Mobile chassis and grassland operation equipment

Abstract

The embodiment of the utility model provides a mobile chassis and grassland operation equipment, the mobile chassis comprises a main body, a steering motor, a connecting assembly, front wheels and rear wheels, the rear wheels are used for driving the main body to advance, and the front wheels and the rear wheels are arranged on the main body at intervals in the advancing direction of the main body; the number of the steering motors, the number of the connecting assemblies and the number of the front wheels are all two, the steering motors are in transmission connection with the front wheels through the connecting assemblies, and the rotating centers of the steering motors and the wheel centers of the front wheels are spaced in the advancing direction. According to the application, the mobile chassis with the eccentric torque is arranged in the grassland operation equipment, so that the motor power consumption required by steering of the grassland operation equipment is reduced, the grassland operation equipment can steer in the advancing process, the working efficiency of the grassland operation equipment is improved, and the abrasion of the grassland operation equipment to the grassland is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a mobile chassis and a lawn working device. BACKGROUND

[0002] The lawn working device is a mechanical device capable of automatically performing mowing work, which is generally used for trimming and maintaining lawns, and can save manpower and time. The lawn working device has a turning requirement during travel, however, the existing lawn working device needs to first control the front wheels to rotate to a preset angle through a turning motor before the whole vehicle travels in a new direction; the motor power consumption required for the in-place rotation of the front wheels is high, the long turning time leads to low work efficiency, and the in-place rotation of the front wheels causes serious wear of the lawn. CONTENT OF THE UTILITY MODEL

[0003] The embodiment of the present application provides a mobile chassis and a lawn working device, by eccentrically arranging the turning motor in the mobile chassis relative to the front wheels, the front wheels obtain additional turning driving force, the motor power consumption required for the turning of the front wheels is reduced; and the front wheels can turn during the travel of the lawn working device, the work efficiency of the lawn working device is improved, and the wear of the front wheels on the lawn is reduced.

[0004] In a first aspect, the embodiment of the present application provides a mobile chassis, a mobile chassis, comprising a main body, a turning motor, a connecting assembly, front wheels and rear wheels, the rear wheels are used to drive the main body to travel, the front wheels are arranged on the main body in a direction of travel of the main body, the number of the turning motor, the connecting assembly and the front wheels is two, the two front wheels are arranged on the two sides of the main body in a first direction, the first direction is perpendicular to the direction of travel, the turning motor is in transmission connection with the front wheels through the connecting assembly, the turning motor is located above the front wheels and rotates around a second direction, the second direction is perpendicular to the projection plane of the main body, the rotation center of the turning motor and the wheel center of the front wheels have a spacing in the direction of travel.

[0005] By setting the rotation center of the steering motor and the wheel center of the front wheel to have a distance in the running direction, the driving force provided by the rear wheel can generate an eccentric moment on the front wheel, and further can act on the steering of the front wheel, so that the front wheel can obtain additional steering driving force. The eccentric moment can make the front wheel automatically keep the forward direction, without the need for the steering motor to continuously generate a larger torque to maintain the deflection angle, so that the power consumption of the steering motor can be saved. In addition, the eccentric moment can reduce the steering force of the steering motor, so that the steering can be performed synchronously with the running to shorten the steering time and reduce the wear of the front wheel on the grass. Furthermore, since the steering center of the front wheel deviates from the wheel center of the front wheel, the front wheel generates rolling friction with the grass during steering, which is more friendly to the grass and reduces the wear of the front wheel on the grass.

[0006] In a possible implementation, the distance between the wheel center of the front wheel and the rotation center of the steering motor in the running direction is 15-25 mm. When the distance between the wheel center of the front wheel and the rotation center of the steering motor in the running direction is less than 15 mm, the eccentric moment generated by the driving force provided by the rear wheel on the front wheel is too small, and the steering motor needs to provide a larger steering torque, thereby increasing the output power consumption of the steering motor. When the distance between the wheel center of the front wheel and the rotation center of the steering motor in the running direction is greater than 25 mm, the size of the rotation space formed by the rotation of the front wheel around the axis of the steering motor is large, which causes motion interference to other structures near the front wheel.

[0007] In a possible implementation, the distance between at least part of the connecting assembly and the axis of the steering motor in the first direction is 10-20 mm, which can avoid motion interference between the steering motor and the connecting assembly, and avoid grass entanglement between the steering motor and the connecting assembly.

[0008] In a possible implementation, the distance between at least part of the connecting assembly and the front wheel in the second direction is 5-15 mm, so that motion interference between the top plate and the front wheel is avoided, and the structure of the entire mobile chassis is compact.

[0009] In a possible implementation, the connecting assembly includes a side plate and a top plate. The side plate is perpendicular to the first direction, and the side plate has a first fixing hole, and the front wheel is connected to the side plate through the first fixing hole. The top plate is perpendicular to the second direction, and the top plate has a second fixing hole, and the second fixing hole is sleeved with the output shaft of the steering motor. Since the top plate is connected to the output shaft and the side plate is connected to the front wheel, the steering driving force of the steering motor can be efficiently conducted to act on the front wheel, which is beneficial to reduce the motor power consumption required for the steering of the front wheel.

[0010] In a possible implementation manner, the front wheel, the top plate and the steering motor are arranged in sequence along the second direction, the output shaft is opposite to the outer circumferential surface of the front wheel, so that the axis of the output shaft intersects the center line of the outer circumferential surface of the front wheel, and the driving force provided by the rear wheel cannot generate a torque on the front wheel in the first direction, and further cannot act on the steering of the front wheel. This makes the front wheel receive the steering driving force caused by the steering motor deviating from the wheel center in the advancing direction, avoids the front wheel from being disturbed by the steering driving force from other directions, and guarantees the steering efficiency of the front wheel.

[0011] In a possible implementation manner, the main body includes a carrier plate and a connecting frame arranged on the carrier plate, the length direction of the connecting frame is along the first direction, the connecting frame deviates from the wheel center of the front wheel in the advancing direction, and the two steering motors are respectively fixed to opposite sides of the connecting frame along the first direction. By fixing the two steering motors to opposite sides of the connecting frame along the first direction, and by making the connecting frame deviate from the wheel center of the front wheel in the advancing direction, it is beneficial to generate eccentric torques on the two front wheels, so that the two front wheels receive additional steering driving forces, and it is beneficial to reduce the motor power consumption required for the steering of the front wheel.

[0012] In a possible implementation manner, the mobile chassis further includes two first hub motors and two second hub motors, the number of the rear wheels is two, the first hub motors are used to drive the front wheels, the second hub motors are used to drive the rear wheels, and the distance between the axis of the output shaft of the first hub motor and the axis of the output shaft of the steering motor is 15-25 mm. Since the eccentric torque is derived from the driving force received by the grassland working equipment during advancing, the two front wheels can simultaneously receive the eccentric torques provided by the four hub motors and the steering driving forces provided by the two steering motors during steering, and thus the output torque of the steering motor can be reduced, and the output power consumption of the steering motor can be reduced.

[0013] In a possible implementation manner, the two front wheels are respectively a first front wheel and a second front wheel, the first front wheel, at least part of the two connecting assemblies and the second front wheel are arranged in sequence along the first direction. By making the two wheel centers of the first front wheel and the second front wheel and the center of the first fixing hole of the connecting assembly form a straight line along the first direction, the wheel center and the first fixing hole are both spaced apart from the axis of the steering motor, which is beneficial to the generation of the eccentric torque acting on the front wheel, so that the front wheel obtains additional steering driving force, and the motor power consumption required for the steering of the front wheel is reduced.

[0014] In a second aspect, the embodiments of the present application provide a grassland working equipment, including a vehicle body and the mobile chassis in the first aspect, and the vehicle body is assembled to one side of the main body facing the steering motor.

[0015] By arranging the mobile chassis of the first aspect in the grass working equipment, the motor power consumption required for the grass working equipment to turn is reduced, and the grass working equipment can turn during traveling, thereby improving the working efficiency of the grass working equipment and reducing the wear of the grass working equipment on the grass. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic view of a grass working equipment provided by an embodiment of the present application;

[0017] Figure 2 is a structural schematic view of a mobile chassis provided by an embodiment of the present application;

[0018] Figure 3 is a top view of the mobile chassis provided by an embodiment of the present application;

[0019] Figure 4 is Figure 3 is a partial enlarged structural schematic view of A in FIG. 4;

[0020] Figure 5 is a schematic view of the cooperation structure of the main body, the front wheel, the connecting assembly and the steering motor provided by an embodiment of the present application;

[0021] Figure 6 is a structural schematic view of the mobile chassis from another perspective provided by an embodiment of the present application;

[0022] Figure 7 is a front view of the mobile chassis provided by an embodiment of the present application;

[0023] Figure 8 is an exploded view of the cooperation structure of the front wheel, the connecting assembly and the steering motor provided by an embodiment of the present application;

[0024] Figure 9 is an exploded view of the cooperation structure of the front wheel, the connecting assembly and the steering motor provided by an embodiment of the present application;

[0025] Figure 10 is a side view of the cooperation structure of the front wheel, the connecting assembly and the steering motor provided by an embodiment of the present application;

[0026] Figure 11 is a front view of the cooperation structure of the front wheel, the connecting assembly and the steering motor provided by an embodiment of the present application.

[0027] REFERENCE SIGNS:

[0028] 1 - moving chassis; 2 - main body; 21 - connecting frame; 211 - first support frame; 212 - second support frame; 213 - third support frame; 214 - first support plate; 215 - second support plate; 216 - mounting portion; 2161 - through hole; 22 - carrier plate; 221 - bearing seat; 222 - bearing; 223 - rotating shaft; 3 - steering motor; 31 - output shaft; 32 - stator; L1 - first axis; O2 - steering center; 4 - connecting assembly; 41 - side plate; 41a - first side plate; 41b - second side plate; 411 - first fixing hole; 42 - top plate; 421 - fixing portion; 4211 - second fixing hole; 4212 - protruding piece; 43 - connecting portion; 5 - front wheel; O1 - wheel center; 5a - first front wheel; 5b - second front wheel; 51 - first wheel hub motor; L2 - second axis; 511 - motor fixing portion; 6 - rear wheel; 61 - second wheel hub motor; O3 - rear wheel symmetry center; 7 - fixing frame; 10 - lawn working equipment; 11 - vehicle body. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described below with reference to the drawings. The orientation terms mentioned in the embodiments of the present application, such as "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "side", "top", "bottom", etc., are only the directions of the drawings. Therefore, the orientation terms used are for better and clearer illustration and understanding of the embodiments of the present application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0030] The steering motor of the existing lawn working equipment needs to control the in-place rotation of the front wheel before controlling the steering of the front wheel, resulting in low working efficiency, and the in-place rotation of the front wheel causes serious wear to the lawn. Secondly, to ensure that the front wheel maintains a fixed angle when moving and to prevent the front wheel from deviating from the current direction during movement, there are usually two methods. The first method is to use a worm and gear self-locking mechanism. This method has the problems of high cost and being disturbed a lot during forward movement on the lawn, such as in thick or tall grass scenarios, which causes large disturbance to the front wheel, and long-term use has a great impact on the service life of the worm and gear structure. The second method is to use a motor direct drive scheme. This scheme requires the motor to continuously output a large torque to maintain the angle of the front wheel and avoid the front wheel from being deviated due to disturbance from the lawn, resulting in large power consumption of the motor.

[0031] The embodiment of the present application provides a mobile chassis and a grass working device, the eccentricity of the steering motor in the mobile chassis relative to the front wheel is arranged, so that the front wheel obtains additional steering driving force, the motor power consumption required for steering of the front wheel is reduced, and the front wheel can steer in the traveling process of the grass working device, the working efficiency of the grass working device is improved, and the wear of the front wheel on the grass is reduced.

[0032] Figure 1 is a schematic view of the grass working device 10 provided by the embodiment of the present application, referring to Figure 1 , the grass working device 10 can include a vehicle body 11 and a mobile chassis 1, and the vehicle body 11 is assembled on the mobile chassis 1. The mobile chassis 1 can be used to carry other components of the grass working device 10 and drive the whole grass working device 10. The vehicle body 11 can be used to assemble a mower and a visual sensing assembly and other mowing components and auxiliary mowing components.

[0033] Figure 2 is a structural schematic view of the mobile chassis 1 provided by the embodiment of the present application, referring to Figure 2 , the mobile chassis 1 can include a main body 2, a steering motor 3, a connecting assembly 4, a front wheel 5 and a rear wheel 6. The rear wheel 6 can be used to drive the main body 2 to travel, and the front wheel 5 and the rear wheel 6 are arranged on the main body 2 in the traveling direction of the main body 2. The number of the front wheel 5 can be two, and the two front wheels 5 can be located on opposite sides of the main body 2 respectively, and the direction between the two wheel centers of the two front wheels 5 is a first direction, that is, the two front wheels 5 can be arranged on the opposite sides of the main body 2 along the first direction, and the first direction is perpendicular to the traveling direction of the main body 2. The number of the steering motor 3 can be two, and the two steering motors 3 can be connected to the two sides of the main body 2 along the first direction respectively. The steering motor 3 is located above the front wheel 5, and the output shaft 31 of the steering motor 3 can rotate around a second direction, and the second direction is perpendicular to the plane on which the main body 2 is laid, that is, the projection plane of the main body 2. The steering motor 3 is in transmission connection with the front wheel 5 through the connecting assembly 4. There is a certain distance between the first axis L1 of the output shaft of the steering motor 3 and the wheel center O1 of the front wheel 5, that is, the steering motor 3 is arranged eccentrically relative to the front wheel 5. In combination with Figure 1 and Figure 2 , the vehicle body 11 is assembled on one side of the main body 2 facing the steering motor 3.

[0034] Figure 3 is a top view of the mobile chassis 1 provided by the embodiment of the present application, Figure 4 is Figure 3 , a partial enlarged structure schematic view of A, in combination with Figure 2 , Figure 3 and Figure 4As shown, the steering motor 3 has a steering center O2, which is located on the first axis L1 of the output shaft. The number of rear wheels 6 is two, and the two rear wheels 6 are symmetrical about the rear wheel symmetry center O3. For the convenience of description, the two front wheels 5 are respectively referred to as the first front wheel 5a and the second front wheel 5b, and the first front wheel 5a is subjected to force analysis. When the rear wheels 6 drive the main body 2 to move, the first front wheel 5a will be subjected to a driving force F1, which is tangent to a circle with the rear wheel symmetry center O3 as the center and the distance between the wheel center O1 and the rear wheel symmetry center O3 as the radius. The driving force F1 has a second component F3 in the third direction, which can drive the first front wheel 5a to move. The third direction is perpendicular to the plane formed by the first direction and the second direction, and in some cases, the third direction can be consistent with the moving direction of the main body 2. The driving force F1 has a first component F2 in the first direction. When the steering center O2 of the steering motor 3 and the wheel center O1 of the front wheel 5 have no distance in the third direction, i.e., the wheel center O1 coincides with the steering center O2 when the moving chassis 1 is viewed from above, the first component F2 has no distance with the steering center O2. Since the moment is equal to the product of the force and the force arm, the force arm between the first component F2 and the steering center O2 is zero at this time, so the first component F2 cannot generate a moment on the steering center O2, and further the first component F2 cannot affect the steering of the first front wheel 5a. At this time, the steering power of the front wheel 5 comes entirely from the steering output power of the steering motor 3, which makes the steering motor 3 need to control the front wheel 5 to rotate to a preset angle first, and then the front wheel 5 moves in a new direction. The motor power consumption required for the original rotation process of the front wheel 5 is high, the long steering time leads to low working efficiency, and the original rotation of the front wheel 5 causes serious wear on the grass. Figure 4 As shown, the steering motor 3 has a steering center O2, which is located on the first axis L1 of the output shaft. The number of rear wheels 6 is two, and the two rear wheels 6 are symmetrical about the rear wheel symmetry center O3. For the convenience of description, the two front wheels 5 are respectively referred to as the first front wheel 5a and the second front wheel 5b, and the first front wheel 5a is subjected to force analysis. When the rear wheels 6 drive the main body 2 to move, the first front wheel 5a will be subjected to a driving force F1, which is tangent to a circle with the rear wheel symmetry center O3 as the center and the distance between the wheel center O1 and the rear wheel symmetry center O3 as the radius. The driving force F1 has a second component F3 in the third direction, which can drive the first front wheel 5a to move. The third direction is perpendicular to the plane formed by the first direction and the second direction, and in some cases, the third direction can be consistent with the moving direction of the main body 2. The driving force F1 has a first component F2 in the first direction. When the steering center O2 of the steering motor 3 and the wheel center O1 of the front wheel 5 have no distance in the third direction, i.e., the wheel center O1 coincides with the steering center O2 when the moving chassis 1 is viewed from above, the first component F2 has no distance with the steering center O2. Since the moment is equal to the product of the force and the force arm, the force arm between the first component F2 and the steering center O2 is zero at this time, so the first component F2 cannot generate a moment on the steering center O2, and further the first component F2 cannot affect the steering of the first front wheel 5a. At this time, the steering power of the front wheel 5 comes entirely from the steering output power of the steering motor 3, which makes the steering motor 3 need to control the front wheel 5 to rotate to a preset angle first, and then the front wheel 5 moves in a new direction. The motor power consumption required for the original rotation process of the front wheel 5 is high, the long steering time leads to low working efficiency, and the original rotation of the front wheel 5 causes serious wear on the grass.

[0035] In combination Figure 3 And Figure 4 As shown in FIG. 1, in one possible implementation, the mobile chassis 1 further comprises two first wheel hub motors 51 for driving the front wheels 5 and two second wheel hub motors 61 for driving the rear wheels 6. The stators of the two second wheel hub motors 61 are fixed to the fixed frame 7. Since the eccentric moment is derived from the driving force F1 received by the grassland working equipment during travel, the first front wheel 5a and the second front wheel 5b can simultaneously receive the eccentric moment provided by the four wheel hub motors and the steering driving force provided by the two steering motors 3 during steering, thereby reducing the output torque of the steering motor 3 and reducing the output power consumption of the steering motor 3.

[0036] Figure 5 FIG. 1 is a schematic view of the cooperation structure of the main body 2, the front wheel 5, the connecting assembly 4, and the steering motor 3 provided by the embodiment of the present application, in combination with Figure 2 And Figure 5As shown, in one possible implementation, the main body 2 can include a connecting frame 21 and a carrier plate 22, the connecting frame 21 is arranged on the carrier plate 22 along the first direction, that is, the length direction of the connecting frame 21 is along the first direction, and the connecting frame 21 is offset relative to the wheel center O1 of the front wheel 5 along the direction of travel of the main body 2. The connecting frame 21 can include a first support frame 211, a second support frame 212, a third support frame 213, a first support plate 214, a second support plate 215, and a mounting portion 216. The number of first support plates 214 can be two, and the two first support plates 214 can be arranged at opposite ends of the stator 32 of the steering motor 3 along the second direction, that is, the second direction is perpendicular to the plane on which the main body 2 is laid, that is, the second direction is perpendicular to the carrier plate 22, and the two first support plates 214 can be used to clamp the stator 32; both first support plates 214 can be detachably connected to the first support frame 211. Similarly, the number of second support plates 215 can be two, and the two second support plates 215 can be arranged at opposite ends of the stator 32 of the other steering motor 3 along the second direction, and both second support plates 215 can be detachably connected to the second support frame 212. The first support frame 211 and the second support frame 212 can be detachably connected to the third support frame 213, and the third support frame 213 has a mounting portion 216 protruding along the second direction, and the mounting portion 216 has a through hole 2161. The carrier plate 22 can include a bearing seat 221, a bearing 222, and a rotating shaft 223, the rotating shaft 223 can pass through the through hole 2161 and the bearing 222, the rotating shaft 223 can be fixedly connected to the mounting portion 216 through the through hole 2161, and the rotating shaft 223 can be rotatably connected to the bearing seat 221 through the bearing 222. By fixing the two steering motors 3 on opposite sides of the connecting frame 21 along the first direction, and offsetting the connecting frame 21 relative to the wheel center O1 of the front wheel 5 along the direction of travel, it is beneficial to generate eccentric moments on the two front wheels 5, so that the two front wheels 5 are subjected to additional steering driving forces, which is beneficial to reduce the motor power consumption required for the front wheel 5 to turn.

[0037] In combination Figure 2 And Figure 5As shown, the front wheels 5, the connecting assembly 4, the steering motor 3 and the connecting frame 21 are sequentially connected, by allowing the connecting frame 21 to rotate relative to the carrier plate 22, when the front wheels 5 contact the obstacles, the front wheels 5 can float up and down to cross the obstacles. Specifically, the first front wheel 5a is adjacent to the first support frame 211 and the first support plate 214, and the second front wheel 5b is adjacent to the second support frame 212 and the second support plate 215. When the first front wheel 5a contacts the obstacles, the rotating shaft 223 can drive the connecting frame 21 to rotate clockwise relative to the carrier plate 22, at this time, the first support frame 211 and the first support plate 214 are both swung upward, and the first front wheel 5a can be "lifted" by the obstacles, thereby realizing obstacle crossing; when the second front wheel 5b contacts the obstacles, the rotating shaft 223 can drive the connecting frame 21 to rotate counterclockwise relative to the carrier plate 22, at this time, the second support frame 212 and the second support plate 215 are both swung upward, and the second front wheel 5b can be "lifted" by the obstacles, thereby realizing obstacle crossing.

[0038] Figure 6 is another structural schematic diagram of the mobile chassis 1 provided by the embodiment of the present application, Figure 7 is a front view of the mobile chassis 1 provided by the embodiment of the present application, Figure 8 is an exploded view of the cooperation structure of the front wheels 5, the connecting assembly 4 and the steering motor 3 provided by the embodiment of the present application, in combination with Figure 6 , Figure 7 and Figure 8 As shown, the output shaft 31 of the steering motor 3 can rotate around the second direction, that is, the axis of the output shaft 31 can be along the second direction. In a possible implementation, the connecting assembly 4 can include a side plate 41, a top plate 42 and a connecting portion 43 connected between the side plate 41 and the top plate 42. The side plate 41 is perpendicular to the first direction, and the side plate 41 has a first fixing hole 411, and the front wheel 5 is connected with the side plate 41 through the first fixing hole 411. Specifically, the first fixing hole 411 can be sleeved with the motor fixing portion 511, and since the motor fixing portion 511 can be a fixed part of the first hub motor 51 driving the front wheel 5 to rotate, the side plate 41 can be connected with the front wheel 5. Referring to Figure 8 , the top plate 42 can be perpendicular to the second direction, and the top plate 42 includes a fixing portion 421, the fixing portion 421 can be provided with a protruding piece 4212 and has a second fixing hole 4211, the second fixing hole 4211 and the protruding piece 4212 can be sleeved with the corresponding structure of the output shaft 31 of the steering motor 3, so that the output shaft 31 and the top plate 42, that is, the connecting assembly 4, form a detachable connection. Since the top plate 42 is connected with the output shaft 31, and the side plate 41 is connected with the front wheel 5, the steering driving force provided by the steering motor 3 can be efficiently conducted to the front wheel 5, so that the front wheel 5 obtains the required steering driving force, which is beneficial to reduce the motor power consumption required for the front wheel 5 to steer.

[0039] In combination withFigure 2 、 Figure 7 and Figure 8 As shown in

[0040] In a possible implementation, as shown in Figure 2 、 Figure 4 and Figure 7 , the front wheels 5, the top plate 42 and the steering motor 3 are arranged in sequence along the second direction, the output shaft 31 of the steering motor 3 is opposite to the outer circumferential surface of the front wheel 5, and the first axis L1 of the output shaft 31 can intersect the center line of the outer circumferential surface of the front wheel 5 along the second direction, and the center line can be along the circumferential direction of the outer circumferential surface. By making the first axis L1 of the output shaft 31 intersect the center line of the outer circumferential surface of the front wheel 5, the first axis L1 and the wheel center O1 of the front wheel 5 have no distance in the first direction, and at this time, the force arm between the second component force F3 and the steering center O2 is zero, so that the second component force F3 cannot generate torque on the steering center O2, and further, the second component force F3 cannot act on the steering of the front wheel 5. This makes the front wheel 5 can receive the steering driving force brought by the steering motor 3 deviating from the wheel center O1 along a single direction, i.e., along the third direction, avoids the front wheel 5 from being disturbed by the steering driving force from other directions, and guarantees the steering efficiency of the front wheel 5.

[0041] As shown in Figure 3 and Figure 4 , the mobile chassis 1 further comprises two first hub motors 51 and two second hub motors 61, the first hub motor 51 is used to drive the front wheel 5, and the second hub motor 61 is used to drive the rear wheel 6. The stator of each of the two second hub motors 61 is fixed to the fixed frame 7. Since the eccentric torque is derived from the driving force F1 received by the grassland working equipment during the movement, the first front wheel 5a and the second front wheel 5b can simultaneously receive the eccentric torque provided by the four hub motors and the steering driving force provided by the two steering motors 3 during the steering, and thus the output torque of the steering motor 3 can be reduced, and the output power consumption of the steering motor 3 can be reduced.

[0042] Figure 9 is an exploded view of the cooperation structure of the front wheel 5, the connecting assembly 4 and the steering motor 3 provided by the embodiment of the present application, Figure 10 is a side view of the cooperation structure of the front wheel 5, the connecting assembly 4 and the steering motor 3 provided by the embodiment of the present application, combined with Figure 8 , Figure 9 and Figure 10 , the second axis L2 of the output shaft of the first hub motor 51 and the first axis L1 of the output shaft 31 of the steering motor 3 have a first distance D1 along the third direction, and the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 also have a first distance D1 along the third direction. Illustratively, the first distance D1 can be 15-25 mm. For example, the first distance D1 of the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 along the third direction can be 15 mm, or 16 mm, or 17 mm, or 18 mm, or 19 mm, or 20 mm, or 21 mm, or 22 mm, or 23 mm, or 24 mm, or 25 mm. Understandably, the first distance D1 of the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 along the third direction can also be other values in addition to the above values, as long as the first distance D1 of the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 along the third direction is 15-25 mm. Referring to Figure 4 , when the first distance D1 of the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 along the third direction is less than 15 mm, the eccentric moment generated by the first component force F2 on the wheel center O1 is F2×D1, which is too small, thereby causing the steering motor 3 to need to provide a larger steering torque, increasing the output power consumption of the steering motor 3. When the first distance D1 of the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 along the third direction is greater than 25 mm, it will cause the size of the rotation space formed by the rotation of the front wheel 5 around the first axis L1 of the output shaft 31 of the steering motor 3 to be larger, causing motion interference to other structures near the front wheel 5.

[0043] combined with Figure 9 and Figure 10As shown, in one possible implementation, there is a second distance D2 between the top plate 42 and the front wheel 5 along the second direction. Illustratively, the second distance D2 can be 5-15 mm. For example, the first distance D1 between the wheel center O1 of the front wheel 5 and the first axis L1 of the output shaft 31 of the steering motor 3 along the third direction can be 5 mm, or 6 mm, or 7 mm, or 8 mm, or 9 mm, 10 mm, or 11 mm, or 12 mm, or 13 mm, or 14 mm, or 15 mm. Understandably, the second distance D2 between the top plate 42 and the front wheel 5 along the second direction can also be other values other than the above values, as long as the second distance D2 between the top plate 42 and the front wheel 5 along the second direction is 5-15 mm. When the second distance D2 between the top plate 42 and the front wheel 5 along the second direction is less than 5 mm, the distance between the top plate 42 and the front wheel 5 is too close, and there will be motion interference between the two. When the second distance D2 between the top plate 42 and the front wheel 5 along the second direction is greater than 10 mm, the structure of the entire mobile chassis 1 will not be compact enough.

[0044] Figure 11 is a front view of the cooperation structure of the front wheel 5, the connecting assembly 4 and the steering motor 3 provided by the embodiments of the present application, which is combined with Figure 7 and Figure 11In a possible implementation, a third distance D3 exists between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a in the first direction, and a third distance D3 exists between the second side plate 41b and the first axis L1 of the steering motor 3 adjacent to the second front wheel 5b in the first direction. Illustratively, the third distance D3 can be 10-20 mm. For example, the third distance D3 between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a in the first direction can be 10 mm, or 11 mm, or 12 mm, or 13 mm, or 14 mm, or 15 mm, or 16 mm, or 17 mm, or 18 mm, or 19 mm, or 20 mm. Understandably, the third distance D3 between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a in the first direction can also be other values besides the above values, as long as the third distance D3 between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a in the first direction is 10-20 mm. When the third distance D3 between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a in the first direction is less than 10 mm, the steering motor 3 and the connecting assembly 4 will interfere with each other. When the third distance D3 between the first side plate 41a and the first axis L1 of the steering motor 3 adjacent to the first front wheel 5a in the first direction is greater than 20 mm, the motor fixing portion 511 of the first hub motor 51 is exposed more, and the size of the connecting portion 43 of the connecting assembly 4 is larger, which increases the contact area with the grass and is easy to entangle the grass.

[0045] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A mobile chassis characterized by, The vehicle comprises a main body, a steering motor, a connecting assembly, a front wheel and a rear wheel, wherein the rear wheel is used to drive the main body to move forward, and the front wheel and the rear wheel are arranged on the main body at intervals along the moving direction of the main body. The number of the steering motor, the connecting assembly and the front wheel are all two, and the two front wheels are arranged at intervals on both sides of the main body along a first direction, and the first direction is perpendicular to the moving direction. The steering motor is connected to the front wheel through the connecting assembly. The steering motor is located above the front wheel and rotates about a second direction, and the second direction is perpendicular to the projection plane of the main body. There is a distance between the rotation center of the steering motor and the wheel center of the front wheel in the moving direction.

2. The mobile chassis of claim 1, wherein, The distance between the wheel center of the front wheel and the rotation center of the steering motor along the travel direction is 15-25 mm.

3. The mobile chassis of claim 1, wherein, The distance between at least part of the connecting assembly and the axis of the steering motor along the first direction is 10-20 mm.

4. The mobile chassis of claim 1, wherein, The distance between at least part of the connecting assembly and the front wheel along the second direction is 5-15 mm.

5. The mobile chassis of claim 1, wherein, The connecting assembly includes a side plate and a top plate, the side plate is perpendicular to the first direction, the side plate has a first fixing hole, and the front wheel is connected to the side plate through the first fixing hole; the top plate is perpendicular to the second direction, the top plate has a second fixing hole, and the second fixing hole is fitted with the output shaft of the steering motor.

6. The mobile chassis of claim 5, wherein, The front wheel, the top plate, and the steering motor are sequentially arranged along the second direction, and the output shaft is opposite to an outer circumferential surface of the front wheel.

7. The mobile chassis of claim 1, wherein, The main body includes a carrier plate and a connecting frame arranged on the carrier plate, the length direction of the connecting frame is along the first direction, the connecting frame deviates from the wheel center of the front wheel along the travel direction, and the two steering motors are respectively fixed on opposite sides of the connecting frame along the first direction.

8. The mobile chassis of claim 1, wherein, The mobile chassis includes two first hub motors and two second hub motors. There are two rear wheels. The first hub motor is used to drive the front wheels, and the second hub motor is used to drive the rear wheels. The distance between the axis of the first hub motor and the axis of the steering motor is 15-25 mm.

9. The mobile chassis of claim 1, wherein, The two front wheels are respectively a first front wheel and a second front wheel, and the first front wheel, at least part of the two connecting components and the second front wheel are arranged in sequence along the first direction.

10. A lawn care device, characterized in that It comprises a vehicle body and the mobile chassis according to any one of claims 1 to 9, wherein the vehicle body is assembled on a side of the main body facing the steering motor.

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