AI intelligent driving trolley

Abstract

The invention provides an AI intelligent driving trolley. The AI intelligent driving trolley comprises a frame, a driving device and a driving device, the two wheel devices are respectively provided with a sliding shaft; the steering device comprises a steering driver and a steering pull rod, the steering driver can drive the steering pull rod to move relative to the frame in the first direction, sliding grooves extending in the second direction intersecting with the first direction are formed in the two ends of the steering pull rod correspondingly, and the two sliding shafts are in sliding fit with the corresponding sliding grooves correspondingly; a connecting line of orthographic projections of axes around which the two wheel devices and the frame rotate relatively on the supporting surface is defined as a first connecting line, a connecting line of orthographic projections of the two sliding shafts on the supporting surface is defined as a second connecting line, and the second connecting line is located on the rear side of the first connecting line; when the wheel device is in a forward state, the first connecting line and the second connecting line are constructed to be the lower bottom and the upper bottom of the isosceles trapezoid respectively, so that when the wheel device is in a turning state, the inner deflection angle is larger than the outer deflection angle, the running resistance is reduced, and abrasion is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an AI intelligent driving vehicle. Background Art

[0002] With the progress of science and technology, the application of AI intelligent driving vehicles is more and more widely used in fields such as entertainment, service and industry. The AI intelligent driving vehicle drives the wheels to move along the road surface through drivers such as in-wheel motors and hub motors, so as to realize the forward, backward and turning movements of the AI intelligent driving vehicle. In the prior art, the steering device in the AI intelligent driving vehicle is not reasonably designed, resulting in excessive driving resistance and serious tire wear. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides an AI intelligent driving vehicle, which can reduce driving resistance and reduce tire wear.

[0004] An embodiment of the present invention provides an AI intelligent driving vehicle, which includes: a frame; two wheel devices, which are respectively rotatably mounted on the frame and are both provided with sliding shafts, and the wheel devices are used to drive the frame to move along a support surface; a steering device, including a steering driver and a steering tie rod, the steering driver is mounted on the frame and is connected to the steering tie rod, the steering driver can drive the steering tie rod to move relative to the frame along a first direction, both ends of the steering tie rod are provided with sliding grooves extending along a second direction, the second direction intersects with the first direction, and the sliding shafts of the two wheel devices are respectively slidably engaged with the corresponding sliding grooves; define the axes around which the two wheel devices rotate relative to the frame as a first axis and a second axis respectively, the connection line of the orthographic projections of the first axis and the second axis on the support surface is a first connection line, define the connection line of the orthographic projections of the sliding shafts of the two wheel devices on the support surface as a second connection line, and the second connection line is located behind the first connection line in the forward direction of the wheel device; when the wheel device is in the forward state, the first connection line and the second connection line are respectively configured as the lower base and the upper base of an isosceles trapezoid, so that when the wheel device is in the turning state, the deflection angle of the inner wheel device is greater than the deflection angle of the outer wheel device.

[0005] The AI intelligent driving vehicle provided by the embodiment of the present invention has at least the following beneficial effects:

[0006] By setting a steering drive and a steering tie rod, when the steering drive drives the steering tie rod to move relative to the vehicle frame in the first direction, the sliding shafts of the two wheel assemblies slide along the two chutes of the steering tie rod in the second direction respectively, so as to realize the steering of the wheel assemblies. At the same time, define the connection line of the positive projections of the axes around which the two wheel assemblies rotate relative to the vehicle frame on the support surface as the first connection line, and the connection line of the positive projections of the sliding shafts of the two wheel assemblies on the support surface as the second connection line. Set the second connection line to be located at the rear side of the first connection line in the forward direction of the wheel assembly. And when the wheels are in the forward state, the first connection line and the second connection line are respectively configured as the lower base and the upper base of an isosceles trapezoid. When the above geometric relationship is satisfied, when the wheel assembly is in a turning state, the deflection angle of the inner wheel assembly is greater than that of the outer wheel assembly, so as to meet the design requirement that the turning radius of the inner wheel assembly is relatively larger than that of the inner wheel assembly, so that the wheel assembly can perform pure rolling motion when turning, which is beneficial to reducing the driving resistance and wear.

[0007] In an embodiment of this embodiment, the vehicle frame is provided with two limiting plates, the two limiting plates are arranged oppositely, and a guiding groove extending in the first direction is formed therebetween, and the steering tie rod is slidably fitted in the guiding groove.

[0008] In an embodiment of this embodiment, the steering tie rod is provided with a rack, and the output shaft of the steering drive is engaged with the rack.

[0009] In an embodiment of this embodiment, the wheel assembly includes a connecting frame, the connecting frame is provided with a first assembly hole and a second assembly hole symmetrically along a plane parallel to the support surface, and at least one of the first assembly hole and the second assembly hole is installed with the sliding shaft.

[0010] In an embodiment of this embodiment, the wheel assembly includes a connecting frame, the connecting frame is provided with a first rotating shaft and a second rotating shaft symmetrically along a plane parallel to the support surface, and at least one of the first rotating shaft and the second rotating shaft is rotatably fitted with the vehicle frame.

[0011] In an embodiment of this embodiment, the AI intelligent driving vehicle includes a first part and a second part, the first part and the second part respectively include two of the wheel assemblies and a steering device, and the first part and the second part are symmetrically arranged along a plane perpendicular to the forward direction.

[0012] In one embodiment of this implementation manner, the wheel device includes: a rim provided with mounting holes; a hub fixedly connected to the rim and covering a first opening of the mounting holes; a speed reduction output mechanism including a fixed seat, a plurality of first planet gears, and a traveling driver. The fixed seat is provided with a ring gear and is rotatably fitted in the mounting holes. The plurality of first planet gears are rotatably mounted on the hub and are all meshed with the ring gear. The traveling driver is mounted on the fixed seat and is in transmission connection with the plurality of first planet gears. The traveling driver can drive the plurality of first planet gears to rotate so that the hub and the rim rotate relative to the fixed seat.

[0013] In one embodiment of this implementation manner, the speed reduction output mechanism includes a planet carrier, a sun gear, and a plurality of second planet gears. The sun gear is fixed to the planet carrier and is meshed with the plurality of first planet gears. The plurality of second planet gears are rotatably mounted on the planet carrier and are meshed with the ring gear. The output shaft of the traveling driver is meshed with the plurality of second planet gears.

[0014] In one embodiment of this implementation manner, a limiting protrusion is formed on the inner wall of the mounting hole, and a mating protrusion is provided on the outer periphery of the fixed seat. The fixed seat can extend into the mounting hole from the first opening so that the mating protrusion abuts against the inner wall of the mounting hole in the radial direction and the mating protrusion abuts against the limiting protrusion in the axial direction.

[0015] In one embodiment of this implementation manner, the mounting hole has a second opening opposite to the first opening. The limiting protrusion is provided with an avoidance groove, and a fixing column connected to the steering tie rod is provided on the outer periphery of the fixed seat. The avoidance groove is used for the fixing column to pass through when the fixed seat extends into the mounting hole so that the fixing column extends out of the second opening.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the drawings and embodiments, where:

[0018] Figure 1 is a schematic structural diagram of an AI intelligent driving vehicle under one embodiment of the implementation manner of the present invention;

[0019] Figure 2 is Figure 1 a partial structural diagram of the AI intelligent driving vehicle;

[0020] Figure 3 is Figure 2 a partial structural diagram of the first part and the vehicle body shell;

[0021] Figure 4a is Figure 3 The schematic diagram of the first part of when moving forward;

[0022] Figure 4b is Figure 3 The schematic diagram of the first part of when turning;

[0023] Figure 5 is Figure 3 The schematic diagram of the structure of the car body shell of ;

[0024] Figure 6 is Figure 3 The schematic diagram of the structure of the steering tie rod of ;

[0025] Figure 7 is Figure 3 The schematic diagram of the structure of the connecting frame of in the disassembled state;

[0026] Figure 8 is Figure 2 The schematic diagram of the structure of the wheel device of ;

[0027] Figure 9 is Figure 8 The schematic diagram of the structure of the wheel device of in the disassembled state;

[0028] Figure 10 is Figure 8 The schematic diagram of the structure of the wheel device of in the disassembled state from another perspective;

[0029] Figure 11 is Figure 9 The schematic diagram of the structure of the fixed seat in the wheel device of ;

[0030] Figure 12 is Figure 9 The schematic diagram of the structure of the rim in the wheel device of ;

[0031] Figure 13 The schematic diagram of the intelligent driving car according to the embodiment of the present application;

[0032] Figure 14 is Figure 13 The schematic diagram of the body and the tail cover of the intelligent driving car shown in being split;

[0033] Figure 15 The schematic diagram of the tail cover according to the embodiment of the present application;

[0034] Figure 16 is Figure 13 The schematic diagram of the intelligent driving car shown in with the car cover removed.

[0035] Reference numerals:

[0036] AI Intelligent Driving Car 1000; First Part 1100; Second Part 1200; Wheel Device 100; Rim 10; Tire 11; Mounting Hole 101; First Opening 1011; Second Opening 1012; Limit Projection 1013; Avoidance Groove 1014; Hub 20; First Rotating Shaft 21; Reduction Output Mechanism 30; Fixed Seat 31; Mounting Chamber 3101; Ring Gear 311; Mounting Plate 312; Matching Projection 313; Fixed Column 314; Chip Removal Groove 3131; First Planet Gear 32; Planet Carrier 33; Second Rotating Shaft 331; Sun Gear 34; Second Planet Gear 35; Connecting Frame 40; First Rotating Axis 411; Second Rotating Axis 412; Sliding Shaft 42; First Assembly Hole 401; Second Assembly Hole 402; Steering Device 200; Steering Tie Rod 210; Sliding Groove 220; Rack 230; Frame 300; Limit Plate 310; Guide Groove 320; Leg 330; Perforation 340; Vehicle Body 501; Rear Cover 502; Car Cover 503; First Cross Beam 504; Second Cross Beam 505; Fourth Connection Hole 506; Second Convex Portion 507; Mounting Opening 508; Vehicle Base 509; Port Plate 510; First Cover Plate 511; Third Groove 512; First Convex Portion 513; Fifth Connection Hole 514; First Groove 515; Second Cover Plate 516; Sixth Connection Hole 517; Circuit Board 518; First Connection Hole 519; Downloader 520; First Magnetic Attraction Portion 521; Second Magnetic Attraction Portion 522. Detailed Embodiment

[0037] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0038] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0039] In the description of the present invention, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, exceeding, etc. are understood as not including the recited number, and above, below, within, etc. are understood as including the recited number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0040] In the description of the present invention, unless otherwise clearly defined, terms such as "setting", "installation", "connection", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0041] In the description of the present invention, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0042] Please refer to Figures 1 to 4b , Figure 1 which is a schematic structural diagram of the AI intelligent driving car 1000 under an embodiment of an implementation manner of the present invention; Figure 2 is Figure 1 a partial structural diagram of the AI intelligent driving car 1000 of Figure 3 is Figure 2 a partial structural diagram of the first part 1100 of Figure 4a is Figure 3 a schematic diagram of the first part 1100 of Figure 4b is Figure 3 a schematic diagram of the first part 1100 of when turning. The implementation manner of the present invention provides an AI intelligent driving car 1000. The AI intelligent driving car 1000 includes two wheel devices 100, a steering device 200, and a frame 300. The two wheel devices 100 are respectively rotatably mounted on the frame 300 and are each provided with a sliding shaft 42. The wheel device 100 is used to drive the frame 300 to travel along the support surface. The steering device 200 includes a steering driver (not shown) and a steering rod 210. The steering driver is mounted on the frame 300 and is connected to the steering rod 210. The steering driver can drive the steering rod 210 to move relative to the frame 300 along a first direction. Both ends of the steering rod 210 are provided with sliding grooves 220 extending along a second direction, and the second direction intersects the first direction. The sliding shafts 42 of the two wheel devices 100 are respectively slidably fitted in the corresponding sliding grooves 220.

[0043] Define the axis of rotation of the relative rotation between the two wheel assemblies 100 and the frame 300 as the first axis and the second axis respectively. The line connecting the orthographic projections of the first axis and the second axis on the support surface is the first connection line. Define the line connecting the orthographic projections of the sliding shafts 42 of the two wheel assemblies 100 on the support surface as the second connection line. The second connection line is located behind the first connection line in the forward direction of the wheel assembly 100. When the wheel assembly 100 is in the forward state, the first connection line and the second connection line are respectively configured as the lower base and the upper base of an isosceles trapezoid, so that when the wheel assembly 100 is in the turning state, the deflection angle of the inner wheel assembly 100 is greater than the deflection angle of the outer wheel assembly 100.

[0044] Specifically, the wheel assembly 100 can realize the walking function through driving mechanisms such as hub motors and in-wheel motors. The support surface can be selected as some surfaces such as the road surface. The steering driver can be a stepper motor, which drives the steering tie rod 210 to move in the first direction through rotational electric power. The steering driver can also be a linear motor, which drives the steering tie rod 210 to move in the first direction in the form of linear drive. In this embodiment, the first direction is the x direction shown in the figure, the second direction is the y direction shown in the figure, the second direction is perpendicular to the first direction, and the z direction shown in the figure is the vertical direction, that is, the direction perpendicular to the support surface. When the wheel assembly 100 is in the forward state, the forward direction is parallel to the y direction.

[0045] Specifically, the orthographic projections of the first axis and the second axis on the support surface are point A and point B respectively, that is, the first connection line is AB. The orthographic projections of the sliding shafts 42 of the two wheel assemblies 100 on the support surface are point C and point D respectively, that is, the second connection line is CD. It should be noted that the orthographic projection of the sliding shaft 42 on the support surface is actually circular, and point C and point D are selected as the centers of the circle. In Figure 4a In the shown figure, the forward direction is from bottom to top, and the second connection line CD is located below the first connection line AB, that is, the second connection line is located behind the first connection line in the forward direction of the wheel assembly 100.

[0046] In Figure 4a During the forward movement, the forward directions v1 of the left wheel assembly 100 and v2 of the right wheel assembly 100 are parallel. At this time, the quadrilateral ABDC is configured as an isosceles trapezoid, the first connection line AB is the lower base of the isosceles trapezoid, and the second connection line CD is the upper base of the isosceles trapezoid (the upper base is shorter than the lower base). The connection lines AC and BD are respectively the two equal-length waists of the isosceles trapezoid. It can be understood that under the configuration of the isosceles trapezoid, the change amount of the isosceles trapezoid is the same when the AI intelligent driving vehicle 1000 turns left and right, ensuring good consistency in turning left and right of the AI intelligent driving vehicle 1000.

[0047] In Figure 4bDuring a right turn, the steering tie rod 210 moves leftward under the drive of the steering actuator, causing the wheel assemblies 100 on both sides to rotate clockwise (points C and D move along the dotted circular trajectories shown), while the sliding shaft 42 of the left wheel assembly 100 slides downward along the sliding groove 220, and the sliding shaft 42 of the right wheel assembly 100 slides upward along the sliding groove 220. The left wheel assembly 100 is located on the relatively outer side of the steering center, and the right wheel assembly 100 is located on the relatively inner side of the steering center. That is, the included angle between the forward direction v4 of the right wheel assembly 100 and the original forward direction v2 is the deflection angle β of the inner wheel assembly 100, and the included angle between the forward direction v3 of the left wheel assembly 100 and the original forward direction v1 is the deflection angle α of the outer wheel assembly 100. Due to the geometric structure of the isosceles trapezoid, the arc that point D moves along the dotted circular trajectory is greater than the arc that point C moves along the dotted circular trajectory, which makes the deflection angle β of the inner wheel assembly 100 greater than the deflection angle α of the outer wheel assembly 100.

[0048] It can be understood that during a turning motion, since the turning radius of the inner steering wheel in the AI intelligent driving vehicle 1000 is greater than that of the outer steering wheel, it is required that the deflection angle of the inner steering wheel is greater than that of the outer steering wheel to make the inner and outer steering wheels perform pure rolling motion as much as possible during turning and reduce wear.

[0049] By setting the steering actuator and the steering tie rod 210, when the steering actuator drives the steering tie rod 210 to move relative to the vehicle frame 300 in the first direction, the sliding shafts 42 of the two wheel assemblies 100 slide along the two sliding grooves of the steering tie rod 210 in the second direction to achieve the steering of the wheel assembly 100. At the same time, define the connection line of the positive projections of the axes around which the two wheel assemblies 100 rotate relative to the vehicle frame 300 on the support surface as the first connection line, and the connection line of the positive projections of the sliding shafts 42 of the two wheel assemblies 100 on the support surface as the second connection line. Set the second connection line to be located behind the first connection line in the forward direction of the wheel assembly 100, and when the wheels are in the forward state, the first connection line and the second connection line are respectively constructed as the lower base and the upper base in the isosceles trapezoid. When the wheel assembly 100 is in a turning state under the condition of satisfying the above geometric relationship, the deflection angle β of the inner wheel assembly 100 is greater than the deflection angle α of the outer wheel assembly 100, so as to meet the design requirement that the turning radius of the inner wheel assembly 100 is relatively larger than that of the inner wheel assembly 100, so that the wheel assembly 100 can perform pure rolling motion during turning, which is beneficial to reducing the driving resistance and wear.

[0050] In one embodiment of this implementation manner, please refer to Figure 3 、 Figure 5 and Figure 6 , Figure 5Yes Figure 3 Schematic diagram of the structure of the car body Figure 6 Yes Figure 3 Schematic diagram of the structure of the steering tie rod 210. The vehicle frame 300 is provided with two limit plates 310 which are arranged opposite to each other and form a guide groove 320 extending in the first direction therebetween. The steering tie rod 210 is slidably fitted in the guide groove 320. With such an arrangement, the guide groove 320 formed by the two limit plates 310 can guide the steering tie rod 210 well, ensuring good movement accuracy of the steering tie rod 210. At the same time, the structure of the two limit plates 310 clamping the steering tie rod 210 has relatively high structural strength, which is beneficial to improving the service life.

[0051] In an embodiment of this embodiment, please refer to Figure 3 、 Figure 5 and Figure 6 , the steering tie rod 210 is provided with a rack 230, and the output shaft of the steering driver is engaged with the rack 230. Specifically, the output shaft of the steering driver is provided with a gear which is engaged with the rack 230, so that the steering driver can drive the output shaft to rotate, and the rack 230 drives the steering tie rod 210 to slide along the guide groove 320. With such an arrangement, the structure is relatively simple, which is beneficial to reducing the cost.

[0052] In this embodiment, the rack 230 extends in the first direction, the rack 230 is opposite to the bottom wall of the guide groove 320, and the limit plate 310 is provided with a through hole 340 for the output shaft of the steering driver to pass through, so as to facilitate the engagement of the output shaft with the rack 230.

[0053] In an embodiment of this embodiment, please refer to Figure 3 、 Figures 5 to 7 , Figure 7 Yes Figure 3 Schematic diagram of the structure of the connecting frame 40 in the disassembled state. The wheel device 100 includes a connecting frame 40. The connecting frame 40 is provided with a first assembly hole 401 and a second assembly hole 402 which are symmetric about a plane parallel to the support surface. At least one of the first assembly hole 401 and the second assembly hole 402 is provided with a sliding shaft 42. With such an arrangement, the two connecting frames 40 connected to the steering tie rod 210 can be formed by the same mold, reducing the cost.

[0054] In this embodiment, both the first assembly hole 401 and the second assembly hole 402 are provided with sliding shafts 42. In other embodiments, the sliding shaft 42 can be installed only in the first assembly hole 401 or the second assembly hole 402.

[0055] In an embodiment of this embodiment, please refer to Figure 3 、 Figures 5 to 7The wheel device 100 includes a connecting frame 40, and the connecting frame 40 is provided with a first rotating shaft 411 and a second rotating shaft 412 symmetrically along a plane parallel to the supporting surface, and at least one of the first rotating shaft 411 and the second rotating shaft 412 is rotatably matched with the vehicle frame 300. Such a configuration allows the two connecting frames 40 connected to the vehicle shell to be formed by the same mold, thereby reducing the cost.

[0056] Specifically, the frame 300 is provided with a tripod 330 , and the tripod 330 is rotatably matched with the first rotating shaft 411 or the second rotating shaft 412 .

[0057] In one embodiment of this implementation, please refer to Figure 2 The AI smart car 1000 includes a first part 1100 and a second part 1200. The first part 1100 and the second part 1200 respectively include two wheel devices 100 and a steering device 200. The first part 1100 and the second part 1200 are symmetrically arranged along a plane perpendicular to the forward direction. With such an arrangement, when the AI smart car 1000 turns with the first part 1100 as the front wheel or the second part 1200 as the front wheel, the deflection angle of the wheel device 100 located on the inside is greater than the deflection angle of the wheel device 100 located on the outside, so as to reduce driving resistance and wear, which is conducive to improving the applicability of the AI smart car 1000. At the same time, the first part 1100 and the second part 1200 are symmetrically arranged, and the molds of most parts can be used universally during production and manufacturing, which effectively reduces costs.

[0058] The wheel device 100 in the AI smart driving car 1000 is described in detail below.

[0059] See also Figures 8 to 10 , Figure 8 yes Figure 2 A schematic structural diagram of a wheel device 100; Figure 9 yes Figure 8 A schematic structural diagram of a wheel device 100 in a disassembled state; Figure 10 yes Figure 8Schematic structural diagram of the wheel device 100 from another perspective in the disassembled state. An embodiment of the present invention provides a wheel device 100 applied to an AI intelligent driving vehicle 1000. The wheel device 100 includes a rim 10, a hub 20, and a speed reduction output mechanism 30. The rim 10 is provided with a mounting hole 101. The hub 20 is fixedly connected to the rim 10 and covers the first opening 1011 of the mounting hole 101. The speed reduction output mechanism 30 includes a fixed seat 31, a plurality of first planet gears 32, and a traveling driver (not shown). The fixed seat 31 is provided with a gear ring 311 and is rotatably fitted in the mounting hole 101. The plurality of first planet gears 32 are rotatably mounted on the hub 20 and are all engaged with the gear ring 311. The traveling driver is mounted on the fixed seat 31 and is in transmission connection with the plurality of first planet gears 32. The traveling driver can drive the plurality of first planet gears 32 to rotate, so that the hub 20 and the rim 10 rotate relative to the fixed seat 31.

[0060] Specifically, a tire 11 is sleeved on the outer periphery of the rim 10. The hub 20 can be fixedly connected to the rim 10 through connecting components such as screws to achieve synchronous rotation of the hub 20 and the rim 10. In this embodiment, the number of the first planet gears 32 is 3. In other embodiments, the number of the first planet gears 32 can also be 2, 4, etc. Optionally, the output shaft of the traveling driver is a gear shaft, and the gear shaft is engaged with the plurality of first planet gears 32, and the power torque is increased and transmitted to the hub 20 and the rim 10 in the form of first-stage speed reduction.

[0061] By rotatably mounting the plurality of first planet gears 32 on the hub 20 and engaging them with the gear ring 311 on the fixed seat 31, the plurality of first planet gears 32 can increase the output torque generated by the traveling driver and directly transmit it to the hub 20, and the hub 20 drives the rim 10 to rotate synchronously. In this structure, the hub 20 serves as the output end of the speed reduction output mechanism 30, and the speed reduction output mechanism 30 does not need to be provided with an additional output shaft, thereby reducing the axial dimension of the wheel device 100 and facilitating the miniaturized design of the AI intelligent driving vehicle 1000.

[0062] In an embodiment of this embodiment, please refer to Figure 9 , the hub 20 is provided with a plurality of first rotating shafts 21, and the plurality of first planet gears 32 are respectively rotatably fitted with the corresponding first rotating shafts 21. With such a setting, the installation method of the first planet gear 32 and the hub 20 is simple, which is beneficial to reducing costs.

[0063] In an embodiment of this embodiment, please refer to Figures 8 to 10, the speed reduction output mechanism 30 includes a planet carrier 33, a sun gear 34, and a plurality of second planet gears 35. The sun gear 34 is fixed to the planet carrier 33 and meshes with a plurality of first planet gears 32. The plurality of second planet gears 35 are rotatably mounted on the planet carrier 33 and mesh with the ring gear 311. The output shaft of the traveling driver meshes with the plurality of second planet gears 35. With such a setting, two-stage speed reduction can be achieved through two sets of planet gears, further increasing the output torque. Moreover, both the first planet gears 32 and the second planet gears 35 mesh with the ring gear 311 on the fixed seat 31, which can make full use of the space of the fixed seat 31 and is beneficial to reducing the axial dimension.

[0064] Specifically, the planet carrier 33 is provided with a plurality of second rotating shafts 331, and the plurality of second planet gears 35 are respectively in rotational cooperation with the corresponding first rotating shafts 21.

[0065] In one embodiment of this embodiment, please refer to Figures 8 to 10 , a plurality of first planet gears 32 and the sun gear 34 are located on one side of the planet carrier 33 facing away from the plurality of second planet gears 35. With such a setting, the traveling driver, the first planet gears 32, the sun gear 34, and the second planet gears 35 are arranged axially to facilitate sequential speed reduction transmission.

[0066] In one embodiment of this embodiment, please refer to Figures 9 to 11 , Figure 11 is Figure 9 a schematic structural view of the fixed seat 31 in the wheel device 100. The fixed seat 31 has an installation chamber 3101, and an installation plate 312 is formed in the installation chamber 3101. The traveling driver is installed on one side of the installation plate 312, and the planet carrier 33 is located on the other side of the installation plate 312. The output shaft of the traveling driver passes through the installation plate 312 and meshes with the plurality of second planet gears 35 on the planet carrier 33. Specifically, the installation plate 312 divides the installation chamber 3101 into two connected chambers. Among them, the traveling driver is installed in the chamber relatively far from the wheel hub 20, and the planet carrier 33 is installed in the chamber relatively close to the wheel hub 20. With such a setting, the traveling driver, the planet carrier 33, the first planet gears 32 and the second planet gears 35 on the planet carrier 33 can all be installed in the fixed seat 31 to fully reduce the space occupied by these components axially and reduce the axial dimension.

[0067] In one embodiment of this embodiment, please refer to Figures 9 to 12 , Figure 12 is Figure 9Schematic diagram of the structure of the rim 10 in the wheel device 100. A limiting protrusion 1013 is formed on the inner wall of the mounting hole 101, and a mating protrusion 313 is provided on the outer periphery of the fixing seat 31. The fixing seat 31 can extend into the mounting hole 101 from the first opening 1011, so that the mating protrusion 313 abuts against the inner wall of the mounting hole 101 in the radial direction, and the mating protrusion 313 abuts against the limiting protrusion 1013 in the axial direction. With such a setting, the fixing seat 31 can extend into the mounting hole 101 from the first opening 1011, and the position of the fixing seat 31 in the mounting hole 101 in the axial direction is limited by the limiting protrusion 1013, which improves the assembly efficiency. At the same time, the mating protrusion 313 abuts against the inner wall of the mounting hole 101 in the radial direction, so as to achieve rotational fit.

[0068] Specifically, in order to fully abut against the mating protrusion 313, the limiting protrusion 1013 is configured as an annular protrusion.

[0069] In an embodiment of this embodiment, please refer to Figures 9 to 12 , the mounting hole 101 has a second opening 1012 opposite to the first opening 1011. The limiting protrusion 1013 is provided with an avoidance groove 1014. A fixing column 314 for connecting with the steering device 200 is provided on the outer periphery of the fixing seat 31. The avoidance groove 1014 is used for the fixing column 314 to pass through when the fixing seat 31 extends into the mounting hole 101, so that the fixing column 314 extends out of the second opening 1012. With such a setting, the limiting protrusion 1013 can avoid the fixing column 314 through the avoidance groove 1014, so as to facilitate the fixing column 314 to extend out of the second opening 1012 and connect with the steering device 200.

[0070] Specifically, please refer to Figure 2 together, the fixing column 314 is fixedly connected to the connecting frame 40 by screws. In this embodiment, both the steering driver and the traveling driver are configured as motors.

[0071] In an embodiment of this embodiment, please refer to Figures 9 to 12, the fixing column 314 and the mating protrusion 313 are arranged at an axial interval and are located on opposite sides of the limiting protrusion 1013 in the axial direction. Such an arrangement facilitates the installation of the rim 10 and the fixing seat 31. It can be understood that during installation, components such as the planet carrier 33 can be first installed on the fixing seat 31, and then the fixing seat 31 is inserted into the mounting hole 101 from the first opening 1011, so that the fixing column 314 passes through the avoidance groove 1014 of the limiting protrusion 1013, and the mating protrusion 313 abuts against the limiting protrusion 1013. Then, the fixing seat 31 is slightly rotated to stagger the position of the fixing column 314 from the avoidance groove 1014, preventing the fixing seat 31 from withdrawing from the position of the avoidance groove 1014, thus completing the installation. During disassembly, the hub 20 can be first disassembled from the rim 10, then the fixing seat 31 is rotated to align the position of the fixing column 314 with the avoidance groove 1014, and then the fixing seat 31 is pulled out from the second opening 1012 to complete the disassembly.

[0072] In an embodiment of this implementation manner, please refer to Figures 9 to 12 , the number of the mating protrusions 313 is multiple, and the multiple mating protrusions 313 are arranged at circumferential intervals, and a chip removal groove 3131 is formed between two adjacent mating protrusions 313. It can be understood that the fixing seat 31 is in rotational fit with the inner wall of the mounting hole 101 through the mating protrusions 313. During relative rotation, some fine chips may be generated, which are likely to affect the rotation of the mating protrusions 313 in the mounting hole 101, and foreign matters such as dust from the outside will also affect the rotation of the mating protrusions 313 in the mounting hole 101. By providing multiple mating protrusions 313 and forming a chip removal groove 3131 between two adjacent mating protrusions 313, the chip removal groove 3131 can discharge fine chips, dust and other foreign matters, reducing the risk of these foreign matters being stuck between the mating protrusions 313 and the inner wall of the mounting hole 101 and affecting the relative rotation of the fixing seat 31 and the rim 10.

[0073] In the embodiment of the present application, the AI intelligent driving car 1000 is configured as an intelligent driving car. The following provides a detailed description of the intelligent driving car. For specific details, please refer to Figures 13 to 16 , Figure 13 is a schematic diagram of the intelligent driving car in the embodiment of the present application; Figure 14 is Figure 13 a schematic diagram showing the separation of the vehicle body and the tail cover of the intelligent driving car shown; Figure 15 is a schematic diagram of the tail cover in the embodiment of the present application; Figure 16 is Figure 13 a schematic diagram showing the intelligent driving car without the car cover shown.

[0074] At present, the coding of the intelligent driving car control program needs to be downloaded to the circuit board 518 of the intelligent driving car through the downloader 520. However, the downloader 520 and the circuit board 518 of the intelligent driving car in the prior art are independent of each other, and it is necessary for humans to connect the downloader 520 to the circuit board 518 through wires. When the operator is not familiar with this aspect, it is easy to have the situation that the wires are wrongly connected to the circuit board 518, resulting in damage to the downloader 520, thereby increasing the cost.

[0075] Based on this, the present application proposes an intelligent driving car that can directly integrate the downloader 520 on the circuit board 518, thus eliminating the need for humans to connect the downloader 520 to the circuit board 518, avoiding the risk of damage to the downloader 520 due to improper connection, and thereby reducing the cost.

[0076] It can be understood that: the intelligent driving car of the embodiment of the present application includes a first connector, a vehicle body 501, and a downloader 520. A circuit board 518 and a port board 510 are provided inside the vehicle body 501. A first connection hole 519 is provided on the circuit board 518. One end of the first connector is fixed to the vehicle body 501, and the other end of the first connector passes through the first connection hole 519 to fix the circuit board 518 to the vehicle body 501. The port board 510 is provided on one side of the circuit board 518; the downloader 520 is integrated at one end of the circuit board 518 close to the port board 510. The port of the downloader 520 extends towards the port board 510 and is provided on the port board 510. The downloader 520 is used to download the control program.

[0077] The beneficial effects of the intelligent driving car of the embodiment of the present application can be manifested as: the circuit board 518 is fixed in the vehicle body 501 through the first connector, avoiding the offset of the circuit board 518 in the vehicle body 501 and preventing the circuit board 518 from being accidentally damaged. The downloader 520 is integrated on the circuit, eliminating the step of manually connecting the downloader 520 to the circuit board 518 through wires, avoiding damage to the downloader 520 caused by incorrect connection, reducing the replacement frequency of the downloader 520, and the port of the downloader 520 extends and is provided on the port board 510, making the port more convenient for management and use.

[0078] Exemplarily, in some embodiments, referring to Figure 13 and Figure 16, in this embodiment, the circuit board 518 is horizontally arranged inside the vehicle body 501. A plurality of first connection holes 519 are provided on the circuit board 518. There are a plurality of first connectors, and the first connection holes 519 correspond to the first connectors one by one, facilitating the fixing of the circuit board 518 on the vehicle body 501 and preventing the circuit board 518 from loosening when the intelligent driving car of the present application moves, thus avoiding unnecessary collisions and damages. The downloader 520 is integrated on one side of the circuit board 518 close to the bottom of the vehicle body 501, omitting the steps for the operator to connect the downloader 520 and the circuit board 518, avoiding the risk of damage to the downloader 520 due to improper connection by the operator, prolonging the service life of the downloader 520, reducing the replacement frequency of the downloader 520, and thus saving costs. The port board 510 is arranged on one side of the circuit board 518, and the ports of the downloader 520 extend to the port board 510. The port board 510 also has ports for the extension of multiple modules on the vehicle body 501. Arranging multiple ports on the port board 510 facilitates the centralized management and maintenance of each port.

[0079] It should be noted that the ports on the port board 510 may include but are not limited to charging ports, network ports, USB interfaces, power indicators, signal indicators, etc.

[0080] It can be understood that the vehicle body 501 includes a vehicle base 509 and a vehicle cover 503. The circuit board 518 and the port board 510 are fixed on the vehicle base 509, and the vehicle cover 503 is covered on the vehicle base 509.

[0081] Exemplarily, in some embodiments, refer to Figure 14 , in this embodiment, the port board 510 is fixed on the vehicle base 509 through a bolt structure, and the vehicle cover 503 is covered on the vehicle base 509, thus playing a certain protective role for the circuit board 518 and the downloader 520, and the setting of the vehicle cover 503 also makes the overall intelligent driving car of the present application more beautiful.

[0082] It should be noted that the ports on the port board 510 may include but are not limited to charging ports, network ports, USB interfaces, power indicators, signal indicators, etc.

[0083] It can be understood that the vehicle cover 503 is provided with a first groove 515, and the port board 510 is engaged in the first groove 515.

[0084] Exemplarily, in some embodiments, refer to Figure 14 and Figure 15, in this embodiment, a first groove 515 is provided at one end of the car cover 503 close to the port board 510, and the port board 510 is engaged in the first groove 515, making the connection between the car cover 503 and the car base 509 more firm. At the same time, the position of the port board 510 is limited, avoiding the accidental deviation of the position of the port board 510 when using the ports on the port board 510, thereby affecting the use of the port board 510.

[0085] It can be understood that: the intelligent driving car of the present application further includes a tail cover 502, and the tail cover 502 covers the side of the car cover 503 where the first groove 515 is provided, and the tail cover 502 is located on the side of the port board 510 away from the circuit board 518.

[0086] Exemplarily, in some embodiments, refer to Figure 14 , in this embodiment, the tail cover 502 covers the side of the port board 510 away from the circuit board 518 to protect the ports on the port board 510, avoiding the exposure of the ports on the port board 510. When the intelligent driving car of the present application moves, the exposed ports are easily damaged due to collision. At the same time, the setting of the tail cover 502 also makes the overall appearance of the intelligent driving car of the present application more beautiful.

[0087] It can be understood that: the car cover 503 is also provided with two mounting openings 508. The tail cover 502 is provided with two first convex parts 513. The first convex parts 513 and the mounting openings 508 correspond one by one. The two mounting openings 508 are respectively arranged on both sides of the first groove 515, and the mounting openings 508 and the corresponding first convex parts 513 are detachably connected.

[0088] Exemplarily, in some embodiments, refer to Figure 14 , in this embodiment, the tail cover 502 is also provided with vehicle lights. The tail cover 502 and the car cover 503 are detachably connected. When the ports on the port board 510 are not needed, the tail cover 502 is installed and covered on the car cover 503 to protect the ports on the port board 510. When the ports on the port board 510 are needed, the tail cover 502 can also be removed in time. The mounting openings 508 and the first convex parts 513 are snap-connected to make the connection between the tail cover 502 and the car cover 503 more firm, avoiding the tail cover 502 detaching from the car cover 503 when the intelligent driving car of the present application is running, thereby causing unnecessary damage to the tail cover 502. Vehicle lights are installed on the side of the first convex part 513 away from the car cover 503; two third grooves 512 are also provided on the side of the tail cover 502 away from the car cover 503. The setting of the third grooves 512 makes it easier for the operator to apply force through the third grooves 512 when disassembling the tail cover 502, thereby facilitating the disassembly of the tail cover 502.

[0089] It can be understood that the tail cover 502 is also provided with two second grooves, and the vehicle base 509 is provided with two second convex parts 507. The two second convex parts 507 correspond to the second grooves one by one. The two second convex parts 507 are respectively arranged on both sides of the port plate 510, and the second grooves are snap-connected with the corresponding second convex parts 507.

[0090] Exemplarily, in some embodiments, referring to Figure 14 and Figure 15 , in this embodiment, the second convex parts 507 are arranged on the vehicle base 509, there are two second convex parts 507, and there are also two second grooves on the tail cover 502. The second grooves correspond to the second convex parts 507 one by one, and the second convex parts 507 are snap-connected with the second grooves, so that the tail cover 502 is snap-connected with the vehicle base 509, and further makes the connection more fixed when the tail cover 502 is installed on the vehicle body 501.

[0091] It can be understood that the intelligent driving vehicle of the present application further includes a second connecting piece and a third connecting piece. The vehicle cover 503 is further provided with a first cross beam 504 and a second cross beam 505. The first cross beam 504 is provided with a second connecting hole, and the second cross beam 505 is provided with a third connecting hole. One end of the second connecting piece is fixed to the vehicle cover 503, and the other end of the second connecting piece passes through the second connecting hole to fix the first cross beam 504 to the vehicle cover 503. One end of the third connecting piece is fixed to the vehicle cover 503, and the other end of the third connecting piece passes through the third connecting hole to fix the second cross beam 505 to the vehicle cover 503.

[0092] Exemplarily, in some embodiments, referring to Figure 13 and Figure 14 , in this embodiment, the first cross beam 504 and the second cross beam 505 are bar-shaped structures and are both arranged on the top of the vehicle cover 503. The first cross beam 504 is further provided with a second connecting hole, and the second cross beam 505 is further provided with a third connecting hole. The arrangement of the second connecting hole and the third connecting hole facilitates the installation of various modules placed on the top of the vehicle cover 503, such as: induction modules, infrared scanning modules, etc. The side of the first cross beam 504 close to the vehicle cover 503 fits perfectly with the vehicle cover 503, and the side of the second cross beam 505 close to the vehicle cover 503 also fits perfectly with the vehicle cover 503, which makes the structure of the vehicle body 501 more beautiful and also makes the connection between the first cross beam 504, the second cross beam 505 and the vehicle cover 503 more firm.

[0093] Exemplarily, in some embodiments, the vehicle hood 503 is further provided with a mounting rack. The mounting rack is fixedly connected to the side of the vehicle hood 503 away from the vehicle base 509 through a first cross beam 504 and a second cross beam 505. Each module placed on the top of the vehicle hood 503, such as a sensing module, an infrared scanning module, etc., is placed on the mounting rack, which is convenient for centralized management of each module on the mounting rack. The ports of each module on the mounting rack all extend to the port board 510.

[0094] It can be understood that the vehicle hood 503 is further provided with a tail wing assembly, and the tail wing assembly is arranged on the side of the vehicle hood 503 away from the vehicle base 509.

[0095] Exemplarily, in some embodiments, the vehicle hood 503 is provided with a tail wing assembly. The tail wing assembly includes a wireless control module and a receiver, which is convenient for the intelligent driving vehicle of the present application to receive wireless control signals and make corresponding feedback.

[0096] It can be understood that the first connecting member, the second connecting member, and the third connecting member are all bolt structures.

[0097] Exemplarily, in some embodiments, the first connecting member, the second connecting member, and the third connecting member are all bolt structures, which makes the connection between the first cross beam 504, the second cross beam 505 and the vehicle hood 503, and the connection between the circuit board 518 and the vehicle base 509 more fixed. Moreover, the bolt structure is convenient for disassembly and has a lower cost, which is convenient for quickly replacing the circuit board 518, the vehicle base 509, the first cross beam 504, and the second cross beam 505 when they are damaged, and saves costs.

[0098] It can be understood that the tail wing assembly includes a connecting rod and a tail wing plate. The vehicle hood 503 is further provided with a fourth connection hole 506. One end of the connecting rod is snap-connected to the fourth connection hole 506, and the other end of the connecting rod is fixedly connected to the tail wing plate.

[0099] Exemplarily, in some embodiments, referring to Figure 13 , in this embodiment, the fourth connection hole 506 is arranged at one end of the vehicle hood 503 close to the tail cover 502. The wireless control module and the receiver are built into the tail wing plate. The tail wing plate is horizontally arranged and fixedly connected to the connecting rod, which makes the intelligent driving vehicle of the present application more beautiful. At the same time, compared with the traditional intelligent driving vehicle with an antenna, the tail wing plate of the intelligent driving vehicle of the present application is horizontally arranged and built with a wireless control module and a receiver, so that the area range that the intelligent driving vehicle of the present application can reach is wider, and it is not easy to damage the tail wing plate. When the traditional intelligent driving vehicle moves in a low-lying area, its antenna is easily damaged.

[0100] Exemplarily, in some embodiments, referring to Figure 14 and Figure 15, in this embodiment, the tail cover 502 includes a first cover plate 511 and a second cover plate 516. The first cover plate 511 is provided with a fifth connection hole 514, and the second cover plate 516 is provided with a sixth connection hole 517. One end of the fourth connecting member passes through the fifth connection hole 514, and the other end of the third connecting member passes through the sixth connection hole 517 to fixedly connect the first cover plate 511 and the second cover plate 516. The arrangement of the first cover plate 511 and the second cover plate 516 makes the processing of the tail cover 502 simpler. Since it is difficult to integrally process the tail cover 502, the first cover plate 511 and the second cover plate 516 are processed separately, and then the first cover plate 511 and the second cover plate 516 are fixedly connected to form the tail cover 502, which not only improves efficiency but also facilitates replacement. That is, when the structure on the first cover plate 511 is damaged, the first cover plate 511 can be replaced separately, and when the structure on the second cover plate 516 is damaged, the second cover plate 516 can also be replaced separately, without replacing the entire tail cover 502, thus saving costs.

[0101] Currently, multiple ports of traditional intelligent driving cars are often arranged inside the vehicle body 501. However, for the convenience of use, the ports are usually covered by the rear of the vehicle, and the rear of the vehicle and the vehicle body 501 are detachable structures. The rear structure of traditional intelligent driving cars either uses a bolt structure to achieve detachability, but this detachable structure is cumbersome and inefficient; or uses a snap-fit structure to achieve detachability, but this detachable structure is not firm enough, and during the movement of the intelligent driving car, the rear of the vehicle is easily detached, resulting in damage and thus increasing costs.

[0102] Based on this, this application proposes an intelligent driving car that can achieve magnetic connection between the tail cover 502 and the vehicle body 501, thereby realizing the quick disassembly of the tail cover 502 and the vehicle body 501 and improving efficiency.

[0103] It can be understood that: the intelligent driving car of the embodiment of this application includes a vehicle body 501 and a tail cover 502. The vehicle body 501 includes a car cover 503, and the car cover 503 is provided with a first magnetic attraction part 521 and an installation opening 508; the tail cover 502 covers one side of the car cover 503, the tail cover 502 is provided with a second magnetic attraction part 522 corresponding to the first magnetic attraction part 521, the tail cover 502 is further provided with a first convex part 513 corresponding to the installation opening 508, the first convex part 513 and the installation opening 508 are in snap-fit connection, and the first magnetic attraction part 521 and the second magnetic attraction part 522 are in magnetic attraction connection.

[0104] The beneficial effects of the intelligent driving car according to the embodiments of the present application can be manifested as follows: The magnetic attraction connection between the tail cover 502 and the car cover 503 is realized through the settings of the first magnetic attraction part 521 and the second magnetic attraction part 522, which facilitates the quick disassembly and installation of the tail cover 502 and the car cover 503, improving the efficiency. The snap connection between the first convex part 513 and the installation opening 508 makes the connection structure between the tail cover 502 and the car cover 503 more firm, avoiding the risk of the tail cover 502 falling off, reducing the replacement frequency of the tail cover 502, and thus reducing the cost.

[0105] Exemplarily, in some embodiments, referring to Figures 13 to 15 , in this embodiment, the tail cover 502 is also provided with vehicle lights. There are two second magnetic attraction parts 522, and there are also two first magnetic attraction parts 521. The first magnetic attraction parts 521 and the second magnetic attraction parts 522 correspond to each other one by one. The first convex part 513 and the second convex part 507 are magnetically connected, which is convenient for the quick installation and disassembly of the tail cover 502 and the car cover 503, thereby improving the efficiency and reducing the complexity of disassembling the tail cover 502. There are two first convex parts 513, and there are also two installation openings 508. The first convex parts 513 and the installation openings 508 correspond to each other one by one. The installation openings 508 and the first convex parts 513 are snap-connected to make the connection between the tail cover 502 and the car cover 503 more firm, avoiding the tail cover 502 detaching from the car cover 503 when the intelligent driving car of the present application is running, and thus preventing unnecessary damage to the tail cover 502. The two first magnetic attraction parts 521 are arranged between the two installation openings 508. The side of the first convex part 513 close to the car cover 503 is snap-connected to the installation opening 508, and vehicle lights are installed on the side of the first convex part 513 far from the car cover 503; there are also two third grooves 512 on the side of the tail cover 502 far from the car cover 503. The settings of the third grooves 512 make it easier for the user to apply force through the third grooves 512 when disassembling the tail cover 502, thereby facilitating the disassembly of the tail cover 502.

[0106] It can be understood that: The intelligent driving car according to the embodiments of the present application further includes a first connecting member and a second connecting member. The car cover 503 is also provided with a first cross beam 504 and a second cross beam 505. A first connection hole is provided on the first cross beam 504, and a second connection hole is provided on the second cross beam 505. One end of the first connecting member passes through the first connection hole, and the other end of the first connecting member is fixed to the car cover 503 to fix the first cross beam 504 to the car cover 503. One end of the second connecting member passes through the second connection hole, and the other end of the second connecting member is fixed to the car cover 503 to fix the second cross beam 505 to the car cover 503.

[0107] Exemplarily, in some embodiments, referring to Figure 13, in this embodiment, the first cross beam 504 and the second cross beam 505 are strip-shaped structures and are both arranged on the top of the car cover 503. The first cross beam 504 is also provided with a first mounting opening, and the second cross beam 505 is also provided with a second mounting opening. The settings of the first mounting opening and the second mounting opening facilitate the installation of various modules placed on the top of the car cover 503, such as: induction modules, infrared scanning modules, etc. One side of the first cross beam 504 close to the car cover 503 fits perfectly with the car cover 503, and one side of the second cross beam 505 close to the car cover 503 also fits perfectly with the car cover 503, thereby making the structure of the vehicle body 501 more beautiful, and at the same time making the connection between the first cross beam 504, the second cross beam 505 and the car cover 503 more firm.

[0108] It can be understood that: the vehicle body 501 further includes a car base 509. The car cover 503 covers the car base 509. The car base 509 is provided with a second convex part 507, and the tail cover 502 is provided with a first groove 515 corresponding to the second convex part 507. The first groove 515 is snap-connected to the second convex part 507.

[0109] Exemplarily, in some embodiments, refer to Figure 14 , in this embodiment, the car cover 503 covers above the car base 509, and the car cover 503 and the car base 509 are fixedly connected by a bolt structure. The second convex part 507 is arranged on the car base 509. There are two second convex parts 507, and there are also two first grooves 515 on the tail cover 502. The first grooves 515 correspond to the second convex parts 507 one by one. The second convex part 507 is snap-connected to the first groove 515, thereby making the tail cover 502 snap-connected to the car base 509, and further making the connection between the vehicle body 501 and the tail cover 502 more fixed.

[0110] It can be understood that: the car base 509 is further provided with a port board 510. There are two second convex parts 507, and the port board 510 is arranged between the two second convex parts 507.

[0111] Exemplarily, in some embodiments, refer to Figure 14 , in this embodiment, the port board 510 is fixed to one end of the car base 509 close to the tail cover 502 by a bolt structure. The port board 510 is provided with a plurality of ports. The plurality of ports are extension ports of various modules on the vehicle body 501. Arranging the plurality of ports on the port board 510 facilitates the centralized management and maintenance of each port. At the same time, the tail cover 502 covers the port board 510, thereby playing a certain protective role for the ports on the port board 510, avoiding the ports on the port board 510 from being exposed, and preventing unnecessary damage to the ports on the port board 510 that may be caused by bumping when the intelligent driving car of this application moves.

[0112] It should be noted that: The ports of the modules installed in the first installation port and the second installation port extend and are provided on the port board 510; The ports on the port board 510 may include but are not limited to charging ports, network ports, USB interfaces, power indicators, signal indicators, etc.

[0113] It can be understood that: The car cover 503 is also provided with a spoiler assembly, and the spoiler assembly, the first cross beam 504, and the second cross beam 505 are arranged on the same side of the car cover 503.

[0114] Exemplarily, in some embodiments, the car cover 503 is provided with a spoiler assembly, and the spoiler assembly includes a wireless control module and a receiver, which facilitates the intelligent driving car of the present application to receive wireless control signals and make corresponding feedback.

[0115] It can be understood that: The car cover 503 is also provided with a fourth connection hole 506. The spoiler assembly includes a connecting rod and a spoiler plate. One end of the connecting rod is fixedly connected to the spoiler plate, and the other end of the connecting rod is clamped in the fourth connection hole 506.

[0116] Exemplarily, in some embodiments, referring to Figure 13 , in this embodiment, the third installation port 508 is arranged at one end of the car cover 503 close to the tail cover 502. The wireless control module and the receiver are built into the spoiler plate. The spoiler plate is horizontally arranged and fixedly connected to the connecting rod, making the intelligent driving car of the present application more beautiful. At the same time, compared with the traditional intelligent driving car with an antenna, the spoiler plate of the intelligent driving car of the present application is horizontally arranged and built with a wireless control module and a receiver, so that the area range that the intelligent driving car of the present application can reach is wider, and it is not easy to damage the spoiler plate. When the traditional intelligent driving car moves in a low-lying area, its antenna is easily damaged.

[0117] It can be understood that: The car cover 503 is also provided with a second groove. There are two first magnetic attraction parts 521, and the second groove is arranged between the two first magnetic attraction parts 521. The port board 510 is clamped and connected in the second groove.

[0118] Exemplarily, in some embodiments, referring to Figure 14 , in this embodiment, the port board 510 is clamped in the second groove, making the connection between the car base 509 and the car cover 503 more firm. At the same time, the second groove also plays a role in limiting the port board 510, avoiding the position deviation of the port board 510 when using the ports on the port board 510, thereby affecting the use of the port board 510.

[0119] It can be understood that the tail cover 502 includes a first cover plate 511 and a second cover plate 516. The first cover plate 511 is provided with a fifth connection hole 514, and the second cover plate 516 is provided with a sixth connection hole 517. One end of the third connecting member passes through the fifth connection hole 514, and the other end of the third connecting member passes through the sixth connection hole 517, so that the first cover plate 511 and the second cover plate 516 are fixedly connected.

[0120] Exemplarily, in some embodiments, referring to Figure 15 , in this embodiment, the first cover plate 511 and the second cover plate 516 are in a guiding connection. The second magnetic attraction portion 522 and the first groove 515 are both arranged on the side of the first cover plate 511 close to the vehicle cover 503. The third connecting member sequentially passes through the fifth connection hole 514 and the sixth connection hole 517, so that the first cover plate 511 and the second cover plate 516 are fixedly connected. The arrangement of the first cover plate 511 and the second cover plate 516 makes the processing of the tail cover 502 simpler. Since the integrated processing of the tail cover 502 is difficult, the first cover plate 511 and the second cover plate 516 are processed separately, and then the first cover plate 511 and the second cover plate 516 are fixedly connected to form the tail cover 502, which not only improves the efficiency but also facilitates replacement. That is, when the structure on the first cover plate 511 is damaged, the first cover plate 511 can be replaced separately, and when the structure on the second cover plate 516 is damaged, the second cover plate 516 can also be replaced separately, without replacing the entire tail cover 502, thus saving costs.

[0121] It can be understood that the vehicle cover 503 is further provided with a mounting rack, and the mounting rack is fixedly connected to the side of the vehicle cover 503 away from the vehicle base 509 through a first cross beam 504 and a second cross beam 505.

[0122] Exemplarily, in some embodiments, the mounting rack is fixedly connected to the first mounting port and the second mounting port. Each module placed on the top of the vehicle cover 503, such as an induction module, an infrared scanning module, etc., is placed on the mounting rack, which is convenient for centralized management of each module on the mounting rack.

[0123] It can be understood that the first connecting member, the second connecting member, and the third connecting member are all bolt structures.

[0124] Exemplarily, in some embodiments, referring to Figure 13 , in this embodiment, the first connecting member, the second connecting member, and the third connecting member are all bolt structures, which makes the connection between the first cross beam 504, the second cross beam 505 and the vehicle cover 503, and the connection between the first cover plate 511 and the second cover plate 516 more fixed. Moreover, the bolt structure is convenient for disassembly, and the cost is also low, which is convenient for quickly replacing the first cover plate 511, the second cover plate 516, the first cross beam 504, and the second cross beam 505 when they are damaged, and saves costs.

[0125] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. An AI intelligent driving car, characterized in that, include: Frame; Two wheel devices are respectively mounted on the frame so as to be relatively rotatable and are each provided with a sliding shaft, and the wheel devices are used to drive the frame to move along the supporting surface; A steering device, comprising a steering driver and a steering tie rod, wherein the steering driver is mounted on the vehicle frame and connected to the steering tie rod, wherein the steering driver can drive the steering tie rod to move in a first direction relative to the vehicle frame, wherein both ends of the steering tie rod are provided with sliding grooves extending in a second direction, wherein the second direction intersects the first direction, and wherein the sliding shafts of the two wheel devices are respectively slidably matched in the corresponding sliding grooves; The axes about which the two wheel devices rotate relative to the frame are defined as the first axis and the second axis, the line connecting the orthographic projections of the first axis and the second axis on the support surface is defined as the first line, the line connecting the orthographic projections of the sliding axes of the two wheel devices on the support surface is defined as the second line, and the second line is located on the rear side of the first line in the forward direction of the wheel devices; when the wheel devices are in the forward state, the first line and the second line are respectively constructed as the lower base and the upper base of an isosceles trapezoid, so that when the wheel devices are in the turning state, the deflection angle of the wheel device located on the inner side is greater than the deflection angle of the wheel device located on the outer side.

2. The AI intelligent driving car according to claim 1, wherein, The frame is provided with two limit plates, which are arranged opposite to each other and form a guide groove extending along the first direction, and the steering rod is slidably matched with the guide groove.

3. The AI intelligent driving car according to claim 1, characterized in that, The steering tie rod is provided with a rack, and the output shaft of the steering driver is meshed with the rack.

4. The AI intelligent driving car according to claim 1, wherein, The wheel device comprises a connecting frame, the connecting frame is provided with a first assembly hole and a second assembly hole symmetrically arranged along a plane parallel to the supporting surface, and the sliding shaft is installed in at least one of the first assembly hole and the second assembly hole.

5. The AI intelligent driving car according to claim 1, characterized in that, The wheel device comprises a connecting frame, the connecting frame is provided with a first rotating shaft and a second rotating shaft symmetrical along a plane parallel to the supporting surface, and at least one of the first rotating shaft and the second rotating shaft is rotationally matched with the frame.

6. The AI intelligent driving car according to claim 1, wherein, The AI smart driving car includes a first part and a second part, the first part and the second part respectively include two wheel devices and a steering device, and the first part and the second part are symmetrically arranged along a plane perpendicular to the forward direction.

7. The AI intelligent driving car according to claim 1, wherein, The wheel device comprises: The wheel rim is provided with a mounting hole; A wheel hub, fixedly connected to the wheel rim and covering the first opening of the mounting hole; The reduction output mechanism includes a fixed seat, a plurality of first planetary gears and a travel driver. The fixed seat is provided with a gear ring and rotatably cooperates with the mounting hole. The plurality of first planetary gears can be relatively rotatably mounted on the wheel hub and are all meshed with the gear ring. The travel driver is mounted on the fixed seat and is transmission-connected with the plurality of first planetary gears. The travel driver can drive the plurality of first planetary gears to rotate so that the wheel hub and the rim rotate relative to the fixed seat.

8. The AI intelligent driving car according to claim 7, characterized in that The deceleration output mechanism includes a planet carrier, a sun gear, and a plurality of second planet gears. The sun gear is fixed to the planet carrier and meshes with the plurality of first planet gears. The plurality of second planet gears are rotatably mounted on the planet carrier and mesh with the ring gear. The output shaft of the traveling driver meshes with the plurality of second planet gears.

9. The AI intelligent driving car according to claim 7, wherein, A limiting protrusion is formed on the inner wall of the mounting hole, and a mating protrusion is provided on the outer periphery of the fixing seat. The fixing seat can extend into the mounting hole from the first opening, so that the mating protrusion abuts against the inner wall of the mounting hole in the radial direction, and the mating protrusion abuts against the limiting protrusion in the axial direction.

10. The AI intelligent driving car according to claim 9, characterized in that, The mounting hole has a second opening opposite to the first opening. An avoidance groove is formed in the limiting protrusion. A fixing column connected to the steering tie rod is provided on the outer periphery of the fixing seat. The avoidance groove is used for the fixing column to pass through when the fixing seat extends into the mounting hole, so that the fixing column extends out of the second opening.

Images