Unmanned vehicle mobile chassis and unmanned vehicle

Abstract

The utility model relates to the technical field of unmanned vehicles, and provides an unmanned vehicle mobile chassis and an unmanned vehicle, the chassis comprises a chassis frame, a left wheel set, a right wheel set, a first steering gear, a second steering gear and a driving system, the left wheel set comprises a left front wheel and a left rear wheel, the right wheel set comprises a right front wheel and a right rear wheel, the first steering gear is arranged on the front side of the chassis frame, and the second steering gear is arranged on the rear side of the chassis frame. The first steering gear is arranged on the rear side of the chassis frame and is in transmission connection with the left front wheel and the right front wheel, and the second steering gear is arranged on the rear side of the chassis frame and is in transmission connection with the left rear wheel and the right rear wheel. The first driving motor and the second driving motor are used for regulating and controlling the speed difference of the left wheel set and the right wheel set in the steering process. A redundant steering scheme is adopted, Ackerman steering can be achieved, differential steering can also be achieved, a differential mechanism can be prevented from being used, and using requirements of various environments can be met at the same time. The motor is small in number, simple and reliable in structure and easy to control.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned vehicle technical field especially relates to an unmanned vehicle mobile chassis and unmanned vehicle. BACKGROUND

[0002] In the unmanned field, the high mobility, high efficiency and safe and stable performance of equipment are particularly important. Especially at present, the unmanned chassis is no longer limited to specific pavement and specific environment, and needs to face the challenge of various complex pavements. When on ordinary paved pavement, the unmanned vehicle mobile chassis needs to have a high-efficiency steering system, fast response speed, and high control accuracy when steering at high speed. When in a narrow space, the unmanned vehicle mobile chassis needs to have a small turning radius, and even sometimes needs to turn in place. When on uneven, soft and slippery pavements in the wild, the unmanned vehicle mobile chassis needs to use an Ackerman steering system with good steering control capability. Therefore, there is an urgent need for an unmanned vehicle mobile chassis that can adapt to various environments such as urban paved roads, narrow streets, and complex pavements such as uneven pavements in the wild.

[0003] In related technologies, the unmanned vehicle mobile chassis with only an Ackerman steering structure has a large turning radius and cannot flexibly pass through a narrow space. The unmanned vehicle mobile chassis with only a left wheel and right wheel differential steering structure has poor steering control capability, is easy to slip, and has low steering efficiency when on uneven, soft and slippery ground in the wild. SUMMARY

[0004] The utility model provides an unmanned vehicle mobile chassis to solve the problem that the unmanned vehicle mobile chassis with only an Ackerman steering structure has a large turning radius and cannot flexibly pass through a narrow space in related technologies, and the unmanned vehicle mobile chassis with only a left wheel and right wheel differential steering structure has poor steering control capability, is easy to slip, and has low steering efficiency when on uneven, soft and slippery ground in the wild.

[0005] The utility model provides an unmanned vehicle mobile chassis, which comprises:

[0006] A chassis frame;

[0007] A left wheel set, comprising a left front wheel and a left rear wheel movably arranged on the left side of the chassis frame;

[0008] A right wheel set, comprising a right front wheel and a right rear wheel movably arranged on the right side of the chassis frame;

[0009] A first steering gear arranged on the front side of the chassis frame, the first steering gear being in transmission connection with the left front wheel and the right front wheel to control the steering of the left front wheel and the right front wheel;

[0010] A second steering gear is arranged at the rear side of the chassis frame, and the second steering gear is in driving connection with both the left rear wheel and the right rear wheel to control the steering of both the left rear wheel and the right rear wheel.

[0011] A driving system comprises a first driving motor and a second driving motor, both of which are arranged on the chassis frame, the first driving motor is in driving connection with the left wheel group, and the second driving motor is in driving connection with the right wheel group.

[0012] The first driving motor and the second driving motor are used to control the speed difference between the left wheel group and the right wheel group during steering.

[0013] According to the unmanned vehicle mobile chassis provided by the utility model, the driving system further comprises:

[0014] A first transmission mechanism is arranged on the chassis frame, the first transmission mechanism has one input end and two output ends, the first driving motor is in driving connection with the input end of the first transmission mechanism, and the two output ends of the first transmission mechanism are in one-to-one driving connection with the left front wheel and the left rear wheel of the left wheel group.

[0015] A second transmission mechanism is arranged on the chassis frame, the second transmission mechanism has one input end and two output ends, the second driving motor is in driving connection with the input end of the second transmission mechanism, and the two output ends of the second transmission mechanism are in one-to-one driving connection with the right front wheel and the right rear wheel of the right wheel group.

[0016] According to the unmanned vehicle mobile chassis provided by the utility model, the driving system further comprises a first speed reducer and a second speed reducer, and the first speed reducer and the second speed reducer are arranged on the chassis frame.

[0017] The output shaft of the first driving motor is in driving connection with the input end of the first transmission mechanism through the first speed reducer;

[0018] The output shaft of the second driving motor is in driving connection with the input end of the second transmission mechanism through the second speed reducer.

[0019] According to the unmanned vehicle mobile chassis provided by the utility model, the driving system further comprises:

[0020] A first transmission group comprises two first transmission half shafts arranged in front and back, one end of the two first transmission half shafts is in one-to-one driving connection with the two output ends of the first transmission mechanism, and the other end of the two first transmission half shafts is in one-to-one driving connection with the left front wheel and the left rear wheel of the left wheel group.

[0021] The second transmission group comprises two second transmission half shafts arranged front and back, one end of the two second transmission half shafts is in one-to-one transmission connection with the two output ends of the second transmission mechanism, and the other end of the two second transmission half shafts is in one-to-one transmission connection with the right front wheel and the right rear wheel of the right wheel group.

[0022] According to the unmanned vehicle mobile chassis provided by the utility model, the first transmission mechanism and the second transmission mechanism are configured as chain transmission mechanisms.

[0023] According to the unmanned vehicle mobile chassis provided by the utility model, the unmanned vehicle mobile chassis further comprises:

[0024] Four double-fork-arm suspensions are arranged on the chassis frame, one end of the four double-fork-arm suspensions is connected with the chassis frame, and the other end of the four double-fork-arm suspensions is connected with the left front wheel, the left rear wheel, the right rear wheel and the right front wheel in one-to-one correspondence.

[0025] According to the unmanned vehicle mobile chassis provided by the utility model, the chassis frame is provided with safety protection structures on the front and rear sides.

[0026] According to the unmanned vehicle mobile chassis provided by the utility model, the safety protection structures comprise:

[0027] The safety touch edge is fixedly connected with the chassis frame.

[0028] The collision detection device is arranged on the safety touch edge, and the collision detection device converts the external force collision received by the unmanned vehicle mobile chassis into a collision identification signal.

[0029] According to the unmanned vehicle mobile chassis provided by the utility model, the chassis frame comprises a plurality of cross beams and a plurality of longitudinal beams, the plurality of cross beams and the plurality of longitudinal beams are fixedly connected and form a closed frame structure.

[0030] The inside of the frame structure is used for accommodating the driving system.

[0031] The utility model further provides an unmanned vehicle comprising the unmanned vehicle mobile chassis.

[0032] The unmanned vehicle mobile chassis provided by the utility model adopts a redundancy steering scheme, and can realize Ackerman steering and differential steering, compared with a high-performance Ackerman chassis with a differential mechanism, the utility model can complete small-range turning radius, in-place differential steering and other control modes through the first steering gear and the first steering gear arranged in front and back and the first driving motor and the second driving motor arranged in left and right, and the speed difference between the left wheel set and the right wheel set in the steering process can be realized through the first driving motor and the second driving motor controlled to drive left and right, the differential mechanism function of the traditional Ackerman chassis is realized, the use of the differential mechanism can be avoided, and the utility model is simple and efficient, so that the use requirements of simultaneously adapting to various environments such as urban paved roads, narrow streets and other narrow spaces and complex road surfaces such as outdoor pits and the like can be met; in addition, the driving motor for driving the chassis is only two, the number of motors is small, the structure is simple and reliable, and the control is simple. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical scheme of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0034] Figure 1 It is the basic principle diagram of the utility model.

[0035] Figure 2 It is the small radius turning schematic diagram of the utility model.

[0036] Figure 3 It is the first visual angle structure schematic diagram of the chassis implementation case of the utility model.

[0037] Figure 4 It is the second visual angle structure schematic diagram of the chassis implementation case of the utility model.

[0038] Reference signs:

[0039] 100, chassis frame; 110, safety touch edge;

[0040] 210, left front wheel; 220, left rear wheel;

[0041] 310, right front wheel; 320, right rear wheel; 410, first steering gear; 420, second steering gear;

[0042] 510, first driving motor; 520, second driving motor; 610, first transmission mechanism;

[0043] 620, second transmission mechanism; 710, first speed reducer; 720, second speed reducer;

[0044] 810, first drive half shaft; 820, second drive half shaft; 900, double wishbone suspension. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the utility model more clear, the technical scheme in the utility model will be described clearly and completely below in combination with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0046] In the related art, the turning radius of the unmanned vehicle mobile chassis adopting only the Ackerman steering structure is large, and the unmanned vehicle mobile chassis adopting only the left wheel and right wheel differential steering structure has poor steering control ability on uneven, soft and slippery ground in the wild, is easy to slip and has low steering efficiency. In addition, the chassis in the related art is usually provided in a four-wheel four-turn mode, has many motors and has a complex control algorithm.

[0047] The unmanned vehicle mobile chassis and the unmanned vehicle of the utility model will be described below in combination with Figures 1-4

[0048] It can be understood that, with reference to Figures 1 to 4 The utility model provides a kind of unmanned vehicle mobile chassis, including chassis frame 100, left wheel group, right wheel group, first steering gear 410, second steering gear 420 and drive system, left wheel group includes left front wheel 210 and left rear wheel 220, which are movably arranged on the left side of chassis frame 100, right wheel group includes right front wheel 310 and right rear wheel 320, which are movably arranged on the right side of chassis frame 100, first steering gear 410 is arranged on the front side of chassis frame 100, first steering gear 410 is drivingly connected with left front wheel 210 and right front wheel 310 to control the steering of left front wheel 210 and right front wheel 310, second steering gear 420 is arranged on the rear side of chassis frame 100, second steering gear 420 is drivingly connected with left rear wheel 220 and right rear wheel 320 to control the steering of left rear wheel 220 and right rear wheel 320, drive system includes first drive motor 510 and second drive motor 520, which are arranged on chassis frame 100, first drive motor 510 is drivingly connected with left wheel group, and second drive motor 520 is drivingly connected with right wheel group.

[0049] Among them, first drive motor 510 and second drive motor 520 are used to control the speed difference between left wheel group and right wheel group during steering.

[0050] ​The unmanned vehicle mobile chassis provided by the utility model adopts a redundancy steering scheme, and can realize Ackerman steering and differential steering, compared with a high-performance Ackerman chassis with a differential mechanism, the utility model can complete small-range turning radius, in-place differential steering and other control modes through the first steering gear 410 and the first steering gear 410 arranged in front and back and the first drive motor 510 and the second drive motor 520 arranged in left and right, and the speed difference between the left wheel set and the right wheel set in the steering process can be realized through the first drive motor 510 and the second drive motor 520 controlled to drive left and right, the differential mechanism function of the traditional Ackerman chassis is realized, the use of the differential mechanism can be avoided, and the use requirements in multiple environments such as city paving roads, narrow spaces such as streets and lanes and complex road surfaces such as wild pits can be met, and the driving motor for driving the chassis is only two, the number of motors is small, the structure is simple and reliable, and control is simple.

[0051] It should be noted that in the embodiment of the utility model, the first drive motor 510 and the second drive motor 520 are symmetrically arranged relative to the center of the chassis frame 100.

[0052] Specifically, referring to Figures 1 to 4 In the embodiment, the driving system further comprises a first transmission mechanism 610 and a second transmission mechanism 620, the first transmission mechanism 610 is arranged on the chassis frame 100, the first transmission mechanism 610 has one input end and two output ends, the first drive motor 510 is in transmission connection with the input end of the first transmission mechanism 610, and the two output ends of the first transmission mechanism 610 are in one-to-one transmission connection with the left front wheel 210 and the left rear wheel 220 of the left wheel set; the second transmission mechanism 620 is arranged on the chassis frame 100, the second transmission mechanism 620 has one input end and two output ends, the second drive motor 520 is in transmission connection with the input end of the second transmission mechanism 620, and the two output ends of the second transmission mechanism 620 are in one-to-one transmission connection with the right front wheel 310 and the right rear wheel 320 of the right wheel set.

[0053] By adopting the above structure, since the left wheel set and the right wheel set are controlled by different drive motors and transmission mechanisms respectively, independent control of the left and right wheel sets can be realized, the control flexibility is improved, the speed difference of the left and right wheel sets can be adjusted through the first transmission mechanism 610 and the second transmission mechanism 620, differential steering can be realized, more precise power distribution is allowed, the driving force of each wheel can be adjusted according to different driving conditions and requirements, the stability and power efficiency are improved, and different terrains and road conditions can be better adapted to.

[0054] Specifically, referring to Figures 1 to 4In the embodiment of the utility model, the drive system further includes a first speed reducer 710 and a second speed reducer 720, and the first speed reducer 710 and the second speed reducer 720 are both arranged on the chassis frame 100; the output shaft of the first drive motor 510 is in transmission connection with the input end of the first transmission mechanism 610 through the first speed reducer 710; and the output shaft of the second drive motor 520 is in transmission connection with the input end of the second transmission mechanism 620 through the second speed reducer 720.

[0055] It can be understood that, by matching the high rotating speed of the drive motor and the working speed required by the unmanned vehicle, the speed reducer can improve the efficiency of the entire drive system, so that the drive motor operates in the optimal working range;

[0056] Since the speed reducer can increase the output torque, the drive motor operates under a lower load, which helps to prolong the service life of the drive motor;

[0057] The speed reducer can also make the structure of the entire drive system more compact, and in addition, it helps to smoothly stop the unmanned vehicle in an emergency, reduces the damage caused by sudden stop, and can also adjust the transmission ratio according to different working conditions, so that the unmanned vehicle can work efficiently under different speeds and loads.

[0058] Therefore, by adopting the above structure, through the arrangement of the first speed reducer 710 and the second speed reducer 720, they are respectively connected between the first drive motor 510 and the first transmission mechanism 610, and between the second drive motor 520 and the second transmission mechanism 620, which ensures the independent driving and control of the left and right wheel groups, and can realize more stable and controllable driving.

[0059] It can be understood that, with reference to Figures 1 to 4 In the embodiment of the utility model, the drive system further includes a first transmission group and a second transmission group, the first transmission group includes two first transmission half shafts 810 arranged in front and back, one end of the two first transmission half shafts 810 is in transmission connection with the two output ends of the first transmission mechanism 610 one by one, and the other end of the two first transmission half shafts 810 is in transmission connection with the left front wheel 210 and the left rear wheel 220 of the left wheel group one by one; the second transmission group includes two second transmission half shafts 820 arranged in front and back, one end of the two second transmission half shafts 820 is in transmission connection with the two output ends of the second transmission mechanism 620 one by one, and the other end of the two second transmission half shafts 820 is in transmission connection with the right front wheel 310 and the right rear wheel 320 of the right wheel group one by one.

[0060] With the above structure, each wheel has an independent drive half shaft connected to the corresponding drive motor and reducer, meaning that each wheel can independently receive power and torque, providing better maneuverability and adaptability; by independently controlling the speed and torque of each wheel, the distribution of traction force can be optimized, improving the stability and traction of the vehicle on complex or uneven ground; independent wheel drive can adjust power according to the grip of different wheels, reduce the phenomenon of slipping, improve the tracking and stability of the vehicle, and have good flexibility, which is beneficial to reduce wear and improve reliability, and the independent drive half shaft design makes it easier to maintain and replace individual components, reducing the complexity and time of overall maintenance.

[0061] It can be understood that in the embodiments of the present application, the first transmission mechanism 610 and the second transmission mechanism 620 are configured as chain transmission mechanisms. Specifically, the chain wheel and the chain transmit the power on the drive motor to each wheel.

[0062] Of course, in some embodiments, the transmission mechanism can also be in the form of a transmission shaft, belt transmission, etc., which can also achieve the same layout and carrying capacity.

[0063] Specifically, referring to Figure 3 and Figure 4 In the embodiments of the present application, the unmanned vehicle mobile chassis further comprises four double wishbone suspensions 900 arranged on the chassis frame 100, one end of each double wishbone suspension 900 is connected to the chassis frame 100, and the other end of each double wishbone suspension 900 is connected to the left front wheel 210, the left rear wheel 220, the right rear wheel 320 and the right front wheel 310 one by one.

[0064] By adopting the double wishbone suspension 900 structure, the double wishbone suspension 900 structure is used to support the chassis weight and buffer and absorb shock when passing through a bumpy road; the double wishbone suspension 900 structure has high lateral stiffness and strong anti-roll ability, and the shock absorber spring is not subjected to lateral impact force, which can well control the motion trajectory of the wheel and reduce the adverse motion of the tire during driving, providing more precise control performance.

[0065] Specifically, referring to Figure 3 and Figure 4 In the embodiments of the present application, the chassis frame 100 is provided with a safety protection structure on the front and rear sides to enhance the protection ability of the vehicle in the event of a collision.

[0066] Specifically, referring to Figure 3 and Figure 4 In the present embodiment, the safety protection structure comprises a safety touch edge 110 and a collision detection device, the safety touch edge 110 is fixedly connected to the chassis frame 100, and the collision detection device is arranged on the safety touch edge 110. The collision detection device converts the external force collision received by the unmanned vehicle mobile chassis into a collision recognition signal.

[0067] With the above structure, a collision identification signal such as an emergency stop signal can be sent when a collision occurs, and the combination of the safety touch edge 110 and the collision detection device can effectively detect various external force collisions that the unmanned vehicle moving chassis can encounter during travel and respond in time, thereby protecting the unmanned vehicle from damage and ensuring the safety of surrounding personnel and the environment. Since the safety touch edge 110 is fixedly connected to the chassis frame 100, it can adapt to different unmanned vehicle models and chassis designs, and has good universality and adaptability.

[0068] It can be understood that the collision identification signal can be linked with the central processing system of the unmanned vehicle, so that the unmanned vehicle can automatically adjust the driving strategy according to different collision levels, such as deceleration, parking or detouring, thereby improving the intelligent control level of the unmanned vehicle.

[0069] Specifically, in the embodiment of the utility model, the chassis frame 100 includes a plurality of cross beams and a plurality of longitudinal beams, and the plurality of cross beams and the plurality of longitudinal beams are fixedly connected and form a closed frame structure; wherein the inside of the frame structure is used to accommodate the driving system.

[0070] With the above structure, the chassis adopts a closed frame structure to protect the internal structure of the chassis, reliably protecting the transmission and driving structures such as motors, chains and sprockets, and preventing dust, rainwater and other impurities in the external environment from affecting performance and service life.

[0071] The working process of the unmanned vehicle moving chassis of the utility model is as follows:

[0072] When the chassis needs to turn counterclockwise in place, the first steering gear 410 and the second steering gear 420 remain in the central position, the first driving motor 510 drives the left front wheel 210 and the left rear wheel 220 to move forward, the second driving motor 520 drives the right front wheel 310 and the right rear wheel 320 to move backward, and the chassis can turn counterclockwise in place with the center of gravity as the rotation center. Similarly, when the first driving motor 510 moves backward and the second driving motor 520 moves forward, the chassis turns clockwise in place around the center of gravity.

[0073] When the chassis turns left, the first steering gear 410 and the second steering gear 420 move left, the left front wheel 210 and the right front wheel 310 rotate counterclockwise, the left rear wheel 220 and the right rear wheel 320 rotate clockwise, and the centers of the left and right wheels converge at point O. At this time, the left first driving motor 510 and the left second driving motor 520 drive the chassis forward to realize small-radius left turning.

[0074] When the first steering gear 410 and the second steering gear 420 move to the right, the chassis realizes a small-radius right turn. Since the turning radii of the left front wheel 210 and the left rear wheel 220 around the O point are the same, the rotation speeds of the left front wheel 210 and the left rear wheel 220 are consistent; since the turning radii of the right front wheel 310 and the right rear wheel 320 around the O point are the same, the rotation speeds of the right front wheel 310 and the right rear wheel 320 are also consistent; therefore, the chassis only needs to control the speed difference between the left first driving motor 510 and the right second driving motor 520 to realize normal turning and driving, without the need to increase an additional differential device.

[0075] Finally, it should be noted that: the above examples are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An unmanned vehicle mobile chassis, characterized by, Comprise: A chassis frame (100); A left wheel set, comprising a left front wheel (210) and a left rear wheel (220), both of which are movably arranged on the left side of the chassis frame (100); A right wheel set, comprising a right front wheel (310) and a right rear wheel (320), both of which are movably arranged on the right side of the chassis frame (100); A first steering gear (410) arranged on the front side of the chassis frame (100), the first steering gear (410) is in driving connection with both the left front wheel (210) and the right front wheel (310) to control the steering of both the left front wheel (210) and the right front wheel (310); A second steering gear (420) arranged on the rear side of the chassis frame (100), the second steering gear (420) is in driving connection with both the left rear wheel (220) and the right rear wheel (320) to control the steering of both the left rear wheel (220) and the right rear wheel (320); A drive system, comprising a first drive motor (510) and a second drive motor (520) arranged on the chassis frame (100), the first drive motor (510) is in driving connection with the left wheel set, and the second drive motor (520) is in driving connection with the right wheel set; Wherein, both the first drive motor (510) and the second drive motor (520) are used to regulate the speed difference between the left wheel set and the right wheel set during steering.

2. The unmanned vehicle mobile chassis of claim 1, wherein, The drive system further comprises: A first transmission mechanism (610) arranged on the chassis frame (100), the first transmission mechanism (610) has one input end and two output ends, the first drive motor (510) is in driving connection with the input end of the first transmission mechanism (610), and the two output ends of the first transmission mechanism (610) are in one-to-one corresponding driving connection with the left front wheel (210) and the left rear wheel (220) of the left wheel set; A second transmission mechanism (620) arranged on the chassis frame (100), the second transmission mechanism (620) has one input end and two output ends, the second drive motor (520) is in driving connection with the input end of the second transmission mechanism (620), and the two output ends of the second transmission mechanism (620) are in one-to-one corresponding driving connection with the right front wheel (310) and the right rear wheel (320) of the right wheel set.

3. The unmanned vehicle mobile chassis of claim 2, wherein, The drive system further comprises a first speed reducer (710) and a second speed reducer (720), both of which are arranged on the chassis frame (100); The output shaft of the first drive motor (510) is in driving connection with the input end of the first transmission mechanism (610) through the first speed reducer (710); The output shaft of the second drive motor (520) is in driving connection with the input end of the second transmission mechanism (620) through the second speed reducer (720).

4. The unmanned vehicle mobile chassis of claim 3, wherein, The drive system further comprises: The first transmission group comprises two first transmission half shafts (810) arranged in front and back. One end of the two first transmission half shafts (810) is in one-to-one transmission connection with the two output ends of the first transmission mechanism (610), and the other end of the two first transmission half shafts (810) is in one-to-one transmission connection with the left front wheel (210) and the left rear wheel (220) of the left wheel group. The second transmission group comprises two second transmission half shafts (820) arranged in front and back. One end of the two second transmission half shafts (820) is in one-to-one transmission connection with the two output ends of the second transmission mechanism (620), and the other end of the two second transmission half shafts (820) is in one-to-one transmission connection with the right front wheel (310) and the right rear wheel (320) of the right wheel group.

5. The unmanned vehicle mobile chassis according to any one of claims 2 to 4, wherein, The first transmission mechanism (610) and the second transmission mechanism (620) are configured as chain transmission mechanisms.

6. The unmanned vehicle mobile chassis of claim 1, wherein, The unmanned vehicle mobile chassis further comprises: Four double wishbone suspensions (900) are arranged on the chassis frame (100). One end of the four double wishbone suspensions (900) is connected with the chassis frame (100), and the other end of the four double wishbone suspensions (900) is connected with the left front wheel (210), the left rear wheel (220), the right rear wheel (320) and the right front wheel (310) in one-to-one correspondence.

7. The unmanned vehicle mobile chassis of claim 1, wherein, Safety protection structures are respectively arranged on the front and rear sides of the chassis frame (100).

8. The unmanned vehicle mobile chassis of claim 7, wherein, The safety protection structure comprises: A safety touch edge (110) is fixedly connected with the chassis frame (100). A collision detection device is arranged on the safety touch edge (110). The collision detection device converts the external force collision received by the unmanned vehicle mobile chassis into a collision recognition signal.

9. The unmanned vehicle mobile chassis of claim 1, wherein, The chassis frame (100) comprises a plurality of cross beams and a plurality of longitudinal beams, and the plurality of cross beams and the plurality of longitudinal beams are fixedly connected to form a closed frame structure. The inside of the frame structure is used to accommodate the driving system.

10. An unmanned vehicle, characterized in that The unmanned vehicle mobile chassis comprises the frame structure. The unmanned vehicle mobile chassis comprises the frame structure.

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