Rocker arm and swing rod type chassis and air-ground integrated hovercar

Abstract

The invention discloses a rocker arm and swing rod type chassis and an air-ground integrated hovercar. The rocker arm and swing rod type chassis comprises a chassis body, a swing rod mechanism and two sets of rocker arms arranged on the two sides of the swing rod mechanism. The rocker arm comprises a central connecting piece and two rocker arm rods arranged at the two ends of the central connecting piece, the rocker arm rods are fixedly connected with the driving motor assembly through the steering joint motor assembly, and the output end of the driving motor assembly is fixedly connected with the driving wheel. The swing rod mechanism comprises a swing rod and a center torsion shaft arranged below the swing rod, the center torsion shaft is fixed in the chassis machine body, the two ends of the center torsion shaft are detachably connected with the inner sides of two center connecting pieces of the rocker arm respectively, and protruding lugs extending upwards from the two center connecting pieces are rotationally connected with the two ends of the swing rod through ball head pull rods respectively. The center of the swing rod is installed on a swing rod bearing seat through a swing rod bearing. By applying the scheme provided by the invention, the steering radius is small, the driving direction is not limited, and the terrain adaptability and the driving stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of flying cars, and more particularly, to a rocker swing rod type chassis and an air-land integrated flying car. Background Art

[0002] At present, the configurations of air-land amphibious flying cars include air-land integrated flying cars and separable flying cars.

[0003] Among them, air-land integrated flying cars are mostly composed of multi-rotors + Ackerman chassis or fixed wings + Ackerman chassis. This type of integrated flying car with Ackerman chassis is suitable for driving on paved roads and has a certain degree of comfort.

[0004] Although the Ackerman chassis technology is relatively mature, the Ackerman chassis itself also has certain disadvantages, such as a large turning radius and limited driving direction. When this type of integrated flying car with Ackerman chassis drives on rough ground, the tilting angle of the fuselage is relatively large, and it cannot adapt well to the terrain, resulting in poor driving stability of this type of integrated flying car with Ackerman chassis. Summary of the Invention

[0005] The present invention provides a rocker swing rod type chassis and an air-land integrated flying car, which have a small turning radius and are not restricted in driving direction. When driving on rough ground, the tilting angle of the fuselage is relatively small, improving the terrain adaptability and driving stability. The specific technical solutions are as follows:

[0006] In a first aspect, the present invention provides a rocker swing rod type chassis, including: a chassis body, a swing rod mechanism, and two groups of rockers provided on both sides of the swing rod mechanism;

[0007] The rocker includes a central link and two rocker rods provided at both ends of the central link. The rocker rod is fixedly connected to a steering joint motor assembly, the steering joint motor assembly is fixedly connected to a drive motor assembly, and the output end of the drive motor assembly is fixedly connected to the drive wheel of the air-land integrated flying car;

[0008] The swing rod mechanism includes a swing rod and a central torsion shaft provided below the swing rod. The central torsion shaft is fixed inside the chassis body, and both ends of the central torsion shaft are detachably connected to the inner sides of the two central links of the rocker respectively. The lugs extending upward from the two central links are respectively rotatably connected to both ends of the swing rod through ball head tie rods, and the center of the swing rod is installed on a swing rod bearing seat through a swing rod bearing.

[0009] Optionally, one end of the rocker rod is fixedly connected to one end of the central link, and the other end is fixedly connected to the steering joint motor assembly;

[0010] The steering joint motor assembly is fixedly connected to the drive motor assembly through the steering joint motor output flange, and the steering joint motor assembly is located above the drive motor assembly. The drive motor assembly is fixedly connected to the drive wheel through the drive motor output flange.

[0011] Optionally, the steering joint motor assembly includes a steering motor and a steering motor mounting seat;

[0012] The steering motor is installed in the steering motor mounting seat. The steering motor mounting seat is fixedly connected to the other end of the rocker arm. The output end of the steering motor is fixedly connected to the drive motor assembly through the steering joint motor output flange.

[0013] Optionally, the drive motor assembly includes a drive motor and a drive motor mounting seat;

[0014] The drive motor is installed in the drive motor mounting seat, and the output end of the drive motor is fixedly connected to the drive wheel through the drive motor output flange.

[0015] Optionally, the rocker arm further includes a connecting shaft;

[0016] Both ends of the central torsion shaft are detachably connected to the inner sides of the two central link members of the rocker arm through two connecting shafts.

[0017] Optionally, the ball joint tie rod includes a tie rod, a ball head, and a ball seat;

[0018] The ball seat is fixedly installed at one end of the swing rod. The ball seat is provided with a spherical groove. One end of the tie rod is provided with the ball head. The ball head is arranged in the spherical groove and can rotate in the spherical groove. The other end of the tie rod is fixed to the lug.

[0019] Optionally, the swing rod is arranged at the rear or the upper central position of the chassis fuselage.

[0020] In a second aspect, the present invention provides an air-land integrated flying car, including a flying car fuselage, and a rocker arm swing rod type chassis as described in any one of the first aspect is provided below the flying car fuselage.

[0021] Optionally, the above-mentioned air-land integrated flying car further includes at least four groups of rotors arranged on the flying car fuselage.

[0022] Optionally, the number of groups of the rotors is eight groups.

[0023] As can be seen from the above, the rocker swing rod type chassis provided by the embodiment of the present invention includes a chassis body, a swing rod mechanism, and two groups of rocker arms arranged on both sides of the swing rod mechanism; the rocker arm includes a central connecting member and two rocker arms arranged at both ends of the central connecting member, the rocker arm is fixedly connected to the steering joint motor assembly, the steering joint motor assembly is fixedly connected to the drive motor assembly, and the output end of the drive motor assembly is fixedly connected to the drive wheel of the land-air integrated flying vehicle; the swing rod mechanism includes a swing rod and a central torsion shaft arranged below the swing rod, the central torsion shaft is fixed in the chassis body, and both ends of the central torsion shaft are detachably connected to the inner sides of the two central connecting members of the rocker arm, the lugs extending upward from the two central connecting members are respectively rotatably connected to both ends of the swing rod through ball head tie rods, and the center of the swing rod is installed on the swing rod bearing seat through a swing rod bearing. Thus, by fixedly connecting the rocker arm to the steering joint motor assembly, the steering joint motor assembly to the drive motor assembly, and the output end of the drive motor assembly to the drive wheel of the land-air integrated flying vehicle, a wheel side drive system is formed. When turning, the drive motor assembly is driven to rotate by the steering joint motor assembly to drive the drive wheel to turn, and in-situ turning can be achieved, with a small turning radius and no restriction on the driving direction. By setting the lugs extending upward from the two central connecting members to be respectively rotatably connected to both ends of the swing rod through ball head tie rods, and the center of the swing rod is installed on the swing rod bearing seat through a swing rod bearing, when one side of the drive wheel passes over an obstacle, the central connecting member of the rocker arm on this side can push the swing rod through the ball head tie rod to rotate around the swing rod bearing seat through the swing rod bearing, thereby pushing the central connecting member of the rocker arm on the opposite side to drive the connected drive wheel to press down on the ground through the connected rocker arm, thus reducing the change in the center of gravity height of the overall chassis body, making the land-air integrated flying vehicle using this rocker swing rod type chassis have a smaller body tilt angle when driving on rough ground, and improving the terrain adaptability and driving stability.

[0024] The innovation points of the embodiment of the present invention include:

[0025] 1. A wheel-side drive system is formed by fixedly connecting the rocker arm with the steering joint motor assembly, the steering joint motor assembly with the drive motor assembly, and the output end of the drive motor assembly with the drive wheel of the land-air integrated flying car. When turning, the steering joint motor assembly drives the drive motor assembly to rotate, thereby driving the drive wheel to turn, so that in-situ turning can be achieved, the turning radius is small, and the driving direction is not restricted. By arranging lugs extending upward from two central links, which are rotatably connected to the two ends of the rocker arm through ball head pull rods, and the center of the rocker arm is installed on the rocker arm bearing seat through a rocker arm bearing, when a driving wheel on one side passes an obstacle, the central link of the rocker arm on this side can push the rocker arm through the ball head pull rod to rotate around the rocker arm bearing seat through the rocker arm bearing, thereby pushing the central link of the rocker arm on the opposite side to drive the connected driving wheel downward to press the ground through the connected rocker arm rod, thereby reducing the height change of the center of gravity of the entire chassis fuselage, so that when the land-air integrated flying car using the rocker arm rocker arm chassis is driving on rugged ground, the fuselage tilt angle is small, thereby improving the terrain adaptability and driving stability.

[0026] 2. The two ends of the central torsion shaft are detachably connected to the inner sides of the two central links of the rocker arm through two connecting shafts, so that when the central link is disassembled, only the connecting shaft needs to be removed without destroying the central link.

[0027] 3. By fixing the ball seat on one end of the rocker arm, the ball seat is provided with a spherical groove, one end of the pull rod is provided with a ball head, the ball head is arranged in the spherical groove and can rotate in the spherical groove, and the other end of the pull rod is fixed to the lug, so that when the lug moves upward, the pull rod can be rotated through the ball head to drive the rocker arm to rotate, thereby achieving the purpose of linking the rocker arm mechanism through the rocker arm.

[0028] 4. When the chassis body is relatively large, by arranging the rocker arm at the rear of the chassis body, the height of the entire rocker arm rocker type chassis can be lowered, which is beneficial to stability; and when the chassis body is relatively small, by arranging the rocker arm at the upper center of the chassis body, the stability of the entire rocker arm rocker type chassis can be improved.

[0029] 5. By fixedly connecting one end of the rocker arm to one end of the central link, and the other end to the steering joint motor assembly, the steering joint motor assembly is fixedly connected to the drive motor assembly through the steering joint motor output flange, and the drive motor assembly is fixedly connected to the drive wheel through the drive motor output flange, the central link is connected to the drive wheel through the rocker arm, the steering joint motor assembly and the drive motor assembly, so that when the drive wheel encounters an obstacle, the central link can be linked through the rocker arm to further promote the rotation of the rocker arm.

[0030] 6. The steering joint motor assembly is fixedly connected to the drive motor assembly, which improves the integration degree, can reduce the volume and weight at the same time, making it easier to cross obstacles and having higher passability.

[0031] 7. By mounting the steering motor inside the steering motor mounting seat, the steering motor is protected from damage. And by setting the output end of the steering motor to be fixedly connected to the drive motor assembly through the steering joint motor output flange, the connection is firm and reliable and easy to disassemble.

[0032] 8. By mounting the drive motor inside the drive motor mounting seat, the drive motor is protected from damage. And by setting the output end of the drive motor to be fixedly connected to the drive wheel through the drive motor output flange, the connection is firm and reliable and easy to disassemble.

[0033] 9. When a larger size of the chassis body is required, only swing rods and a central torsion shaft with longer lengths need to be adopted, reducing the weight, further making the effective load of the land-air integrated flying vehicle with this rocker swing rod type chassis larger, achieving the purpose of power saving, and thus extending the endurance time.

[0034] 10. The land-air integrated flying vehicle provided by the embodiment of the present invention includes a flying vehicle body. Below the flying vehicle body, there is a rocker swing rod type chassis as provided in any one of the first embodiments. The rocker swing rod type chassis forms a wheel side drive system by fixedly connecting the rocker arm to the steering joint motor assembly, fixedly connecting the steering joint motor assembly to the drive motor assembly, and fixedly connecting the output end of the drive motor assembly to the drive wheel of the land-air integrated flying vehicle. When turning, the drive motor assembly can be driven to rotate by the steering joint motor assembly, thereby driving the drive wheel to turn, and it can achieve in-situ turning, with a small turning radius and the driving direction being unrestricted. By setting the lugs extending upward from the two central connectors to be rotatably connected to the two ends of the swing rod through ball head pull rods respectively, and mounting the center of the swing rod on the swing rod bearing seat through a swing rod bearing, when one side of the drive wheel passes over an obstacle, the central connector of the rocker arm on this side can push the swing rod to rotate around the swing rod bearing seat through the ball head pull rod, thereby pushing the central connector of the rocker arm on the opposite side to drive the connected drive wheel to press down on the ground through the connected rocker arm, thus reducing the change in the center of gravity height of the overall chassis body, making the land-air integrated flying vehicle using this rocker swing rod type chassis have a smaller body tilt angle when driving on rough ground, and improving the terrain adaptability and driving stability.

[0035] 11. By setting at least four groups of rotors on the fuselage of the flying car, a new type of land-air integrated flying car with a multi-rotor + rocker swing rod chassis configuration is formed, enabling the land-air integrated flying car with this configuration to have a small turning radius and an unrestricted driving direction. When driving on rough ground, the tilting angle of the fuselage is small, improving the terrain adaptability and driving stability.

[0036] Of course, it is not necessary for any product or method implementing the present invention to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for describing the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0038] Figure 1 A schematic structural diagram of a rocker swing rod chassis provided by an embodiment of the present invention;

[0039] Figure 2 A schematic structural diagram of a swing rod mechanism provided by an embodiment of the present invention;

[0040] Figure 3 A schematic structural diagram of a ball head tie rod provided by an embodiment of the present invention;

[0041] Figure 4 A schematic structural diagram of a rocker provided by an embodiment of the present invention;

[0042] Figure 5 A complete schematic structural diagram of the connection between a steering joint motor assembly and a drive motor assembly;

[0043] Figure 6 A partial schematic structural diagram of the connection between a steering joint motor assembly and a drive motor assembly;

[0044] Figure 7 A schematic structural diagram of a land-air integrated flying car provided by an embodiment of the present invention.

[0045] Figures 1 - 7Among them, 1 is the chassis fuselage, 2 is the swing rod mechanism, 21 is the swing rod, 22 is the central torsion shaft, 3 is the rocker arm, 31 is the central link, 311 is the lug, 32 is the rocker arm rod, 33 is the connecting shaft, 4 is the steering joint motor assembly, 41 is the steering motor, 42 is the steering motor mounting seat, 421 is the rocker arm rod mounting rod, 5 is the driving motor assembly, 51 is the driving motor, 52 is the driving motor mounting seat, 6 is the driving wheel, 7 is the ball joint pull rod, 71 is the pull rod, 72 is the ball head, 73 is the ball seat, 8 is the swing rod bearing, 9 is the swing rod bearing seat, 10 is the driving motor output flange, 20 is the flying car fuselage, 30 is the rocker arm swing rod type chassis, 40 is the rotor. Detailed implementation manners

[0046] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0047] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0048] The embodiments of the present invention disclose a rocker arm swing rod type chassis and an air-land integrated flying car, which have a small turning radius and are not restricted in the driving direction. When driving on rough ground, the tilting angle of the fuselage is small, improving the terrain adaptability and driving stability. The embodiments of the present invention will be described in detail below.

[0049] Embodiment 1

[0050] Figure 1 It is a schematic structural diagram of a rocker arm swing rod type chassis provided by an embodiment of the present invention. Figure 2 It is a schematic structural diagram of a swing rod mechanism provided by an embodiment of the present invention.

[0051] See Figure 1 , the rocker arm swing rod type chassis provided by the embodiment of the present invention includes a chassis fuselage 1, a swing rod mechanism 2, and two groups of rocker arms 3 arranged on both sides of the swing rod mechanism. Among them, each group of rocker arms 3 can swing independently. In order to constrain the two independent rocker arms 3 and the chassis fuselage 1, a swing rod mechanism 2 is arranged on the chassis fuselage 1. The shape of the chassis fuselage 1 can be designed according to actual needs. For example, it can be a rectangular body with a cover. Of course, it can also be other shapes. The embodiments of the present invention do not make any limitations here.

[0052] Continue to refer to Figure 1 , the rocker arm 3 includes a central link 31 and two rocker arms 32 provided at both ends of the central link 31. Among them, the connection between the central link 31 and the rocker arm 32 can be a fixed connection, and the fixed connection method can be screw connection or welding, or other fixed connection methods in the prior art. The embodiments of the present invention do not make any limitations in this regard. The rocker arm 32 is a carbon fiber rod, thereby reducing the mass of the rocker arm 3.

[0053] The rocker arm 32 is fixedly connected to the steering joint motor assembly 4, the steering joint motor assembly 4 is fixedly connected to the drive motor assembly 5, and the output end of the drive motor assembly 5 is fixedly connected to the drive wheel 6 of the land-air integrated flying vehicle. Among them, the steering joint motor assembly 4 is used to drive the drive motor assembly 5 to rotate so as to drive the drive wheel 6 to turn, and the drive motor assembly 5 is used to drive the drive wheel 6 to turn.

[0054] Refer to Figure 2 , the swing rod mechanism 2 includes a swing rod 21 and a central torsion shaft 22 provided below the swing rod 21. Here, the "below" can be directly below or obliquely below, which is specifically set according to actual needs. Among them, the materials of the swing rod 21 and the central torsion shaft 22 can both be carbon fiber materials, thereby reducing the weight of the rocker arm swing rod type chassis.

[0055] The central torsion shaft 22 is fixed in the chassis body 1, and both ends of the central torsion shaft 22 are detachably connected to the inner sides of the two central links 31 of the rocker arm 3.

[0056] Specifically, the central torsion shaft 22 can be fixed in the chassis body 1 by fixing the two central links 31 on both sides to both sides of the chassis body 1, so that the central torsion shaft 22 is fixed in the chassis body 1.

[0057] When the size of the chassis body 1 needs to be larger, only a longer swing rod 21 and central torsion shaft 22 are required, reducing the weight. Further, the effective load of the land-air integrated flying vehicle using this rocker arm swing rod type chassis is greater, achieving the purpose of power saving, thereby extending the endurance time.

[0058] Continue to refer to Figure 2 , the rocker arm 3 further includes a connecting shaft 33, and both ends of the central torsion shaft 22 are detachably connected to the inner sides of the two central links 31 of the rocker arm 3 through the two connecting shafts 33. Among them, the detachable connection method can be screw connection, or other detachable connection methods in the prior art. The embodiments of the present invention do not make any limitations in this regard.

[0059] Thus, by detachably connecting both ends of the central torsion shaft 22 to the inner sides of two central link members 31 of the rocker arm 3 through two connecting shafts 33 respectively, when disassembling the central link members 31, only the connecting shafts 33 need to be removed, without damaging the central link members 31.

[0060] Specifically, the connecting shaft 33 includes a connecting disk and a hollow connecting shaft that are connected to each other. The connecting disk is detachably installed on the inner side of the central link member 31, and one end of the central torsion shaft 22 is detachably connected to the hollow connecting shaft. For example, one end of the central torsion shaft 22 is inserted into the hollow connecting shaft and fixed with screws.

[0061] Thus, the connection between the central torsion shaft 22 and the connecting shaft 33 is also detachable. When the central torsion shaft 22 is damaged, it is convenient to replace the central torsion shaft 22.

[0062] Continue to refer to Figure 2 , the lugs 311 extending upward from the two central link members 31 are respectively rotatably connected to both ends of the swing rod 21 through ball head pull rods 7. That is to say, the lugs 311 are fixedly connected to the ball head pull rods 7, and the ball head pull rods 7 are rotatably connected to one end of the swing rod 21.

[0063] Figure 3 This is a schematic structural diagram of the ball head pull rod provided by an embodiment of the present invention. Refer to Figure 3 , the ball head pull rod 7 includes a pull rod 71, a ball head 72, and a ball seat 73.

[0064] The ball seat 73 is fixedly installed at one end of the swing rod 21. The ball seat 73 is provided with a spherical groove. One end of the pull rod 71 is provided with a ball head 72. The ball head 72 is arranged in the spherical groove and can rotate in the spherical groove. The other end of the pull rod 71 is fixed to the lug 311. Among them, the fixed connection method can be screw connection or welding, or other fixed connection methods in the prior art. The embodiment of the present invention does not make any limitation on this.

[0065] Thus, by fixedly installing the ball seat 73 at one end of the swing rod 21, the ball seat 73 is provided with a spherical groove, one end of the pull rod 71 is provided with a ball head 72, the ball head 72 is arranged in the spherical groove and can rotate in the spherical groove, and the other end of the pull rod 71 is fixed to the lug 311, when the lug 311 moves upward, the pull rod 71 can rotate through the ball head 72 to drive the swing rod 21 to rotate, achieving the purpose of linking the swing rod mechanism 2 through the rocker arm 3.

[0066] Continue to refer to Figure 3 , the center of the swing rod 21 is installed on the swing rod bearing seat 9 through a swing rod bearing 8. That is to say, the swing rod 21 can rotate around the swing rod bearing seat 9 through the swing rod bearing 8. Among them, the swing rod bearing 8 can be any bearing that can achieve the rotation function, such as a deep groove ball bearing.

[0067] Among them, the position of the swing rod 21 can be set according to actual needs. For example, the swing rod 21 can be arranged at the rear or the upper central position of the chassis body 1. If the chassis body 1 is large and occupies a large space, in order to reduce the height and maintain balance, the swing rod 21 can be arranged at the rear of the chassis body 1, and at this time, a ball head pull rod 7 with a longer length is required. If the chassis body 1 is small, the swing rod 21 can be arranged at the upper central position of the chassis body 1, which is beneficial to the overall stability.

[0068] Therefore, when the chassis body 1 is large, by arranging the swing rod 21 at the rear of the chassis body 1, the height of the entire rocker swing rod type chassis can be reduced, which is beneficial to stability; and when the chassis body 1 is small, by arranging the swing rod 21 at the upper central position of the chassis body 1, the stability of the entire rocker swing rod type chassis can be improved.

[0069] The working principle of the rocker swing rod type chassis provided by the embodiment of the present invention is as follows:

[0070] When turning, the driving motor assembly 5 is driven to rotate by the steering joint motor assembly 4, so as to drive the driving wheel 6 to turn, and in-situ turning can be achieved, with a small turning radius and no restriction on the driving direction.

[0071] When driving on a rough road and passing an obstacle, taking the right driving wheel 6 passing the obstacle as an example, when the right driving wheel 6 passes the obstacle, the rocker arm 32 connected to the driving wheel 6 drives the central link 31 on this side to tilt upward. The central link 31 pushes the swing rod 21 through the lug 311 and the ball head pull rod 7 to rotate clockwise around the swing rod bearing seat 9 through the swing rod bearing 8. When looking down, it rotates clockwise. While the swing rod 21 rotates to the right, it pushes the central link 31 on the left side downward, so that the central link 31 drives the connected driving wheel 6 to press tightly against the ground through the connected rocker arm 32, thereby reducing the change in the center of gravity height of the overall chassis body 1. When the land-air integrated flying vehicle using this rocker swing rod type chassis travels on a rough ground, the tilting angle of the fuselage is small, the terrain adaptability and driving smoothness are improved, the risk of tipping over on a rough road is reduced, it has stronger passing ability and lower dependence on road conditions, and stronger flexibility.

[0072] In summary, the rocker arm swing rod type chassis provided by the embodiment of the present invention includes a chassis body 1, a swing rod mechanism 2, and two groups of rocker arms 3 arranged on both sides of the swing rod mechanism; the rocker arm 3 includes a central connecting member 31 and two rocker arm rods 32 arranged at both ends of the central connecting member 31. The rocker arm rod 32 is fixedly connected to the steering joint motor assembly 4, the steering joint motor assembly 4 is fixedly connected to the driving motor assembly 5, and the output end of the driving motor assembly 5 is fixedly connected to the driving wheel 6 of the land-air integrated flying vehicle; the swing rod mechanism 2 includes a swing rod 21 and a central torsion shaft 22 arranged below the swing rod 21. The central torsion shaft 22 is fixed in the chassis body 1, and both ends of the central torsion shaft 22 are detachably connected to the inner sides of the two central connecting members 31 of the rocker arm 3. The lug ears 311 extending upward from the two central connecting members 31 are respectively rotatably connected to both ends of the swing rod 21 through ball head tie rods 7, and the center of the swing rod 21 is installed on the swing rod bearing seat 9 through a swing rod bearing 8. Thus, by fixedly connecting the rocker arm rod 32 to the steering joint motor assembly 4, the steering joint motor assembly 4 to the driving motor assembly 5, and the output end of the driving motor assembly 5 to the driving wheel 6 of the land-air integrated flying vehicle, a wheel side drive system is formed. When turning, the driving motor assembly 5 can be driven to rotate by the steering joint motor assembly 4 to drive the driving wheel 6 to turn, enabling in-situ turning with a small turning radius and unrestricted driving direction. By arranging the lug ears 311 extending upward from the two central connecting members 31 to be respectively rotatably connected to both ends of the swing rod 21 through ball head tie rods 7, and the center of the swing rod 21 is installed on the swing rod bearing seat 9 through a swing rod bearing 8, when one side of the driving wheel 6 passes over an obstacle, the central connecting member 31 of the rocker arm 3 on this side can push the swing rod 21 to rotate around the swing rod bearing seat 9 through the ball head tie rod 7 and the swing rod bearing 8, thereby pushing the central connecting member 31 of the rocker arm 3 on the opposite side to drive the connected driving wheel 6 to press downward against the ground through the connected rocker arm rod 32, thus reducing the change in the center of gravity height of the overall chassis body 1. When the land-air integrated flying vehicle using this rocker arm swing rod type chassis travels on rough ground, the tilting angle of the fuselage is small, improving the terrain adaptability and driving stability.

[0073] Figure 4 It is a structural schematic diagram of the rocker arm 3 provided by the embodiment of the present invention. Figure 5 It is a complete structural schematic diagram of the connection between the steering joint motor assembly and the driving motor assembly.

[0074] See Figure 4 and Figure 5, one end of the rocker arm 32 is fixedly connected to one end of the central link 31, and the other end is fixedly connected to the steering joint motor assembly 4. The steering joint motor assembly 4 is fixedly connected to the drive motor assembly 5 through the steering joint motor output flange. Moreover, the steering joint motor assembly 4 is located above the drive motor assembly 5. The drive motor assembly 5 is fixedly connected to the drive wheel 6 through the drive motor output flange 10. Among them, the way of fixed connection can be screw connection or welding, or other fixed connection ways in the existing technology. The embodiments of the present invention do not make any limitation on this.

[0075] Thus, by fixedly connecting one end of the rocker arm 32 to one end of the central link 31, the other end to the steering joint motor assembly 4, the steering joint motor assembly 4 to the drive motor assembly 5 through the steering joint motor output flange, and the drive motor assembly 5 to the drive wheel 6 through the drive motor output flange 10, the central link 31 is connected to the drive wheel 6 through the rocker arm 32, the steering joint motor assembly 4 and the drive motor assembly 5. When an obstacle is encountered by the drive wheel 6, the central link 31 can be linked through the rocker arm 32 to further push the swing rod 21 to rotate.

[0076] Meanwhile, the steering joint motor assembly 4 and the drive motor assembly 5 are fixedly connected, which improves the integration degree, can reduce the volume and lighten the weight at the same time, making it easier to cross obstacles and having higher passability.

[0077] Figure 6 For the partial structural schematic diagram of the connection between the steering joint motor assembly and the drive motor assembly, see Figure 5 and Figure 6 , the steering joint motor assembly 4 includes a steering motor 41 and a steering motor mounting seat 42.

[0078] The steering motor 41 is installed in the steering motor mounting seat 42, and the steering motor mounting seat 42 is fixedly connected to the other end of the rocker arm 32.

[0079] Continue to refer to Figure 4 and Figure 6 , the steering motor mounting seat 42 is provided with a rocker arm mounting rod 421. The steering motor mounting seat 42 is fixedly connected to the other end of the rocker arm 32 through the rocker arm mounting rod 421. Specifically, the rocker arm mounting rod 421 is inserted into the mounting hole at the other end of the rocker arm 32 and fixedly connected with screws.

[0080] Thus, by setting the rocker arm mounting rod 421 on the steering motor mounting seat 42, the steering motor mounting seat 42 is fixedly connected to the other end of the rocker arm 32 through the rocker arm mounting rod 421, which is convenient for connection and disassembly.

[0081] The output end of the steering motor 41 is fixedly connected to the drive motor assembly 5 through the steering joint motor output flange. Among them, the fixed connection method can be screw connection or welding, or other fixed connection methods in the prior art, and the embodiments of the present invention do not make any limitations thereto.

[0082] Thus, by installing the steering motor 41 in the steering motor mounting seat 42, the steering motor 41 is protected from damage. And by setting the output end of the steering motor 41 to be fixedly connected to the drive motor assembly 5 through the steering joint motor output flange, the connection is firm and reliable and easy to disassemble.

[0083] Continue to refer to Figure 5 and Figure 6 , the drive motor assembly 5 includes a drive motor 51 and a drive motor mounting seat 52. The drive motor 51 is installed in the drive motor mounting seat 52, and the output end of the drive motor 51 is fixedly connected to the drive wheel 6 through the drive motor output flange 10.

[0084] Thus, by installing the drive motor 51 in the drive motor mounting seat 52, the drive motor 51 is protected from damage. And by setting the output end of the drive motor 51 to be fixedly connected to the drive wheel 6 through the drive motor output flange 10, the connection is firm and reliable and easy to disassemble.

[0085] Embodiment 2

[0086] Figure 7 It is a schematic structural diagram of an air-land integrated flying car provided by an embodiment of the present invention. Refer to Figure 7 , the air-land integrated flying car provided by the embodiment of the present invention includes a flying car body 20, and a rocker swing rod type chassis 30 as provided in any one of Embodiment 1 is provided below the flying car body 20.

[0087] Accordingly, the land-air integrated flying vehicle provided by the embodiment of the present invention includes a flying vehicle fuselage 20, and a rocker swing rod type chassis 30 as provided in any of the embodiments is provided below the flying vehicle fuselage 20. The rocker swing rod type chassis 30 forms a wheel side drive system by fixedly connecting a rocker rod 32 with a steering joint motor assembly 4, fixedly connecting the steering joint motor assembly 4 with a drive motor assembly 5, and drivingly connecting an output end of the drive motor assembly 5 with a drive wheel 6 of the land-air integrated flying vehicle. When turning, the drive motor assembly 5 can be driven to rotate by the steering joint motor assembly 4 so as to drive the drive wheel 6 to turn, thereby realizing in-situ turning, with a small turning radius and an unrestricted driving direction. By setting lugs 311 extending upward from two central link members 31 to be respectively rotatably connected with two ends of a swing rod 21 through ball head tie rods 7, and installing the central portion of the swing rod 21 on a swing rod bearing seat 9 through a swing rod bearing 8, when one side of the drive wheel 6 passes over an obstacle, the central link member 31 of the rocker 3 on this side can push the swing rod 21 through the ball head tie rod 7 to rotate around the swing rod bearing seat 9 through the swing rod bearing 8, thereby pushing the central link member 31 of the rocker 3 on the opposite side to drive the connected drive wheel 6 through the connected rocker rod 32 to press downward against the ground, thereby reducing the change in the center of gravity height of the overall chassis fuselage 1. When the land-air integrated flying vehicle using this rocker swing rod type chassis travels on rough ground, the tilting angle of the fuselage is small, improving the terrain adaptability and driving stability.

[0088] Continue to refer to Figure 7 , the land-air integrated flying vehicle provided by the embodiment of the present invention further includes at least four groups of rotors 40 provided on the flying vehicle fuselage 20. Exemplarily, the number of groups of rotors 40 is eight groups.

[0089] Accordingly, by providing at least four groups of rotors 40 on the flying vehicle fuselage 20, a new type of land-air integrated flying vehicle with a multi-rotor + rocker swing rod type chassis 30 configuration is formed, such that the land-air integrated flying vehicle with this configuration has a small turning radius and an unrestricted driving direction. When traveling on rough ground, the tilting angle of the fuselage is small, improving the terrain adaptability and driving stability.

[0090] In one implementation, a lidar, a front view camera, a GPS (Global Positioning System) antenna, a switch, an IMU (Inertial Measurement Unit), and an industrial control computer device are further installed on the flying vehicle fuselage 20, which can be integrated to realize the autonomous driving and obstacle avoidance behaviors of the land-air integrated flying vehicle.

[0091] Those of ordinary skill in the art can understand that: The drawings are only schematic diagrams of an embodiment, and the modules or processes in the drawings are not necessarily essential for implementing the present invention.

[0092] Those of ordinary skill in the art can understand that the modules in the device in the embodiments can be distributed in the device in the embodiments as described in the embodiments, or can be correspondingly changed and located in one or more devices different from the present embodiments. The modules in the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rocker arm chassis, characterized in that: include: A chassis body, a rocker mechanism and two sets of rocker arms arranged on both sides of the rocker mechanism; The rocker arm includes a central link and two rocker levers provided at both ends of the central link, the rocker lever is fixedly connected to the steering joint motor assembly, the steering joint motor assembly is fixedly connected to the drive motor assembly, and the output end of the drive motor assembly is fixedly connected to the drive wheel of the land-air integrated flying car; The rocker mechanism includes a rocker and a central torsion shaft arranged below the rocker, the central torsion shaft is fixed in the chassis body, and the two ends of the central torsion shaft are detachably connected to the inner sides of the two central links of the rocker arm, the lugs extending upward from the two central links are rotatably connected to the two ends of the rocker through ball head pull rods, and the center of the rocker is installed on the rocker bearing seat through a rocker bearing.

2. The rocker arm chassis according to claim 1, characterized in that: One end of the rocker arm is fixedly connected to one end of the central link, and the other end is fixedly connected to the steering joint motor assembly; The steering joint motor assembly is fixedly connected to the drive motor assembly via a steering joint motor output flange, and the steering joint motor assembly is located above the drive motor assembly, and the drive motor assembly is fixedly connected to the drive wheel via a drive motor output flange.

3. The rocker arm chassis according to claim 2, characterized in that: The steering joint motor assembly comprises a steering motor and a steering motor mounting seat; The steering motor is installed in the steering motor mounting seat, the steering motor mounting seat is fixedly connected to the other end of the rocker arm, and the output end of the steering motor is fixedly connected to the drive motor assembly through the steering joint motor output flange.

4. The rocker arm chassis according to claim 2, characterized in that: The drive motor assembly comprises a drive motor and a drive motor mounting seat; The drive motor is installed in the drive motor mounting seat, and the output end of the drive motor is fixedly connected to the drive wheel through the drive motor output flange.

5. The rocker arm chassis according to claim 1, characterized in that: The rocker arm also includes a connecting shaft; The two ends of the central torsion shaft are detachably connected to the inner sides of the two central links of the rocker arm through two connecting shafts.

6. The rocker arm chassis according to claim 1, characterized in that: The ball head pull rod comprises a pull rod, a ball head and a ball seat; The ball seat is fixedly mounted on one end of the swing rod, the ball seat is provided with a spherical groove, one end of the pull rod is provided with the ball head, the ball head is arranged in the spherical groove and can rotate in the spherical groove, and the other end of the pull rod is fixed to the lug.

7. The rocker arm chassis according to claim 1, characterized in that: The swing rod is arranged at the rear or upper center position of the chassis body.

8. A land-air integrated flying car, characterized in that: It comprises a flying car fuselage, under which a rocker arm and swing bar type chassis as described in any one of claims 1 to 7 is arranged.

9. The integrated land-air flying car according to claim 8, characterized in that: It also includes at least four sets of rotors arranged on the flying car fuselage.

10. The integrated land-air flying car according to claim 8, characterized in that: The number of groups of the rotors is eight.

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