiting the rotating disk 620, and can ensure the matching size of the rotating disk 620, the crawler 500 and the bracket assembly 100.

[0054] In addition, the lengths of the installation shaft 800 and the telescopic shaft assembly 700 in the direction from the bracket assembly 100 to the rotating disk 620 are different. That is, by limiting the matching dimensions of the installation shaft 800 and the telescopic assembly, the rotating disk 620 is arranged tilted.

[0055] Specifically, the length of the crawler 500 in the first direction is greater than the length of the crawler 500 in the second direction, and the distance between the two rotating disks 620 gradually increases along the second direction. The first direction is the forward direction of the unmanned vehicle, that is, the crawler 500 is long in the forward direction, and the crawler 500 is short in the second direction. This arrangement makes the rotating disk 620 of the first walking component 300 and the rotating disk 620 of the second walking component 400 in an inverted "eight" arrangement from the perspective of the forward direction of the unmanned vehicle.

[0056] The mounting shaft 800 supports the rotating disk 620 through the cooperation of the first spherical end 810 and the first spherical groove 626. The controller controls the extension and retraction of the telescopic shaft group 700 and adjusts the position of the telescopic end of the telescopic shaft group 700 in the annular groove 624 to adjust the inclination angle of the rotating disk 620, thereby achieving the purpose of reducing the deformation amount of the elastic cover 610 according to the shape correspondence of the track 500. In this way, the deformation amount of the elastic cover 610 during the working process can be improved, the elastic fatigue loss of the elastic cover 610 can be reduced, and the service life of the elastic cover 610 can be extended. At the same time, this setting makes the part of the elastic cover 610 located below the rotating disk 620 and between the track 500 arranged inwardly, which can reduce the probability of the elastic cover 610 being scratched by foreign objects when the unmanned vehicle is walking or turning, which is conducive to further extending the service life of the elastic cover 610.

[0057] It is understandable that the first spherical end 810 is rotatably connected to the first spherical groove 626 . This arrangement can ensure the effectiveness and reliability of the mounting shaft 800 supporting the rotating disk 620 , and the mounting shaft 800 will not hinder the rotation of the rotating disk 620 .

[0058] Preferably, Figure 4 and Figure 5 As shown, the telescopic shaft group 700 includes: a sliding block 710, which is slidably connected to the annular groove 624, and the sliding block 710 is provided with a second spherical groove 712; a telescopic shaft 720, one end of the telescopic shaft 720 is connected to the bracket assembly 100, and the other end of the telescopic shaft 720 is a second spherical end 722, and the second spherical end 722 is rotatably connected to the second spherical groove 712.

[0059] In this embodiment, the structure of the telescopic shaft group 700 is further defined.

[0060] The telescopic shaft assembly 700 includes a sliding block 710 and a telescopic shaft 720. The sliding block 710 is slidably connected to the annular groove 624, and the sliding block 710 is provided with a second spherical groove 712. One end of the telescopic shaft 720 is connected to the bracket assembly 100, and the other end of the telescopic shaft 720 is a second spherical end 722. The second spherical end 722 is rotatably matched with the second spherical groove 712. This setting can meet the use requirements of the telescopic shaft assembly 700 and the rotating disk 620 being slidably connected.

[0061] It is understandable that the second spherical end 722 is rotatably connected to the second spherical groove 712 . This arrangement can ensure the effectiveness and reliability of the telescopic shaft group 700 in supporting the rotating disk 620 , and the telescopic shaft group 700 will not hinder the rotation of the rotating disk 620 .

[0062] It is understandable that the end of the telescopic shaft 720 connected to the bracket assembly 100 is the fixed end of the telescopic shaft 720. The second spherical end 722 of the telescopic shaft 720 rotatably connected to the sliding block 710 is the telescopic end of the telescopic shaft 720.

[0063] Preferably, Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown, a first annular groove 520 is provided on the side of the track 500 facing away from the bracket, and the outer edge of the elastic cover 610 is clamped in the first annular groove 520 ; a second annular groove 628 is provided on the outer peripheral wall of the rotating disk 620, and the inner edge of the elastic cover 610 is clamped in the second annular groove 628 .

[0064] In this embodiment, the matching structure of the track 500, the elastic cover 610 and the rotating disk 620 is further defined.

[0065] A first annular groove 520 is provided on the side of the crawler 500 away from the bracket, and a second annular groove 628 is provided on the outer peripheral wall of the rotating disk 620. The outer edge of the elastic cover 610 is engaged with the first annular groove 520, and the inner edge of the elastic cover 610 is engaged with the second annular groove 628.

[0066] This arrangement increases the matching area between the elastic cover 610 and the track 500 and the matching area between the elastic cover 610 and the rotating disk 620, which is beneficial to improving the stability and reliability of the assembly of the elastic cover 610, the track 500 and the rotating disk 620, and preventing the elastic cover 610 from falling off the track 500 and / or the rotating disk 620 during operation.

[0067] Preferably, the rotating disk 620 is located in the middle of the area surrounded by the crawler track 500 .

[0068] In this embodiment, the matching structure of the rotating disk 620 and the crawler 500 is further defined. The rotating disk 620 is located in the middle of the area surrounded by the crawler 500. That is, the installation position of the rotating disk 620 relative to the crawler 500 is defined. This arrangement is conducive to ensuring the balance of forces at different positions of the elastic cover 610 during operation, and can avoid the occurrence of excessive deformation of a local area of ​​the elastic cover 610, which is conducive to reducing the elastic fatigue loss of the elastic cover 610.

[0069] Preferably, the first annular groove 520 is located between the inner peripheral wall 510 of the crawler track and the outer peripheral wall of the crawler track 500 .

[0070] In this embodiment, the structure of the crawler 500 is further limited so that the first annular groove 520 is located between the inner peripheral wall 510 of the crawler and the outer peripheral wall of the crawler 500. That is, the connection between the elastic cover 610 and the crawler 500 is located between the inner peripheral wall 510 of the crawler and the outer peripheral wall of the crawler 500. In other words, the elastic cover 610 does not protrude from the outer peripheral wall of the crawler 500, and the elastic cover 610 is arranged inwardly, which can reduce the probability of the elastic cover 610 being scratched by foreign objects when the unmanned vehicle is walking or turning, which is conducive to further extending the service life of the elastic cover 610.

[0071] Preferably, Figure 2As shown, the transmission assembly 200 also includes a plurality of transmission parts 230, which are arranged at intervals along the first direction, and along the second direction, the plurality of transmission parts 230 are all arranged above the bracket assembly 100, and each transmission part 230 includes: a telescopic cylinder 232, which is connected to the bracket assembly 100; a first shaft body 234, which is connected to the end of the telescopic cylinder 232 away from the bracket assembly 100, and the first shaft body 234 is rotatably connected to the telescopic cylinder 232, and the two ends of the first shaft body 234 are respectively connected to a first transmission wheel 210 and a second transmission wheel 220; the bracket assembly 100 is provided with a first slide groove 110 and a second slide groove 120, the first slide groove 110 and the second slide groove 120 are arranged at intervals in the first direction, and the first slide groove 110 and the second slide groove 120 both extend along the first direction; the transmission The component 200 also includes a second shaft 240 and a third shaft 250; the second shaft 240 is connected to the first slide groove 110, and the two ends of the second shaft 240 are respectively connected to a first transmission wheel 210 and a second transmission wheel 220, and the second shaft 240 can slide and rotate relative to the first slide groove 110; the third shaft 250 is connected to the second slide groove 120, and the two ends of the third shaft 250 are respectively connected to a first transmission wheel 210 and a second transmission wheel 220, and the third shaft 250 can slide and rotate relative to the second slide groove 120; along the second direction, the orthographic projection of the axis of the first shaft 234 of the multiple transmission parts 230 on the projection plane is located between the axis of the second shaft 240 and the axis of the third shaft 250, and the projection plane passes through the axis of the second shaft 240 and the axis of the third shaft 250.

[0072] In this embodiment, the structure of the transmission assembly 200 is further defined.

[0073] The transmission assembly 200 includes a plurality of transmission parts 230. The plurality of transmission parts 230 are arranged at intervals along the first direction. The plurality of transmission parts 230 are all arranged above the bracket assembly 100 along the second direction.

[0074] Any transmission part 230 of the plurality of transmission parts 230 includes a telescopic cylinder 232 and a first shaft 234. The telescopic cylinder 232 is connected to the bracket assembly 100, and the bracket assembly 100 has the function of installing and fixing the telescopic cylinder 232, and can ensure the matching size of the plurality of transmission parts 230.

[0075] The first shaft 234 is connected to one end of the telescopic cylinder 232 away from the bracket assembly 100, and the first shaft 234 is rotatably connected to the telescopic cylinder 232. One end of the first shaft 234 is connected to a first transmission wheel 210, and the other end of the first shaft 234 is connected to a second transmission wheel 220. Specifically, the fixed end of the telescopic cylinder 232 is connected to the bracket assembly 100, and the first shaft 234 is connected to the telescopic end of the telescopic cylinder 232. The telescopic cylinder 232 is electrically connected to the controller of the unmanned vehicle, and the controller can control the telescopic cylinder 232 to work.

[0076] The support assembly 100 is provided with a first slide groove 110 and a second slide groove 120. The transmission assembly 200 further includes a second shaft body 240 and a third shaft body 250. The second shaft body 240 is slidably and rotatably matched with the first slide groove 110, and the third shaft body 250 is slidably and rotatably matched with the second slide groove 120. The two ends of the second shaft body 240 are respectively connected to a first transmission wheel 210 and a second transmission wheel 220, and the two ends of the third shaft body 250 are respectively connected to a first transmission wheel 210 and a second transmission wheel 220.

[0077] The first chute 110 and the second chute 120 are arranged at intervals in the first direction, and both the first chute 110 and the second chute 120 extend along the first direction. In addition, along the second direction, the orthographic projection of the axis of the first shaft body 234 of the plurality of transmission parts 230 on the projection plane is located between the axis of the second shaft body 240 and the axis of the third shaft body 250, and the projection plane passes through the axis of the second shaft body 240 and the axis of the third shaft body 250. In other words, the first transmission wheel 210 and the second transmission wheel 220 on the second shaft body 240, and the first transmission wheel 210 and the second transmission wheel 220 on the third shaft body 250 cooperate to support the crawler 500 in the first direction, and ensure the size of the crawler 500 in the first direction.

[0078] The second shaft body 240 can slide relative to the first sliding groove 110 in the first direction, and the third shaft body 250 can slide relative to the second sliding groove 120 in the first direction.

[0079] Take the unmanned vehicle encountering an obstacle as an example. When the unmanned vehicle encounters an obstacle, the controller controls the telescopic cylinder 232 of the transmission part 230 to extend to increase the size of the crawler 500 in the second direction. At the same time, the crawler 500 drives the second shaft 240 to slide along the first slide groove 110, and drives the third shaft 250 to slide along the second slide groove 120. The second shaft 240 and the third shaft 250 are close to each other to shorten the size of the crawler 500 in the first direction, thereby crossing the obstacle. This setting can meet the walking requirements of the crawler 500 on different terrains. The crawler 500 can increase or decrease the external dimensions in the first direction and the second direction, and provide structural support for the crawler 500 to be able to deform adaptively when walking on different terrains. In this way, the obstacle crossing ability of the unmanned vehicle can be improved.

[0080] It can be understood that the first shaft 234 is rotationally connected to the telescopic cylinder 232, and the first transmission wheel 210 and the second transmission wheel 220 are fixedly connected to the first shaft 234. The rotation of the first shaft 234 can drive the first transmission wheel 210 and the second transmission wheel 220 to rotate synchronously, so as to achieve the purpose of driving the crawler 500 to move.

[0081] It can be understood that the second shaft 240 can rotate relative to the first slide groove 110, the first transmission wheel 210 and the second transmission wheel 220 are both fixedly connected to the second shaft 240, and the rotation of the second shaft 240 can drive the first transmission wheel 210 and the second transmission wheel 220 to rotate synchronously, so as to achieve the purpose of driving the crawler 500. The third shaft 250 can rotate relative to the second slide groove 120, the first transmission wheel 210 and the second transmission wheel 220 are both fixedly connected to the third shaft 250, and the rotation of the third shaft 250 can drive the first transmission wheel 210 and the second transmission wheel 220 to rotate synchronously, so as to achieve the purpose of driving the crawler 500.

[0082] Preferably, Figure 2 As shown, the number of the first slide grooves 110 and the number of the second slide grooves 120 are both two. Along the third direction, the two first slide grooves 110 are arranged opposite to each other and spaced apart, and the two second slide grooves 120 are arranged opposite to each other and spaced apart; the second shaft 240 is connected to the two first slide grooves 110, and the third shaft 250 is connected to the two second slide grooves 120.

[0083] In this embodiment, the matching structure of the bracket assembly 100 and the transmission assembly 200 is further defined.

[0084] The bracket assembly 100 is provided with two first slide grooves 110 and two second slide grooves 120. Along the third direction, the two first slide grooves 110 are arranged oppositely and spaced apart, and the two second slide grooves 120 are arranged oppositely and spaced apart. The second shaft 240 is connected to the two first slide grooves 110, and the third shaft 250 is connected to the two second slide grooves 120.

[0085] Since the second shaft body 240 can slide in the first direction relative to the two first slide grooves 110, and the third shaft body 250 can slide in the first direction relative to the two second slide grooves 120, when the unmanned vehicle is moving, the second shaft body 240 can drive a first transmission wheel 210 and a second transmission wheel 220 to slide in the first direction under the action of the track 500, and / or the third shaft body 250 can drive a first transmission wheel 210 and a second transmission wheel 220 to slide in the first direction under the action of the track 500, so as to adaptively adjust the distance between the second shaft body 240 and the third shaft body 250 according to the shape of the track 500.

[0086] From another perspective, since the second shaft 240 can drive the first transmission wheel 210 and the second transmission wheel 220 to move forward and backward under the action of external force along the first direction, and the third shaft 250 can drive the first transmission wheel 210 and the second transmission wheel 220 to move forward and backward under the action of external force, the walking requirements of the track 500 on different terrains can be met. The track 500 can increase or decrease its external dimensions in the first direction, providing structural support for the adaptive deformation of the track 500 when walking on different terrains, thereby improving the obstacle-crossing ability of the unmanned vehicle.

[0087] It can be understood that the second shaft body 240 cooperates with the two first slide grooves 110. This arrangement increases the cooperation area and cooperation angle between the second shaft body 240 and the first slide grooves 110, so that the second shaft body 240 can be stably transferred to the bracket assembly 100, and can ensure the stability and reliability of the second shaft body 240 when sliding relative to the first slide groove 110, and can also ensure the stability and reliability of the second shaft body 240 when rotating relative to the first slide groove 110.

[0088] It can be understood that the third shaft 250 cooperates with the two second slide grooves 120. This arrangement increases the cooperation area and cooperation angle between the third shaft 250 and the second slide grooves 120, so that the third shaft 250 can be stably transferred to the bracket assembly 100, and can ensure the stability and reliability of the third shaft 250 when sliding relative to the second slide grooves 120, and can also ensure the stability and reliability of the third shaft 250 when rotating relative to the second slide grooves 120.

[0089] It is understandable that the transmission assembly 200 further includes a first reset member and a second reset member, the first reset member is used to drive the second shaft 240 to reset when the telescopic cylinder 232 retracts, and the second reset member is used to drive the third shaft 250 to reset when the telescopic cylinder 232 retracts.

[0090] Preferably, Figure 2 As shown, the unmanned vehicle suspension chassis 10 also includes: a tensioning mechanism 900, which is connected to the support assembly 100, and the tensioning mechanism 900 is used to press a portion of the track 500 to the ground; the transmission assembly 200 also includes two fourth shafts 260, and the two fourth shafts 260 are both arranged on the side of the support assembly 100 away from the transmission part 230, and the tensioning mechanism 900 is located between the two fourth shafts 260, and the two ends of the fourth shaft 260 are respectively connected to a first transmission wheel 210 and a second transmission wheel 220.

[0091] In this embodiment, the structure of the unmanned vehicle suspension chassis 10 is further defined.

[0092] The unmanned vehicle suspension chassis 10 also includes a tensioning mechanism 900, which is connected to the bracket assembly 100. The tensioning mechanism 900 is used to press a portion of the track 500 against the ground to increase the friction between the track 500 and the ground, thereby ensuring the stability of the unmanned vehicle during operation.

[0093] The transmission assembly 200 also includes two fourth shafts 260, which are both arranged on the side of the bracket assembly 100 away from the transmission part 230. The tensioning mechanism 900 is located between the two fourth shafts 260, and the two ends of the fourth shaft 260 are respectively connected to a first transmission wheel 210 and a second transmission wheel 220.

[0094] The first transmission wheel 210 and the second transmission wheel 220 on the first shaft 234 , the first transmission wheel 210 and the second transmission wheel 220 on the second shaft 240 , the first transmission wheel 210 and the second transmission wheel 220 on the third shaft 250 , and the first transmission wheel 210 and the second transmission wheel 220 on the fourth shaft 260 cooperate to effectively support the crawler track 500 .

[0095] Preferably, among the plurality of transmission parts 230 , the first shaft bodies 234 of the two outermost transmission parts 230 are respectively arranged opposite to the two fourth shaft bodies 260 .

[0096] In this embodiment, the matching structure of the plurality of transmission parts 230 and the two fourth shaft bodies 260 is further defined.

[0097] Specifically, among the plurality of transmission parts 230, the first shaft bodies 234 of the two transmission parts 230 located at the outermost sides are respectively arranged opposite to the two fourth shaft bodies 260. This arrangement defines the matching structure of the two first shaft bodies 234 located at the outermost sides and the two fourth shaft bodies 260. It can be understood that the two first shaft bodies 234 located at the outermost sides and the two fourth shaft bodies 260 form four corners of a quadrilateral structure, so that the crawler 500 can be supported in multiple directions and multiple angles, so that even if the crawler 500 is deformed, it can still be effectively supported by the multiple first transmission wheels 210 and the multiple second transmission wheels 220 of the transmission assembly 200, ensuring that the crawler 500 can move normally and can effectively cross obstacles.

[0098] Optionally, an elastic cover assembly 600 is put on the outer circumference of the crawler 500, and the elastic cover assembly 600 can prevent some dust and stones from getting stuck in the interior of the transmission assembly 200. The elastic cover assembly 600 includes an elastic cover 610 and a rotating disk 620, the outer edge of the elastic cover 610 is fixed to the inner side of the crawler 500, and the inner edge of the elastic cover 610 is fixed to the outer edge 622 of the rotating disk 620.

[0099] Furthermore, the rotating disk 620 is arranged at an angle. Figure 4As shown, from the perspective of the forward direction of the unmanned vehicle, the rotating disk 620 of the first walking component 300 and the rotating disk 620 of the second walking component 400 are arranged in an inverted "eight" shape. This arrangement has the following two advantages. First, the elastic deformation of the elastic cover 610 during operation is not large (because the size of the crawler 500 in the forward direction (that is, the first direction) is large, and the size of the crawler 500 in the second direction is small), which minimizes the elastic fatigue loss of the elastic cover 610. Second, the elastic cover 610 is located below the rotating disk 620 and between the crawler 500. The part is arranged inward, which can reduce the probability of the elastic cover 610 being scratched by foreign objects when the unmanned vehicle is walking or turning, which is conducive to further extending the service life of the elastic cover 610.

[0100] Furthermore, the present invention reasonably arranges the matching structure of multiple transmission parts 230, the first shaft 234, the second shaft 240, the fourth shaft 260, the multiple first transmission wheels 210, the multiple second transmission wheels 220, the bracket assembly 100 and the tensioning mechanism 900 of the transmission assembly 200, so that the track 500 can adjust its external dimensions according to different terrain adaptability, thereby improving the obstacle crossing capability.

[0101] Furthermore, by limiting the matching structure of the mounting shaft 800, the rotating disk 620, the telescopic shaft assembly 700, the track 500 and the elastic cover 610, when the track 500 is adaptively deformed according to the terrain, the rotating disk 620 can adaptively adjust the rotation angle to ensure that the amount of elastic deformation of the elastic cover 610 during operation is not large, which can further reduce the elastic fatigue loss of the elastic cover 610.

[0102] The crawler track 500 is fixedly connected to the outer edge of the elastic cover 610. The rotating disk 620 is fixedly connected to the inner edge of the elastic cover 610. The sliding block 710 is slidably connected to the rotating disk 620. The second spherical end 722 of the telescopic shaft 720 is rotatably connected to the second spherical groove 712 of the sliding block 710. The first spherical end 810 of the mounting shaft 800 is rotatably connected to the first spherical groove 626 of the rotating disk 620. The telescopic cylinder 232 is rotatably connected to the first shaft body 234. The first shaft body 234 is fixedly connected to the first transmission wheel 210 and the second transmission wheel 220. The second shaft body 240 is slidably and rotatably connected to the first slide groove 110, and the second shaft body 240 can slide relative to the first slide groove 110, and the second shaft body 240 can also rotate relative to the first slide groove 110. The third shaft body 250 is connected to the second slide groove 120 by sliding and rotation. The third shaft body 250 can slide relative to the second slide groove 120 , and the third shaft body 250 can also rotate relative to the second slide groove 120 .

[0103] Optionally, the controller controls the movement of the first shaft 234 , the second shaft 240 , the third shaft 250 and the fourth shaft 260 .

[0104] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0105] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An unmanned vehicle suspension chassis, characterized in that: include: Bracket assembly; A transmission assembly, arranged on the support assembly, the transmission assembly comprising a plurality of first transmission wheels and a plurality of second transmission wheels; A first walking assembly; A second walking assembly, wherein the support assembly is located between the first walking assembly and the second walking assembly, and the first walking assembly and the second walking assembly both include: crawler track, each of the first transmission wheels abuts against the inner circumferential wall of the crawler track of the first traveling assembly, each of the second transmission wheels abuts against the inner circumferential wall of the crawler track of the second traveling assembly, and a plurality of the first transmission wheels and a plurality of the second transmission wheels are arranged at intervals along the circumference of the crawler track; An elastic cover assembly is connected to one side of the crawler, wherein the elastic cover assembly and the crawler enclose a groove-shaped structure with an opening, and the opening of the groove-shaped structure faces the bracket assembly; Wherein, a plurality of the first transmission wheels and a plurality of the second transmission wheels cooperate to simultaneously drive the crawler tracks of the first traveling assembly and the crawler tracks of the second traveling assembly to move; The elastic cover group includes an elastic cover and a rotating disk, the outer edge of the rotating disk and the inner peripheral wall of the crawler are arranged at intervals, the elastic cover is connected between the crawler and the rotating disk, and the rotating disk is provided with an annular groove; The first walking assembly and the second walking assembly both further include a telescopic shaft group, a fixed end of the telescopic shaft group is connected to the bracket assembly, and a telescopic end of the telescopic shaft group is slidably connected to the annular groove.

2. The unmanned vehicle suspension chassis according to claim 1, characterized in that: A first spherical groove is provided in the middle of the rotating disk, and the annular groove is arranged around the first spherical groove; The first walking assembly and the second walking assembly both further include: A mounting shaft, one end of which is connected to the bracket assembly, and the other end of which is a first spherical end, which is rotatably connected to the first spherical groove, along the bracket assembly to the rotating disk, and the length of the mounting shaft is less than the length of the telescopic shaft group; The length of the crawler in the first direction is greater than the length of the crawler in the second direction, and the distance between the two rotating disks gradually increases along the second direction.

3. The unmanned vehicle suspension chassis according to claim 2, characterized in that: The telescopic shaft group comprises: A sliding block, the sliding block is slidably connected to the annular groove, and the sliding block is provided with a second spherical groove; A telescopic shaft, one end of which is connected to the bracket assembly, and the other end of which is a second spherical end, and the second spherical end is rotatably connected to the second spherical groove.

4. The unmanned vehicle suspension chassis according to any one of claims 1 to 3, characterized in that: A first annular groove is provided on a side of the crawler away from the bracket assembly, and the outer edge of the elastic cover is clamped in the first annular groove; The outer peripheral wall of the rotating disk is provided with a second annular groove, and the inner edge of the elastic cover is clamped in the second annular groove.

5. The unmanned vehicle suspension chassis according to claim 4, characterized in that: The rotating disk is located in the middle of the area surrounded by the crawler track; The first annular groove is located between the inner peripheral wall of the crawler belt and the outer peripheral wall of the crawler belt.

6. The unmanned vehicle suspension chassis according to any one of claims 1 to 3, characterized in that: The transmission assembly further includes a plurality of transmission parts, which are arranged at intervals along the first direction, and along the second direction, the plurality of transmission parts are all arranged above the bracket assembly, and each of the transmission parts includes: A telescopic cylinder connected to the bracket assembly; A first shaft body, wherein the first shaft body is connected to one end of the telescopic cylinder away from the bracket assembly, and the first shaft body is rotatably connected to the telescopic cylinder, and two ends of the first shaft body are respectively connected to the first transmission wheel and the second transmission wheel; The bracket assembly is provided with a first slide groove and a second slide groove, the first slide groove and the second slide groove are arranged at intervals in a first direction, and the first slide groove and the second slide groove both extend along the first direction; The transmission assembly also includes a second shaft body and a third shaft body; The second shaft body is connected to the first slide groove, and two ends of the second shaft body are respectively connected to the first transmission wheel and the second transmission wheel, and the second shaft body can slide and rotate relative to the first slide groove; The third shaft body is connected to the second slide groove, and two ends of the third shaft body are respectively connected to the first transmission wheel and the second transmission wheel, and the third shaft body can slide and rotate relative to the second slide groove; Along the second direction, the orthographic projection of the axis of the first shaft of the plurality of transmission parts on the projection plane is located between the axis of the second shaft and the axis of the third shaft, and the projection plane passes through the axis of the second shaft and the axis of the third shaft.

7. The unmanned vehicle suspension chassis according to claim 6, characterized in that: The number of the first chute and the number of the second chute are both two, and along the third direction, the two first chute are arranged opposite to each other and spaced apart, and the two second chute are arranged opposite to each other and spaced apart; The second shaft is connected to the two first sliding grooves, and the third shaft is connected to the two second sliding grooves.

8. The unmanned vehicle suspension chassis according to claim 6, characterized in that: Also includes: a tensioning mechanism connected to the bracket assembly, the tensioning mechanism being used to press a portion of the track toward the ground; The transmission assembly also includes two fourth shafts, which are both arranged on the side of the bracket assembly away from the transmission part, and the tensioning mechanism is located between the two fourth shafts. The two ends of the fourth shaft are respectively connected to the first transmission wheel and the second transmission wheel.

9. The unmanned vehicle suspension chassis according to claim 8, characterized in that: Among the plurality of transmission parts, the first shaft bodies of the two transmission parts located at the outermost sides are respectively arranged opposite to the two fourth shaft bodies.

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