Six-wheel all-terrain unmanned vehicle chassis

Abstract

The invention provides a six-wheel all-terrain unmanned vehicle chassis, relates to the technical field of vehicles, and solves the technical problems of low driving control precision, poor whole vehicle smoothness and low steering flexibility of an outer six-wheel unmanned vehicle chassis in the prior art. The device comprises a vehicle body, wheels, six driving systems, a balanced suspension, an independent suspension and an Ackerman steering system, the number of the wheels and the number of the driving systems are both six, the wheels and the driving systems are connected in a one-to-one correspondence mode, the two driving systems on the same side of the vehicle head of the vehicle body are connected through the balanced suspension, and the independent suspension is connected with the Ackerman steering system through the independent suspension. The balanced suspension is connected with the vehicle body, the single driving system at the tail of the vehicle body is movably connected with the independent suspension, the independent suspension is connected with the vehicle body, and the two driving systems at the tail of the vehicle body are connected through the Ackerman steering system.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a six-wheeled all-terrain unmanned vehicle chassis. Background Art

[0002] At present, the chassis of six-wheeled unmanned vehicles at home and abroad mostly adopt the following in terms of drive system, suspension system and steering system: ① Left and right centralized drive, such as the left centralized drive system drives the three wheels on the left side of the chassis through a transmission system such as a chain or a drive shaft, and the three wheels on the left side always have the same speed during driving (the same as the right side); ② Fixed suspension, a rigid connection is adopted between the wheel and the body; ③ Speed ​​differential steering, the left and right drive systems use different speeds, and the left and right wheels have different speeds through the transmission system, thereby enabling the chassis to achieve speed differential steering.

[0003] The main disadvantages of the six-wheeled unmanned vehicle chassis are: ① The left and right centralized drive transmission system is complex; under ideal conditions, the three wheels on the left and right sides should have different speeds when the speed difference is turned, and the centralized drive with the same speed causes power circulation inside the drive system; this also causes serious tire wear problems; ② The fixed suspension has poor adaptability to uneven roads. Under certain road conditions, there is a high probability that some wheels will be suspended in the air, making it difficult to fully exert the driving performance; the suspension system has poor impact resistance to road unevenness, which in turn causes the chassis and upper parts to be subjected to greater impact loads; ③ Speed ​​differential steering consumes large energy and causes serious tire wear; the turning radius varies greatly on roads with different adhesion coefficients under the same speed differential conditions.

[0004] This will result in the chassis of the six-wheeled unmanned vehicle having problems such as low driving control accuracy, poor vehicle smoothness and low steering flexibility. Summary of the invention

[0005] The purpose of the present invention is to provide a six-wheeled all-terrain unmanned vehicle chassis to solve the technical problems of low driving control accuracy, poor vehicle ride comfort and low steering flexibility in the existing six-wheeled unmanned vehicle chassis. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0006] To achieve the above object, the present invention provides the following technical solutions: The present invention provides a six-wheeled all-terrain unmanned vehicle chassis, comprising a vehicle body, wheels, a drive system, a balancing suspension, an independent suspension and an Ackerman steering system, wherein the number of the wheels and the drive system are both six, the wheels and the drive systems are connected in a one-to-one correspondence, the two drive systems on the same side at the front of the vehicle body are connected through the balancing suspension, the balancing suspension is connected to the vehicle body, a single drive system at the rear of the vehicle body is movably connected to the independent suspension, the independent suspension is connected to the vehicle body, and the two drive systems at the rear of the vehicle are connected through the Ackerman steering system.

[0007] Optionally, the drive system is a hub motor.

[0008] Optionally, the balancing suspension includes a suspension plate and a cylindrical hinge, the middle part of the suspension plate is connected to the cylindrical hinge, the cylindrical hinge is connected to the vehicle body, and the two ends of the suspension plate are respectively connected to the two drive systems on the same side of the front of the vehicle.

[0009] Optionally, connecting sleeves are provided at both ends of the suspension plate.

[0010] Optionally, the balanced suspension includes a first single longitudinal arm, a second single longitudinal arm, a shock absorber and a cylindrical hinge, the number of the cylindrical hinges is two, one end of the first single longitudinal arm is connected to one of the cylindrical hinges, the other end of the first single longitudinal arm is connected to one of the drive systems, one end of the second single longitudinal arm is connected to another of the cylindrical hinges, the other end of the second single longitudinal arm is connected to another of the drive systems, the cylindrical hinge is connected to the vehicle body, and the first single longitudinal arm and the second single longitudinal arm are rotatably connected to the shock absorber.

[0011] Optionally, the first single longitudinal arm and the second single longitudinal arm are both provided with a connecting hole, a fixing sleeve and an extension portion, the connecting hole is connected to the cylindrical hinge, the fixing sleeve is connected to the driving system, and the extension portion is rotationally connected to the shock absorber.

[0012] Optionally, the shock absorber includes a spring, a first movable part and a second movable part, the first movable part and the second movable part are movably connected and the spring is sleeved on the first movable part and the second movable part, the first movable part is rotationally connected to the first single longitudinal arm, and the second movable part is rotationally connected to the second single longitudinal arm.

[0013] Optionally, an elastic limiting block is provided on the vehicle body.

[0014] Optionally, the independent suspension is a double wishbone suspension or a McPherson suspension.

[0015] Optionally, the Ackerman steering system comprises a steering drive, a tie rod, a side tie rod and a steering knuckle, wherein the steering drive is connected to the tie rod, the end of the tie rod is connected to the side tie rod, the side tie rod is connected to the steering knuckle, and the steering knuckle is connected to a single drive system at the rear of the vehicle; The number of the side tie rods and the number of the steering knuckles are both two.

[0016] The present invention provides a six-wheeled all-terrain unmanned vehicle chassis, in which each of the six wheels is independently equipped with a drive system, and each drive system independently drives the corresponding wheel, so that the rotation of each wheel can be independently controlled, and the vehicle body can be flexibly turned through the speed difference of the wheels and the Ackerman steering system, and the wheels can run smoothly on uneven roads through balanced suspension and independent suspension, and the impact force of the uneven ground on the wheels can be reduced, so that the impact load on the chassis and the upper body is reduced, and the technical problems of low drive control accuracy, poor vehicle ride comfort and low steering flexibility existing in the existing six-wheeled unmanned vehicle chassis at home and abroad are solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a structural schematic diagram of a six-wheeled all-terrain unmanned vehicle chassis provided by an embodiment of the present invention; Figure 2 It is a structural schematic diagram of the connection between the balance suspension and the wheels of the six-wheeled all-terrain unmanned vehicle chassis provided by an embodiment of the present invention; Figure 3 It is a schematic structural diagram of a balanced suspension of a six-wheeled all-terrain unmanned vehicle chassis provided by an embodiment of the present invention; Figure 4 It is a structural schematic diagram of the independent suspension, Ackerman steering system and wheel connection of the six-wheel all-terrain unmanned vehicle chassis provided by an embodiment of the present invention; Figure 5 1 is a schematic structural diagram of another structure of a six-wheeled all-terrain unmanned vehicle chassis provided by an embodiment of the present invention; Figure 6 It is a schematic structural diagram of another structure of a six-wheeled all-terrain unmanned vehicle chassis and a wheel connection provided by an embodiment of the present invention; Figure 7 It is a schematic structural diagram of a balanced suspension of another structure of a six-wheeled all-terrain unmanned vehicle chassis provided by an embodiment of the present invention.

[0019] In the figure, 1, vehicle body; 11, elastic limit block; 2. Wheels; 3. Balance suspension; 31. Suspension plate; 311. Connecting sleeve; 32. Cylindrical hinge; 33. First single longitudinal arm; 331. Connecting hole; 332. Fixing sleeve; 333. Extension part; 34. Second single longitudinal arm; 35. Shock absorber; 351. Spring; 352. First movable part; 353. Second movable part; 4. Independent suspension; 5. Ackerman steering system; 51. Steering drive; 52. Tie rod; 53. Side tie rod; 54. Steering knuckle; 6. Hub motor. DETAILED DESCRIPTION

[0020] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0021] In the description of the present invention, it should be noted that, unless otherwise specified, the meaning of "multiple" is two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are 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 limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0022] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] The present invention provides a six-wheeled all-terrain unmanned vehicle chassis, comprising a vehicle body 1, wheels 2, a drive system, a balancing suspension 3, an independent suspension 4 and an Ackerman steering system 5, wherein the number of wheels 2 and the number of drive systems are both six, the wheels 2 and the drive systems are connected one by one, two drive systems on the same side at the front of the vehicle body 1 are connected through the balancing suspension 3, the balancing suspension 3 is connected to the vehicle body 1, a single drive system at the rear of the vehicle body 1 is movably connected to the independent suspension 4, the independent suspension 4 is connected to the vehicle body 1, and the two drive systems at the rear of the vehicle are connected through the Ackerman steering system 5. The present invention provides a six-wheeled all-terrain unmanned vehicle chassis, in which six wheels 2 are independently equipped with a drive system, each drive system independently drives the corresponding wheel 2, so that the rotation of each wheel 2 can be independently controlled, and the vehicle body 1 can be flexibly turned through the speed difference of the wheels 2 and the Ackerman steering system 5, and the wheels 2 can run smoothly on uneven roads through the balanced suspension 3 and the independent suspension 4, so as to reduce the impact force of the uneven ground on the wheels 2, so as to reduce the impact load on the chassis and the upper body, thereby solving the technical problems of low drive control accuracy, poor vehicle ride comfort and low steering flexibility in the existing six-wheeled unmanned vehicle chassis at home and abroad.

[0024] As an optional implementation, the drive system is a wheel hub motor 6, which adopts a distributed drive. The outer side of the wheel hub motor 6 is fixedly connected to the wheel 2, and can drive the wheel 2 to rotate. The inner side of the wheel hub motor 6 is connected to the balance suspension 3 or the independent suspension 4, and can transmit the force transmitted from the ground through the wheel 2 to the balance suspension 3 or the independent suspension 4 through the wheel hub motor 6, and then to the vehicle body 1. Since the speed and torque of each wheel hub motor 6 can be independently controlled, it can ensure that each wheel 2 has an ideal speed and torque when driving on uneven roads, especially when speed differential steering or Ackerman steering, and realize precise drive control.

[0025] As an optional implementation, there are two balancing suspensions 3, which are respectively located on both sides of the vehicle body 1 and are symmetrically arranged. The balancing suspension 3 includes a suspension plate 31 and a cylindrical hinge 32. The middle of the suspension plate 31 is connected to the cylindrical hinge 32, and the cylindrical hinge 32 is connected to the vehicle body 1. The two ends of the suspension plate 31 are respectively connected to the two drive systems on the same side of the front of the vehicle. The suspension plate 31 can swing through the cylindrical hinge 32. When the vehicle is driving on an uneven road, the height of the two wheels 2 on the same side of the front of the vehicle is different. The height difference drives the suspension plate 31 to rotate around the cylindrical center line of the cylindrical hinge 32 through the wheel 2 and the wheel hub motor 6, which reduces the impact of the height difference of the road surface on the vehicle body 1, and at the same time ensures that the two wheels 2 on the same side of the front of the vehicle are always in contact with the ground and the contact pressure is equal, so that the wheels 2 will not be suspended and lose adhesion.

[0026] As an optional implementation, both ends of the suspension plate 31 are provided with connecting sleeves 311 , and the connecting sleeves 311 can be connected to the hub motor 6 .

[0027] As an optional embodiment, the balancing suspension 3 includes a first single longitudinal arm 33, a second single longitudinal arm 34, a shock absorber 35 and a cylindrical hinge 32. There are two cylindrical hinges 32. One end of the first single longitudinal arm 33 is connected to a cylindrical hinge 32, and the first single longitudinal arm 33 rotates about the cylindrical center line of a cylindrical hinge 32. The other end of the first single longitudinal arm 33 is connected to a drive system. One end of the second single longitudinal arm 34 is connected to another cylindrical hinge 32, and the second single longitudinal arm 34 rotates about the cylindrical center line of another cylindrical hinge 32. The other end of the second single longitudinal arm 34 is connected to another drive system. The cylindrical hinge 32 is connected to the vehicle body 1, and the first single longitudinal arm 33 and the second single longitudinal arm 34 are rotationally connected with the shock absorber 35. When the vehicle body 1 encounters an uneven road surface, because the two wheels 2 on the same side of the front of the vehicle have a difference in height corresponding to the road surface, the height difference drives the first single longitudinal arm 33 to rotate around the cylindrical center line of the cylindrical hinge 32 through the wheel 2 and the wheel hub motor 6, and the second single longitudinal arm 34 rotates around the cylindrical center line of the cylindrical hinge 32, thereby reducing the impact of the road surface height difference on the vehicle body 1, and at the same time ensuring that the two wheels 2 on the same side of the front of the vehicle are always in contact with the ground and the contact pressure is equal, so that the wheels 2 will not be suspended and lose adhesion. At the same time, when the first single longitudinal arm 33 and the second single longitudinal arm 34 rotate, they will compress the shock absorber 35, which has a balancing function and a shock absorbing and buffering effect.

[0028] As an optional implementation, the first single longitudinal arm 33 and the second single longitudinal arm 34 are both provided with a connecting hole 331, a fixing sleeve 332 and an extension portion 333, the connecting hole 331 is connected to the cylindrical hinge 32, the fixing sleeve 332 is connected to the drive system, the fixing sleeve 332 can be connected to the hub motor 6, and the extension portion 333 is rotatably connected to the shock absorber 35.

[0029] As an optional embodiment, the shock absorber 35 includes a spring 351, a first movable part 352 and a second movable part 353, the first movable part 352 and the second movable part 353 are movably connected and the spring 351 is sleeved on the first movable part 352 and the second movable part 353, the first movable part 352 is rotatably connected to the first single longitudinal arm 33, and the second movable part 353 is rotatably connected to the second single longitudinal arm 34. The first movable part 352 and the second movable part 353 will perform telescopic movement under the movement of the first single longitudinal arm 33 and the second single longitudinal arm 34, thereby compressing the spring 351.

[0030] As an optional implementation, the vehicle body 1 is provided with elastic limit blocks 11, and the number of the elastic limit blocks 11 is four, and two elastic limit blocks 11 correspond to the two ends of the balancing suspension 3 respectively. The vehicle body is provided with elastic limit blocks 11, and when the height difference of the road surface corresponding to the two wheels 2 on the same side of the front of the vehicle exceeds a certain range, making the rotation angle of the balancing suspension 3 too large, the balancing suspension 3 will contact the elastic limit blocks 11, thereby limiting the balancing suspension 3 from continuing to rotate in that direction. Therefore, the elastic limit blocks 11 can limit the rotation angle of the balancing suspension 3, thereby keeping the up and down jumping amount of the two wheels 2 on the same side of the front of the vehicle within a certain range.

[0031] As an optional implementation, the independent suspension 4 is a double wishbone suspension or a McPherson suspension, mainly to facilitate the arrangement of the Ackerman steering system 5 in terms of space.

[0032] As an optional implementation, the Ackerman steering system 5 includes a steering drive 51, a tie rod 52, a side tie rod 53 and a steering knuckle 54, the steering drive 51 is connected to the tie rod 52, the end of the tie rod 52 is connected to the side tie rod 53, the side tie rod 53 is connected to the steering knuckle 54, and the steering knuckle 54 is connected to a single drive system at the rear of the vehicle; the number of the side tie rods 53 and the number of the steering knuckles 54 are both two.

[0033] The chassis adopts a composite steering system of distributed speed differential steering and Ackerman steering, which can adopt distributed speed differential steering alone, Ackerman steering alone, or the above two methods working together.

[0034] Distributed speed difference steering: Due to the use of distributed drive, the speeds of the six wheel hub motors 6 on the left and right sides of the vehicle body 1 can be controlled separately. When the speeds of the three wheel hub motors 6 on the right side of the vehicle body 1 are high, and thus the speeds of the three wheels 2 on the right side are high, and the speeds of the three wheel hub motors 6 on the left side of the vehicle body 1 are low, and thus the speeds of the three wheels 2 on the left side are low, the vehicle body 1 can turn left; similarly, it turns right. When the speeds of the wheel hub motors 6 on the left and right sides are the same and the rotation directions are opposite (i.e. one side rotates forward and the other side rotates reversely), the vehicle body 1 can achieve center steering.

[0035] Ackerman steering: that is, the vehicle body 1 is steered by deflecting the wheel 2. The steering drive 51 can drive the tie rod 52 to move left and right, and then drive the side tie rod 53 to move, while making the steering knuckle 54 and the hub motor 6 and the wheel 2 thereon deflect, and finally the vehicle body 1 is steered. The present invention adopts the Ackerman steering system 5 arranged at the rear of the vehicle, which can effectively reduce the steering radius.

[0036] Compound steering: the above two steering modes work together, that is, the tie rod 52 moves to the left, and at the same time, the right wheel 2 rotates at a high speed, the left wheel 2 rotates at a low speed, and the vehicle body 1 turns to the left as a whole. Compound steering can further reduce the turning radius.

[0037] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A six-wheeled all-terrain unmanned vehicle chassis, characterized in that: The vehicle comprises a vehicle body (1), wheels (2), a driving system, a balancing suspension (3), an independent suspension (4) and an Ackerman steering system (5), wherein: There are six wheels (2) and six drive systems each, and the wheels (2) and the drive systems are connected one-to-one. Two drive systems on the same side of the front of the vehicle body (1) are connected via the balancing suspension (3), and the balancing suspension (3) is connected to the vehicle body (1). A single drive system at the rear of the vehicle body (1) is movably connected to the independent suspension (4), and the independent suspension (4) is connected to the vehicle body (1). The two drive systems at the rear of the vehicle are connected via the Ackerman steering system (5).

2. The six-wheeled all-terrain unmanned vehicle chassis according to claim 1, characterized in that: The driving system is a wheel hub motor (6).

3. The six-wheeled all-terrain unmanned vehicle chassis according to claim 1, characterized in that: The balancing suspension (3) comprises a suspension plate (31) and a cylindrical hinge (32), the middle portion of the suspension plate (31) is connected to the cylindrical hinge (32), the cylindrical hinge (32) is connected to the vehicle body (1), and the two ends of the suspension plate (31) are respectively connected to the two drive systems on the same side of the front of the vehicle.

4. The six-wheeled all-terrain unmanned vehicle chassis according to claim 3 is characterized in that: Both ends of the suspension plate (31) are provided with connecting sleeves (311).

5. The six-wheeled all-terrain unmanned vehicle chassis according to claim 1, characterized in that: The balancing suspension (3) comprises a first single longitudinal arm (33), a second single longitudinal arm (34), a shock absorber (35) and a cylindrical hinge (32). The number of the cylindrical hinges (32) is two. One end of the first single longitudinal arm (33) is connected to one of the cylindrical hinges (32), the other end of the first single longitudinal arm (33) is connected to one of the driving systems, one end of the second single longitudinal arm (34) is connected to another of the cylindrical hinges (32), the other end of the second single longitudinal arm (34) is connected to another of the driving systems, the cylindrical hinge (32) is connected to the vehicle body (1), and the first single longitudinal arm (33) and the second single longitudinal arm (34) are rotatably connected to the shock absorber (35).

6. The six-wheeled all-terrain unmanned vehicle chassis according to claim 5, characterized in that: The first single longitudinal arm (33) and the second single longitudinal arm (34) are both provided with a connecting hole (331), a fixing sleeve (332) and an extension portion (333); the connecting hole (331) is connected to the cylindrical hinge (32); the fixing sleeve (332) is connected to the driving system; and the extension portion (333) is rotatably connected to the shock absorber (35).

7. The six-wheeled all-terrain unmanned vehicle chassis according to claim 5, characterized in that: The shock absorber (35) comprises a spring (351), a first movable part (352) and a second movable part (353); the first movable part (352) and the second movable part (353) are movably connected and the spring (351) is sleeved on the first movable part (352) and the second movable part (353); the first movable part (352) is rotatably connected to the first single longitudinal arm (33); and the second movable part (353) is rotatably connected to the second single longitudinal arm (34).

8. The six-wheeled all-terrain unmanned vehicle chassis according to claim 1, characterized in that: An elastic limiting block (11) is provided on the vehicle body (1).

9. The six-wheeled all-terrain unmanned vehicle chassis according to claim 1, characterized in that: The independent suspension (4) is a double wishbone suspension or a McPherson suspension.

10. The six-wheeled all-terrain unmanned vehicle chassis according to claim 1, characterized in that: The Ackerman steering system (5) comprises a steering drive (51), a tie rod (52), a side tie rod (53) and a steering knuckle (54), wherein the steering drive (51) is connected to the tie rod (52), an end of the tie rod (52) is connected to the side tie rod (53), the side tie rod (53) is connected to the steering knuckle (54), and the steering knuckle (54) is connected to the single drive system at the rear of the vehicle; The number of the side tie rods (53) and the number of the steering knuckles (54) are both two.

Images