Chassis structure and unmanned vehicle

Abstract

The utility model is suitable for the technical field of unmanned vehicles, and provides a vehicle chassis structure and an unmanned vehicle, the vehicle chassis structure comprises a rectangular first framework and four tire mounting frames arranged at the four corners of the first framework respectively, a first grating framework is arranged in the middle of the first framework, and a second grating framework is arranged below the first grating framework; a placement space used for installing the battery packs and the control box is formed between the first grating framework and the second grating framework, the control box is arranged in the middle of the placement space, the two battery packs are arranged on the two sides of the control box in the length direction of the vehicle correspondingly, and an electric wheel assembly is installed below each tire installation frame. The control box is electrically connected with the electric wheel assemblies, and the battery pack is used for providing power for the control box and the electric wheel assemblies. The problem that the four wheels of the chassis structure are uneven in stress can be solved.

Description

Technical Field

[0001] The present application belongs to the technical field of unmanned vehicles, and in particular, relates to a vehicle chassis structure and an unmanned vehicle. Background Art

[0002] The chassis structure of traditional vehicles is an asymmetric structure design. Since the vehicle needs to carry power units, transmissions, brake components and other components, these components are usually arranged in the front area or on both sides of the vehicle, making the overall mass distribution of the vehicle asymmetric, resulting in uneven load on the four wheels. Under dynamic conditions such as high-speed driving or rapid acceleration and deceleration, the uneven force on the four wheels will affect the vehicle's handling performance and stability, and increase the possibility of vehicle rollover. In addition, long-term asymmetric loads will also accelerate the wear of wheels and chassis components and shorten their service life.

[0003] Therefore, it is particularly important to design a chassis structure with four-wheel stress. Utility Model Content

[0004] The embodiment of the present application provides a vehicle chassis structure, which can solve the problem of uneven force at the four wheels of the vehicle chassis structure.

[0005] An embodiment of the present application provides a vehicle chassis structure for use in an unmanned vehicle, the vehicle chassis structure comprising a rectangular first frame and four tire mounting frames respectively arranged at the four corners of the first frame, a first grid frame is arranged in the middle of the first frame, a second grid frame is arranged below the first grid frame, and an accommodation space for installing a battery pack and a control box is formed between the first grid frame and the second grid frame, the control box is arranged in the middle of the accommodation space, two battery packs are respectively arranged on both sides of the control box in the length direction of the vehicle, an electric wheel assembly is installed below each tire mounting frame, the control box is electrically connected to each electric wheel assembly, and the battery pack is used to provide power to the control box and each electric wheel assembly.

[0006] Optionally, the tire mounting frame includes a first diagonal rod, a first cross rod and a second diagonal rod, the first cross rod is located above the first frame and parallel to the plane where the first frame is located, the two ends of the first diagonal rod are respectively connected to a corner of the first frame and one end of the first cross rod, one end of the second diagonal rod is connected to the other end of the first cross rod, and the second diagonal rod is symmetrical with the first diagonal rod about the perpendicular midline of the first cross rod, and the distance between the first diagonal rod and the second diagonal rod gradually increases from top to bottom.

[0007] Optionally, the middle part of the first diagonal rod is connected to the first frame, the bottom ends of two first diagonal rods located on one side of the first frame in the vehicle length direction of the four tire mounting frames are connected by a second cross bar, the two ends of the two second cross bars are respectively connected by two first cross beams, and the second grid frame is arranged between the two second cross bars and the two first cross beams.

[0008] Optionally, the connection between the first oblique rod and the first cross rod, between the first oblique rod and the second cross rod, and between the first cross rod and the second oblique rod are all in arc transition.

[0009] Optionally, the angles between the first diagonal rod and the first cross rod, between the first diagonal rod and the second cross rod, and between the first cross rod and the second diagonal rod are all 115°, and the arc curvatures of the arc transitions between the first diagonal rod and the first cross rod, between the first diagonal rod and the second cross rod, and between the first cross rod and the second diagonal rod are all 65°.

[0010] Optionally, the lower ends of the two second diagonal rods in the two tire mounting frames located at one end in the length direction of the vehicle are connected by a second cross beam; the middle parts of the two second diagonal rods in the two tire mounting frames located at one end in the length direction of the vehicle are connected by a third cross beam.

[0011] Optionally, a longitudinal beam is detachably connected between the third cross beam and the first frame.

[0012] Optionally, a mounting support is provided between the first frame and the third cross beam, and the tire mounting frame is provided on the mounting support.

[0013] Optionally, the electric wheel assembly includes a steering motor, a reducer, a steering arm, a tire, and a hub motor arranged in the tire, the reducer is arranged on a mounting support, the output shaft of the steering motor is connected to the input shaft of the reducer, the output shaft of the reducer is connected to the top of the steering arm, the side of the steering arm is connected to the stator of the hub motor, the control box is electrically connected to the steering motor, the reducer and the hub motor respectively, and the battery pack is used to provide power for the control box, the steering motor, the reducer and the hub motor.

[0014] The present application also provides an unmanned vehicle, comprising the above-mentioned vehicle chassis structure.

[0015] The above solution of the present application has the following beneficial effects:

[0016] The vehicle chassis structure of the present application includes a rectangular first frame and four tire mounting frames respectively arranged at the four corners of the first frame, a first grid frame is arranged in the middle of the first frame, a second grid frame is arranged below the first grid frame, and an accommodation space for installing a battery pack and a control box is formed between the first grid frame and the second grid frame. The control box is arranged in the middle of the accommodation space, and two battery packs are respectively arranged on both sides of the control box in the length direction of the vehicle. An electric wheel assembly is installed under each tire mounting frame. Such a layout makes the vehicle chassis structure have the characteristics of central symmetry, so that the force at the four wheels is uniform, and the unmanned vehicle using the vehicle chassis structure moves more stably and is easier to control.

[0017] Other beneficial effects of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A schematic diagram of the structure of a vehicle chassis provided in one embodiment of the present application;

[0020] Figure 2 for Figure 1 A structural schematic diagram of the vehicle chassis structure from another perspective shown;

[0021] Figure 3 for Figure 1 A structural schematic diagram of the vehicle chassis structure from another perspective shown;

[0022] Figure 4 for Figure 1 Structural schematic diagrams of other perspectives of the vehicle chassis structure shown.

[0023] [Description of Reference Numerals]

[0024] 1. First frame; 110. First grille frame; 2. Tire mounting frame; 21. First diagonal bar; 22. First cross bar; 23. Second diagonal bar; 24. Second grille frame; 3. Second cross bar; 4. First cross beam; 5. Second cross beam; 6. Third cross beam; 7. Longitudinal beam; 8. Mounting support; 9. Steering motor; 10. Reducer; 11. Steering arm; 12. Hub motor; 13. Control box; 14. Battery pack; 15. Third cross bar; 16. Fourth cross bar; 17. Mounting plate; 18. Second frame. DETAILED DESCRIPTION

[0025] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0026] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0027] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0028] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0029] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0030] At present, the chassis structure of traditional vehicles is designed as an asymmetric structure, which makes the overall mass distribution of the vehicle asymmetric, resulting in uneven load on the four wheels, thus affecting the vehicle's handling performance and stability, accelerating the wear of wheels and chassis components, and shortening their service life.

[0031] To solve the above problems, an embodiment of the present application provides a vehicle chassis structure, such as Figure 1 As shown, it includes a rectangular first frame 1 and four tire mounting frames 2 respectively arranged at the four corners of the first frame 1, a first grid frame 110 is arranged in the middle of the first frame 1, and a second grid frame 24 is arranged below the first grid frame 110, and an accommodation space for installing a battery pack 14 and a control box 13 is formed between the first grid frame 110 and the second grid frame 24, the control box 13 is arranged in the middle of the accommodation space, and two battery packs 14 are respectively arranged on both sides of the control box 13 in the length direction of the vehicle, and an electric wheel assembly is installed below each tire mounting frame 2, the control box 13 is electrically connected to each electric wheel assembly, and the battery pack 14 is used to provide power to the control box 13 and each electric wheel assembly.

[0032] The vehicle chassis structure of the present application includes a rectangular first frame 1 and four tire mounting frames 2 respectively arranged at the four corners of the first frame 1. A first grid frame 110 is arranged in the middle of the first frame 1, and a second grid frame 24 is arranged below the first grid frame 110. An accommodation space for installing a battery pack 14 and a control box 13 is formed between the first grid frame 110 and the second grid frame 24. The control box 13 is arranged in the middle of the accommodation space, and two battery packs 14 are respectively arranged on both sides of the control box 13 in the length direction of the vehicle. An electric wheel assembly is installed below each tire mounting frame 2. Such a layout makes the vehicle chassis structure have the characteristics of central symmetry, so that the force at the four wheels is uniform.

[0033] The first grid frame 110 is used to strengthen the strength of the vehicle chassis structure to improve the load-bearing capacity and absorb the impact force generated during a collision.

[0034] It should be noted that the above-mentioned electric wheel assembly can rotate the tire 360° through the control box 13, and can realize functions such as front and rear conversion, on-the-spot U-turn, on-the-spot rotation and lateral storage by controlling the rotation angle and speed of each tire.

[0035] In some embodiments of the present application, Figures 1 to 3 As shown, the tire mounting frame 2 includes a first oblique rod 21, a first cross rod 22 and a second oblique rod 23. The first cross rod 22 is located above the first frame 1 and parallel to the plane where the first frame 1 is located. The two ends of the first oblique rod 21 are respectively connected to a corner of the first frame 1 and one end of the first cross rod 22. One end of the second oblique rod 23 is connected to the other end of the first cross rod 22. The second oblique rod 23 and the first oblique rod 21 are symmetrical about the perpendicular midline of the first cross rod 22, and the distance between the first oblique rod 21 and the second oblique rod 23 gradually increases from top to bottom.

[0036] The tire frame is set to include a first diagonal rod 21, a first cross rod 22 and a second diagonal rod 23. The first cross rod 22 is parallel to the plane where the first frame 1 is located. The first diagonal rod 21 is connected to the first frame 1. The upper end of the first diagonal rod 21 and the upper end of the second diagonal rod 23 are connected through the first cross rod 22. The distance between the first diagonal rod 21 and the second diagonal rod 23 increases from top to bottom. When the force borne by the chassis structure is applied to the tire frame, it is evenly distributed to the first diagonal rod 21 and the second diagonal rod 23, thereby avoiding overload, fracture and the like caused by uneven force at the tire frame.

[0037] In some embodiments of the present application, Figure 1 to Figure 2As shown, the middle part of the first diagonal rod 21 is connected to the first frame 1, the bottom ends of the two first diagonal rods 21 located on one side of the first frame 1 in the vehicle length direction in the four tire mounting frames 2 are connected by a second cross bar 3, the two ends of the two second cross bars 3 are respectively connected by two first cross beams 4, and the second grid frame 24 is arranged between the two second cross bars 3 and the two first cross beams 4.

[0038] The above arrangement enables the vehicle chassis structure to have an upper and lower structure, thereby increasing the overall strength and load-bearing capacity of the vehicle chassis structure, and the second grid frame 24 further enhances the strength of the vehicle chassis structure and the ability to absorb the impact force generated during a collision.

[0039] In some embodiments of the present application, Figures 1 to 3 As shown, the connection between the first oblique rod 21 and the first cross rod 22, between the first oblique rod 21 and the second cross rod 3, and between the first cross rod 22 and the second oblique rod 23 are all in arc transition.

[0040] Arc transition can make the stress distribution at the bend more uniform, avoid stress concentration at sharp corners, and thus reduce the risk of possible fracture. In addition, the strength of the bend after arc transition is greater than that of right-angle transition, and can better resist external forces.

[0041] The first diagonal rod 21, the first cross rod 22 and the second diagonal rod 23 can be integrally formed, and the arc transition does not require cutting off as much material as the right-angle transition, thereby reducing material loss. The arc transition is easier to process than the right-angle transition and has higher production efficiency.

[0042] In some embodiments of the present application, the angles between the first diagonal bar 21 and the first cross bar 22, between the first diagonal bar 21 and the second cross bar 3, and between the first cross bar 22 and the second diagonal bar 23 are all 115°, and the arc curvature of the arc transitions between the first diagonal bar 21 and the first cross bar 22, between the first diagonal bar 21 and the second cross bar 3, and between the first cross bar 22 and the second diagonal bar 23 are all 65°.

[0043] Through repeated adjustments and tests with the simulation software, it was found that in the above situation, the force on the arc transition is the most uniform and dispersed, which can ensure the safety of the arc transition and will not deform even after long-term heavy-load use.

[0044] In some embodiments of the present application, Figure 1 , Figure 2 and Figure 4 As shown, the lower ends of the two second diagonal rods 23 in the two tire mounting frames 2 located at one end in the length direction of the vehicle are connected by a second cross beam 5; the middle parts of the two second diagonal rods 23 in the two tire mounting frames 2 located at one end in the length direction of the vehicle are connected by a third cross beam 6.

[0045] The second cross beam 5 is disposed between the two second diagonal bars 23 in the two tire mounting frames 2 at one end in the length direction of the vehicle, and can absorb a portion of the impact force when the vehicle collides. Furthermore, since the control box 13 and the battery pack 14 are disposed in the middle of the vehicle, the battery pack 14 and the control box 13 can be prevented from being affected in the event of a rear-end collision or being rear-ended.

[0046] In some embodiments of the present application, Figure 1 and Figure 2 As shown, a longitudinal beam 7 is detachably connected between the third cross beam 6 and the first frame 1 .

[0047] When necessary, the longitudinal beam 7 can be removed to free up the space in the front and rear of the chassis, which can be used simply as storage space or to mount other equipment (such as a rotary sweeper, a vacuum cleaner, etc.); it can be used as a storage space for a backup power supply; it can also be used to place a range extender; this body design reserves enough space for upgrading and modification.

[0048] In some embodiments of the present application, Figure 1 and Figure 2 As shown, a mounting support 8 is provided between the first frame 1 and the third cross beam 6 , and the tire mounting frame 2 is provided on the mounting support 8 .

[0049] The mounting bracket 8 is used to strengthen the overall structural strength of the tire mounting frame 2 .

[0050] In some embodiments of the present application, Figure 1 and Figure 2 As shown, the vehicle chassis structure also includes a third cross bar 15, a fourth cross bar 16, a mounting plate 17 and a rectangular second frame 18 arranged along the height direction of the vehicle, a first corner of the second frame 18 is connected to a side of the first frame 1, a second corner of the second frame 18 is connected to the second cross beam 5, one end of the third cross bar 15 is connected to the third corner of the second frame 18, and the other end is connected to the first oblique bar 21, one end of the fourth cross bar 16 is connected to the fourth corner of the second frame 18, and the other end is connected to the second oblique bar 23, the first corner is diagonally opposite to the fourth corner, and the second corner is diagonally opposite to the third corner, the mounting plate 17 is arranged on the third cross bar 15 and the fourth cross bar 16, the two corners on the same side of the mounting plate 17 are respectively connected to the first oblique bar 21 and the second oblique bar 23, the plane where the mounting plate 17 is located is parallel to the plane where the first frame 1 is located, and the mounting plate 17 is used to install the steering motor 9 and the reducer 10.

[0051] The above arrangement can make the tire mounting frame 2 bear the load evenly and avoid deformation when the vehicle chassis structure bears weight.

[0052] In some embodiments of the present application, a triangular connecting block (not shown in the figure) is provided between the mounting plate 17 and the first diagonal rod 21 and the second diagonal rod 23 .

[0053] Providing a triangular connecting block can further prevent deformation of the tire mounting frame 2 .

[0054] In some embodiments of the present application, Figures 1 to 3 As shown, the electric wheel assembly includes a steering motor 9, a reducer 10, a steering arm 11, a tire (not shown in the figure) and a hub motor 12 arranged in the tire. The reducer 10 is arranged on the mounting support 8, the output shaft of the steering motor 9 is connected to the input shaft of the reducer 10, the output shaft of the reducer 10 is connected to the top of the steering arm 11, the side of the steering arm 11 is connected to the stator of the hub motor 12, the control box 13 is electrically connected to the steering motor 9, the reducer 10 and the hub motor 12 respectively, and the battery pack 14 is used to provide power for the control box 13, the steering motor 9, the reducer 10 and the hub motor 12.

[0055] The above-mentioned electric wheel assembly combines the main components such as the steering motor 9 and the reducer 10 into a module, realizes the integration of steering and driving functions, and makes the structure more compact; the steering motor 9 realizes the steering control of the wheel by driving the reducer 10, and the reducer 10 can reduce the output speed of the steering motor 9, thereby realizing the stability of wheel steering; the hub motor 12 is arranged in the tire, directly driving the tire to rotate, realizing the function of hub drive; the steering motor 9, the reducer 10 and the hub motor 12 are controlled separately to realize independent control of each component, and the steering and driving of the wheel are controlled more conveniently; the modular design is adopted, and the connection structure between each component is compact, saving space.

[0056] Some embodiments of the present application also provide an unmanned vehicle, comprising the above-mentioned vehicle chassis structure.

[0057] In some embodiments of the present application, multiple power harnesses are also included, one end of each power harness is connected to the four ports of the control box 13 respectively, and the other end is connected to each hub motor 12. The power harnesses are arranged along the rods, beams or skeleton of the vehicle chassis structure, and the power harnesses do not exceed the outer contour of the vehicle chassis structure.

[0058] After the vehicle chassis structure is provided with a metal body shell, the power wiring harness is located in a shielding layer formed by the vehicle chassis structure and the metal body shell, which can shield the wiring harness from external signal interference to a great extent.

[0059] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A vehicle chassis structure, applied to an unmanned vehicle, characterized in that: The vehicle chassis structure includes a rectangular first frame and four tire mounting frames respectively arranged at the four corners of the first frame, a first grid frame is arranged in the middle of the first frame, a second grid frame is arranged below the first grid frame, and an accommodation space for installing a battery pack and a control box is formed between the first grid frame and the second grid frame. The control box is arranged in the middle of the accommodation space, and two battery packs are respectively arranged on both sides of the control box in the length direction of the vehicle. An electric wheel assembly is installed under each of the tire mounting frames, the control box is electrically connected to each of the electric wheel assemblies, and the battery pack is used to provide power for the control box and each of the electric wheel assemblies.

2. The vehicle chassis structure according to claim 1, characterized in that: The tire mounting frame includes a first oblique rod, a first cross rod and a second oblique rod, the first cross rod is located above the first frame and parallel to the plane where the first frame is located, two ends of the first oblique rod are respectively connected to a corner of the first frame and one end of the first cross rod, one end of the second oblique rod is connected to the other end of the first cross rod, and the second oblique rod is symmetrical with the first oblique rod about the perpendicular midline of the first cross rod, and the distance between the first oblique rod and the second oblique rod gradually increases from top to bottom.

3. The vehicle chassis structure according to claim 2, characterized in that: The middle part of the first oblique rod is connected to the first frame, the bottom ends of two first oblique rods located on one side of the first frame in the vehicle length direction among the four tire mounting frames are connected by a second cross rod, the two ends of the two second cross rods are respectively connected by two first cross beams, and the second grid frame is arranged between the two second cross rods and the two first cross beams.

4. The vehicle chassis structure according to claim 3, characterized in that: The connection between the first oblique rod and the first cross rod, between the first oblique rod and the second cross rod, and between the first cross rod and the second oblique rod are all in arc transition.

5. The vehicle chassis structure according to claim 4, characterized in that: The included angles between the first diagonal rod and the first cross rod, between the first diagonal rod and the second cross rod, and between the first cross rod and the second diagonal rod are all 115°, and the arc curvatures of the arc transitions between the first diagonal rod and the first cross rod, between the first diagonal rod and the second cross rod, and between the first cross rod and the second diagonal rod are all 65°.

6. The vehicle chassis structure according to claim 2, characterized in that: The lower ends of the two second oblique rods in the two tire mounting frames located at one end in the length direction of the vehicle are connected by a second cross beam; the middle parts of the two second oblique rods in the two tire mounting frames located at one end in the length direction of the vehicle are connected by a third cross beam.

7. The vehicle chassis structure according to claim 6, characterized in that: A longitudinal beam is detachably connected between the third cross beam and the first frame.

8. The vehicle chassis structure according to claim 6, characterized in that: A mounting support is provided between the first frame and the third cross beam, and the tire mounting frame is provided on the mounting support.

9. The vehicle chassis structure according to claim 8, characterized in that: The electric wheel assembly includes a steering motor, a reducer, a steering arm, a tire, and a hub motor arranged in the tire. The reducer is arranged on the mounting support, the output shaft of the steering motor is connected to the input shaft of the reducer, the output shaft of the reducer is connected to the top of the steering arm, the side of the steering arm is connected to the stator of the hub motor, the control box is electrically connected to the steering motor, the reducer and the hub motor respectively, and the battery pack is used to provide power for the control box, the steering motor, the reducer and the hub motor.

10. An unmanned vehicle, characterized in that: The vehicle chassis structure comprises the vehicle chassis structure described in any one of claims 1-9.

Images