Modularized deformable wheel type chassis with high adaptability

Abstract

The invention relates to a modular deformable wheel type chassis with high adaptability, and belongs to the field of unmanned equipment and unmanned vehicles. The chassis body frame, the suspension and walking structure assembly, the first fixing seat, the second fixing seat, the first frame side plate, the second frame side plate, the first suspension assembly fixing seat, the front swing arm frame, the third side plate, the fourth side plate, the first hydraulic cylinder, the second hydraulic cylinder, the third fixing seat, the fourth fixing seat, the second suspension assembly fixing seat and the like are designed; the chassis body can be modularly expanded according to different task requirements, the chassis structure can be deformed and converted according to different complex external environments, the problem that the coping capacity for different task requirements is poor is solved, and the problem that the adaptability to different external environments is poor is solved.

Description

Technical Field

[0001] The invention belongs to the field of unmanned equipment and unmanned vehicles, and specifically relates to a modular deformable wheeled chassis with high adaptability. Background Art

[0002] At present, the intelligent unmanned industry is developing rapidly, and the application fields of unmanned vehicles are becoming more and more extensive. The universal chassis is an important mobile platform for unmanned vehicles to perform operational tasks. The chassis performance required for different mission scenarios is also different, so designing a universal chassis structure with high universality and strong adaptability has become the current mainstream demand. There are many types of wheeled chassis structures at present, including four-wheel chassis, six-wheel chassis, eight-wheel chassis, etc., but most of them adopt a non-expandable fixed chassis structure. Once the design is determined, it is difficult to meet higher task requirements in the later stage through deformation and expansion, and even redesign is required. Based on the mainstream needs and existing deficiencies, how to design a universal chassis structure that can take into account the shortcomings of the existing technical solutions that the chassis has poor adaptability to changes in different task requirements, and can meet the current mainstream needs needs to be solved urgently.

[0003] In the existing technical solutions, the wheeled chassis generally adopts a wheeled chassis structure with fixed external dimensions. Its load-bearing, climbing, obstacle-crossing and gully-crossing capabilities have been determined at the beginning of the design. It is difficult to directly carry out modular changes and expansions according to needs later, and its ability to cope with different task requirements is poor.

[0004] The wheeled chassis in the prior art generally adopts a non-deformable wheeled chassis structure, which has poor adaptability and is not flexible enough in different external environments such as rugged and bumpy roads and climbing at large slope angles. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] The technical problem to be solved by the present invention is how to provide a modular deformable wheeled chassis with high adaptability to solve the problem that the wheeled chassis in the existing technical solutions has poor coping ability to different task requirements and poor adaptability to different external environments.

[0007] (II) Technical solution

[0008] In order to solve the above technical problems, the present invention provides a highly adaptable modular deformable wheeled chassis, the wheeled chassis comprising: a chassis body structure (1), a front swing arm module (2), a rear swing arm module (3), and a suspension and walking structure assembly (4);

[0009] The chassis body structure (1) comprises: a chassis body frame (101), a first fixing seat (102), a second fixing seat (103), a first frame side plate (104), a second frame side plate (105) and a first suspension assembly fixing seat (106); the front swing arm module (2) comprises: a front swing arm frame (201), a third side plate (202), a fourth side plate (203), a first hydraulic cylinder (204), a second hydraulic cylinder (205), a third fixing seat (206), a fourth fixing seat (207) and a second suspension assembly fixing seat (208); the rear swing arm module (3) is the same as the front swing arm module (2) and is symmetrically arranged; the suspension and walking structure assembly (4) comprises: a walking structure assembly (401), a mounting fixing plate (402), a damping shock absorber (403), a pin shaft (404), a suspension lower arm (405) and a suspension upper arm (406);

[0010] The connection relationship of the chassis body structure (1) is as follows:

[0011] The first fixing seat (102) and the second fixing seat (103) are fixed on the cross beam at the upper part of the chassis body frame (101); the first frame side plate (104) and the second frame side plate (105) are respectively fixed on the left and right sides of the chassis body frame (101); the first suspension assembly fixing seat (106) is fixed on the outer sides of the first frame side plate (104) and the second frame side plate (105); the suspension and walking structure assembly (4) is hingedly fixed to the first suspension assembly fixing seat (106);

[0012] Hinge holes are designed at the front ends of the first frame side plate (104) and the second frame side plate (105), which are used for rapid hinge connection with the hinge holes designed on the third side plate (202) and the fourth side plate (203) during modular assembly; the first fixing seat (102) and the second fixing seat (103) are used for rapid hinge connection with the first hydraulic cylinder (204) and the second hydraulic cylinder (205) during modular assembly;

[0013] The connection relationship of the front swing arm module (2) is as follows:

[0014] The third side plate (202) and the fourth side plate (203) are fixed to the left and right sides of the front swing arm frame (201); the third fixing seat (206) and the fourth fixing seat (207) are respectively fixed to the cross beam at the upper part of the front swing arm frame (201); the first hydraulic cylinder (204) and the third fixing seat (206) are hingedly fixed; the second hydraulic cylinder (205) and the fourth fixing seat (207) are hingedly fixed; the second suspension assembly fixing seat (208) is fixed to the outer sides of the third side plate (202) and the fourth side plate (203); and the suspension and walking structure assembly (4) is hingedly fixed to the second suspension assembly fixing seat (208);

[0015] Hinge holes are designed on the third side plate (202) and the fourth side plate (203) for rapid hinge connection with the hinge holes designed at the front ends of the first frame side plate (104) and the second frame side plate (105) during modular assembly; the hinge holes at the other ends of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) are used for rapid hinge connection with the first fixing seat (102) and the second fixing seat (103) during modular assembly;

[0016] The connection relationship between the suspension and traveling structure assembly (4) is as follows:

[0017] The walking structure assembly (401) is fixed on the circular hole in the middle of the outer side of the mounting plate (402); the suspension lower arm (405) is hinged and fixed at the mounting position of the inner lower part of the mounting plate (402); the pin (404) passes through the pin hole in the middle of the suspension lower arm (405) and the hinge hole at the lower part of the damping shock absorber (403); the pin (404) and the suspension lower arm (405) are tightly connected, and the lower part of the damping shock absorber (403) and the pin (404) are hinged; the suspension upper arm (406) is hinged and fixed at the mounting position of the inner upper part of the mounting plate (402). The upper part of the damping shock absorber (403), the suspension upper arm (406), and the suspension lower arm (405) are hinged and fixed to the fixed positions on the outer sides of the first suspension assembly fixing seat (106) and the second suspension assembly fixing seat (208), respectively.

[0018] (III) Beneficial effects

[0019] The present invention proposes a modular deformable wheeled chassis with high adaptability. The modular deformable wheeled chassis in the present invention can modularly expand the chassis body according to different task requirements by designing expandable chassis body structure, front swing arm module, rear swing arm module and other structures, thereby solving the problem of poor coping ability for different task requirements.

[0020] The modular deformable wheeled chassis in the present invention can transform the chassis structure according to different complex external environments by designing the chassis body frame, the suspension and walking structure assembly, the first fixed seat, the second fixed seat, the first frame side plate, the second frame side plate, the first suspension assembly fixed seat, the front swing arm frame, the third side plate, the fourth side plate, the first hydraulic cylinder, the second hydraulic cylinder, the third fixed seat, the fourth fixed seat, the second suspension assembly fixed seat and other structures, thereby solving the problem of poor adaptability to different external environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The overall structure diagram of the modular deformable wheeled chassis of the present invention is shown in FIG.

[0022] Figure 2 This is a schematic diagram of the modular deformable wheeled chassis body structure of the present invention.

[0023] Figure 3 Schematic diagram of the front swing arm module of the modular deformable wheeled chassis of the present invention

[0024] Figure 4 Schematic diagram of the rear swing arm module of the modular deformable wheeled chassis of the present invention

[0025] Figure 5 Schematic diagram of the suspension and traveling structure assembly of the present invention

[0026] Figure 6 Schematic diagram of the deformation structure of the present invention

[0027] Figure 7 Schematic diagram of the flat road walking mode of the present invention

[0028] Figure 8 Schematic diagram of the rough road walking mode of the present invention

[0029] Fig. 9 Schematic diagram of the climbing walking mode of the present invention

[0030] Description of reference numerals:

[0031] 1- Chassis structure; 2- Front swing arm module; 3- Rear swing arm module; 4- Suspension and running structure assembly;

[0032] 101- chassis body frame; 102- first fixing seat; 103- second fixing seat; 104- first frame side plate; 105- second frame side plate; 106- first suspension assembly fixing seat;

[0033] 201-front swing arm frame; 202-third side plate; 203-fourth side plate; 204-first hydraulic cylinder; 205-second hydraulic cylinder; 206-third fixing seat; 207-fourth fixing seat; 208-second suspension assembly fixing seat;

[0034] 401-walking structure assembly; 402-installation fixing plate; 403-damping shock absorber; 404-pin shaft; 405-suspension lower arm; 406-suspension upper arm. DETAILED DESCRIPTION

[0035] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0036] The modular deformable wheeled chassis in the present invention can modularly expand the chassis body according to different mission requirements by designing expandable chassis body structure, front swing arm module, rear swing arm module and other structures, thereby solving the problem of poor response capability to different mission requirements.

[0037] The modular deformable wheeled chassis in the present invention can transform the chassis structure according to different complex external environments by designing the chassis body frame, the suspension and walking structure assembly, the first fixed seat, the second fixed seat, the first frame side plate, the second frame side plate, the first suspension assembly fixed seat, the front swing arm frame, the third side plate, the fourth side plate, the first hydraulic cylinder, the second hydraulic cylinder, the third fixed seat, the fourth fixed seat, the second suspension assembly fixed seat and other structures, thereby solving the problem of poor adaptability to different external environments.

[0038] The present invention provides a highly adaptable modular deformable wheeled chassis, comprising four major parts: a chassis body structure (1), a front swing arm module (2), a rear swing arm module (3), and a suspension and walking structure assembly (4). The chassis body structure (1) comprises: a chassis body frame (101), a first fixing seat (102), a second fixing seat (103), a first frame side plate (104), a second frame side plate (105) and a first suspension assembly fixing seat (106); the front swing arm module (2) comprises: a front swing arm frame (201), a third side plate (202), a fourth side plate (203), a first hydraulic cylinder (204), a second hydraulic cylinder (205), a third fixing seat (206), a fourth fixing seat (207) and a second suspension assembly fixing seat (208); the rear swing arm module (3) is the same as the front swing arm module (2) and is symmetrically arranged; the suspension and running structure assembly (4) comprises: a running structure assembly (401), a mounting fixing plate (402), a damping shock absorber (403), a pin shaft (404), a suspension lower arm (405) and a suspension upper arm (406).

[0039] The connection relationship of the chassis body structure (1) is as follows:

[0040] The first fixing seat (102) and the second fixing seat (103) are fixed on the cross beam at the upper part of the chassis body frame (101); the first frame side plate (104) and the second frame side plate (105) are respectively fixed on the left and right sides of the chassis body frame (101); the first suspension assembly fixing seat (106) is fixed on the outer sides of the first frame side plate (104) and the second frame side plate (105); the suspension and walking structure assembly (4) is hingedly fixed to the first suspension assembly fixing seat (106) (the same applies to other identical positions).

[0041] Hinge holes are designed at the front ends of the first frame side plate (104) and the second frame side plate (105), which are used for rapid hinge connection with the hinge holes designed on the third side plate (202) and the fourth side plate (203) during modular assembly; the first fixing seat (102) and the second fixing seat (103) are used for rapid hinge connection with the first hydraulic cylinder (204) and the second hydraulic cylinder (205) during modular assembly, and the hydraulic cylinder can be extended and retracted according to external environmental conditions, thereby realizing pitch control of the front swing arm module (2), so that the chassis has deformation capability.

[0042] The connection relationship of the front swing arm module (2) is as follows:

[0043] The third side plate (202) and the fourth side plate (203) are fixed to the left and right sides of the front swing arm frame (201); the third fixing seat (206) and the fourth fixing seat (207) are respectively fixed to the cross beam at the upper part of the front swing arm frame (201); the first hydraulic cylinder (204) and the third fixing seat (206) are hingedly fixed; the second hydraulic cylinder (205) and the fourth fixing seat (207) are hingedly fixed; the second suspension assembly fixing seat (208) is fixed to the outer sides of the third side plate (202) and the fourth side plate (203); the suspension and walking structure assembly (4) is hingedly fixed to the second suspension assembly fixing seat (208) (the same applies to the other identical positions).

[0044] Hinge holes are designed on the third side plate (202) and the fourth side plate (203) for rapid hinge connection with the hinge holes designed at the front ends of the first frame side plate (104) and the second frame side plate (105) during modular assembly; the hinge holes at the other ends of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) are used for rapid hinge connection with the first fixing seat (102) and the second fixing seat (103) during modular assembly. The hydraulic cylinder can be telescopically controlled according to external environmental conditions, thereby achieving pitch control of the front swing arm module (2), so that the chassis has deformation capability.

[0045] The connection relationship between the rear swing arm module (3) and the front swing arm 2 is similar.

[0046] The connection relationship between the suspension and traveling structure assembly (4) is as follows:

[0047] The walking structure assembly (401) is fixed on the circular hole in the middle of the outer side of the mounting plate (402); the suspension lower arm (405) is hinged and fixed at the mounting position of the inner lower part of the mounting plate (402); the pin (404) passes through the pin hole in the middle of the suspension lower arm (405) and the hinge hole at the lower part of the damping shock absorber (403); the pin (404) and the suspension lower arm (405) are tightly connected, and the lower part of the damping shock absorber (403) and the pin (404) are hinged; the suspension upper arm (406) is hinged and fixed at the mounting position of the inner upper part of the mounting plate (402). The upper part of the damping shock absorber (403), the suspension upper arm (406), and the suspension lower arm (405) are hinged and fixed to the fixed positions on the outer sides of the first suspension assembly fixing seat (106) and the second suspension assembly fixing seat (208), respectively.

[0048] The installation and connection methods of the suspension and walking structure assembly (4) on the chassis body structure (1), the front swing arm module (2) and the rear swing arm module (3) are the same.

[0049] The first suspension assembly fixing seat (106) includes three fixing positions, upper, middle and lower. The upper fixing position is used to connect the upper part of the damping shock absorber (403), and the middle and lower fixing position is used to connect the suspension upper arm (406) and the suspension lower arm (405).

[0050] Under normal mission load conditions, it is only necessary to install the mission load on the chassis body structure (1) to meet the use requirements.

[0051] When the mission load changes and the chassis body structure (1) alone cannot meet the use requirements, the chassis needs to be modularly expanded to improve its performance indicators to adapt to the new mission requirements. When modular expansion is performed, only the front swing arm module (2) or only the rear swing arm module (3) can be expanded according to needs, or both the front swing arm module (2) and the rear swing arm module (3) can be expanded. When both the front swing arm module (2) and the rear swing arm module (3) are expanded, the front swing arm module (2) is first modularly assembled with the chassis body structure (1), specifically, the hinge holes designed on the third side plate (202) and the fourth side plate (203) are respectively hingedly connected with the hinge holes designed at the front ends of the first frame side plate (104) and the second frame side plate (105); the hinge holes at the other ends of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) are hingedly connected with the first fixing seat (102) and the second fixing seat (103), and then the relevant electrical control interface is connected to complete the modular assembly of the front swing arm module (2). Then, the rear swing arm module (3) is modularly assembled with the chassis body structure (1), and its modular assembly method is the same as that of the swing arm module 2. The chassis after modular expansion is expanded from the original 4-wheel drive to 8-wheel drive, the body length and wheelbase are increased, the power of the whole vehicle is enhanced, and its load capacity, climbing ability, and gully crossing ability are significantly improved compared with the chassis body structure. In addition, the expanded chassis has a deformable ability. When driving on a flat road with good road conditions, the required driving force is small. By controlling the contraction of the first hydraulic cylinder (204) and the second hydraulic cylinder (205), the front swing arm module (2) can be folded, deformed, and lifted upward, and the rear swing arm module (3) can be lifted upward in the same way. At the same time, the front swing arm module (2) and the rear swing arm module (3) are controlled to stop rotating, and only the four driving wheels of the chassis body structure (1) are used to provide power for the system, which saves electric energy and increases the working time of the system.

[0052] When driving on a rough road with poor road conditions, the required driving force is relatively large. The upper plane of the front swing arm frame (201) of the front swing arm module (2) can be made parallel to the upper plane of the chassis body frame (101) by controlling the extension and contraction of the first hydraulic cylinder (204) and the second hydraulic cylinder (205). The same is true for the rear swing arm module (3). At this time, the eight driving wheels simultaneously provide driving force for the system, and the maximum wheelbase of the entire chassis becomes longer. At the same time, the eight independent suspension structures can buffer the impact force from the rough road, so that the chassis has enhanced ability to cross gullies, increased stability, and reduced the risk of impact and overturning.

[0053] When driving on a road surface that requires climbing a large slope, the center of gravity of the chassis with a fixed structure is also fixed. When the slope exceeds the originally designed climbing index, the chassis will overturn. The modular deformable wheeled chassis can change the center of gravity by adjusting the angle between the front swing arm module (2) and the chassis body structure (1), and adjusting the angle between the rear swing arm module (3) and the chassis body structure (1). Specifically, the front swing arm module (2) can be lifted by controlling the contraction of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) to form an upward clamping angle with the chassis body structure. Angle, similarly, the corresponding hydraulic cylinder of the rear swing arm module (3) is controlled to extend, so that the rear swing arm module (3) forms a downward angle with the chassis body structure; the front swing arm module (2) is lifted to form an upward angle with the chassis body structure, and can be adjusted and changed in real time as needed, thereby improving the overall ability of the chassis to climb over vertical obstacles; the rear swing arm module (3) forms a downward angle with the chassis body structure, and the angle can be adjusted and changed in real time as needed, so that the overall center of gravity of the system moves forward, which is equivalent to reducing the slope angle when climbing, and effectively increasing the overall climbing ability of the system.

[0054] The key technical points of the present invention are:

[0055] The modular expansion structure design and the deformable structure design are the core of the present invention, which are as follows:

[0056] 1) Modular expansion structure design, the key lies in the design of a modular chassis structure that can be expanded front and back.

[0057] The first fixing seat (102) and the second fixing seat (103) are fixed on the cross beam at the upper part of the chassis body frame (101); the first frame side plate (104) and the second frame side plate (105) are respectively fixed on the left and right sides of the chassis body frame (101); the first suspension assembly fixing seat (106) is fixed on the first frame side plate (104) (the same is true for other identical positions); the suspension and walking structure assembly (4) is hingedly fixed to the first suspension assembly fixing seat (106) (the same is true for other identical positions).

[0058] Hinge holes are designed at the front ends of the first frame side panel (104) and the second frame side panel (105) for rapid hinged connection with the hinge holes designed on the third side panel (202) and the fourth side panel (203) during modular assembly; the first fixing seat (102) and the second fixing seat (103) are used for rapid hinged connection with the first hydraulic cylinder (204) and the second hydraulic cylinder (205) during modular assembly, thereby realizing modular expansion.

[0059] The third side plate (202) and the fourth side plate (203) are fixed to the left and right sides of the front swing arm frame (201); the third fixing seat (206) and the fourth fixing seat (207) are respectively fixed to the cross beam at the upper part of the front swing arm frame (201); the first hydraulic cylinder (204) and the third fixing seat (206) are hingedly fixed; the second hydraulic cylinder (205) and the fourth fixing seat (207) are hingedly fixed; the second suspension assembly fixing seat (208) is fixed to the third side plate (202) (the same applies to the other same positions); and the suspension and walking structure assembly (4) is hingedly fixed to the second suspension assembly fixing seat (208) (the same applies to the other same positions).

[0060] Hinge holes are designed on the third side plate (202) and the fourth side plate (203) for rapid hinge connection with the hinge holes designed at the front ends of the first frame side plate (104) and the second frame side plate (105) during modular assembly; the hinge holes at the other ends of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) are used for rapid hinge connection with the first fixing seat (102) and the second fixing seat (103) during modular assembly, thereby achieving modular expansion.

[0061] The rear swing arm module (3) is similar to the front swing arm module (2) and is modularly expanded according to task requirements.

[0062] 2) The key to the deformable structure design is to design a deformable structure that combines hinges with hydraulic push rods.

[0063] The first fixing seat (102) and the second fixing seat (103) are fixed on the cross beam at the upper part of the chassis body frame (101); the first frame side plate (104) and the second frame side plate (105) are respectively fixed on the left and right sides of the chassis body frame (101); the first suspension assembly fixing seat (106) is fixed on the first frame side plate (104) (the same is true for other identical positions); the suspension and walking structure assembly (4) is hingedly fixed to the first suspension assembly fixing seat (106) (the same is true for other identical positions).

[0064] Hinge holes are designed at the front ends of the first frame side plate (104) and the second frame side plate (105), which are used for rapid hinge connection with the hinge holes designed on the third side plate (202) and the fourth side plate (203) during modular assembly; the first fixing seat (102) and the second fixing seat (103) are used for rapid hinge connection with the first hydraulic cylinder (204) and the second hydraulic cylinder (205) during modular assembly, and the hydraulic cylinder can be extended and retracted according to external environmental conditions, thereby realizing pitch control of the front swing arm module (2), so that the chassis has deformation capability.

[0065] The third side plate (202) and the fourth side plate (203) are fixed to the left and right sides of the front swing arm frame (201); the third fixing seat (206) and the fourth fixing seat (207) are respectively fixed to the cross beam at the upper part of the front swing arm frame (201); the first hydraulic cylinder (204) and the third fixing seat (206) are hingedly fixed; the second hydraulic cylinder (205) and the fourth fixing seat (207) are hingedly fixed; the second suspension assembly fixing seat (208) is fixed to the third side plate (202) (the same applies to the other same positions); and the suspension and walking structure assembly (4) is hingedly fixed to the second suspension assembly fixing seat (208) (the same applies to the other same positions).

[0066] Hinge holes are designed on the third side plate (202) and the fourth side plate (203) for rapid hinge connection with the hinge holes designed at the front ends of the first frame side plate (104) and the second frame side plate (105) during modular assembly; the hinge holes at the other ends of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) are used for rapid hinge connection with the first fixing seat (102) and the second fixing seat (103) during modular assembly. The hydraulic cylinder can be telescopically controlled according to external environmental conditions, thereby achieving pitch control of the front swing arm module (2), so that the chassis has deformation capability.

[0067] The rear swing arm module (3) is similar to the front swing arm module (2) and is modularly expanded according to task requirements.

[0068] Embodiment 1:

[0069] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9As shown, the present invention provides a highly adaptable modular deformable wheeled chassis, which comprises four parts: a chassis body structure (1), a front swing arm module (2), a rear swing arm module (3), and a suspension and walking structure assembly (4). The chassis body structure (1) comprises: a chassis body frame (101), a first fixing seat (102), a second fixing seat (103), a first frame side plate (104), a second frame side plate (105), and a first suspension assembly fixing seat (106); the front swing arm module (2) comprises: a front swing arm frame (201), a third side plate (202), a fourth side plate (203), a first hydraulic cylinder (204), a second hydraulic cylinder (205), a third fixing seat (206), a fourth fixing seat (207), and a second suspension assembly fixing seat (208); (the rear swing arm module (3) is the same as the front swing arm 2); the suspension and walking structure assembly (4) comprises: a walking structure assembly (401), a mounting fixing plate (402), a damping shock absorber (403), a pin shaft (404), a suspension lower arm (405), and a suspension upper arm (406).

[0070] The connection relationship of the chassis body structure (1) is as follows:

[0071] The first fixing seat (102) and the second fixing seat (103) are fixed on the cross beam at the upper part of the chassis body frame (101); the first frame side plate (104) and the second frame side plate (105) are respectively fixed on the left and right sides of the chassis body frame (101); the first suspension assembly fixing seat (106) is fixed on the first frame side plate (104) (the same is true for other identical positions); the suspension and walking structure assembly (4) is hingedly fixed to the first suspension assembly fixing seat (106) (the same is true for other identical positions).

[0072] Hinge holes are designed at the front ends of the first frame side plate (104) and the second frame side plate (105), which are used for rapid hinge connection with the hinge holes designed on the third side plate (202) and the fourth side plate (203) during modular assembly; the first fixing seat (102) and the second fixing seat (103) are used for rapid hinge connection with the first hydraulic cylinder (204) and the second hydraulic cylinder (205) during modular assembly, and the hydraulic cylinder can be extended and retracted according to external environmental conditions, thereby realizing pitch control of the front swing arm module (2), so that the chassis has deformation capability.

[0073] The connection relationship of the front swing arm module (2) is as follows:

[0074] The third side plate (202) and the fourth side plate (203) are fixed to the left and right sides of the front swing arm frame (201); the third fixing seat (206) and the fourth fixing seat (207) are respectively fixed to the cross beam at the upper part of the front swing arm frame (201); the first hydraulic cylinder (204) and the third fixing seat (206) are hingedly fixed; the second hydraulic cylinder (205) and the fourth fixing seat (207) are hingedly fixed; the second suspension assembly fixing seat (208) is fixed to the third side plate (202) (the same applies to the other same positions); and the suspension and walking structure assembly (4) is hingedly fixed to the second suspension assembly fixing seat (208) (the same applies to the other same positions).

[0075] Hinge holes are designed on the third side plate (202) and the fourth side plate (203) for rapid hinge connection with the hinge holes designed at the front ends of the first frame side plate (104) and the second frame side plate (105) during modular assembly; the hinge holes at the other ends of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) are used for rapid hinge connection with the first fixing seat (102) and the second fixing seat (103) during modular assembly. The hydraulic cylinder can be telescopically controlled according to external environmental conditions, thereby achieving pitch control of the front swing arm module (2), so that the chassis has deformation capability.

[0076] The connection relationship between the rear swing arm module (3) and the front swing arm 2 is similar.

[0077] The connection relationship between the suspension and traveling structure assembly (4) is as follows:

[0078] The walking structure assembly (401) is fixed on the circular hole in the middle of the mounting plate (402); the suspension lower arm (405) is hinged and fixed at the mounting position at the lower part of the mounting plate (402); the pin (404) passes through the pin hole in the middle of the suspension lower arm (405) and the hinge hole at the lower part of the damping shock absorber (403); the pin (404) and the suspension lower arm (405) are tightly connected, and the lower part of the damping shock absorber (403) and the pin (404) are hinged; the suspension upper arm (406) is hinged and fixed at the mounting position at the upper part of the mounting plate (402). The upper part of the damping shock absorber (403), the suspension upper arm (406), and the suspension lower arm (405) are respectively hinged and fixed to the fixed position on the frame assembly fixing seat.

[0079] The installation and connection methods of the suspension and walking structure assembly (4) on the chassis body structure (1), the front swing arm module (2) and the rear swing arm module (3) are the same.

[0080] Under normal mission load conditions, it is only necessary to install the mission load on the chassis body structure (1) to meet the use requirements.

[0081] When the mission load changes and the chassis body structure (1) alone cannot meet the use requirements, the chassis needs to be modularly expanded to improve its performance indicators to adapt to the new mission requirements. When modular expansion is performed, only the front swing arm module (2) or only the rear swing arm module (3) can be expanded according to needs, or both the front swing arm module (2) and the rear swing arm module (3) can be expanded. When both the front swing arm module (2) and the rear swing arm module (3) are expanded, the front swing arm module (2) is first modularly assembled with the chassis body structure (1), specifically, the hinge holes designed on the third side plate (202) and the fourth side plate (203) are respectively hingedly connected with the hinge holes designed at the front ends of the first frame side plate (104) and the second frame side plate (105); the hinge holes at the other ends of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) are hingedly connected with the first fixing seat (102) and the second fixing seat (103), and then the relevant electrical control interface is connected to complete the modular assembly of the front swing arm module (2). Then, the rear swing arm module (3) is modularly assembled with the chassis body structure (1), and its modular assembly method is the same as that of the swing arm module 2. The chassis after modular expansion is expanded from the original 4-wheel drive to 8-wheel drive, the body length and wheelbase are increased, the power of the whole vehicle is enhanced, and its load capacity, climbing ability, and gully crossing ability are significantly improved compared to the chassis body structure. In addition, the expanded chassis has the ability to be deformed. When driving on a flat road with good road conditions, the required driving force is small. By controlling the contraction of the first hydraulic cylinder (204) and the second hydraulic cylinder (205), the front swing arm module (2) can be folded, deformed, and lifted upward, and the rear swing arm module (3) can be lifted upward in the same way. At the same time, the front swing arm module (2) and the rear swing arm module (3) are controlled to stop rotating, and only the 4 driving wheels of the chassis body structure (1) are used to provide power for the system, which saves electric energy and increases the working time of the system. Figure 6 , 7 shown.

[0082] When driving on a rough road with poor road conditions, the required driving force is relatively large. The upper plane of the front swing arm frame (201) of the front swing arm module (2) can be made parallel to the upper plane of the chassis body frame (101) by controlling the extension and contraction of the first hydraulic cylinder (204) and the second hydraulic cylinder (205). The same is true for the rear swing arm module (3). At this time, the eight driving wheels provide driving force for the system at the same time, and the maximum wheelbase of the entire chassis becomes longer. At the same time, the eight independent suspension structures can buffer the impact force from the rough road, so that the chassis has enhanced ability to cross gullies, increased stability, and reduced the risk of impact and overturning. Figure 8 shown.

[0083] When driving on a road surface that requires climbing a large slope, the center of gravity of the chassis with a fixed structure is also fixed. When the slope exceeds the originally designed climbing index, the chassis will overturn. The modular deformable wheeled chassis can change the center of gravity by adjusting the angle between the front swing arm module (2) and the chassis body structure (1), and adjusting the angle between the rear swing arm module (3) and the chassis body structure (1). Specifically, the front swing arm module (2) can be lifted by controlling the contraction of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) to form an upward clamping angle with the chassis body structure. Angle, similarly control the extension of the corresponding hydraulic cylinder of the rear swing arm module (3), so that the rear swing arm module (3) forms a downward angle with the chassis body structure; the front swing arm module (2) is lifted to form an upward angle with the chassis body structure, and can be adjusted and changed in real time as needed, thereby improving the overall ability of the chassis to climb over vertical obstacles; the rear swing arm module (3) forms a downward angle with the chassis body structure, and the angle can be adjusted and changed in real time as needed, so that the overall center of gravity of the system moves forward, which is equivalent to reducing the slope angle when climbing, effectively increasing the overall climbing ability of the system. Fig. 9 shown.

[0084] The modular expansion structure design and the deformable structure design are the core of the present invention, which are as follows:

[0085] 1) Modular expansion structure design, the key lies in the design of a modular chassis structure that can be expanded front and back.

[0086] The first fixing seat (102) and the second fixing seat (103) are fixed on the cross beam at the upper part of the chassis body frame (101); the first frame side plate (104) and the second frame side plate (105) are respectively fixed on the left and right sides of the chassis body frame (101); the first suspension assembly fixing seat (106) is fixed on the first frame side plate (104) (the same is true for other identical positions); the suspension and walking structure assembly (4) is hingedly fixed to the first suspension assembly fixing seat (106) (the same is true for other identical positions).

[0087] Hinge holes are designed at the front ends of the first frame side panel (104) and the second frame side panel (105) for rapid hinged connection with the hinge holes designed on the third side panel (202) and the fourth side panel (203) during modular assembly; the first fixing seat (102) and the second fixing seat (103) are used for rapid hinged connection with the first hydraulic cylinder (204) and the second hydraulic cylinder (205) during modular assembly, thereby realizing modular expansion.

[0088] The third side plate (202) and the fourth side plate (203) are fixed to the left and right sides of the front swing arm frame (201); the third fixing seat (206) and the fourth fixing seat (207) are respectively fixed to the cross beam at the upper part of the front swing arm frame (201); the first hydraulic cylinder (204) and the third fixing seat (206) are hingedly fixed; the second hydraulic cylinder (205) and the fourth fixing seat (207) are hingedly fixed; the second suspension assembly fixing seat (208) is fixed to the third side plate (202) (the same applies to the other same positions); and the suspension and walking structure assembly (4) is hingedly fixed to the second suspension assembly fixing seat (208) (the same applies to the other same positions).

[0089] Hinge holes are designed on the third side plate (202) and the fourth side plate (203) for rapid hinge connection with the hinge holes designed at the front ends of the first frame side plate (104) and the second frame side plate (105) during modular assembly; the hinge holes at the other ends of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) are used for rapid hinge connection with the first fixing seat (102) and the second fixing seat (103) during modular assembly, thereby achieving modular expansion.

[0090] The rear swing arm module (3) is similar to the front swing arm module (2) and is modularly expanded according to task requirements.

[0091] 2) The key to the deformable structure design is to design a deformable structure that combines hinges with hydraulic push rods.

[0092] The first fixing seat (102) and the second fixing seat (103) are fixed on the cross beam at the upper part of the chassis body frame (101); the first frame side plate (104) and the second frame side plate (105) are respectively fixed on the left and right sides of the chassis body frame (101); the first suspension assembly fixing seat (106) is fixed on the first frame side plate (104) (the same is true for other identical positions); the suspension and walking structure assembly (4) is hingedly fixed to the first suspension assembly fixing seat (106) (the same is true for other identical positions).

[0093] Hinge holes are designed at the front ends of the first frame side plate (104) and the second frame side plate (105), which are used for rapid hinge connection with the hinge holes designed on the third side plate (202) and the fourth side plate (203) during modular assembly; the first fixing seat (102) and the second fixing seat (103) are used for rapid hinge connection with the first hydraulic cylinder (204) and the second hydraulic cylinder (205) during modular assembly, and the hydraulic cylinder can be extended and retracted according to external environmental conditions, thereby realizing pitch control of the front swing arm module (2), so that the chassis has deformation capability.

[0094] The third side plate (202) and the fourth side plate (203) are fixed to the left and right sides of the front swing arm frame (201); the third fixing seat (206) and the fourth fixing seat (207) are respectively fixed to the cross beam at the upper part of the front swing arm frame (201); the first hydraulic cylinder (204) and the third fixing seat (206) are hingedly fixed; the second hydraulic cylinder (205) and the fourth fixing seat (207) are hingedly fixed; the second suspension assembly fixing seat (208) is fixed to the third side plate (202) (the same applies to the other same positions); and the suspension and walking structure assembly (4) is hingedly fixed to the second suspension assembly fixing seat (208) (the same applies to the other same positions).

[0095] Hinge holes are designed on the third side plate (202) and the fourth side plate (203) for rapid hinge connection with the hinge holes designed at the front ends of the first frame side plate (104) and the second frame side plate (105) during modular assembly; the hinge holes at the other ends of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) are used for rapid hinge connection with the first fixing seat (102) and the second fixing seat (103) during modular assembly. The hydraulic cylinder can be telescopically controlled according to external environmental conditions, thereby achieving pitch control of the front swing arm module (2), so that the chassis has deformation capability.

[0096] The rear swing arm module (3) is similar to the front swing arm module (2) and is modularly expanded according to task requirements.

[0097] Beneficial effects of the present invention:

[0098] In the prior art, wheeled chassis generally adopt a wheeled chassis structure with fixed dimensions. Its load-carrying, climbing, obstacle-crossing and gully-crossing capabilities are determined at the beginning of the design. It is difficult to directly change and expand modularly according to the needs later, and the ability to cope with different mission requirements is poor. The modular deformable wheeled chassis in the present invention can modularly expand the chassis body according to different mission requirements by designing expandable chassis body structure, front swing arm module, rear swing arm module and other structures, thereby solving the problem of poor ability to cope with different mission requirements.

[0099] The wheeled chassis in the prior art generally adopts a non-deformable wheeled chassis structure, which has poor adaptability and is not flexible enough in different external environments such as rugged and bumpy roads and climbing with large slope angles. The modular deformable wheeled chassis in the present invention can transform the chassis structure according to different complex external environments by designing the chassis body frame, suspension and walking structure assembly, first fixed seat, second fixed seat, first frame side plate, second frame side plate, first suspension assembly fixed seat, front swing arm frame, third side plate, fourth side plate, first hydraulic cylinder, second hydraulic cylinder, third fixed seat, fourth fixed seat, second suspension assembly fixed seat and other structures, thereby solving the problem of poor adaptability to different external environments.

[0100] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A highly adaptable modular deformable wheeled chassis, characterized in that: The wheeled chassis comprises four parts: a chassis body structure (1), a front swing arm module (2), a rear swing arm module (3), and a suspension and walking structure assembly (4); The chassis body structure (1) comprises: a chassis body frame (101), a first fixing seat (102), a second fixing seat (103), a first frame side plate (104), a second frame side plate (105) and a first suspension assembly fixing seat (106); the front swing arm module (2) comprises: a front swing arm frame (201), a third side plate (202), a fourth side plate (203), a first hydraulic cylinder (204), a second hydraulic cylinder (205), a third fixing seat (206), a fourth fixing seat (207) and a second suspension assembly fixing seat (208); the rear swing arm module (3) is the same as the front swing arm module (2) and is symmetrically arranged; the suspension and walking structure assembly (4) comprises: a walking structure assembly (401), a mounting fixing plate (402), a damping shock absorber (403), a pin shaft (404), a suspension lower arm (405) and a suspension upper arm (406); The connection relationship of the chassis body structure (1) is as follows: The first fixing seat (102) and the second fixing seat (103) are fixed on the cross beam at the upper part of the chassis body frame (101); the first frame side plate (104) and the second frame side plate (105) are respectively fixed on the left and right sides of the chassis body frame (101); the first suspension assembly fixing seat (106) is fixed on the outer sides of the first frame side plate (104) and the second frame side plate (105); the suspension and walking structure assembly (4) is hingedly fixed to the first suspension assembly fixing seat (106); Hinge holes are designed at the front ends of the first frame side plate (104) and the second frame side plate (105), which are used for rapid hinge connection with the hinge holes designed on the third side plate (202) and the fourth side plate (203) during modular assembly; the first fixing seat (102) and the second fixing seat (103) are used for rapid hinge connection with the first hydraulic cylinder (204) and the second hydraulic cylinder (205) during modular assembly; The connection relationship of the front swing arm module (2) is as follows: The third side plate (202) and the fourth side plate (203) are fixed to the left and right sides of the front swing arm frame (201); the third fixing seat (206) and the fourth fixing seat (207) are respectively fixed to the cross beam at the upper part of the front swing arm frame (201); the first hydraulic cylinder (204) and the third fixing seat (206) are hingedly fixed; the second hydraulic cylinder (205) and the fourth fixing seat (207) are hingedly fixed; the second suspension assembly fixing seat (208) is fixed to the outer sides of the third side plate (202) and the fourth side plate (203); and the suspension and walking structure assembly (4) is hingedly fixed to the second suspension assembly fixing seat (208); Hinge holes are designed on the third side plate (202) and the fourth side plate (203) for rapid hinge connection with the hinge holes designed at the front ends of the first frame side plate (104) and the second frame side plate (105) during modular assembly; the hinge holes at the other ends of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) are used for rapid hinge connection with the first fixing seat (102) and the second fixing seat (103) during modular assembly; The connection relationship between the suspension and traveling structure assembly (4) is as follows: The walking structure assembly (401) is fixed on the circular hole in the middle of the outer side of the mounting plate (402); the suspension lower arm (405) is hinged and fixed at the mounting position of the inner lower part of the mounting plate (402); the pin shaft (404) passes through the pin hole in the middle of the suspension lower arm (405) and the hinge hole at the lower part of the damping shock absorber (403); the pin shaft (404) and the suspension lower arm (405) are tightly connected, and the lower part of the damping shock absorber (403) and the pin shaft (404) are hinged; the suspension upper arm (406) is hinged and fixed at the mounting position of the inner upper part of the mounting plate (402); the upper part of the damping shock absorber (403), the suspension upper arm (406), and the suspension lower arm (405) are respectively hinged and fixed to the fixed positions on the outer sides of the first suspension assembly fixing seat (106) and the second suspension assembly fixing seat (208).

2. The highly adaptable modular deformable wheeled chassis according to claim 1, characterized in that: The installation and connection methods of the suspension and walking structure assembly (4) on the chassis body structure (1), the front swing arm module (2) and the rear swing arm module (3) are the same.

3. The highly adaptable modular deformable wheeled chassis according to claim 1, characterized in that: The first suspension assembly fixing seat (106) includes three fixing positions, upper, middle and lower. The upper fixing position is used to connect the upper part of the damping shock absorber (403), and the middle and lower fixing position is used to connect the suspension upper arm (406) and the suspension lower arm (405).

4. The highly adaptable modular deformable wheeled chassis according to claim 1, characterized in that: Under normal mission load conditions, it is only necessary to install the mission load on the chassis body structure (1) to meet the use requirements.

5. The highly adaptable modular deformable wheeled chassis according to claim 4, characterized in that: When the mission load changes and the chassis body structure (1) alone cannot meet the use requirements, the chassis needs to be modularly expanded. When modularly expanded, only the front swing arm module (2), only the rear swing arm module (3), or both the front swing arm module (2) and the rear swing arm module (3) are expanded according to needs.

6. The highly adaptable modular deformable wheeled chassis according to claim 5, characterized in that: When both the front swing arm module (2) and the rear swing arm module (3) are expanded, the front swing arm module (2) and the chassis body structure (1) are first modularly assembled, specifically: the hinge holes designed on the third side plate (202) and the fourth side plate (203) are respectively hingedly connected to the hinge holes designed on the front ends of the first frame side plate (104) and the second frame side plate (105); the hinge holes at the other ends of the first hydraulic cylinder (204) and the second hydraulic cylinder (205) are hingedly connected to the first fixing seat (102) and the second fixing seat (103), and then the relevant electrical control interfaces are connected to complete the modular assembly of the front swing arm module (2); and then the rear swing arm module (3) and the chassis body structure (1) are modularly assembled; the chassis after modular expansion is expanded from the original 4-wheel drive to 8-wheel drive.

7. The highly adaptable modular deformable wheeled chassis according to claim 6, characterized in that: After modular expansion, when driving on a flat road with good road conditions, the required driving force is small. By controlling the contraction of the first hydraulic cylinder (204) and the second hydraulic cylinder (205), the front swing arm module (2) is folded, deformed and lifted upward, and the rear swing arm module (3) is also lifted upward. At the same time, the front swing arm module (2) and the rear swing arm module (3) are controlled to stop rotating, and only the four driving wheels of the chassis body structure (1) are used to provide power for the system, thereby saving electric energy.

8. The highly adaptable modular deformable wheeled chassis according to claim 6, characterized in that: When driving on a rough road with poor road conditions, the required driving force is relatively large. By controlling the extension and retraction of the first hydraulic cylinder (204) and the second hydraulic cylinder (205), the upper plane of the front swing arm frame (201) of the front swing arm module (2) is made parallel to the upper plane of the chassis body frame (101). The same is true for the rear swing arm module (3). At this time, the eight driving wheels simultaneously provide driving force for the system, and the maximum wheelbase of the entire chassis is lengthened.

9. The highly adaptable modular deformable wheeled chassis according to claim 6, characterized in that: When driving on a road surface that requires climbing a steep slope, the modular deformable wheeled chassis changes the position of the center of gravity by adjusting the angle between the front swing arm module (2) and the chassis body structure (1), and adjusting the angle between the rear swing arm module (3) and the chassis body structure (1). Specifically, the front swing arm module (2) can be lifted to form an upward angle with the chassis body structure by controlling the contraction of the first hydraulic cylinder (204) and the second hydraulic cylinder (205). Similarly, the corresponding hydraulic cylinder of the rear swing arm module (3) can be controlled to extend to form a downward angle with the chassis body structure.

10. The highly adaptable modular deformable wheeled chassis according to claim 9, characterized in that: The front swing arm module (2) is lifted to form an upward angle with the chassis body structure, and is adjusted and changed in real time as required, thereby improving the overall ability of the chassis to climb over vertical obstacles; the rear swing arm module (3) forms a downward angle with the chassis body structure, and the angle is adjusted and changed in real time as required, so that the overall center of gravity of the system moves forward, which is equivalent to reducing the slope angle when climbing a slope, and effectively increasing the overall climbing ability of the system.

Images